User Guide

Unidrive
model sizes 1 to 5

Unidrive LV
model sizes 1 to 3

Universal Variable Speed Drive

for induction and servo motors

Part Number: 0460 0070

Issue Number: 6
General information
The manufacturer accepts no liability for any
consequences resulting from inappropriate ,
negligent or incorrect installation or adjustment of
the optional operating parameters of the equipment
or from mismatching the variable speed drive
(Drive) with the motor.

The contents of this User Guide are believed to be

correct at the time of printing. In the interests of a
commitment to a policy of continuous development
and improvement, the manufacturer reserves the
right to change the specification of the product or
its performance, or the contents of the User Guide,
without notice.

All rights reserved. No parts of this User Guide may

be reproduced or transmitted in any form or by any
means, electrical or mechanical including
photocopying, recording or by any information-
storage or retrieval system, without permission in
writing from the publisher.

Important...
Drive software version
This product is supplied with the latest version of
user-interface and machine-control software. If this
product is to be used with other Control Techniques
variable speed drives in an existing system, there
may be some differences between their software
and the software in this product. These differences
will cause a difference in functions. This may also
apply to variable speed drives returned from a
Control Techniques Service Centre.

If there is any doubt, contact a Control Techniques

Drive Centre.

Copyright October 2000 Control Techniques Drives Ltd

Author: RFD

Issue Code: udxu6

Issue Date: October 2000

S/W Version: 03.XX.07 onwards

Addendum
Using the Unidrive with ramps disabled (closed loop only)
When using the Unidrive in Closed-Loop mode (Vector or Servo) with the acceleration/deceleration
ramps disabled (Pr 2.02 = 0), the stop mode (Pr 6.01) must be set to no.rP. If this is not done, the
Drive may allow the motor to momentarily start running up in the forward direction following the
removal of the run reverse command.

More information:
When using the Unidrive with the ramps disabled (Pr 2.02 = 0), the stop mode at the default value
(Pr 6.01= rP) and the Drive running with full reference in the reverse direction; on the removal of the
run reverse command the final speed reference will momentarily go positive and will return to zero at a
rate dependant on the deceleration ramp (default setting = Pr 2.21).

If an application requires the ramps to be disabled (either in Closed-Loop Vector or Servo mode), the
stop mode [06.01] should be set to no.rP.

An alternative solution is to set the deceleration ramps to 0 (zero).

 Contents

Chapter 2.7 Operating instructions 2-15

1 Introduction 1-1 Terminal mode 2-15
Keypad mode 2-16
1.1 How this User Guide can help you 1-1
Trip and enable 2-17
1.2 Model sizes 1-1
2.8 Setting up operating limits 2-18
1.3 Configuration layers 1-1
Maximum and minimum speeds 2-18
1.4 Default configurations 1-2 Acceleration rate 2-18
1.5 Operating modes 1-2 Deceleration rate 2-18
1.6 User-interface modes 1-3 Braking resistor 2-18
Torque producing current limit 2-19
1.7 Macro configurations 1-3
Open-loop voltage-control modes 2-20
1.8 Plug-in option modules 1-6
Boost voltage 2-20
1.9 Serial communications 1-6 Voltage/frequency characteristic 2-20
1.10 Using Unisoft 1-6 Dynamic performance 2-21
1.11 Advanced functions 1-7
3 Setting Up the Drive
2 Getting Started 2-1 (Macro Configurations) 3-1
2.1 How to use this chapter 2-1 3.1 How to use this chapter 3-1
2.2 Making signal and power connections 2-1 3.2 Enabling a different
macro configuration 3-1
2.3 Introduction to the display and keypad 2-7
Display and keypad 2-7
3.3 Advanced programming 3-2
Resetting the Drive 2-8 3.4 Macro 0 General purpose
(default configuration) 3-3
2.4 Working with software parameters 2-8
Parameters and menus 2-8
3.5 Macro 1 Easy mode 3-9
Types of parameter 2-8 3.6 Macro 2 Motorized potentiometer 3-15
Adjusting parameter values 2-8 3.7 Macro 3 Preset frequencies/speeds 3-21
Making new values effective, 3.8 Macro 4 Torque control 3-27
and saving them 2-8
Parameter 0.00 2-9 3.9 Macro 5 PID (set-point control) 3-33

2.5 How macro configurations 3.10 Macro 6 Axis-limit control 3-40

change the arrangement of 3.11 Macro 7 Brake control 3-47
the Menu 0 parameters 2-10
3.12 Macro 8 Digital lock
2.6 Initial setting up 2-11 Shaft orientation 3-52
Restoring the Drive to a default
configuration 2-11
Changing the operating mode 2-11
Enabling Macro 1 2-12
Configuring the Drive for the motor 2-12
Autotune 2-14
Changing the user interface mode 2-15

Unidrive User Guide

Issue code: udxu6 i
Appendix B Security, and Accessing the
Advanced Parameters B-1
A Programming Instructions A-1
B.1 Security levels B-1
A.1 Electrical connections A-1
B.2 Setting-up User Security B-1
A.2 Preparation A-1
B.3 Unlocking User Security B-1
A.3 Status mode A-2
B.4 Unlocking Standard Security B-1
A.4 Displaying the parameter
number in Status mode A-2 B.5 Locking Standard Security B-1
A.5 Entering Parameter mode B.6 Summary B-2
and returning to Status mode A-2
C Signal Connections C-1
A.6 Selecting a parameter to access A-3
C.2 Encoder connections C-4
A.7 Changing the value of a parameter A-4
C.3 Frequency and direction connections C-5
A.8 Saving new parameter-values A-6
A.9 Flashing and non-flashing digits A-6 D Menu 0 Parameters D-1
A.10 Negative values A-6 D.1 Introduction D-1

A.11 Changing the setting of D.2 Fixed-function parameters

a bit parameter A-6 common to all macros D-2

A.12 Selecting a different option A-7 D.3 Re-programmable parameters

specific to the macros D-10
A.13 Restoring the Drive to a
default configuration A-7 E Diagnostics E-1
A.14 Summary of key operation A-7 E.1 Status indications E-1
E.2 Alarm indications E-1
E.3 Trip codes E-2

Unidrive User Guide

ii Issue code: udxu6
1 Introduction 1.2 Model sizes
This User Guide refers to the models listed below.

1.1 How this User Guide Unidrive

can help you Model size Model code Nominal rating

for standard
If this is your first encounter with a AC motors
Unidrive, read this User Guide before KW HP
referring to the accompanying
UNI 1401 0.75 1.0
Installation Guide.
UNI 1402 1.1 1.5
This User Guide is arranged on a step-by-step basis UNI 1403 1.5 2.0
to lead you through the following:
UNI 1404 2.2 3.0
Learning how to operate the Unidrive UNI 1405 4.0 5.0
(Drive)
UNI 2401 5.5 7.5
When to refer to the Installation Guide
UNI 2402 7.5 10
Setting up the Unidrive
UNI 2403 11.0 15
For advanced programming of the Unidrive, a disk
containing the Advanced Parameter Descriptions in UNI 3401 15.0 25
TM
Windows Help file format, is supplied with the UNI 3402 18.5 30
Drive. UNI 3403 22.0 30

Printed copies of the Unidrive Advanced User Guide UNI 3404 30.0 40
(which includes the Advanced Parameter Descriptions UNI 3405 37.0 50
plus additional information) are available from the
UNI 4401 45.0 75
Drive Centres and distributors listed at the end of
this User Guide. UNI 4402 55.0 100
UNI 4403 75.0 125
Variable speed drives may be UNI 4404 90.0 150
hazardous if misused. Carefully UNI 4405 110.0 150
follow the instructions in this
User Guide and the Installation UNI 5401 132.0 200
Warning
Guide.

Unidrive LV
Model size Model code Nominal rating
for standard
AC motors
KW HP
UNI 1201 0.37 0.5
UNI 1202 0.55 0.75
UNI 1203 0.75 1.0
UNI 1204 1.1 1.5
UNI 1205 2.2 3.0
UNI 2201 3.0 4.0
UNI 2202 4.0 5.0
UNI 2203 5.5 10.0
UNI 3201 7.5 15.0
UNI 3202 11 20.0
UNI 3203 15 25.0
UNI 3204 22 30.0

Unidrive User Guide

Issue code: udxu6 Introduction 1-1
1.3 Configuration layers 1.5 Operating modes
The Drive has four layers of configuration, starting The Drive can be configured to operate in any of the
from the base layer (1) as follows: following operating modes.

1. Default configuration
Open-loop
2. Operating mode
For use with standard AC induction motors.
3. User-interface mode
This is the operating mode of the Drive when
4. Macro configuration despatched from the factory.
Each of the upper layers (2, 3, 4) is superimposed on The Drive applies power to the motor at frequencies
its preceeding layer. which are controlled by the user. The motor speed
is a result of the output frequency of the Drive and
motor slip due to the mechanical load.
1.4 Default configurations
The Drive can power a number of motors connected
The Drive has a separate default configuration for the in parallel (each motor must be protected against
AC supply conditions in Europe or in the USA. These overload; this is described in the Installation Guide).
two default configurations are distinguished as
follows: The Drive can improve the performance of the
motor by applying the following:
European AC supply voltage at 50Hz
Slip compensation
USA AC supply voltage at 60Hz
Fixed boost or Open-loop Vector operation
The Drive is despatched from the factory in the
appropriate default configuration for the continent Fixed boost applies a fixed voltage boost at low
in which it is to be sold. The default configuration frequencies.
is Macro 0 (described in Macro configurations later in Open-loop Vector operation maintains almost
this chapter). constant flux by dynamically adjusting the
motor voltage according to the load on the
The default configuration also defines the following
motor.
functions:

Europe Closed-loop Vector

Ability to select positive-logic for the digital
control inputs
Ability to adjust the current-loop PI gains
USA
Ability to select digital control by two or
three wires
Frequency/speed demand indication
(These functions apply to Macro 0 only.)
Key used in this User Guide
The following key denotes the default
configuration:
EUR> 50Hz AC supply (Europe)
USA> 60Hz AC supply (USA)
When no key is stated, the information applies to
both default configurations.
For use with a standard AC induction motor
coupled to a quadrature encoder. When a
suitable option module is fitted in the
Drive, another type of feedback device can
be used instead (see Alternative feedback
device below).
The Drive directly controls the speed of the motor.
The Drive and motor form a closed-loop system
where the encoder is used to apply feedback to the
Drive.
The Drive can power only one motor.
Alternative feedback
Feedbackdevice Optionmodule required
SIN-COS encoder UD52
SIN-COS encoder small option module
Resolver UD53
Resolver small option module

Unidrive User Guide

1-2 Introduction Issue code: udxu6
Closed-loop Servo 1.6 User-interface modes
For use only with permanent-magnet The motor can be started and stopped, the
brushless AC servo motors coupled to a direction of rotation reversed and the speed
quadrature encoder having commutation changed by operation of the Drive in either of the
signals. When a suitable option module is following user-interface modes:
fitted in the Drive, other types of feedback
device can be used instead (see Alternative Terminal mode
feedback devices below).
Applying signals from electrical contacts, a
Alternative feedback devices system controller or PLC to digital and analog
inputs on the Drive.
Feedback device Option module required For the USA default configuration, the Drive can
SIN-COS encoder UD52 be configured for digital control by momentary
SIN-COS encoder small option module contacts.
Resolver UD53 Keypad mode
Resolver small option module
Manual operation of the keypad on the front
panel of the Drive. Minimal signal connections
Regeneration are made to the Drive.

Before a Drive is used in the 1.7 Macro configurations

Regeneration mode, the Drive
and the accompanying
Warning motoring Drive(s) may need to
be modified. Contact the
supplier of the Drive for
details.
The Drive can be used to control the motor speed in
various ways for different types of application. To
reduce the number of adjustments to the Drive for
each type of application, nine macro configurations
(0 to 8) are available.

The Regeneration mode is used for four-quadrant
operation. A Drive can be operated in Regeneration
mode only when it is connected to other Drive(s)
operating in one of the other (motoring) modes.
Regeneration mode allows the following:
AC supply to be fed from the Regeneration
Drive to the Drive(s) that are controlling the
motor
Regenerated power to be returned to the
AC supply by the Regeneration Drive instead
of being dissipated in braking resistors
For information on using the Drive in this mode,
contact the supplier of the Drive.
Key used in this User Guide
The following key denotes reference to the
operating modes:
OL> Applies to Open-loop only
CL> Applies to Closed-loop Vector and
Closed-loop Servo
VT> Applies to Closed-loop Vector only
SV> Applies to Closed-loop Servo only
When no key is stated, the information applies to all
three operating modes.
Each macro configuration requires specific signal
connections to be made to the Drive.
Notes
This User Guide refers to operating the
Drive with these macro configurations and
does not include advanced programming of
the Drive.
Changing advanced parameters may affect
operation of a macro. Information in this
User Guide may then not be valid.
The macro configurations are as follows:
Macro 0
General purpose
(default configuration)
Analog frequency/speed control for
general-purpose applications.
When the Drive is operating in open-loop, the
output frequency of the Drive is controlled by a
frequency reference. When the Drive is operating in
closed-loop, the motor speed is controlled by a
speed reference. In both cases, the motor speed will
follow the frequency/speed reference so long as the
maximum permissible output current of the Drive is
not exceeded. These principles also apply to all
other macro configurations except Macro 4.

Unidrive User Guide

Issue code: udxu6 Introduction 1-3
The macro configuration can be used for open-loop
or closed-loop operation, and in either Keypad or
Terminal mode.
The frequency/speed can be controlled in either of
the following ways...
Terminal mode: An analog frequency or
speed reference signal applied to the Drive
Keypad mode: By a user pressing keys on
the front panel of the Drive
Macro 1
Easy mode
Frequency/speed control for basic applications.
This is similar to Macro 0, except, for simplicity,
fewer adjustments are required.
The macro configuration can be used for open-loop
or closed-loop operation, and in either Keypad or
Terminal mode.
The principles of controlling motor speed are the
same as for Macro 0.
Macro 2
Motorized potentiometer
The frequency/speed is controlled incrementally by
operation of up and down contacts.
The macro configuration can be used for open-loop
or closed-loop operation, and in Terminal mode
only.
The principles of controlling motor speed are the
same as for Macro 0.
Macro 3
Preset frequencies/speeds
Four preset frequencies/speeds that are selected by
external contacts.
The macro configuration can be used for open-loop
or closed-loop operation, and in Terminal mode
only.
The principles of controlling motor speed are the
same as for Macro 0.
Macro 4
Torque control
The motor torque is defined by a torque demand.
The motor speed will vary continuously as a result
of the difference between the load torque and the
torque demand up to a maximum speed which is
defined by a speed over-ride level.
The torque demand is supplied by an analog torque
reference signal that is applied to the Drive.
The macro configuration can be used for open-loop
or closed-loop operation, and in Terminal mode
only.
1-4 Introduction
Macro 5
PID control
The Drive is operated with a frequency/speed
reference and an analog feedback device in order to
dynamically maintain the speed to a user-defined
set-point under PID control.
The macro configuration can be used for open-loop
or closed-loop operation, and in Terminal mode
only.
The principles of controlling motor speed are the
same as for Macro 0.
Macro 6
Axis-limit control
Axis-limit control is used for applications which
require the process to be automatically stopped
when a position limit has been reached. A bipolar or
unipolar frequency/speed reference can be used.
The macro configuration can be used for open-loop
or closed-loop operation, and in Terminal mode
only.
The principles of controlling motor speed are the
same as for Macro 0.
Macro 7
Brake control
Frequency/speed control with brake control for
crane or hoist applications.
The macro configuration can be used for open-loop
or closed-loop operation, and in Terminal mode or
keypad mode.
The principles of controlling motor speed are the
same as for Macro 0.
Macro 8
Digital lock
Shaft orientation
Two independent functions, as follows:
Speed and position control for a slave Drive
in digital-lock applications
Shaft orientation when stopping the motor
and/or when enabling the Drive
The macro configuration can be used for
closed-loop operation only, and in Terminal mode
only.
For shaft orientation, the principles of controlling
motor speed are the same as for Macro 0.
Unidrive User Guide
Issue code: udxu6
 User interface

Frequency/speed Drive
Functions of the software
reference selection (controlled by the macro configurations)

Minimum and maximum

Display and frequency/speed limits
keypad

Skip frequencies/speeds

Acceleration and
deceleration ramps
User
control
S-ramp
Monitoring
Current limit
Stop mode
Spinning motor sync.
External
control and
monitoring OL> Voltage control
(analog and CL> Speed-loop gains
digital)

Motor parameters

PWM switching
frequency

CL> Encoder

Control

Monitoring

AC supply DC bus

Optional braking
Power circuits resistor

Figure 11 Block diagram of the Drive showing the main functions of the software,
and power connections (signal connections vary according to the
macro configuration)

Unidrive User Guide

Issue code: udxu6 Introduction 1-5
1.8 Plug-in option modules 1.9 Serial communications
Operation of the Drive can be extended by the use The Drive can be configured and fully controlled
of plug-in option modules. The following modules from a system controller or PLC operating on a
are available from the supplier of the Drive; an RS232, a 4-wire RS485 or a 2-wire RS485 serial
appropriate User Guide is included with each communications link. A Basic serial communications
module: large option module or an appropriate Second
processor large option module must be fitted in the
Small option modules Drive. More information can be obtained from a
UD50 Additional I/O Drive Centre or distributor listed at the end of this
User Guide.
UD51 Second encoder interface
UD52 SIN/COS encoder interface Serial communications can be used in conjunction
UD53 Resolver interface with Terminal mode or Keypad mode.
UD55 Cloning (parameter copying)

Large option modules 1.10 Using Unisoft

UD70 Intelligent applications The Drive can be configured and controlled from a
UD71 RS232/RS485 serial PC by use of the Unisoft program which is supplied
communications on diskette and operates under Microsoft
UD73 Profibus DP interface Windows (version 3.1 and later).
UD74 InterBus S interface
A Basic serial communications large option module or
UD75 CTNET interface
an appropriate Second processor large option module
UD76 ModBus Plus interface must be fitted in the Drive. A serial
UD77 DeviceNet communications interface must be fitted in the PC
UD78 Servo option (precision analog for any of the following modes:
input, and back-up control RS232
supply)
Four-wire RS485
Two-wire RS485

Unidrive User Guide

1-6 Introduction Issue code: udxu6
1.11 Advanced functions
This User Guide covers the basic functions of the
Unidrive which are intended for the majority of
applications. The Unidrive also has advanced
functions which are covered in the Unidrive Advanced
User Guide. The advanced functions are as follows:
Three analog inputs programmable for
mode and function
Analog input 1 can operate as a
high-resolution differential input at 12-bit
plus sign
Two analog outputs programmable for
voltage or current mode and for function
Eight adjustable preset frequencies/speeds.
Adjustable precision frequency/speed
reference
Remote selection of frequency/speed
references
Motorized potentiometer function
Three adjustable skip bands
Adjustable output frequency up to 2000Hz
(open-loop) or 30,000rpm (closed loop)
Hard speed reference input
Torque control in open-loop
Three modes of torque control in
closed-loop
Five digital control (sequencing) modes
Unidrive User Guide
Issue code: udxu6
PID control using an analog feedback device
Up to eight selectable and adjustable
acceleration and deceleration ramps
Selectable and programmable acceleration
and deceleration ramp rates for jog
Remote selection of ramps
Run-time log shows cumulative running time
of the Drive
Integral position loop for digital lock in
closed loop
Frequency slaving in open-loop
Master and multiple slave operation in
closed-loop
Multiple-purpose encoder and
frequency/direction interface for open- and
closed-loop
Two programmable thresholds
Three programmable digital I/O terminals
Three programmable digital input terminals
Trip log for last ten trips
Spindle orientation for machine tools
Three separate stop modes
Programmable trigger alarms based on run
time of the Drive.
Two programmable-logic functions
Programmable binary summation function
Introduction 1-7
 Unidrive User Guide
1-8 Introduction Issue code: udxu6
2 Getting Started 2.2 Making signal and power
connections

2.1 How to use this chapter Stored charge

It is recommended that you follow the instructions
in this chapter in the order that they appear. You
will be led through the initial stages of setting up
the Drive (in Macro 1 Easy mode) as well as being able
to familiarize yourself with operating the Drive.
The Drive must be operated
only by personnel having the
necessary training or
Warning
experience.
If this is the first time the
Drive has been operated,
ensure that no damage or
Warning
safety hazard could arise from
the motor starting
unexpectedly.
The motor must be fixed down
and the shaft guarded against
inadvertent contact.
Warning
The Drive contains capacitors
Warning
that remain charged to a
potentially lethal voltage after
the AC supply has been
disconnected. If the Drive has
been energized, the AC supply
must be isolated at least
ten minutes before work may
continue.
Isolation
The control circuits and
Warning
terminals are isolated from the
power circuits only by basic
insulation to IEC6641. The
installer must ensure that all
external control circuits are
separated from human contact
by at least one layer of
insulation rated for use at the
AC supply voltage.

Do not change parameter For instructions on removing the terminal covers,

values without careful see Mounting the Drive and RFI filter in Chapter 2
consideration; wrong values Installing the Drive in the Installation Guide.
Warning
may cause damage or a safety
hazard.

Notes
Keep a note of changes
When changing the values of parameters,
make a note of the new values in case they
need to be entered again.

Saving the changes

For new parameter-values to apply after
the AC supply to the Drive is interrupted,
new values must be saved. This is described Figure 21 Removing the terminal covers for
in Saving new parameter-values in Appendix A access to the connectors
Programming Instructions.

Unidrive User Guide

Issue code: udxu6 Getting Started 2-1
 1. Observe the safety warnings and cautions given
in Chapter 1 Safety information of the Installation
Guide and in this chapter.

2. Refer to the following:

1 11 Chapter 2 of the Installation Guide in order
to install the Drive
Figure 22 for the location of the
21 31 signal connector
Figure 23 for the locations of the
power connections
Figure 25 or 26 in this chapter in order to
make the signal and power connections for
Figure 22 Location of the signal connector operation in Terminal or Keypad mode.
Note that Macros 2, 3, 4, 5, 6, 8 operate only
in Terminal mode. If one of these macro
configurations is to be enabled after the
initial setting up covered in this chapter, you
may wish to set up the Drive now in
Terminal mode in order to learn how to
operate it in this mode.

Signal connector for all models The two

terminal blocks of the signal connector can be
unplugged from the Drive by pulling them
downward.

Power connector for model sizes 1

and 2 The power connector can be unplugged
from the Drive by pulling it downward.
Power connections to model sizes 3
and 4 The power connections are made to
M10 studs located in the power section of the
Drive.

3. Note that the default user-interface mode is

as follows:

Continent Operating User-interface

mode mode
EUR CL> + OL> Terminal
USA CL> Terminal
OL> Keypad

(Instructions for changing the user-interface

mode are given later.)

4. When connecting a motor to the Drive, observe

the following:
Preferably the motor should be identical to
the motor that is to be used in the
application, but this is not essential.
Figure 23 Locations of the power connectors The motor shaft must not be attached to
any equipment, or exposed.

Unidrive User Guide

2-2 Getting Started Issue code: udxu6
5. Connect a speed feedback device to the Drive, For electrical specifications of the connections and
as follows: for operation with a 15V encoder, refer to
Appendix C Signal Connections.
Feedback Notes
device The D-type connector can also be used for
frequency slaving in open loop applications. For
Open-loop
more information on frequency slaving refer to the
None required Unidrive Advanced User Guide. For connection
information, see Appendix C.
Closed-loop Vector
Quadrature EIA485/EIA422 standard
encoder (formerly RS485/RS422)
5 VDC (or 15 VDC) supply requirement
See Figure 24 for connecting the
encoder to the 15-way D-type
connector on the Drive
SIN-COS encoder Fit a UD52 SIN-COS encoder small option
module in the Drive and refer to the
UD52 User Guide for wiring details.
Resolver Resolver specification:
Input impedance: 85 at 6kHz
Turns ratio: 3:1 Encoder connector
Excitation voltage: 6V RMS 15-way D-type

(For operation with a 2:1 turns ratio Encoder

and 4VRMS excitation voltage, see
the Unidrive Advanced User Guide or
the UD53 User Guide.)
Signal
No. of pole pairs: 1 connections for
all encoders
Fit a UD53 Resolver small option module in
the Drive and refer to the UD53 User
Guide for wiring details.

Closed-loop Servo
Quadrature EIA485/EIA422 standard
encoder with (formerly RS485/RS422)
commutation Additional
5VDC (or 15 VDC) supply requirement commutation
signals signal
See Figure 24 for connecting the connections for
encoder to the 15-way D-type use with servo
connector on the Drive motors only

SIN-COS encoder Fit a UD52 SIN-COS encoder small option

module in the Drive and refer to the
UD52 User Guide for wiring details.
Resolver Resolver specification:
Input impedance: 85 at 6kHz
Turns ratio: 3:1
Signal connector
Excitation voltage: 6V RMS
(For operation with a 2:1 turns ratio
and 4VRMS excitation voltage, see Figure 24 Encoder and possible
the Unidrive Advanced User Guide or motor-thermistor connections to
the UD53 User Guide.)
the 15-way D-type connector
No. of pole pairs: 1
Fit a UD53 Resolver small option module in
the Drive and refer to the UD53 User
Guide for wiring details.

Unidrive User Guide

Issue code: udxu6 Getting Started 2-3
Note
The Drive can be used with an encoder that
does not produce Z marker pulses. In this
case, ensure that the Z marker pulse inputs
are left unconnected.

6. No motor thermistor connection is required at

this stage, but a thermistor will be required
later if the Drive is to be operated in any macro
configuration except Macros 1 and 5. If a speed
feedback device is being connected to the 15-
way D-type connector on the Drive, for
convenience the motor thermistor can be
connected now as shown in Figure 24 in
preparation for operation with the appropriate
macro configuration. When Macro 1 or Macro 5
is enabled, the thermistor is ignored by the
Drive. (Instructions for connecting a motor
thermistor to the signal connector are given for
each macro configuration in Chapter 3 Setting
Up the Drive.)

After having made control

connections, carefully check
that terminal 30 is open-circuit
Warning
to ensure the Drive is in the
Stop state when the AC supply
is first connected.

7. After re-fitting the terminal cover, connect the

Drive to the AC supply.

Unidrive User Guide

2-4 Getting Started Issue code: udxu6
 Refer to the Installation Guide for
cable sizes and fuse ratings

Status relay
Drive healthy Optional
RFI filter
Analog frequency/speed Signal
reference 1 connector
(remote)

Connections for
single-ended input
signal Thermal
protection
device
0V common

Connections for
differential input signal Stop Start /
Reset
0V common

Analog
frequency/speed
reference 2 Optional braking resistor
(local)
Refer to the Installation Guide for sizing
of the optional braking resistor
Power
0V common terminals

SPEED

TORQUE

Encoder
Encoder
0V common connector
OL> AT SPEED 15-way Signal
CL> AT ZERO SPEED D-type connections for
all encoders

RESET

JOG SELECT

RUN FORWARD

RUN REVERSE

LOCAL / REMOTE REMOTE

Additional
LOCAL commutation
OL> External trip signal
CL> Drive enable connections for
use with servo
0V common motors only

Figure 25 Power connections, and signal connections for Terminal mode (Macro 1 only)

Unidrive User Guide

Issue code: udxu6 Getting Started 2-5
 Refer to the Installation Guide for
cable sizes and fuse ratings

Status relay
Drive healthy Optional
RFI filter
Signal
connector

Thermal
protection
device

Stop Start /
Reset

Optional braking resistor

Refer to the Installation Guide for sizing
of the optional braking resistor
Power
0V common terminals

SPEED

TORQUE

Encoder
Encoder
0V common connector
OL> AT SPEED 15-way Signal
CL> AT ZERO SPEED D-type connections for
all encoders

RESET

Additional
commutation
OL> External trip signal
CL> Drive enable connections for
use with servo
0V common motors only

Figure 26 Power connections, and signal connections for Keypad mode (Macro 1 only)

Unidrive User Guide

2-6 Getting Started Issue code: udxu6
2.3 Introduction to the
display and keypad
Display and keypad
The display and keypad are used for the following:
Reading and changing the values of software
parameters that are used to configure,
control and monitor the Drive
Displaying the operating status of the Drive
Displaying fault and trip codes
Programming keys
These are used for the following:
Changing the mode of operation of the
display
Selecting a parameter to edit
Editing the selected parameter
Saving new values given to parameters
The functions of the programming keys are as
follows:
Change the display mode

Select a parameter
Increase the value of a digit
Upper display
Lower display Select a parameter
Decrease the value of a digit
Programming keys

Display the parameter number

Select the next left display digit
Control keys Select another menu

Display the parameter number

Run Stop Forward /
Select the next right display digit
Reset Reverse Select another menu

Control keys
Figure 27 Display and keypad
The functions of the control keys are as follows:

Display
(RUN) Start the Drive running.
The display has three display modes as follows...
The RUN key is active only when the Drive is
Status mode operating in Keypad mode (parameter 0.05
Used to indicate the status of the Drive Reference select set at 4).
Parameter mode
Used for selecting a parameter to edit
(STOPRESET) The three functions of
Edit mode this key are as follows:
Used for editing the selected parameter
Stop the Drive
... and shows the following:
Reset the Drive after it has tripped
Display Display mode Make new parameter-values take effect
Status Parameter Edit The STOP-RESET key is active when the Drive
Upper Value of Value of Value of is operating in Keypad mode. This key acts only
parameter 0 parameter 0 parameter 0 as RESET when the Drive is operating in
(selected digit Terminal mode (parameter 0.05 Reference select
flashes) set at 0, 1, 2, 3 or 5).
Lower Status of the Parameter Parameter
Drive number number
rdY 0.10 0.10 (FWD/REV) Change the direction of
rotation of the motor. (This is not enabled by
Operating instructions for the display and keypad default, and is described later in this chapter in
are given in Appendix A Programming Instructions. Enabling reverse direction in Keypad mode.)

Unidrive User Guide

Issue code: udxu6 Getting Started 2-7
Resetting the Drive
Terminal mode
When the Drive is stopped, press:
Alternatively, close the RESET contact (see
Figure 25).
Keypad mode
When the Drive is stopped, press:
When the Drive is running, press and hold...
... and press:
Release both keys at the same time.
2.4 Working with
software parameters
Parameters and menus
The software parameters are contained in a menu
named Menu 0. Each parameter has a number (that
includes the menu number) as well as a name. These
are represented in this User Guide as (for example,
parameter 03 in Menu 0):
0.03 Acceleration rate
When the value of a parameter is referred to, it is
indicated as [0.03].
These Menu 0 parameters are in fact duplicates of
certain parameters that are contained in advanced
menus. These can be accessed only after security
has been unlocked. For information on these
parameters, see the Unidrive Advanced User Guide.
(When the value of a Menu 0 parameter is adjusted,
actually its associated parameter in the advanced
menu is adjusted.)
2-8 Getting Started
Types of parameter
Variable and bit parameters
There are two types of parameter, as follows:
Bit parameters
Variable parameters
Bit parameters can be set at 0 or 1 to carry out the
following:
Enable and disable functions
Select from two options
Variable parameters can be set at any value within
the specified range to carry out the following:
Enter values
Select from more than two options
No distinction is made in the parameter numbering
system between variable and bit parameters. When
a bit parameter is selected on the Drive display, the
word bit appears.
Readwrite and read-only
Both types of parameter can be as follows:
Readwrite (RW)
Read-only (RO)
Readwrite parameters are programmable by the
user. Read-only parameters are for information
purposes; they cannot be programmed.
The settings of readwrite and read-only
parameters can be read on the display or remotely
using serial communications.
Adjusting parameter values
Instructions on adjusting parameter values are given
in Appendix A Programming Instructions.
Making new values effective,
and saving them
The new value of most parameters takes effect as
soon as it is entered. Some parameters (such as the
destination-selection parameters for the analog
inputs) require the Drive to be reset before their
new values take effect. (These parameters are
identified by the letter R in the parameter
descriptions in the Unidrive Advanced User Guide.)
Unless a save procedure is carried out, the new value
will be lost when the AC supply is disconnected from
the Drive (described in Saving new parameter-values
in Appendix A Programming Instructions).
Unidrive User Guide
Issue code: udxu6
Parameter 0.00 Selecting Macros 0 to 8
The Drive must be stopped
Parameter 0.00 is a special readwrite parameter (described in Chapter 3 Setting Up the Drive)
that is used for the following: 2001 Macro 1 Easy mode
Saving new values given to parameters 2002 Macro 2 Motorized potentiometer
Controlling security 2003 Macro 3 Preset speeds
Configuring the Drive
2004 Macro 4 Torque control
Enabling macro configurations
2005 Macro 5 PID (set-point) control
These functions are controlled by the user entering
2006 Macro 6 Axis-limit control
specific values, as shown below:
2007 Macro 7 Brake control
Value Function 2008 Macro 8 Digital lock and shaft orientation
Saving new parameter-values (closed-loop only)
The Drive can be running or stopped 2009 Macro 0 General purpose
(described in Appendix A Operating Instructions) (USA default configuration)
1000 2010 Macro 0 General purpose
(EUR default configuration)
Controlling security
The Drive can be running or stopped The Drive must be reset to make a newly selected
(described in Appendix B Security and Accessing the function or configuration take effect.
Advanced Parameters)
149 Unlock Standard Security
Instructions for using parameter 0.00 are given at
the appropriate places in this User Guide
0 ~ 255 User security code
2000 Lock security

Changing the operating mode

The Drive must be stopped
(described later in this chapter)
1253 Enable the operating mode of the Drive to
be changed and restore default values to all
parameters for 50Hz AC supply frequency
(Europe) and the selected operating mode
1254 Enable the operating mode of the Drive to
be changed and restore default values to all
parameters for 60Hz AC supply frequency
(USA) and the selected operating mode

Restoring the Drive to a default configuration

The Drive must be stopped
(described later in this chapter)
1233 Restore default values to all parameters for
50Hz AC supply frequency (Europe)
The operating mode is not changed
1244 Restore default values to all parameters for
60Hz AC supply frequency (USA)
The operating mode is not changed

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Issue code: udxu6 Getting Started 2-9
2.5 How macro configurations Macro 0
change the arrangement of When Macro 0 is enabled, the re-programmable
the Menu 0 parameters parameters have their default functions.

Note
Do not confuse the term Macro with the
term Menu. Menu 0 contains parameters;
macro configurations re-define some of
these parameters to perform specific
functions. Menu 0 always exists, but is
affected by the macro configuration that is
enabled.
Macro 1
When Macro 1 Easy Mode is enabled, none of the
re-programmable parameters are available.
Macros 2 to 8
When one of these macro configurations is enabled,
the functions of some re-programmable parameters
are specific to the macro configuration.

Only one macro configuration can be Other factors that affect the
enabled at a time. re-programmable parameters
Menu 0 contains 51 parameters which are arranged In addition to the changes caused by the macro
in four groups, as shown in Figure 28. configurations, the functions of some
re-programmable parameters are changed by the
following:
Common to The default configuration of the Drive
all macros 0.00 (EUR or USA)
Configuration and saving
The operating mode that is selected
parameter (Open-loop, Closed-loop Vector or
Closed-loop Servo)
These are are shown in Appendix D Menu 0
0.01 ~ 0.10 Parameters.

Fixed-function parameters Where to find information on

parameters
Specific to The functions of the parameters are listed for each
each macro macro configuration in Chapter 3 Setting Up the Drive.

The functions of the parameters for each macro

8
7 configuration are described in detail in Appendix D
6
0.11 ~ 0.30 5 Menu 0 Parameters.
4
3
Re-programmable parameters 2
1
Macro 0

Common
to all
macros
0.31 ~ 0.50

Fixed-function parameters

Figure 28 How the Menu 0 parameters are

grouped and the relationship with
the macro configurations

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2-10 Getting Started Issue code: udxu6
2.6 Initial setting up
Noting the user values
A parameter table for each macro configuration in
Chapter 3 Setting Up the Drive has a column for you
to note the values entered in the parameters.
Restoring the Drive
to a default configuration
Do not attempt to restore the
Drive to a default
configuration when the Drive is
Warning running.
Restoring the Drive to a
default configuration enables
Macro 0 and returns all
parameters to their default
values including the motor
parameters. (If any one of the
macros 1 to 8 has been enabled,
the Drive still reverts to
Macro 0.)
After restoring the Drive to a
default configuration, it will be
necessary for the required
parameter values to be
re-entered before the Drive is
next run.
Restoring the Drive to a default configuration is not
essential for initial setting up, but should be used
for achieving the following:
When one of the macros 2 to 8 is currently
enabled, and a different macro
configuration is required
Intentionally restoring all parameters to
their default values (this includes the motor
parameters)
Changing (or re-applying) the default
configuration for the continent in which the
Drive is to be used
Do not follow these instructions if the operating
mode is to be changed; follow the insructions in
Changing the operating mode.
1. Enter either of the following values in
parameter 0.00:
EUR> (Europe, 50Hz AC supply): 1233
USA> (USA, 60Hz AC supply): 1244
Unidrive User Guide
Issue code: udxu6
2. Press (reset key).
3. Set 0.00 at 1000.
4. Press (reset key).
The following conditions now apply:
All the default values (including those of the
motor parameters) take effect
The operating mode is not changed.
Macro 0 is enabled
If required, any other macro configuration can be
enabled.
Changing the operating mode
It is not possible to change the
operating mode when the Drive
is running.
Warning Changing the operating mode
returns all parameters to their
default values including the
motor parameters. It will then
be necessary for the required
values to be re-entered before
the Drive is next run.
If any one of the macros 1 to 8
has been enabled, the Drive still
reverts to Macro 0.
Finding out which operating mode
is enabled
To find out which operating mode is enabled,
display the setting of parameter 0.48.
Procedure
Use the following procedure only if a different
operating mode is required:
1. Enter either of the following values in
parameter 0.00, as appropriate:
1253 (Europe, 50Hz AC supply frequency)
1254 (USA, 60Hz AC supply frequency)
Getting Started 2-11
2. Change the setting of parameter 0.48 The configuration layers (see Chapter 1 Introduction)
as follows: are now as follows:

0.48 setting Operating mode

1. Appropriate default configuration for the
continent (EUR or USA)
0 Open-loop
2. Required operating mode (Open-loop,
Closed-loop Vector or Closed-loop Servo)
3. Macro 1 Easy mode
1 Closed-loop Vector

Configuring the Drive for the motor

2 Closed-loop Servo
The values of the motor
parameters affect the
protection of the motor and
3 For operation in this mode, contact Warning the safety of the system.
the supplier of the Drive
When entering values, make
sure they are relevant to the
The figures in the second column apply when serial
motor that is to be used. The
communications are used. Caution
default values in the Drive
should not be relied upon.
3. Press or, for Terminal mode, The motor parameters should
momentarily close the RESET contact. be set to within 10% of the
required values for the motor.
The new setting takes effect and all the parameters Failure to do this may result in
revert to the appropriate default values for the new poor response.
mode.
It is essential that the correct
Macro 0 is enabled in the selected operating mode. value is entered in parameter
0.46 Motor rated current. This
Enabling Macro 1 affects the thermal protection
of the motor.

Do not attempt to enable any Keep a note of the values given

macro configuration when the to the motor parameters, since
Drive is running. motor parameters are restored
to their default values when
Warning either of the following
functions is used:
Restoring a default
Note
configuration (this must be
If the Drive is to be operated in Macro 1 or done if the Drive has been
5 and a braking resistor is to be used, now used with Macro 2 to 8
set parameter 0.15 at FASt. Then follow enabled and a different
the instructions below. macro configuration is to be
enabled)
The setting of parameter 0.15 must be Changing the
changed now because the function of this operating mode
parameter is changed when one of these
macro configurations is enabled.

1. Set parameter 0.00 at 2001.

2. Reset the Drive.

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2-12 Getting Started Issue code: udxu6
Enter the motor ratings in the motor parameters of When the number of motor poles
the Drive, as follows: is not known
Default value Range Unit Calculate the number of poles from the following:
0.41 PWM switching frequency
f 120
All 3 3, 4.5, 6, 9, 12 kHz P=
N
0.42 Motor number of poles
Where:
OL> 4 2 ~ 32 poles
VT> 4 f AC supply frequency
SV> 6 N Rated full-load speed of the motor
0.43 Motor power factor The number of poles will be the whole number
OL> 0.92 0 ~ 1.0 immediately below the value of P. Enter this whole
VT> 0.92 number in 0.42.
SV> 1.0
(See Autotune later in this chapter) Example
0.44 Motor rated voltage (standard models) Rated motor speed: 1450 RPM
OL> 400 (EUR) 460 (USA) 0 ~ 480 V AC supply frequency: 50Hz
VT> 400 (EUR) 460 (USA)
50 120
SV> 0 P= = 4.14
1450
0.44 Motor rated voltage (LV models)
OL> 220 0 ~ 240 V Therefore, the number of poles = 4
VT> 220
SV> 0 (The inaccuracy of the calculation is caused by slip,
OL> Enter the rated value. in this case 50 RPM.)
VT> Enter the rated value.
Values of FLC
SV> Do not enter a value.
Model FLC (A) Model FLC (A)
0.45 Motor rated full load RPM
UNI 1401 2.1 UNI 3401 34
OL> 0 0 ~ 6000 RPM UNI 1201 UNI 3201
VT> 1450 0 ~ 30 000 RPM
SV> 0 0 ~ 30 000 RPM UNI 1402 2.8 UNI 3402 40
UNI 1202
OL> When 0.45 is set at 0, no slip compensation is
applied by the Drive. When a value greater than zero is UNI 1403 3.8 UNI 3403 46
entered, slip compensation is applied but instability can UNI 1203 UNI 3202
occur with motor loads that have predominant inertia. To UNI 1404 5.6 UNI 3404 60
avoid this instability, set 0.45 at 0. The value can be UNI 1204 UNI 3203
changed at a later time.
UNI 1405 9.5 UNI 3405 70
VT> Enter the rated value. UNI 1205
SV> Do not enter a value. UNI 3204 74
0.46 Motor rated current
All FLC 0 ~ FLC A UNI 2401 12 UNI 4401 96
(see the following Values UNI 2201
of FLC table) UNI 2402 16 UNI 4402 124
Ensure that the motor current-rating applies to the UNI 2202
winding configuration used. UNI 2403 25 UNI 4403 156
UNI 2203
0.47 Motor rated frequency
UNI 4404 180
OL> 50 (EUR) 60 (USA) 0 ~ 1000.0 Hz
VT> 50 (EUR) 60 (USA) 0 ~ 1000.0 Hz UNI 4405 202
SV> 0
UNI 5401 240
OL> Enter the rated value.
VT> Enter the rated value.
SV> Leave 0.47 at zero

Unidrive User Guide

Issue code: udxu6 Getting Started 2-13
Saving the values
Use the following procedure:
1. Set parameter 0.00 at 1000.
2. Press . The display returns to Parameter
mode. Do not press any keys within eight
seconds; the display then enters Status mode.
3. Momentarily press to reset the Drive.
Autotune
Autotune is a sequence of tests performed by the
Drive. The results of the tests are subsequently
used by the Drive for controlling the motor.
Autotune should be used after the operating mode
has been selected and after the motor parameters
have been entered, but before the Drive is used.
Normally (and if the motor is not changed),
Autotune needs performing only once.
During the following
procedures, the Drive will
power the motor and cause
Warning
the shaft to rotate at up to
2
/3 full speed. Before
starting, make sure it will be
safe for the motor to be run.
Direction of rotation
Stored charge
The Drive contains capacitors
Warning
that remain charged to a
potentially lethal voltage after
the AC supply has been
disconnected. If the Drive has
been energized, the AC supply
must be isolated at least
ten minutes before work may
continue.
The motor shaft should rotate clockwise as viewed
from the free end of the shaft during Autotune. If
the shaft rotates in the reverse direction, stop the
test, remove the AC supply and check the motor
connections. If required, correct two of the motor
phase connections and repeat Autotune.
Procedure
Note
OL + VT> If the settings of parameters
0.41 to 0.47 are changed by a user after
Autotune has been performed, it is
essential that Autotune is repeated.
1. Ensure the motor is unloaded and at a
stand-still.

2. Ensure the EXTERNAL TRIP / DRIVE ENABLE

Note contact is closed.

3. Follow this step only if the Drive has previously

To stop the test at any time, press . been set up and both of the following have
The motor will then coast to a stand-still
and the test will not be completed.
If the Drive trips
If the Drive trips during the test, note the trip code
that appears on the upper display and refer to
Appendix E Diagnostics. The test will not be
completed.
occurred...
The setting of parameter 0.07 Voltage mode
selector has been changed to Ur
A different motor is now connected to the
Drive
... change the setting of parameter 0.07 to
Ur_I. (See Open-loop voltage control modes later
in this chapter.)

Unidrive User Guide

2-14 Getting Started Issue code: udxu6
4. Disconnect, then after at least 10 seconds,
re-connect the AC supply (this causes the Drive
to measure the stator resistance of the motor
it is essential for the Drive to be aware of the
actual value of stator resistance for Autotune
to be performed correctly).
5. Set parameter 0.40 Autotune enable at 1. The
following tests are performed:
VT> Total leakage inductance is measured
with the motor at stand-still
OL + VT> The motor is accelerated up to
two-thirds rated frequency in the forward
direction while the magnetizing current is
measured
VT> The motor is run at up to two-thirds
rated frequency for 30 seconds while the
saturation characteristic of the motor is
measured
SV> The motor shaft is rotated 360 while
the encoder phasing is checked
The motor is decelerated to a stand-still
6. OL +VT> Parameter 0.43 Motor power factor
is automatically updated.
7. Parameter 0.40 is automatically returned
to zero.
Saving the values
1. Set parameter 0.00 at 1000.
2.7 Operating instructions
Before completing the initial setting up of the Drive,
you will need to learn how to operate it. Refer to
the following instructions for Terminal mode or
Keypad mode, as appropriate.
Terminal mode
Variable frequency/speed
In Terminal mode (with Macro 1), the Drive can
control the motor as follows:
Run (forward and reverse)
Jog/Preset frequency/speed (forward and
reverse)
1. Ensure the control signal connections shown in
Figure 25 are made.
2. Check that the FREQUENCY/SPEED
potentiometer is set at minimum.
3. Ensure that the EXTERNAL TRIP /
DRIVE ENABLE contact is open.
4. Connect the Drive to the AC supply.
5. The display indicates as follows:
OL> CL>

2. Press . The display returns to Parameter

mode. Do not press any keys within eight
seconds; the display then enters Status mode.
6. Close the EXTERNAL TRIP / DRIVE ENABLE
contact.
3. Momentarily press to reset the Drive.

Changing the user-interface mode 7. OL> Press or momentarily close the

RESET contact.
Change the user-interface mode, as required. If jog
is required, select Terminal mode (jog is available 8. The display indication changes as follows:
only in Macros 0, 1, 4, 7, 8).
OL> CL>
User-interface mode Set parameter 0.05 at...
Terminal 0
Keypad 4

Note
The main function of parameter 0.05 is a
reference selector which has other settings
that operate the Drive in Terminal mode.
At this stage, do not use any of these other
settings.
Use of parameter 0.05 is described for 9. Ensure parameter 0.10 Motor speed is displayed
Macros 0 and 1 in Chapter 3 Setting Up the (default).
Drive.

Unidrive User Guide

Issue code: udxu6 Getting Started 2-15
10. Close the RUN FORWARD contact. The display Keypad mode
indicates as follows:
Enabling reverse direction in
Keypad mode

In Keypad mode (with Macro 1), (FWD/REV) is

disabled by default; the Drive can control the motor
11. Advance the FREQUENCY/SPEED in the forward direction only. If reverse operation is
potentiometer. required, enable this key by setting 6.13 Keypad
FWD/REV key (Parameter 0.30 in Macro 0) at 1. (See
12. The value shown by the upper display increases Unlocking security in Appendix B Security and Accessing
accordingly, and the motor speed increases. the Advanced Parameters.)
13. Open the RUN FORWARD contact. The An alternative means of obtaining reverse operation
following occur: is to set 1.10 Bipolar reference select at 1.
The value of the upper display reduces
to zero This allows and to give
The lower display shows dEC, then rdY bi-directional speed control.
The motor speed reduces to zero
Variable frequency/speed
14. If required, repeat steps 10 to 13 using the
RUN REVERSE contact. 1. Ensure the control signal connections shown in
Figure 26 are made.
If you do not require the use of jog / preset 2. Ensure that the EXTERNAL TRIP /
frequency/speed, go to Trip and Enable later DRIVE ENABLE contact is open.
in this chapter
3. Connect the Drive to the AC supply.
Jog/Preset frequency/speed 4. The display indicates as follows:
The jog function can be used alternatively as a
OL> CL>
preset frequency. The default values are as follows:
OL> 1.5Hz
CL> 50RPM
1. Close the JOG/PRESET SELECT contact. Then
5. Close the EXTERNAL TRIP / DRIVE ENABLE
close the RUN FORWARD contact. It is
contact.
essential that the contacts are closed in this
order, otherwise the Drive will run forward (or
reverse) normally at variable speed. 6. OL> Press
The display indicates a fixed low speed that
cannot be changed by the FREQUENCY/SPEED 7. The display indication changes as follows:
potentiometer. The motor runs at this low
OL> CL>
speed.

2. Open the RUN FORWARD contact to stop

the Drive.

3. If required, repeat steps 1 and 2 using the

RUN REVERSE contact.

4. If the JOG/PRESET SELECT contact is opened

before the RUN FORWARD or RUN REVERSE
contact, the motor speed will become
controlled by the FREQUENCY/ SPEED
potentiometer. 8. Ensure parameter 0.10 Motor speed is displayed
(default).
Go to Trip and Enable later in this chapter
9. Press to start the Drive running.

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2-16 Getting Started Issue code: udxu6
10. The upper display should indicate zero; the Trip and enable
lower display will indicate as follows:
1. If the Drive trips, and a motor is connected, the
motor will coast. See Appendix E Diagnostics.

To clear a trip, momentarily press or, for

Terminal mode only, momentarily close the
RESET contact.
11. Press to increase the speed. The value
2. OL> If the EXTERNAL TRIP contact is opened
of the upper display increases and the motor
while the Drive is stopped or running, the Drive
speed increases.
trips (and the motor will coast). The display
will indicate as follows:
12. Press to decrease the speed. The
value of the upper display decreases and the
motor speed decreases. (If parameter 1.10 has
been set at 1, and you continue to press the key
after zero speed is reached, the motor speed
will increase in the reverse direction.)
CL> If the DRIVE ENABLE contact is opened
while the Drive is running, the display will
13. Press to stop the Drive. The following indicate inh (inhibit) (and the motor will coast).
occur: The display continues to show inh when the
The value of the upper display reduces Drive is stopped.
to zero
The lower display shows dEC, then rdY
The motor speed reduces to zero

If the keypad mode has been

used previously, ensure that
the keypad reference has been
Caution
set to 0 using the and
keys as if the Drive is
started using the keypad it will
run to the speed defined by the
keypad reference (0.35).

14. If is enabled, press this key to change the

direction of rotation of the motor. If the
motor is running at the time, it will decelerate
to a stop, then accelerate to the same speed in
the opposite direction.

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Issue code: udxu6 Getting Started 2-17
2.8 Setting up operating limits Acceleration rate
To adjust the acceleration rate, adjust parameter
Maximum and minimum speeds 0.03 Acceleration rate. Increase the value to
increase the time taken for acceleration (ie. reduce
Do not set the maximum speed the acceleration rate).
at a value that is excessive for
the motor. Mode Range Default Unit
Warning OL> 0 ~ 3200 5 s/100Hz
If the intended maximum speed
affects the safety of the VT> 0 ~ 3200 2 s/1000RPM
machinery, additional SV> 0 ~ 32 0.2 s/1000RPM
independent over-speed
protection must be used. If the required acceleration cannnot be achieved, it
may be necessary to increase the value of
Set parameter 0.02 Maximum frequency/speed at the 0.06 Current limit.
required value. When initially setting up the Drive,
leave 0.01 Minimum frequency/speed at the default Deceleration rate
value of zero so that the motor shaft does not
rotate as soon as a RUN command is received. When To adjust the deceleration rate, adjust parameter
it is known to be safe to do so, set 0.01 at the 0.04 Deceleration rate. Increase the value to
required value. increase the time taken for deceleration (ie. reduce
the deceleration rate).
Note the following:
OL> Slip compensation can cause the Mode Range Default Unit
output frequency of the Drive to OL> 0 ~ 3200 10 s/100Hz
exceed [0.02]. VT> 0 ~ 3200 2 s/1000RPM
SV> 0 ~ 32 0.2 s/1000RPM
For operation at motor speeds
greater than twice base speed, If the Drive trips when decelerating the motor and
contact the supplier of the the display indicates OU, this indicates that the
Caution motor. maximum permissible DC-bus voltage has been
exceeded during braking. Increase the value of
0.04 Deceleration rate or, if a braking resistor is not
Default values and range
currently connected, return to Planning the
0.01 Default value Range Unit installation in Chapter 2 Installing the Drive in the
Installation Guide for instructions on connecting a
OL> 0 0 ~ [0.02] Hz
braking resistor.
CL> 0 0 ~ [0.02] rpm

Braking resistor
0.02 Default value Range Unit
Note
OL> 50 Hz (EUR) 0 ~ 1000 Hz
60 Hz (USA) If the application requires a braking
VT> 1500RPM (EUR) 0 ~ 30 000 rpm resistor, an external braking resistor must
1800RPM (USA) be connected to the Drive (see the
SV> 3000 0 ~ 30 000 rpm Installation Guide); the Drive does not
contain a braking resistor.

If a braking resistor is required but not

connected, the Drive may trip due to
excessive voltage appearing on the DC-bus
during deceleration, leaving the motor free
to coast. Alternatively, deceleration may
remain under control but with deceleration
times becoming extended. When the Drive
is used with a position controller, these
could cause following-errors.

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2-18 Getting Started Issue code: udxu6
If a braking resistor is to be used, set the following Closed-loop Servo model sizes 1 to 4
parameter at FASt in order to prevent instability:
FLC
[0.06]MAX = 1.75 100 (%)
Macro Parameter [0.46]
0234 0.15 Ramp mode selector
Closed-loop Servo model size 5
15678 2.04 Ramp mode selector
(see the Unidrive Advanced User Guide) FLC
[0.06] MAX = 15
. 100 (%)
[0.46]
For Macros 1, 5 and 6, the Note at the beginning of
Enabling Macro 1 earlier in this chapter gave Where:
instructions for changing the setting of this
parameter. When Macro 7 is enabled, the setting is [0.46] = Value of Motor rated current
made automatically. See 0.15 Ramp mode selector in cos is the power factor of the motor.
Appendix D Menu 0 Parameters. The value of FLC is given in the following table.

Torque-producing current limit Note

The results of these equations may not
Set parameter 0.06 Current limit at the required
correspond exactly with the current
percentage of rated motor torque (or rated active
delivered by the Drive, since the Drive may
torque-producing current).
round up the calculated figure.
The current limit is used to protect the motor and
Drive from excessive current and applies under Values of FLC
motoring and regenerating conditions. When the
Drive is operating in torque control, the current Model FLC (A) Model FLC (A)
limit limits the value of torque demand. UNI 1401 2.1 UNI 3401 34
UNI 1201 UNI 3201
The total motor current comprises a magnetizing
current and an active (torque-producing) current. UNI 1402 2.8 UNI 3402 40
Since the torque maximum produced by the motor UNI 1202
is proportional to the value of parameter 0.06 UNI 1403 3.8 UNI 3403 46
Current limit, this current limit is a torque-producing UNI 1203 UNI 3202
current limit. UNI 1404 5.6 UNI 3404 60
UNI 1204 UNI 3203
When 0.06 is set at its maximum value, the
UNI 1405 9.5 UNI 3405 70
maximum total motor current is as follows:
UNI 1205
OL> 150% x FLC UNI 3204 74
CL> 175% x FLC
Where FLC is the rated (full-load) current of the UNI 2401 12 UNI 4401 96
Drive. UNI 2201
UNI 2402 16 UNI 4402 124
The maximum value of 0.06 is given by the UNI 2202
following (but cannot exceed 400 (%)):
UNI 2403 25 UNI 4403 156
UNI 2203
Open-loop model sizes 1 to 5
UNI 4404 180
. ) 2 (1 cos 2 )
(15 FLC UNI 4405 202
[0.06]MAX = 100 (%)
cos [ 0.46] UNI 5401 240

Closed-loop Vector model sizes 1 to 4

. ) 2 (1 cos 2 )
(175 FLC
[0.06]MAX = 100 (%)
cos [ 0.46]

Closed-loop Vector model size 5

. ) 2 (1 cos 2 )
(15 FLC
[0.06]MAX = 100 (%)
cos [ 0.46]

Unidrive User Guide

Issue code: udxu6 Getting Started 2-19
Open-loop voltage-control modes Boost voltage
The default setting is as follows: Open-loop only

Macro 1: Fd Use this procedure only when 0.07 Voltage mode

Macros 0, 2, 3, 4, 5, 6, 7: Ur_I
To change the voltage control mode, select the
required setting in parameter 0.07 Voltage mode
selector, as follows:
Setting Function
Vector modes
Ur_S 0 Motor stator resistance is measured each
time the Drive is started.
Ur_I 1 Motor stator resistance is measured at
power-up if the EXTERNAL TRIP contact is
closed and no other trip condition exists.
Ur 2 Motor stator resistance is not measured
(use this mode only after having used
Ur_S or Ur_I to measure the stator
resistance).
Fixed boost mode
Fd 3 Fixed voltage boost that can be manually
adjusted by parameter 0.08 Boost voltage.
The Vector modes give better performance at low
speed than the fixed-boost mode, but require the
stator resistance to be accurately measured by the
Drive.
Note
If parameter 0.39 Synchronize to a spinning
motor is to be set at 1: for reliable
operation of the Drive, set parameter 0.07
at Fd.
When Ur_I is selected, the
motor might kick when the
supply is connected to the
Warning Drive (with the EXTERNAL TRIP
contact already closed).
selector has been set at Fd.
Where actions apply to a particular control mode,
the following key is used:
K> Keypad mode
T> Terminal mode
1. Connect the load to the motor.
2. Close the EXTERNAL TRIP contact.
3. Ensure the frequency reference is zero.
4. K> Press
T> Close the RUN FORWARD or RUN
REVERSE contact.
Increase the frequency reference to a value
slightly above zero. If the motor shaft does
not rotate, increase the value of parameter
0.08 Boost voltage sufficiently to cause the
shaft to rotate.
Default value: 3%
Range: 0 ~ 25%
5. If the motor is noisy and becomes unnecessarily
heated, reduce the value of 0.08.
6. Stop the Drive.
Save the new parameter-value.
Voltage/frequency characteristic
Open-loop only
AC
If the motor is to drive a pump or fan where the load
can vary, set parameter 0.09 Dynamic V/f select at 1.
This selects an automatic voltage/frequency
characteristic which reduces power consumption
and acoustic noise in the motor when lightly loaded.

For an explanation of the effects of the

voltage/frequency characteristic, see parameter 0.09
Dynamic V/f select in Appendix D Menu 0 Parameters.

Unidrive User Guide

2-20 Getting Started Issue code: udxu6
Dynamic performance
Closed-loop only
Speed demand

The following parameters affect the dynamic

performance of the Drive when it is operating in a
closed-loop mode:
0.07 Speed-loop proportional gain Insufficient proportional
gain [0.07]
0.08 Speed-loop integral gain
0.09 Speed-loop derivative gain

Procedure
Excessive proportional
gain [0.07]
Inappropriate values
entered in the parameters
for the speed-loop PID gains
Caution
can cause the control system
to become unstable. Excessive integral gain
[0.08]

The default values of the speed-loop PID gains can

be used for undemanding applications. Use the
following procedure when the performance is to be
Ideal response
improved in speed or torque control:
1. Connect the load to the motor.
2. Start and stop the Drive as required.
Figure 29 Response to a step-change in
3. Set the motor running at the required speed. speed demand when the speed-
4. To increase the speed of response to a change loop PID gains are adjusted
in speed demand, or to a change in load,
increase 0.07 Speed-loop proportional gain. Set Default values and range
0.07 just below the value that causes the
motor to vibrate. It is common for the Pr Default value Range
vibration to be worse at zero speed. An 200 0 ~ 32000
0.07
excessive proportional gain can result
in instability. 0.08 100 0 ~ 32000
0.09 0 0 ~ 32000
5. To improve the ability of the Drive to maintain
a speed or torque demand under steady-state
or slowly-changing conditions, increase Summary
0.08 Speed-loop integral gain.
The waveforms shown in Figure 29 represent the
A high value of 0.08 can cause the motor speed signals that would appear at terminal 9 of the signal
to vary sinusoidally around the speed demand. connector when the speed demand applied to
This effect can be minimized by increasing the terminals 5 and 6 (or terminal 7) is a square-wave.
value of 0.07 Speed-loop proportional gain.

6. To reduce overshoot when the speed demand

or the load on the motor is suddenly changed,
increase 0.09 Speed-loop derivative gain.
Excessive derivative gain will cause noise in
the motor.

Unidrive User Guide

Issue code: udxu6 Getting Started 2-21
 Unidrive User Guide
2-22 Getting Started Issue code: udxu6
3 Setting Up the Drive 3.2 Enabling a different
macro configuration
(Macro Configurations)
Do not attempt to enable any
macro configuration when the
Do not change parameter Drive is running.
values without careful
Warning
consideration; wrong values
Warning
may cause damage or a safety
hazard. Note
Only one macro configuration can be
Notes enabled at a time.

Keep a note of changes Enabling a different macro

When changing the values of parameters,
make a note of the new values in case they
need to be entered again.
Saving the changes
configuration after getting started
with Macro 1
If Macro 1 is to remain enabled, ignore this section
and go to Macro 1 later in this chapter.

For new parameter-values to apply after 1. To enable a different macro configuration, set
the AC supply to the Drive is interrupted, parameter 0.00 as follows:
new values must be saved. Refer to
Macro Function Setting
Saving new parameter-values in Appendix A
Programming Instructions. 2 Motorized potentiometer 2002
(frequency/speed control by up
and down contacts)
3.1 How to use this chapter 3 Four preset speeds (selected by 2003
digital control signals)
When setting up the Drive for the first time, you 4 Torque control 2004
must first have followed Chapter 2 Getting Started;
Macro 1 Easy mode will then be enabled. Whether 5 PID (set-point) control 2005
you keep Macro 1 or enable a different macro 6 Axis-limit control 2006
configuration, the settings you made in Chapter 2 7 Brake control 2007
will remain unchanged. During the course of setting
8 CL> Digital lock 2008
up the Drive, you may need to change some of these
CL> Shaft orientation
settings. If so, refer again to Chapter 2.
0 General purpose 2009
It is recommended that you follow the instructions (USA default configuration)
in this chapter in the order that they appear. You General purpose 2010
will be led through the following: (EUR default configuration)
Enabling the required macro
configuration (if a macro other than Note
Macro 1 is required) The values of the fixed parameters are not
Changing the signal connections changed when any one of these macro
accordingly configurations is enabled.
Adjusting parameters that are
specific to the macro configuration When Macro 0 is enabled, the
A list of subsidiary functions that functions of parameters
can be set up 0.27 to 0.29 differ between
Caution the EUR and USA default
configurations.

2. Reset the Drive.

3. Go to the relevant section in this chapter for
the macro configuration that has been enabled.

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-1
Enabling a different macro
configuration after using Macros 2 to 8
If any of the macros from 2 to 8 has been enabled
(after the instructions in this chapter have
previously been followed), proceed as follows...

1. Go to Initial setting up in Chapter 2 Getting

Started. Start proceeding through that section
by referring to either of the following, as
appropriate:
To keep the same operating mode, see
Restoring the Drive to a default configuration
To change the operating mode, see Changing
the operating mode.
2. Follow the remainder of Initial setting up.

3. Return to this chapter and follow Enabling a

different macro configuration after getting started
with Macro 1 earlier in this section.

3.3 Advanced programming

If you unlock security, the complete functionality of
the Drive becomes available for adjustment. In this
case, refer to Appendix B Security and Accessing the
Advanced Parameters and the Unidrive Advanced
User Guide.

Unidrive User Guide

3-2 Setting Up the Drive Issue code: udxu6
3.4 Macro 0 Signal connections for Macro 0
General purpose
(default configuration) Signal
connector

Status relay
Features Drive healthy

Analog frequency/speed
Specific features reference 1
(remote)
Macro 0 places the Drive in a default configuration
Connections for
for general-purpose use. single-ended input
signal
Standard features
0V common
Macro 0 operates in Terminal or Keypad
mode Connections for
differential input signal
In Terminal mode, digital control by
RUN FORWARD, RUN REVERSE and 0V common
JOG SELECT contacts
Local and remote analog frequency/speed Analog
frequency/speed
inputs, or setting of frequency/speed by use reference 2
of the keypad (local)

Keypad control of speed can be

uni-directional or bi-directional 0V common

Selection of analog input modes SPEED

Adjustable Jog/Preset frequency/speed
Adjustment of minimum and maximum TORQUE
frequencies/speeds
Adjustment of acceleration and deceleration Motor thermistor
ramps
S-ramp 0V common

Skip frequencies/speeds
Selection of stopping modes OL> AT SPEED
CL> AT ZERO SPEED 0V common
Selection of braking mode
Motor thermistor input
RESET
Negative logic for the digital inputs
JOG SELECT
(EUR> positive logic can be selected)
EUR> Adjustment of current-loop PI gains RUN FORWARD

USA> Indication of frequency/speed RUN REVERSE

demand LOCAL / REMOTE REMOTE

USA> Digital control by three-wire LOCAL

momentary contacts can be selected OL> External trip

SPEED and TORQUE analog outputs CL> Drive enable
0V common
OL> AT SPEED digital output
CL> AT ZERO SPEED digital output
Figure 31 Control signal and thermistor
OL> External trip digital input connections for Macro 0
CL> Drive enable digital input
Drive RESET digital input For electrical specifications, refer to Appendix C
Signal Connections.

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-3
 LOCAL / JOG RUN RUN OL> EXTERNAL TRIP
REMOTE SELECT FORWARD REVERSE RESET CL> DRIVE ENABLE
29 26 27 28 25 30
Reference selection Reference
selector 0.02 Maximum
Frequency/speed ref. 1 frequency/speed
(remote) 0.05 clamp
Analog input 1 Minimum
mode selector frequency/
5 speed clamp
0.24
6 0.01 Skip
frequencies/
Analog input 2 speeds
Analog input 2 destination
mode selector selector
7 0.25 0.26

Frequency/speed ref. 2
(local)

Preset references 0.20

(use Macro 3)
Skip frequency/
speed 1

0.38 0.21

0.35 Power up Skip freq./speed

parameter band 1
display
Keypad setting
reference 0.22
Skip frequency/
speed 2

Precision reference 0.23

(not used with Menu 0)
Skip freq./speed
band 2

0.14

Jog
reference

Key

0.XX Read-write (RW)

parameter

0.XX Read-only (RO)

parameter

X X Input terminals
The parameters are shown at their default settings.
The logic diagram is valid when all parameters are
at their default settings but may not be valid when X X Output terminals
certain parameters are adjusted.

Figure 33 Programmable software for Macro 0

Unidrive User Guide
3-4 Setting Up the Drive Issue code: udxu6
 OL> FREQUENCY OL> AT SPEED
THERMISTOR CL> SPEED TORQUE CL> AT ZERO SPEED
8 9 10 24
Pre-ramp Post-ramp
reference reference
Motor control
0.11 0.12

0.06
S-ramp Torque Current
mode limit
S-ramp selector
Ramps enable
0.17 0.16
0.18
Stop mode
selector

0.39
Menu 4
Synchronize
to a spinning
0.03 motor

Acceleration
rate
CL> Speed-loop PID gains
Motor parameters
0.04
0.19 Speed-loop
Deceleration 0.07 0.42 ~ 0.47
proportional
rate S-ramp
da/dt limit gain No. of poles
Power factor
0.15 Speed-loop Rated voltage
0.08 Rated speed
integral gain
Ramp mode Rated current
selector Rated frequency

Other parameters Speed-loop

0.09 derivative OL> Motor-voltage control
0.31 Macro number gain
0.32 Serial comms. mode 0.07
0.33 Drive rated current Voltage mode
0.34 User security code selector
0.36 Serial comms. baud rate
0.10 0.08
0.37 Serial comms. address
0.40 Autotune Boost voltage
Estimated
0.48 Drive operating mode selector motor
0.09
0.49 Security status speed
Dynamic V/f
0.50 Software version number select

Motor
Motor speed active-current
Power stage

0.10 0.13 0.41

PWM switching
frequency

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-5
List of parameters specific to Macro 0

Pr Function User [M] indicates the parameter is for monitoring only

value
0.00 Configuration and saving For descriptions of these parameters,
0.01 Minimum frequency/speed clamp see Appendix D Menu 0 Parameters.
0.02 Maximum frequency/speed clamp
0.03 Acceleration rate
0.04 Deceleration rate
0.05 Reference selector
0.06 Current limit
0.07 OL> Voltage mode selector Pr Function User
CL> Speed-loop proportional gain value
0.08 OL> Boost voltage 0.11 Pre-ramp reference [M]
CL> Speed-loop integral gain
0.12 Post-ramp reference [M]
0.09 OL> Dynamic V/f select
CL> Speed-loop derivative gain 0.13 Motor active-current [M]

0.10 OL> Estimated motor speed [M] 0.14 Jog reference

CL> Motor speed [M] 0.15 Ramp mode selector
0.16 Stop mode selector
0.17 Torque mode selector
0.18 S-ramp enable
0.19 S-ramp da/dt limit
0.20 Skip frequency/speed 1
0.21 Skip freq./speed band 1

Pr Function User 0.22 Skip frequency/speed 2

value 0.23 Skip freq./speed band 2
0.31 Macro number [M] 0.24 Analog input 1 mode selector
0.32 Serial comms. mode 0.25 Analog input 2 mode selector
0.33 Drive rated current (FLC) [M] 0.26 Analog input 2 destination selector
0.34 User security code [M] 0.27 EUR> Positive logic select
0.35 Keypad reference [M] USA> Sequencing mode selector
0.36 Serial comms. baud rate 0.28 EUR> Current-loop proportional gain
USA> Frequency/speed demand
0.37 Serial comms. address
0.29 EUR> Current-loop integral gain
0.38 Power up parameter display select
USA> Terminal-29
0.39 Synchronize to a spinning motor destination parameter
0.40 Autotune 0.30 FWD/REV key enable
0.41 PWM switching frequency selector
0.42 Motor number of poles
0.43 Motor power factor
0.44 Motor rated voltage
0.45 Motor rated full load RPM
0.46 Motor rated current
0.47 OL + VT> Motor rated frequency
0.48 Drive operating mode selector
0.49 Security status [M]
0.50 Drive software version [M]

Unidrive User Guide

3-6 Setting Up the Drive Issue code: udxu6
Setting up and using Macro 0 If jog or a preset frequency/speed is required,
ensure the Drive is in Terminal mode and set
The following may require attention in addition to 0.14 Jog reference at the required value, as follows:
the settings made in Chapter 2.
Default Range Unit
value
Reference selection
OL> 1.5 0 ~ 400.0 Hz
Use 0.05 Reference selector to select the required VT> 50 0 ~ 4000 RPM
frequency/speed source, as follows:
SV> 50 0 ~ 4000 RPM
0.05 Source Terminal(s)
To use jog or preset frequency/speed, close the
0 Analog input 1 or 2 which can be 5 and 6, or 7
JOG SELECT contact (terminal 26) before closing
selected using the LOCAL/REMOTE
contact
the RUN FORWARD contact (terminal 27) or RUN
REVERSE contact (terminal 28).
1 Analog input 1 5, 6
2 Analog input 2 7 EUR> Selecting positive logic
3 Preset frequencies/speeds
(Do not use this setting, use Ensure the logic sense is
Macro 3 instead) correct for the control circuit
4 Keypad control to be used. Incorrect logic
sense could cause the motor to
5 (Refer to the Unidrive Advanced Caution
be started unexpectedly.
User Guide)

By default, the digital inputs operate in negative

Analog input modes logic. For operation in positive logic, set
0.27 Positive logic select at 1.
The analog inputs can be configured for the
following input signals: USA> Digital control by three-wire
0 ~ 20mA, 4 ~ 20mA or 0 ~ 10V momentary contacts
Refer to the following parameters in Appendix D 1. Set 0.05 Reference selector at 0, 1 or 2.
Menu 0 Parameters for selecting the required mode:
2. Set 0.27 Sequencing mode selector at 0.
Analog Terminal(s) Parameter
input 3. Set 0.29 Terminal-29 destination selector at 6.34
1 5, 6 0.24 to change the function of terminal 29 to
Analog input 1 mode selector RUN PERMIT / STOP.
2 7 0.25
Analog input 2 mode selector
Signal connector

Forward and reverse direction JOG

in Keypad mode RUN

REVERSE SELECT

The Drive is supplied with the (FWD/REV) key STOP

disabled to ensure the Drive is run only in the
forward direction. To enable this key, set 0.30
FWD/REV enable at 1.
0V common

Jog/Preset frequency/speed
Figure 32 Connections for control by 3-wire
The jog function can be used for low-speed jogging momentary contacts
or as a preset frequency/speed at any value up to (see Figure 31 for
the maximum. other connections)

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-7
Stopping and braking modes
Refer to the following parameters in Appendix D
Menu 0 Parameters:

Parameter Setting Function

0.15 Stnd.Ct (Standard controlled)
Ramp mode selector Deceleration time is
extended if the DC-bus
voltage reaches its
maximum permissible
value during braking.
0.16 rP Ramp to stop then the
Stop mode selector Drive is disabled

Unidrive User Guide

3-8 Setting Up the Drive Issue code: udxu6
3.5 Macro 1 Signal connections for Macro 1
Easy mode
Signal
Features connector

Status relay
Drive healthy
Specific features
Analog
Easy mode gives the simplest operation of the Drive frequency/speed
reference 1
for basic applications. (remote) 0 ~ 10V

Standard features
Analog 0V common
Macro 1 operates in Terminal or Keypad frequency/speed
reference 2
mode (local) 4 ~ 20mA
In Terminal mode, digital control by
RUN FORWARD, RUN REVERSE and
0V common
JOG SELECT contacts
Local and remote analog frequency/speed SPEED
inputs, or setting of frequency/speed by use
of the keypad TORQUE
Keypad control of speed is uni-directional
only OL> AT SPEED
CL> AT ZERO SPEED 0V common
Fixed analog input modes
Fixed jog frequency/speed
RESET
Adjustment of minimum and maximum
frequencies/speeds JOG SELECT

Adjustment of acceleration and deceleration RUN FORWARD

ramps RUN REVERSE
Negative logic for the digital inputs LOCAL / REMOTE REMOTE

SPEED and TORQUE analog outputs LOCAL

OL> AT SPEED digital output OL> External trip

CL> Drive enable
CL> AT ZERO SPEED digital output 0V common
OL> External trip digital input
CL> Drive enable digital input Figure 34 Control signal connections
Drive RESET digital input for Macro 1

For electrical specifications, refer to Appendix C

Signal Connections.

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-9
 LOCAL / JOG RUN RUN OL> EXTERNAL TRIP
REMOTE SELECT FORWARD REVERSE RESET CL> DRIVE ENABLE
29 26 27 28 25 30
Reference selection Reference
selector Maximum
0.02
Frequency/speed ref. 1 frequency/speed
(remote) 0.05 clamp
Minimum
frequency/
5 speed clamp
6 0.01

Frequency/speed ref. 2
(local)

Preset references
(use Macro 3)

0.38

0.35 Power up
parameter
display
Keypad setting
reference

Precision reference
(not used with Menu 0)

Key

0.XX Read-write (RW)

parameter

0.XX Read-only (RO)

parameter

X X Input terminals
The parameters are shown at their default settings.
The logic diagram is valid when all parameters are
at their default settings but may not be valid when X X Output terminals
certain parameters are adjusted.

Figure 35 Programmable software for Macro 1

Unidrive User Guide
3-10 Setting Up the Drive Issue code: udxu6
 OL> FREQUENCY OL> AT SPEED
CL> SPEED TORQUE CL> AT ZERO SPEED
9 10 24

Motor control

0.06
Current
limit

Ramps
0.39
Synchronize
to a spinning
motor

0.03
Acceleration
rate
CL> Speed-loop PID gains
Motor parameters
0.04
0.07 Speed-loop
Deceleration proportional 0.42 ~ 0.47
rate gain No. of poles
Power factor
Speed-loop Rated voltage
0.08 Rated speed
integral gain
Rated current
Rated frequency

Other parameters Speed-loop

0.09 derivative OL> Motor-voltage control
0.31 Macro number gain
0.32 Serial comms. mode 0.07
0.33 Drive rated current Voltage mode
0.34 User security code selector
0.36 Serial comms. baud rate
0.10 0.08
0.37 Serial comms. address
0.40 Autotune Boost voltage
Estimated
0.48 Drive operating mode selector motor
0.09
0.49 Security status speed
Dynamic V/f
0.50 Software version number select

Motor speed
Power stage

0.10 0.41
PWM switching
frequency

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-11
List of parameters specific to Macro 1

Pr Function User [M] indicates the parameter is for monitoring only

value
For descriptions of these parameters, see Appendix D Menu
0.00 Configuration and saving
0 Parameters.
0.01 Minimum frequency/speed clamp
0.02 Maximum frequency/speed clamp
0.03 Acceleration rate
0.04 Deceleration rate
0.05 Reference selector
0.06 Current limit
0.07 OL> Voltage mode selector
CL> Speed-loop proportional gain
0.08 OL> Boost voltage
CL> Speed-loop integral gain
0.09 OL> Dynamic V/f select
CL> Speed-loop derivative gain
0.10 OL> Estimated motor speed [M]
CL> Motor speed

0.31 Macro number [M]

0.32 Serial comms. mode
0.33 Drive rated current (FLC) [M]
0.34 User security code [M]
0.35 Keypad reference [M]
0.36 Serial comms. baud rate
0.37 Serial comms. address
0.38 Power up parameter display select
0.39 Synchronize to a spinning motor
0.40 Autotune
0.41 PWM switching frequency selector
0.42 Motor number of poles
0.43 Motor power factor
0.44 Motor rated voltage
0.45 Motor rated full load RPM
0.46 Motor rated current
0.47 OL + VT> Motor rated frequency
0.48 Drive operating mode selector
0.49 Security status [M]
0.50 Drive software version [M]

Unidrive User Guide

3-12 Setting Up the Drive Issue code: udxu6
Setting up and using Macro 1
The following may require attention in addition to
the settings made in Chapter 2.

Reference selection
Use 0.05 Reference selector to select the required
frequency/speed source, as follows:

0.05 Source Terminal(s)

0 Analog input 1 or 2 which can be 5 and 6, or 7
selected using the LOCAL/REMOTE
contact
1 Analog input 1 5, 6
2 Analog input 2 7
3 (Do not use)
4 Keypad control
5 (Do not use)

Frequency/speed references

Keypad mode

The value of the keypad reference can be read by

displaying the value of 0.35 Keypad reference.

Terminal mode

Frequency/speed reference 1 (terminals 5, 6) is

configured for 0 to 10V signal.

Frequency/speed reference 2 (terminal 7) is

configured for 4 to 20mA signal. Loss of the
current signal will be treated as zero reference.

Jog
To use jog, close the JOG SELECT contact
(terminal 26) before closing the RUN FORWARD
contact (terminal 27) or RUN REVERSE contact
(terminal 28).

Jog will occur as follows:

OL> 1.5Hz
CL> 50RPM

These values cannot be altered.

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-13
Use this free space for notes

Unidrive User Guide

3-14 Setting Up the Drive Issue code: udxu6
3.6 Macro 2 Signal connections for Macro 2
Motorized potentiometer
Signal
connector
Features
Status relay
Drive healthy
Special features
Analog
The digital inputs are configured to accept frequency/speed
reference 1
momentary UP and DOWN contacts. (remote) 0 ~ 10V

Selection can be made between motorized

potentiometer operation and normal 0V common
frequency/speed control. In both cases, analog Motor thermistor

input 1 remains configured for an analog

frequency/speed reference signal (0 to 10V).
0V common
Motorized potentiometer is used by first closing the
RUN FORWARD or RUN REVERSE contact as SPEED
required, then closing the UP or DOWN contact to
increase or decrease the speed. When the UP and TORQUE
DOWN contacts are both open, the Drive maintains
constant speed until the closed RUN contact is UP
opened.
RESET and
MOT. POT. RESET
The output of the motorized potentiometer can be
monitored by reading the value of 0.26 Motorized DOWN
pot. output indicator, and the frequency/speed by RUN FORWARD
reading the value of 0.11 Pre-ramp reference.
RUN REVERSE
The motorized potentiometer is reset when the MOT. POT. ENABLE ANALOG I/P

RESET contact connected to terminal 25 is closed MOT. POT.

momentarily. (This also resets the Drive.)
OL> External trip
CL> Drive enable
Selection can be made for the motorized 0V common
potentiometer to return to the previous set speed,
or start at zero, after each power-up.
Figure 36 Control signal and thermistor
connections for Macro 2
Standard features
Macro 2 operates in Terminal mode only
For electrical specifications, refer to Appendix C
Digital control by RUN FORWARD and Signal Connections.
RUN REVERSE contacts
Analog frequency/speed input
Adjustment of minimum and maximum
frequencies/speeds
Adjustment of acceleration and deceleration
ramps
S-ramp
Skip frequencies/speeds
Selection of stopping modes
Selection of braking mode
Motor thermistor input
Negative logic for the digital inputs
SPEED and TORQUE analog outputs
OL> External trip digital input
CL> Drive enable digital input
Drive RESET digital input

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-15
 MOTORIZED RESET and RUN RUN OL> EXTERNAL TRIP
POT. ENABLE MOT. POT. RESET FORWARD REVERSE CL> DRIVE ENABLE
29 25 27 28 30
Reference selection Reference
selector 0.02
Frequency/speed ref. 1
(remote) 0.05
Analog input 1 Minimum
mode selector frequency/
5 speed clamp
0.24
6 0.01 Skip
frequencies/
speeds

0.20
Motorized pot.
0.25
reset indicator Skip frequency/
speed 1

Motorized pot. 0.21

0.26
output indicator
Skip freq./speed
band 1
Motorized pot.
UP 24 0.27
zero-start select 0.22
Skip frequency/
0.28 Motorized pot. speed 2
bipolar select
DOWN 26
0.23
0.29 Motorized pot. rate Skip freq./speed
band 2

Motorized pot.
0.30
output scale factor

0.38
Power up
parameter
display
setting

Key

0.XX Read-write (RW)

parameter

0.XX Read-only (RO)

parameter

X X Input terminals

X X Output terminals

Figure 37 Programmable software for Macro 2

Unidrive User Guide
3-16 Setting Up the Drive Issue code: udxu6
 OL> FREQUENCY
THERMISTOR CL> SPEED TORQUE
8 9 10
Pre-ramp Post-ramp
reference reference
Motor control
0.11 0.12

0.06
S-ramp Current
limit
S-ramp
Ramps enable
0.16
0.18
Stop mode
selector

0.39
Synchronize
to a spinning
0.03 motor

Acceleration
rate
CL> Speed-loop PID gains
Motor parameters
0.04
0.19 Speed-loop
Deceleration 0.07 0.42 ~ 0.47
proportional
rate S-ramp
gain No. of poles
da/dt limit
Power factor
0.15 Speed-loop Rated voltage
0.08 Rated speed
integral gain
Ramp mode Rated current
selector Rated frequency

Other parameters Speed-loop

0.09 derivative OL> Motor-voltage control
gain
0.17 Status relay invert 0.07
0.31 Macro number
Voltage mode
0.32 Serial comms. mode selector
0.33 Drive rated current
0.10 0.08
0.34 User security code
0.36 Serial comms. baud rate Boost voltage
Estimated
0.37 Serial comms. address motor
0.09
0.40 Autotune speed
Dynamic V/f
0.48 Drive operating mode selector select
0.49 Security status
0.50 Software version number
Motor
Motor speed active-current
Power stage

0.10 0.13 0.41

PWM switching
frequency

The parameters are shown at their default settings.

The logic diagram is valid when all parameters are
at their default settings but may not be valid when
certain parameters are adjusted.

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-17
List of parameters specific to Macro 2

Pr Function User [M] indicates the parameter is for monitoring only

value
0.00 Configuration and saving For descriptions of these parameters, see
0.01 Minimum frequency/speed clamp Appendix D Menu 0 Parameters.
0.02 Maximum frequency/speed clamp
0.03 Acceleration rate
0.04 Deceleration rate
0.05 Reference selector (do not adjust)
0.06 Current limit
0.07 OL> Voltage mode selector Pr Function User
CL> Speed-loop proportional gain value
0.08 OL> Boost voltage 0.11 Pre-ramp reference [M]
CL> Speed-loop integral gain
0.12 Post-ramp reference [M]
0.09 OL> Dynamic V/f select
CL> Speed-loop derivative gain 0.13 Motor active-current [M]

0.10 OL> Estimated motor speed [M] 0.14 Jog reference (not used)
CL> Motor speed 0.15 Ramp mode selector
0.16 Stop mode selector
0.17 Status relay invert
0.18 S-ramp enable
0.19 S-ramp da/dt
0.20 Skip frequency/speed 1
0.21 Skip freq./speed band 1

Pr Function User 0.22 Skip frequency/speed 2

value 0.23 Skip freq./speed band 2
0.31 Macro number [M] 0.24 Analog input 1 mode selector
0.32 Serial comms. mode 0.25 Motorized pot. reset indicator [M]
0.33 Drive rated current (FLC) [M] 0.26 Motorized pot. output indicator
0.34 User security code [M] 0.27 Motorized pot. zero-start select
0.35 Keypad reference [M] 0.28 Motorized pot. bipolar select
0.36 Serial comms. baud rate 0.29 Motorized pot. rate
0.37 Serial comms. address 0.30 Motorized pot. output scale factor
0.38 Power up parameter display select
0.39 Synchronize to a spinning motor
0.40 Autotune
0.41 PWM switching frequency selector
0.42 Motor number of poles
0.43 Motor power factor
0.44 Motor rated voltage
0.45 Motor rated full load RPM
0.46 Motor rated current
0.47 OL + VT> Motor rated frequency
0.48 Drive operating mode selector
0.49 Security status [M]
0.50 Drive software version [M]

Unidrive User Guide

3-18 Setting Up the Drive Issue code: udxu6
Setting up and using Macro 2 Reference selection

The following may require attention in addition to For correct operation of this macro configuration,
the settings made in Chapter 2. the setting of parameter of 0.05 Reference selection
should be at 0.
Motorized potentiometer settings
Analog input modes
1. By default, the Drive operates in
frequency/speed control. To disable this and The analog input can be configured for the
enable the motorized potentiometer, close the following input signals:
MOT. POT. ENABLE contact (terminal 29). 0 ~ 20mA, 4 ~ 20mA or 0 ~ 10V
2. If required, change the value of 0.29 Motorized Refer to the following parameter in Appendix D
pot. rate to change the rate of increase and Menu 0 Parameters for selecting the required mode:
decrease. Increasing the value reduces the rate
of change of speed. Analog Terminal(s) Parameter
input
Default value: 20 s
1 5, 6 0.24
Range: 0 ~ 250 s
Analog input 1 mode selector
3. If bipolar operation is required, set 0.28
Motorized pot. bipolar select at 1. Jog frequency/speed
4. By default, every time the Drive is powered-up There is no need to adjust 0.14 Jog reference since
and enabled, the frequency/speed will return the jog function cannot be used.
under ramp control to the last setting of the
motorized potentiometer. If the Drive is Stopping and braking modes
required to start at zero, set 0.27 Motorized
pot. zero-start select at 1. Refer to the following parameters in Appendix D
Menu 0 Parameters:
5. To reset the motorized potentiometer,
momentarily close the RESET contact. (This Parameter Setting Function
also resets the Drive.) 0.15 Stnd.Ct (Standard controlled)
Ramp mode selector Deceleration time is
6. If required, change the scaling of the extended if the DC-bus
motorized potentiometer output by adjusting voltage reaches its
0.30 Motorized pot. output scale factor. maximum permissible
value during braking.
7. If required, monitor the output value of the
0.16 rP Ramp to stop then the
potentiometer by reading 0.26 Motorized pot. Stop mode selector Drive is disabled
output indicator.

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-19
Use this page for notes

Unidrive User Guide

3-20 Setting Up the Drive Issue code: udxu6
3.7 Macro 3 Signal connections for Macro 3
Preset frequencies/speeds
Signal
Features connector

Status relay
Special features Drive healthy
Analog
Selection can be made between preset frequency/speed
reference 1
frequencies/speeds and analog frequency/speed (remote) 0 ~ 10V
control. In both cases, analog input 1 remains
configured for an analog frequency/speed reference
signal (0 to 10V). 0V common
Motor thermistor
Up to four preset frequencies/speeds can be used;
their values must be programmed into individual
parameters. Selection is made by external contacts 0V common
operating in binary logic.
SPEED
Standard features
Macro 3 operates in Terminal mode only TORQUE

Digital control by RUN FORWARD and PRESET SELECT A

RUN REVERSE contacts RESET
Analog frequency/speed input PRESET SELECT B
Adjustment of minimum and maximum
RUN FORWARD
frequencies/speeds
RUN REVERSE
Adjustment of acceleration and deceleration
ANALOG I/P
ramps PRESET ENABLE
Operation of the status relay can PRESET REFS.

be inverted OL> External trip

CL> Drive enable
S-ramp 0V common
Skip frequencies/speeds
Selection of stopping modes Figure 38 Control signal and thermistor
Selection of braking mode connections for Macro 3
Motor thermistor input
Negative logic for the digital inputs For electrical specifications, refer to Appendix C
SPEED and TORQUE analog outputs Signal Connections.
OL> External trip digital input
CL> Drive enable digital input
Drive RESET digital input

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-21
 PRESET RUN RUN
ENABLE FORWARD REVERSE RESET

29 27 28 25 30
Reference selection Reference
selector 0.02 Maximum
Frequency/speed ref. 1 freq./speed
(remote) 0.05 clamp
Analog input 1 Minimum
mode selector frequency/
5 speed clamp
0.24
6 0.01 Skip
frequencies/
speeds

Preset
0.25 0.20
reference 1
Skip frequency/
speed 1
PRESET Preset
24 0.26
SELECT A reference 2
0.21
Preset Skip freq./speed
0.27
reference 3 band 1
PRESET 26
SELECT B 0.22
0.28 Preset
reference 4 Skip frequency/
speed 2

A B Preset speed 0.23

0 0 1 Skip freq./speed
0 1 2 band 2
1 0 3
1 1 4

0.38
Power up
parameter
display setting

Key

0.XX Read-write (RW)

parameter

0.XX Read-only (RO)

parameter

X X Input terminals

X X Output terminals

Figure 39 Programmable software for Macro 3

Unidrive User Guide
3-22 Setting Up the Drive Issue code: udxu6
 THERMISTOR SPEED TORQUE
8 9 10
Pre-ramp Post-ramp
reference reference
Motor control
0.11 0.12

0.06
S-ramp Current
limit
S-ramp
Ramps enable
0.16
0.18
Stop mode
selector

0.39
Synchronize
to a spinning
0.03 motor

Acceleration
rate
CL> Speed-loop PID gains
Motor parameters
0.04
0.19 Speed-loop
Deceleration 0.07 0.42 ~ 0.47
proportional
rate S-ramp
da/dt limit gain No. of poles
Power factor
0.15 Speed-loop Rated voltage
0.08 Rated speed
integral gain
Ramp mode Rated current
selector Rated frequency

Other parameters Speed-loop

0.09 derivative OL> Motor-voltage control
0.17 Status relay invert gain
0.31 Macro number 0.07
0.32 Serial comms. mode
Voltage mode
0.33 Drive rated current selector
0.34 User security code
0.10 0.08
0.36 Serial comms. baud rate
0.37 Serial comms. address Boost voltage
Estimated
0.40 Autotune motor
0.09
0.48 Drive operating mode selector speed
Dynamic V/f
0.49 Security status select
0.50 Software version number

Motor
Power stage active-current
Power stage

0.10 0.13 0.41

PWM switching
frequency

The parameters are shown at their default settings.

The logic diagram is valid when all parameters are
at their default settings but may not be valid when
certain parameters are adjusted.

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-23
List of parameters specific to Macro 3

Pr Function User [M] indicates the parameter is for monitoring only

value
0.00 Configuration and saving For descriptions of these parameters, see
0.01 Minimum frequency/speed clamp Appendix D Menu 0 Parameters.
0.02 Maximum frequency/speed clamp
0.03 Acceleration rate
0.04 Deceleration rate
0.05 Reference selector (do not adjust)
0.06 Current limit
0.07 OL> Voltage mode selector Pr Function User
CL> Speed-loop proportional gain value
0.08 OL> Boost voltage 0.11 Pre-ramp reference [M]
CL> Speed-loop integral gain
0.12 Post-ramp reference [M]
0.09 OL> Dynamic V/f select
CL> Speed-loop derivative gain 0.13 Motor active-current [M]

0.10 OL> Estimated motor speed [M] 0.14 Jog reference (not used)
CL> Motor speed 0.15 Ramp mode selector
0.16 Stop mode selector
0.17 Status relay invert
0.18 S-ramp enable
0.19 S-ramp da/dt
0.20 Skip frequency/speed 1
0.21 Skip freq./speed band 1

Pr Function User 0.22 Skip frequency/speed 2

value 0.23 Skip freq./speed band 2
0.31 Macro number [M] 0.24 Analog input 1 mode selector
0.32 Serial comms. mode 0.25 Preset reference 1
0.33 Drive rated current (FLC) [M] 0.26 Preset reference 2
0.34 User security code [M] 0.27 Preset reference 3
0.35 Keypad reference [M] 0.28 Preset reference 4
0.36 Serial comms. baud rate 0.29 (Not used)
0.37 Serial comms. address 0.30 (Not used)
0.38 Power up parameter display select
0.39 Synchronize to a spinning motor
0.40 Autotune
0.41 PWM switching frequency selector
0.42 Motor number of poles
0.43 Motor power factor
0.44 Motor rated voltage
0.45 Motor rated full load RPM
0.46 Motor rated current
0.47 OL + VT> Motor rated frequency
0.48 Drive operating mode selector
0.49 Security status [M]
0.50 Drive software version [M]

Unidrive User Guide

3-24 Setting Up the Drive Issue code: udxu6
Setting up and using Macro 3 Reference selection

The following may require attention in addition to For correct operation of this macro configuration,
the settings made in Chapter 2. the setting of parameter of 0.05 Reference selection
should be at 0.
Preset references
Analog input modes
1. By default, the Drive operates in
frequency/speed control. To disable this and The analog input can be configured for the
enable the preset references, close the following input signals:
PRESET ENABLE contact (terminal 29). 0 ~ 20mA, 4 ~ 20mA or 0 ~ 10V
2. Enter the required values in the following Refer to the following parameter in Appendix D
parameters: Menu 0 Parameters for selecting the required mode:
0.25 Preset frequency/speed 1 Analog Terminal(s) Parameter
0.26 Preset frequency/speed 2 input

0.27 Preset frequency/speed 3 1 5, 6 0.24

0.28 Preset frequency/speed 4
Default value: 0
Range: OL> 1000 Hz CL> 30 000 RPM
3. Select the required preset reference as follows:
Preset PRESET SELECT A
reference (terminal 24)
1 Open (0)
2 Open (0)
3 Closed (1)
4 Closed (1)
Analog input 1 mode selector
Jog frequency/speed
There is no need to adjust 0.14 Jog reference since
the jog function cannot be used.
PRESET SELECT B
(terminal 26) Stopping and braking modes
Open (0) Refer to the following parameters in Appendix D
Closed (1) Menu 0 Parameters:
Open (0) Parameter Setting Function
Closed (1) 0.15 (Standard controlled)
Stnd.Ct
Ramp mode selector Deceleration time is
extended if the DC-bus
voltage reaches its
maximum permissible
value during braking.
0.16 rP Ramp to stop then the
Stop mode selector Drive is disabled

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-25
Use this free space for notes

Unidrive User Guide

3-26 Setting Up the Drive Issue code: udxu6
3.8 Macro 4 Signal connections for Macro 4
Torque control
Signal
Features connector
Status relay
Drive healthy
Specific features
Selection can be made between torque control and Analog torque
reference 1 (0 ~ 10V)
analog frequency/speed control.

When frequency/speed control is selected, the Drive 0V common

will run at the speed demand irrespective of load so
long as the maximum permissible output current of
the Drive is not reached. CL> Analog speed
limit (0 ~ 10V)
When torque control is selected, analog input 1 is
configured for an analog torque reference. The 0V common
maximum frequency/speed is determined as follows:
SPEED
OL> The maximum frequency is limited to the
value of 0.02 Maximum frequency. TORQUE
CL> The maximum speed is limited to the value
of the frequency/speed reference applied to
Motor thermistor
analog input 2.
Both inputs accept 0 to 10V. OL> AT SPEED
CL> AT ZERO SPEED 0V common

Torque slaving AT MIN. SPEED

Macro 4 can be used in applications where two or

more motors are mechanically linked and must share RESET
the torque load in a controlled way.
RUN FORWARD

Standard features RUN REVERSE

FREQ./SPEED CONTROL
Macro 4 operates in Terminal mode only TORQUE ENABLE
TORQUE CONTROL
Digital control by RUN FORWARD and
OL> External trip
RUN REVERSE contacts CL> Drive enable
Analog torque and frequency/speed inputs 0V common
Adjustment of maximum frequencies/speeds
Adjustment of acceleration and deceleration
Figure 310 Control signal and thermistor
ramps
connections for Macro 4
Operation of the status relay can
be inverted
For electrical specifications, refer to Appendix C
Selection of braking mode
Signal Connections.
Motor thermistor input
Negative logic for the digital inputs
SPEED and TORQUE analog outputs
AT MINIMUM SPEED digital output
OL> AT SPEED digital output
CL> AT ZERO SPEED digital output
OL> External trip digital input
CL> Drive enable digital input
Drive RESET digital input

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-27
 RUN RUN OL> EXTERNAL TRIP
FORWARD REVERSE RESET CL> DRIVE ENABLE

27 28 25 30
Reference selection Reference
selector Maximum
0.02
Analog torque Analog frequency/speed
reference input 1 Analog 0.05 clamp
mode input 1 Minimum
selector scaling frequency/speed
5 clamp
0.24 0.29
6 0.01

Analog Skip frequencies/

0.25 speeds
input 1 0.30

Analog
7 0.26 input 2
scaling
Analog
Freq./speed control: input 2
Frequency /speed mode
reference selector
Torque control:
OL> (Not used)
CL> Speed over-ride
0.20

Analog Skip frequency/

0.27 speed 1
input 2

0.21
Skip freq./speed
band 1

0.22
Skip frequency/
speed 2

0.23
Skip freq./speed
band 2

0.38
Power up
parameter
display
setting

Key

0.XX Read-write
parameter (RW)

0.XX Read-only
parameter (RO)

X X Input terminals

X X Output terminals

Figure 311 Programmable software for Macro 4

Unidrive User Guide
3-28 Setting Up the Drive Issue code: udxu6
 TORQUE OL> FREQUENCY OL> AT SPEED AT MIN.
ENABLE THERMISTOR CL> SPEED TORQUE CL> AT ZERO SPEED SPEED
29 8 9 10 24 26
Pre-ramp
reference
Motor control
Post-ramp
0.11 reference 0.12

0.06
S-ramp Current
limit
S-ramp
Ramps enable
0.16
0.18
Stop mode
selector

0.39
Synchronize
to a spinning
0.03 motor

Acceleration
rate
CL> Speed-loop PID gains
Motor parameters
0.04
0.19 Speed-loop
Deceleration 0.07 0.42 ~ 0.47
proportional
rate S-ramp
da/dt limit gain No. of poles
Power factor
0.15 Speed-loop Rated voltage
0.08 Rated speed
integral gain
Ramp mode Rated current
selector Rated frequency

Other parameters Speed-loop

0.09 derivative OL> Motor-voltage control
0.17 Status relay invert gain
0.28 Over-speed threshold 0.07
0.31 Macro number
Voltage mode
0.32 Serial comms. mode selector
0.33 Drive rated current
0.10 0.08
0.34 User security code
0.36 Serial comms. baud rate Boost voltage
Estimated
0.37 Serial comms. address motor
0.09
0.40 Autotune speed
Dynamic V/f
0.48 Drive operating mode selector select
0.49 Security status
0.50 Software version number
Motor
Motor speed active-current
Power stage

0.10 0.13 0.41

PWM switching
frequency

The parameters are shown at their default settings.

The logic diagram is valid when all parameters are
at their default settings but may not be valid when
certain parameters are adjusted.

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-29
List of parameters specific to Macro 4

Pr Function User [M] indicates the parameter is for monitoring only

value
0.00 Configuration and saving For descriptions of these parameters, see
0.01 Minimum frequency/speed clamp Appendix D Menu 0 Parameters.
0.02 Maximum frequency/speed clamp
0.03 Acceleration rate
0.04 Deceleration rate
0.05 Reference selector (do not adjust)
0.06 Current limit
0.07 OL> Voltage mode selector Pr Function User
CL> Speed-loop proportional gain value
0.08 OL> Boost voltage 0.11 Pre-ramp reference [M]
CL> Speed-loop integral gain
0.12 Post-ramp reference [M]
0.09 OL> Dynamic V/f select
CL> Speed-loop derivative gain 0.13 Motor active-current [M]

0.10 OL> Estimated motor speed [M] 0.14 Jog reference (not used)
CL> Motor speed 0.15 Braking mode selector
0.16 Stop mode selector
0.17 Status relay invert
0.18 S-ramp enable
0.19 S-ramp da/dt
0.20 Skip freq./speed 1
0.21 Skip freq./speed band 1

Pr Function User 0.22 Skip freq./speed 2

value 0.23 Skip freq./speed band 2
0.31 Macro number [M] 0.24 Analog input 1 mode selector
0.32 Serial comms. mode 0.25 Analog input 1 (torque reference) [M]
0.33 Drive rated current (FLC) [M] 0.26 Analog input 2 mode selector
0.34 User security code [M] 0.27 Analog input 2 (maximum speed [M]
0.35 Keypad reference [M] override level)

0.36 Serial comms. baud rate 0.28 Over-speed threshold

0.37 Serial comms. address 0.29 Analog input 1 scaling

0.38 Power up parameter display select 0.30 Analog input 2 scaling

0.39 Synchronize to a spinning motor

0.40 Autotune
0.41 PWM switching frequency selector
0.42 Motor number of poles
0.43 Motor power factor
0.44 Motor rated voltage
0.45 Motor rated full load RPM
0.46 Motor rated current
0.47 OL + VT> Motor rated frequency
0.48 Drive operating mode selector
0.49 Security status [M]
0.50 Drive software version [M]

Unidrive User Guide

3-30 Setting Up the Drive Issue code: udxu6
Setting up and using Macro 4 Refer to the following parameters in Appendix D
Menu 0 Parameters for selecting the required mode:
Torque control Analog Terminal(s) Parameter
input
1. By default, the Drive operates in
frequency/speed control. To disable this and 1 5, 6 0.24
enable torque control, close the Analog input 1 mode selector
TORQUE ENABLE contact (terminal 29). 2 7 0.26
Analog input 2 mode selector
2. OL> Set 0.02 Maximum frequency at the
required value to limit the maximum speed of Torque slaving
the motor.
1. Set up a master Drive in Macro 0 with
CL> Set the analog speed limit applied to frequency/speed control.
terminal 7 at the required value to define the
maximum permissible motor speed. 2. Set up slave Drive(s) in Macro 4.
3. Set the analog torque reference at the 3. Make connections between the Drives as shown
required level. in Figure 311.
4. If required, adjust 0.29 Analog input 1 scaling to
change the scaling of the torque reference
Master Drive Slave Drive
input (see Torque slaving below).

5. If required, adjust 0.30 Analog input 2 scaling to Signal Signal

connector connector
change the scaling of the analog speed limit (part) (part)
input.

6. Set 0.28 Over-speed threshold at the

frequency/speed that the Drive is to trip for
protecting the system.
Default value:
OL> ([0.02] x 1.2) Hz Figure 311 Torque slaving connections
VT> 2000 RPM
SV> 4000 RPM 4. If the slave Drive(s) is to deliver a different
Range: torque from that of the master Drive, for
OL> 0 ~ ([0.02] x 1.2) Hz (each) slave Drive, adjust 0.29 Analog input 1
CL> 0 ~ 30 000 RPM scaling accordingly.

7. Monitor the torque reference by displaying Stopping and braking modes

parameter 0.25 Analog input 1.
Refer to the following parameters in Appendix D
Menu 0 Parameters:
Reference selection
Parameter Setting Function
For correct operation of this macro configuration,
the setting of parameter 0.05 Reference selection 0.15 Stnd.Ct (Standard controlled)
should be at 0. Ramp mode selector Deceleration time is
extended if the DC-bus
voltage reaches its
Jog frequency/speed maximum permissible
value during braking.
There is no need to adjust 0.14 Jog reference since
the jog function cannot be used. 0.16 rP Ramp to stop then the
Stop mode selector Drive is disabled
Analog input modes
The analog inputs can be configured for the
following input signals:
0 ~ 20mA, 4 ~ 20mA or 0 ~ 10V

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-31
Use this free space for notes

Unidrive User Guide

3-32 Setting Up the Drive Issue code: udxu6
3.9 Macro 5 Signal connections for Macro 5
PID (set-point control)
Signal
Features connector
Status relay
Drive healthy
Specific features
PID control is used for applications where a process Frequency/speed
reference 1 (0 ~ 10V)
is required to be maintained at a set-point. Typical
applications are as follows:
0V common
Closed-loop tension-control processes
where a dancer-arm is used PID reference
(0 ~ 10V)
Closed-loop pressure-control systems
Selection can be made between PID and analog
frequency/speed control. When PID control is
selected, the three analog inputs are configured as
PID feedback
follows:
Frequency/speed reference to define the
frequency/speed demand 0V common
PID feedback from the feedback device
SPEED
PID reference to define the set-point
The dynamic performance, scaling and range of the TORQUE
PID control can be adjusted.
OL> AT SPEED
Additionally PID reference, PID feedback and an CL> AT ZERO SPEED 0V common
optional PID enable can be used.
RESET
Standard features RUN FORWARD

Macro 5 operates in Terminal mode only RUN REVERSE

Digital control by RUN FORWARD and PID ENABLE FREQ./SPEED CONTROL

RUN REVERSE contacts PID CONTROL

Analog frequency/speed inputs OL> External trip

Adjustment of acceleration and deceleration CL> Drive enable
0V common
ramps
Negative logic for the digital inputs
SPEED and TORQUE analog outputs Figure 312 Control signal connections
for Macro 5
OL> AT SPEED digital output
CL> AT ZERO SPEED digital output
For electrical specifications, refer to Appendix C
OL> External trip digital input
Signal Connections.
CL> Drive enable digital input
Drive RESET digital input

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-33
 PID RUN RUN OL> EXTERNAL TRIP
ENABLE RESET FORWARD REVERSE CL> DRIVE ENABLE
29 25 27 28 30
Reference selection Reference
selector Maximum
0.02
Frequency/speed Analog frequency/speed
reference input 1 0.05 clamp
mode Minimum
selector frequency/
5 speed clamp
0.14
6 0.01
0.17

Analog
input 2 Analog
input 1

0.18 PID

0.20
PID PID proportional
reference Analog input 2 gain
mode selector
0.15 0.21
7
PID integral
Analog gain
input 2 0.28
scaling
0.22
PID derivative
gain 0.38
Power up
0.23 parameter
Analog display
input 3 0.29 PID output high setting
scaling limit

8 0.16 0.24
Analog input 3 PID output
PID mode selector low limit
feedback
0.25

0.19 PID output

scale factor

Analog
input 3

Key

0.XX Read-write (RW)

parameter

0.XX Read-only (RO)

parameter

X X Input terminals
The parameters are shown at their default settings.
The logic diagram is valid when all parameters are
at their default settings but may not be valid when X X Output terminals
certain parameters are adjusted.

Figure 313 Programmable software for Macro 5

Unidrive User Guide
3-34 Setting Up the Drive Issue code: udxu6
 OL> FREQUENCY OL> AT SPEED
CL> SPEED TORQUE CL> AT ZERO SPEED
9 10 24
Pre-ramp Post-ramp
reference reference
Motor control
0.11 0.12

0.06
Current
limit

Ramps
0.39
Synchronize
to a spinning
motor

0.03
Acceleration
rate
CL> Speed-loop PID gains
Motor parameters
0.04
0.07 Speed-loop
Deceleration proportional 0.42 ~ 0.47
rate gain No. of poles
Power factor
Speed-loop Rated voltage
0.08 Rated speed
integral gain
Rated current
Rated frequency

Other parameters Speed-loop

0.09 derivative OL> Motor-voltage control
0.26 Preset reference 7 gain
0.27 Preset reference 8
0.07
0.30 Optional PID-enable source selector
Voltage mode
0.31 Macro number selector
0.32 Serial comms. mode
0.33 Drive rated current 0.10 0.08

0.34 User security code Boost voltage

Estimated
0.36 Serial comms. baud rate
motor
0.09
0.37 Serial comms. address speed
Dynamic V/f
0.40 Autotune
select
0.48 Drive operating mode selector
0.49 Security status
0.50 Software version number Motor
Motor speed active-current
Power stage

0.10 0.13 0.41

PWM switching
frequency

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-35
List of parameters specific to Macro 5

Pr Function User [M] indicates the parameter is for monitoring only

value
0.00 Configuration and saving For descriptions of these parameters, see
0.01 Minimum frequency/speed clamp Appendix D Menu 0 Parameters.
0.02 Maximum frequency/speed clamp
0.03 Acceleration rate
0.04 Deceleration rate
0.05 Reference selector (do not adjust)
0.06 Current limit
0.07 OL> Voltage mode selector
Pr Function User
CL> Speed-loop proportional gain
value
0.08 OL> Boost voltage
0.11 Pre-ramp reference [M]
CL> Speed-loop integral gain
0.12 Post-ramp reference [M]
0.09 OL> Dynamic V/f select
CL> Speed-loop derivative gain 0.13 Motor active-current [M]
0.10 OL> Estimated motor speed [M] 0.14 Analog input 1 (frequency/speed
CL> Motor speed reference) mode selector
0.15 Analog input 2 (PID reference) mode
selector
0.16 Analog input 3 (PID feedback) mode
selector
0.17 Analog input 1 [M]
(frequency/speed reference)
0.18 Analog input 2 [M]
(PID reference)
Pr Function User 0.19 Analog input 3 [M]
value (PID feedback)
0.31 Macro number [M] 0.20 PID proportional gain
0.32 Serial comms. mode 0.21 PID integral gain
0.33 Drive rated current (FLC) [M] 0.22 PID derivative gain
0.34 User security code [M] 0.23 PID output high limit
0.35 Keypad reference [M] 0.24 PID output low limit
0.36 Serial comms. baud rate 0.25 PID output scale factor
0.37 Serial comms. address 0.26 Preset reference 7
0.38 Power up parameter display select 0.27 Preset reference 8
0.39 Synchronize to a spinning motor 0.28 Analog input 2 scaling
0.40 Autotune 0.29 Analog input 3 scaling
0.41 PWM switching frequency selector 0.30 Optional PID-enable source selector
0.42 Motor number of poles
0.43 Motor power factor
0.44 Motor rated voltage
0.45 Motor rated full load RPM
0.46 Motor rated current
0.47 OL + VT> Motor rated frequency
0.48 Drive operating mode selector
0.49 Security status [M]
0.50 Drive software version [M]

Unidrive User Guide

3-36 Setting Up the Drive Issue code: udxu6
Setting up and using Macro 5
Setting up PID control
1. By default, the Drive operates in
frequency/speed control. To disable this and
enable PID control, close the PID ENABLE
contact (terminal 29).
3. To define the minimum value of PID error, set
0.24 PID low limit at the required value.
Default value: 100 %
Range: 100 %
4. To define the degree of control on the
frequency/speed reference, set 0.25 PID output
scale factor at the required value.

2. Set the PID REFERENCE potentiometer Default value: 1

(terminal 7) at the required set-point. Range: 0 ~ 4.000

3. Set the FREQUENCY/SPEED REFERENCE Adjusting the PID gain settings

(terminals 5, 6) for the required nominal motor
(process) speed. The following parameters are used:
0.20 PID proportional gain
4. Connect the feedback device to terminal 8
(PID FEEDBACK). Default value: 1
Range: 0 ~ 4.000
5. The values of the analog signals can be
0.21 PID integral gain
monitored by displaying the following
parameters: Default value: 0.5
Range: 0 ~ 4.000
0.17 Frequency/speed reference
0.22 PID derivative gain
0.18 PID reference
Default value: 0
0.19 PID feedback Range: 0 ~ 4.000
0.26Post-scaling PID reference
0.27 Post-scaling PID feedback Preset references
Instead of using external signals to define the PID
Adjusting the PID control range reference and PID feedback, values can be entered
In PID control, the PID reference and PID feedback into preset parameters
are each passed through a scaling stage, and the
Use the following procedure to enable and set up
error resulting from differences between these
these preset references:
references is passed through a limiter and then
through a final scaling stage. 1. Unlock security (see Appendix B Security, and
Accessing the Advanced Parameters).
The limiter is used for applying minimum and
maximum limits to the PID error. The minimum 2. Set 7.14 at 0.
error can be a negative value.
3. Set 7.18 at 0.
The final scaling stage is used for adjusting the
degree of change to the frequency/speed reference. 4. If required, re-lock security.

After these two stages, the error is added to the 5. Enter the required values in the following two
frequency/speed reference. parameters:

1. The default scaling for analog inputs 2 and 3 Frequency/speed reference:

is 1. If required, adjust the following 0.26 Preset reference 7
parameters to alter the scaling: PID reference: 0.27 Preset reference 8
0.28 Analog input 2 scaling (PID reference) Note that the range of values for these
0.29 Analog input 3 scaling (PID feedback) parameters is 1000, where 1000 represents
100%.
2. To limit the maximum value of PID error, set
0.23 PID high limit at the required value.
Default value: 100 %
Range: 0 ~ 100 %

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-37
Optional software PID-enable
0.30 is used for selecting a source bit parameter as
a software enable for PID control. This software
enable is AND-gated with the PID enable signal
applied to terminal 29. The source bit parameter
must be from one of the Advanced menus (Menu 0
parameters cannot be used with parameter 0.30).
For information on identifying a suitable parameter,
refer to the Unidrive Advanced User Guide.

Reference selection
For correct operation of this macro configuration,
the setting of parameter of 0.05 Reference selection
should be at 0.

Analog input modes

The analog inputs can be configured for the
following input signals:
0 ~ 20mA, 4 ~ 20mA or 0 ~ 10V
Refer to the following parameters in Appendix D
Menu 0 Parameters for selecting the required mode:

Analog Terminal(s) Parameter

input
1 5, 6 0.14
Analog input 1 mode selector
2 7 0.15
Analog input 2 mode selector
3 8 0.16
Analog input 3 mode selector

Unidrive User Guide

3-38 Setting Up the Drive Issue code: udxu6
Use this page for notes

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-39
3.10 Macro 6 Standard features
Axis-limit control Macro 6 operates in Terminal mode only
Adjustment of minimum and maximum
frequencies/speeds
Features Adjustment of acceleration and
deceleration ramps
Specific features Selection of stopping modes
Axis-limit control is used for applications which Motor thermistor input
require the process to be automatically stopped SPEED and TORQUE analog outputs
when a position limit has been reached. OL> AT SPEED digital output
Speed can be controlled in both directions in either CL> AT ZERO SPEED digital output
of two ways, as follows: OL> External trip digital input
Bipolar frequency/speed reference signal CL> Drive enable digital input
and use of a RUN FORWARD contact Drive RESET digital input
(bipolar control)
Unipolar frequency/speed reference signal
and use of RUN FORWARD and RUN
REVERSE contacts (unipolar control)
Selection can be made between the following
frequency/speed reference inputs:
Local unipolar input (0 ~ 10V)
Remote differential input which can be used
as follows:
Single-ended unipolar input (0 ~ 10V)
Single-ended bipolar input (10V)
Bipolar or unipolar differential input (10V
on each line)
Travel in each direction is halted by use of a LIMIT
digital input. By default, these inputs require
normally-open contacts but can be configured for
normally-closed contacts.

To run the Drive, the appropriate RUN contact must

be closed. When the related LIMIT contact changes
state to mark the axis limit, the Drive decelerates to
zero speed at a rate set by the user. In order to
change direction, it is necessary to perform either of
the following, as appropriate:
Bipolar control: Reverse the polarity of the
frequency/speed reference
Unipolar control: Open the RUN switch, and
then close the RUN switch for the opposite
direction
The Drive is operated under frequency/speed
control.

Selection can be made to apply torque to the motor

at zero speed, or to allow the motor to rotate
freely.

Unidrive User Guide

3-40 Setting Up the Drive Issue code: udxu6
Signal connections for Macro 6

Signal Signal
connector connector

Status relay Status relay

Drive healthy Drive healthy
Analog Analog
frequency/speed frequency/speed +10V
reference 1 reference
(remote) 0 ~ 10V 10V

0V
0V common 0V common
Analog 10V
frequency/speed
reference 2 0V common
(local) 0 ~ 10V
SPEED
0V common
TORQUE
SPEED

TORQUE
Motor thermistor

OL> AT SPEED
CL> AT ZERO SPEED
Motor thermistor

OL> AT SPEED
RESET
CL> AT ZERO SPEED
LIMIT FORWARD

RESET RUN

LIMIT FORWARD LIMIT REVERSE

RUN FORWARD
OL> External trip
RUN REVERSE CL> Drive enable
LIMIT REVERSE 0V common

OL> External trip Figure 315 Control signal and thermistor

CL> Drive enable connections for Macro 6 when
0V common used in bipolar control (typical
frequency/speed reference
Figure 314 Control signal and thermistor connections)
connections for Macro 6 when
used in unipolar control
For electrical specifications, refer to Appendix C
Signal Connections.

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-41
 RUN RUN LIMIT LIMIT
(FORWARD) REVERSE FORWARD REVERSE

27 28 26 29
Limit Limit
forward reverse
invert invert
0.15 0.16 0.14 0.21 0.22 0.17

Run Run Limit Limit

forward reverse forward reverse
indicator indicator indicator indicator

0 = RUN enabled
1 = RUN disabled (at limit)

Reference selection Maximum

Forward frequency/speed 0.02
freq./speed clamp
Frequency/speed ref. 1
reference
(remote) Reference
selector Minimum
frequency/ 0.01
5 0.05 speed clamp
6

Frequency/speed
Bi-directional
7 reference
frequency/speed
Direction control reference
Frequency/speed ref. 2
(local)

Reverse
freq./speed
reference

0.38
Power up
parameter
display
setting

Key

0.XX Read-write (RW)

parameter

0.XX Read-only (RO)

parameter

X X Input terminals
The parameters are shown at their default settings.
The logic diagram is valid when all parameters are
at their default settings but may not be valid when X X Output terminals
certain parameters are adjusted.

Figure 316 Programmable software for Macro 6

Unidrive User Guide

3-42 Setting Up the Drive Issue code: udxu6
 OL> EXTERNAL TRIP OL> FREQUENCY OL> AT SPEED
RESET CL> DRIVE ENABLE THERMISTOR CL> SPEED TORQUE CL> AT ZERO SPEED
25 30 8 9 10 24
Pre-ramp Post-ramp
reference reference
Motor control
0.11 0.12 0.06
Current
limit
0.18
Stop mode
Ramps selector
0.19
Hold zero
speed

0.39
Synchronize
to a spinning
0.03 motor
Acceleration
rate CL> Speed-loop PID gains
Motor parameters
0.20 Speed-loop
0.07 0.42 ~ 0.47
proportional
OL> Limit
gain No. of poles
deceleration
rate Power factor
Speed-loop Rated voltage
0.08 Rated speed
0.04 integral gain
Rated current
CL> Rated frequency
Deceleration
rate

Speed-loop
0.09 derivative OL> Motor-voltage control
gain

0.07
Voltage mode
selector

Other parameters 0.10 0.08

Boost voltage
0.31 Macro number Estimated
0.32 Serial comms. mode motor
0.09
speed
0.33 Drive rated current
Dynamic V/f
0.34 User security code select
0.36 Serial comms. baud rate
0.37 Serial comms. address
Motor
0.40 Autotune Motor speed active-current
0.48 Drive operating mode selector Power stage

0.49 Security status 0.10 0.13 0.41

0.50 Software version number PWM switching
frequency

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-43
List of parameters specific to Macro 6

Pr Function User [M] indicates the parameter is for monitoring only

value
For descriptions of these parameters, see
0.00 Configuration and saving
Appendix D Menu 0 Parameters.
0.01 Minimum frequency/speed clamp
0.02 Maximum frequency/speed clamp
0.03 Acceleration rate
0.04 Deceleration rate
0.05 Reference selector (limited settings)
0.06 Current limit
0.07 OL> Voltage mode selector
CL> Speed-loop proportional gain
Pr Function User
0.08 OL> Boost voltage value
CL> Speed-loop integral gain
0.11 Pre-ramp reference [M]
0.09 OL> Dynamic V/f select
CL> Speed-loop derivative gain 0.12 Post-ramp reference [M]
0.10 OL> Estimated motor speed [M] 0.13 Motor active-current [M]
CL> Motor speed 0.14 Limit forward indicator [M]
0.15 Run forward indicator [M]
0.16 Run reverse indicator [M]
0.17 Limit reverse indicator [M]
0.18 Stop mode selector [M]
0.19 Hold zero speed enable [M]
0.20 OL> Limit deceleration rate
CL> (Not used)
Pr Function User
value 0.21 Limit forward invert

0.31 Macro number [M] 0.22 Limit reverse invert

0.32 Serial comms. mode 0.23 (Not used)

0.33 Drive rated current (FLC) [M] 0.24 (Not used)

0.34 User security code [M] 0.25 (Not used)

0.35 Keypad reference [M] 0.26 (Not used)

0.36 Serial comms. baud rate 0.27 (Not used)

0.37 Serial comms. address 0.28 (Not used)

0.38 Power up parameter display select 0.29 (Not used)

0.39 Synchronize to a spinning motor 0.30 (Not used)

0.40 Autotune
0.41 PWM switching frequency selector
0.42 Motor number of poles
0.43 Motor power factor
0.44 Motor rated voltage
0.45 Motor rated full load RPM
0.46 Motor rated current
0.47 OL + VT> Motor rated frequency
0.48 Drive operating mode selector
0.49 Security status [M]
0.50 Drive software version [M]

Unidrive User Guide

3-44 Setting Up the Drive Issue code: udxu6
Setting up and using Macro 6 The rate of deceleration to be applied when the
motor is being stopped at the limit of travel can be
The following may require attention in addition to adjusted separately from the normal deceleration
the settings made in Chapter 2. rate, as follows:

Use 0.04 Deceleration rate for adjusting the

Frequency/speed control
When Macro 6 is selected, the Drive always operates
in axis-limit control; unlike Macros 2 to 5, no digital
input exists to allow switching to and from normal
frequency/speed control.
Operation in bipolar or unipolar frequency/speed
control is dependent only on the signal connections
made. When bipolar control is required, to prevent
confusion do not connect a RUN REVERSE contact.
No jog function exists.
Reference selection
Use 0.05 Reference selector to select the required
frequency/speed reference source, as follows:
0.05 Source Terminal(s)
0 Analog input 1 (bipolar or unipolar)
1 Analog input 1 (bipolar or unipolar)
2 Analog input 2 (unipolar only)
3 (Do not use)
4 (Do not use)
5 (Do not use)
Analog input mode
maximum deceleration rate that is to apply when
any of the following occurs:
The motor is stopped by removal of a RUN
command
The motor is stopped or slowed by
reduction of the frequency/speed reference
OL> For setting the deceleration rate at the limit of
travel, use parameter 0.20 Limit deceleration rate.
CL> No adjustment can be made to the
deceleration rate at the limit of travel; the Drive
decelerates under current limit with no ramp
control.
Braking mode
The FASt ramp mode is applied. This gives
5, 6 continuous deceleration under maximum braking
conditions (the ramp mode should not be changed).
5, 6
A braking resistor is normally required in order to
7 prevent the DC-bus voltage from reaching the trip
level.
Stopping modes
Refer to parameter 0.18 Stop mode selector in
Appendix D Menu 0 Parameters.

The analog inputs are configured for 0 ~ 10V; see the Hold zero speed
Unidrive Advanced User Guide for selecting other
modes. Refer to parameter 0.19 Hold zero speed enable in
Appendix D Menu 0 Parameters.
Limit switch types
The default setting is as follows:
By default, the Drive requires normally-open limit
switches. When either or both limit switches are to Operating 0.19 Effect on motor...
be normally-closed, set the following parameters mode
at 1, as appropriate: OL 0 Free to rotate
LIMIT FORWARD 0.21 VT 0 Free to rotate
LIMIT REVERSE 0.22 SV 1 Held at zero speed

Deceleration rates

Position the limit switches

to allow for the distance
that will be travelled during
Caution
deceleration. This distance
will be increased if the
deceleration time is
extended (see Braking mode).

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-45
Use this page for notes

Unidrive User Guide

3-46 Setting Up the Drive Issue code: udxu6
3.11 Macro 7 Signal connections for Macro 7
Brake control
Signal
Features connector
BRAKE RELEASE

Specific features
Analog
frequency/speed
Brake control is used for controlling the application reference 1
(remote) 0 ~ 10V
and release of a mechanical brake in hoist or crane
applications. The Drive issues a brake release signal
when all of the following conditions are met: 0V common
Analog
The Drive has not tripped (ie. healthy) frequency/speed
reference 2
The motor is at zero speed (local) 0 ~ 10V
(closed-loop only)
Current above a user-defined threshold is 0V common

being supplied to the motor in order to hold SPEED

or move the load
TORQUE
The relevant change of state of the brake release
signal can be delayed by a user-defined time in order
to ensure that only appropriate conditions will cause
Motor thermistor
the following:
OL> Brake to be released
CL> Brake to be applied
RESET
The Drive applies the brake, by removing the brake
CL> JOG
release signal, as the motor is stopping and motor
RUN FORWARD
current falls below the threshold level.
RUN REVERSE
The Drive is operated under frequency/speed LOCAL / REMOTE REMOTE

control; selection can be made between local and LOCAL

remote sources, as well as keypad control. OL> External trip

CL> Drive enable
0V common
Standard features
Macro 7 can be operated in Terminal mode Figure 317 Control signal and thermistor
(default) or Keypad mode connections for Macro 7
Digital control by RUN FORWARD, and
RUN REVERSE contacts
The BRAKE RELEASE output connection must be
Analog frequency/speed inputs made through the status relay, as shown in
Adjustment of minimum and maximum Figure 317; the source for controlling the status
frequencies/speeds relay must not be changed. Note that the actual
CL> Jog function BRAKE RELEASE output appears on terminal 24
Adjustment of acceleration and which operates as shown in the following table.
deceleration ramps
Terminal 24 BRAKE RELEASE Effect
Motor thermistor input logic state
SPEED and TORQUE analog outputs
Low 1 Release brake
OL> External trip digital input
High 0 Apply brake
CL> Drive enable digital input
Drive RESET digital input For electrical specifications, refer to Appendix C
Signal Connections.

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-47
 LOCAL / OL> (Not used) RUN RUN BRAKE
REMOTE CL> JOG SELECT FORWARD REVERSE RESET RELEASE
29 26 27 28 25 24
Reference selection Reference Maximum
selector 0.02 frequency/
Frequency/speed ref. 1 speed
(remote) 0.05
clamp
Minimum
frequency/
5 speed clamp
6 0.01

Frequency/speed ref. 2
(local)

Preset references
(see the Unidrive
Advanced User Guide)
0.38
Power up
parameter
display
0.35 setting
Current detected
Keypad indicator
reference
0.15

Current 0.19
Precision reference threshold
(not used with Menu 0)

Motor current
magnitude 0.14
1.05
Jog reference
(see the Unidrive
Advanced User Guide)

0.18
Drive healthy
0.16
indicator Brake release
indicator
0.20
Brake
At zero speed release
0.17 delay
indicator

Reference enabled
indicator 1.11
(see the Unidrive
Advanced User Guide)
0.20
Brake
At zero speed application
0.17 delay
indicator

Figure 318 Programmable software for Macro 7

Unidrive User Guide

3-48 Setting Up the Drive Issue code: udxu6
 OL> EXTERNAL TRIP OL> FREQUENCY
CL> DRIVE ENABLE THERMISTOR CL> SPEED TORQUE
30 8 9 10
Pre-ramp Post-ramp
reference reference
Motor control
0.11 0.12

0.06
Current
limit
Ramps 0.39
Synchronize
to a spinning
motor

0.03
Acceleration
rate
CL> Speed-loop PID gains
Motor parameters
0.04 Speed-loop
Deceleration 0.07 proportional 0.42 ~ 0.47
rate gain
No. of poles
Power factor
Speed-loop Rated voltage
0.08 Rated speed
Other parameters integral gain
Rated current
Rated frequency
0.31 Macro number
0.32 Serial comms. mode
0.33 Drive rated current
0.34 User security code Speed-loop
0.09 derivative OL> Motor-voltage control
0.36 Serial comms. baud rate gain
0.37 Serial comms. address
0.07
0.40 Autotune
Voltage mode
0.48 Drive operating mode selector
selector
0.49 Security status
0.50 Software version number 0.10 0.08
Boost voltage
Estimated
motor
0.09
speed
Dynamic V/f
Key select

0.XX Read-write (RW)

parameter
Motor
Motor speed active-current
0.XX Read-only (RO) Power stage
parameter
0.10 0.13 0.41
X X Input terminals
PWM switching
frequency
X X Output terminals

The parameters are shown at their default settings.

The logic diagram is valid when all parameters are
at their default settings but may not be valid when
certain parameters are adjusted.

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-49
List of parameters specific to Macro 7

Pr Function User [M] indicates the parameter is for monitoring only

value
For descriptions of these parameters, see
0.00 Configuration and saving
Appendix D Menu 0 Parameters.
0.01 Minimum frequency/speed clamp
0.02 Maximum frequency/speed clamp
0.03 Acceleration rate
0.04 Deceleration rate
0.05 Reference selector (limited settings)
0.06 Current limit
0.07 OL> Boost voltage
Pr Function User
CL> Speed-loop integral gain
value
0.08 OL> Dynamic V/f select
0.11 Pre-ramp reference [M]
CL> Speed-loop derivative gain
0.12 Post-ramp reference [M]
0.09 OL> Estimated motor speed
CL> Motor speed 0.13 Motor active-current [M]
0.10 OL> Estimated motor speed [M] 0.14 Motor current magnitude [M]
CL> Motor speed
0.15 Current detected indicator [M]
0.16 Drive healthy indicator [M]
0.17 At zero speed indicator [M]
0.18 Brake release indicator [M]
0.19 Current threshold
0.20 OL> Brake release delay
CL> Brake application delay
0.21 (Not used)
Pr Function User
value 0.22 (Not used)

0.31 Macro number [M] 0.23 (Not used)

0.32 Serial comms. mode 0.24 (Not used)

0.33 Drive rated current (FLC) [M] 0.25 (Not used)

0.34 User security code [M] 0.26 (Not used)

0.35 Keypad reference [M] 0.27 (Not used)

0.36 Serial comms. baud rate 0.28 (Not used)

0.37 Serial comms. address 0.29 (Not used)

0.38 Power up parameter display select 0.30 (Not used)

0.39 Synchronize to a spinning motor

0.40 Autotune
0.41 PWM switching frequency selector
0.42 Motor number of poles
0.43 Motor power factor
0.44 Motor rated voltage
0.45 Motor rated full load RPM
0.46 Motor rated current
0.47 OL + VT> Motor rated frequency
0.48 Drive operating mode selector
0.49 Security status [M]
0.50 Drive software version [M]

Unidrive User Guide

3-50 Setting Up the Drive Issue code: udxu6
Setting up and using Macro 7
The following may require attention in addition to
the settings made in Chapter 2.
Frequency/speed control
When Macro 7 is selected, the Drive always operates
in brake control; unlike Macros 2 to 5, no digital
input exists to allow switching to and from normal
frequency/speed control.
The frequency/speed of the motor is controlled in
the same way as in normal frequency/speed control.
Reference selection
Use 0.05 Reference selector to select the required
frequency/speed reference source, as follows:
0.05 Source Terminal(s)
0 Analog input 1 or 2 which can be 5 and 6, or 7
selected using the LOCAL/REMOTE
contact
1 Analog input 1 5, 6
2 Analog input 2 7
3 Preset frequencies/speeds
(see the Advanced User Guide)
4 Keypad control
5 Precision frequency/speed
reference
(see the Advanced User Guide)
2. OL> If required, change the setting of 0.20
Brake release delay to a suitable value (between
0 and 25 seconds) that will ensure a brake
release signal is not issued if the following
occur simultaneously under transient
conditions:
0.16 Drive healthy indicator changes state
to 1
0.17 At zero speed changes state to 0
CL> If required, change the setting of 0.20
Brake application delay from the default value of
0.2 second to a suitable value (between 0 and
25 seconds) that will ensure a brake release
signal is not removed if the following occur
simultaneously under transient conditions:
1.11 Reference enabled indicator changes state
to 1
0.17 At zero speed change state to 1
Braking mode
The FASt ramp mode is applied. This gives
continuous deceleration under maximum braking
conditions (the ramp mode should not be changed).
A braking resistor is normally required in order to
prevent the DC-bus voltage from reaching the trip
level.
Stopping mode
The stopping mode is as follows:

Operating Stopping mode

Analog input mode mode

The analog inputs are configured for 0 ~ 10V; see the OL Ramp to a stop
Unidrive Advanced User Guide for selecting other VT Ramp to a stop
modes. SV Stop under current limiting
(no ramp)
Brake-control settings
1. The default setting of 10% for parameter 0.19 Jog
Current threshold is suitable for the majority of
The jog function is available only when the Drive is
applications. If required, change the value to
operating in a closed-loop mode. The default jog
the required percentage of Imax (see below).
speed is 50 RPM. To change the jog speed, see the
This value must ensure that adequate current
Unidrive Advanced User Guide.
will flow through the motor to control the load
when the brake is released.
OL> IMAX = FLC x 150%
CL> IMAX = FLC x 175%

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-51
3.12 Macro 8 Speed Slave

Digital lock
Shaft orientation Master

Features Time

Macro 8 has two completely independent functions, Master

as follows: Position

Digital lock
The Drive operates as a slave in closed-loop Slave
master-slave systems. The slave motor is
digitally locked to the master motor.
Time
Shaft orientation
The motor speed is controlled in the same way Figure 319 Rigid digital lock response of the
as for Macro 1, but the motor shaft can be slave motor to a position error
orientated to a specified angular position
before and/or after running the motor.
Non-rigid digital lock
Digital lock specific features The speed of the slave motor is locked to the
speed of the master motor. When a speed error
Closed-loop operation occurs, the behaviour of the system depends on
the amount of error, as follows:
For simplicity, both Drives must be operated in the Speed errors within 5RPM Rigid digital
same closed-loop mode (closed-loop vector or lock occurs (as described above).
closed-loop servo). A feedback encoder or resolver
Speed errors exceeding 5RPM
must be fitted to each motor and connected to the
Rigid digital lock ceases; the correct speed
related Drive. The slave Drive should be fitted with
will subsequently be regained but without
one of the following:
any correction for change of relative angular
UD51 Second encoder small option module position. The slave motor will continue to
UD53 Resolver small option module run at the new relative angular position until
a new speed error exceeding 5RPM occurs.
The master Drive can be operated with any of the
other macros, as appropriate for the application.
Speed Master
Digital-lock modes

The Drive can be operated in rigid digital lock or Slave

non-rigid digital lock. The actions of these digital-lock
modes are as follows:
Time
Rigid digital lock
The slave-motor shaft is maintained at a Master
constant angular position in relation to the Position
master-motor shaft (ie. relative-position lock).
This relative position is determined solely by
the shaft positions before a RUN contact is Slave
closed.
If the angular position of the slave-motor shaft
Time
becomes displaced (eg. due to current limiting
in the slave Drive affecting the motor speed),
the position error is corrected by the speed of Figure 320 Non-rigid digital lock response
the slave motor being automatically increased of the slave motor to a speed
and decreased accordingly. See Figure 319. error that exceeds 5RPM

Unidrive User Guide

3-52 Setting Up the Drive Issue code: udxu6
Speed reference and speed feedback
The speed reference for the slave Drive can be
obtained direct from the feedback encoder on the
master motor by connecting the Speed reference
inputs on the slave Drive in parallel with the encoder
connections on the master Drive. The signal is in
quadrature AB format. Alternatively, the simulated
encoder outputs of the small option module fitted in
the master Drive can be used to supply the
speed reference to the slave Drive. By default this is
also in the form of quadrature AB signals; if
frequency-and-direction signals are to be used, see
the Unidrive Advanced User Guide.
The output of the feedback encoder/resolver on the
slave motor is compared with the speed reference for
calculating, and compensating for, errors in position.
Speed ratio
By default, the slave motor is locked to the same
speed as the master motor; if required, the speed of
the slave motor can be locked to a ratio of the speed
of the master motor (eg. when different sized
pulleys are used on the motors, or gearing is
required).
Digital feed-forward
Digital feed-forward is the use of the
speed reference obtained from the reference
encoder/resolver to control the speed of the slave
motor.
When digital feed-forward is not used, the speed
reference for the slave Drive must be obtained from
a separate speed reference, such as the speed
reference that controls the master Drive. (Selection
of speed reference can be made between local and
remote sources, as well as keypad control.)
Both digital-lock modes can be operated with or
without digital feed-forward.
Position loop
A position loop integrates the speed reference and
speed feedback in order to obtain position
information for the master and slave motors. The
result of comparing these positions is used to
modify the speed of the slave motor to correct for
position errors (as described above).
The dynamic response and maximum relative speed
when correcting errors can be controlled by
adjustments to parameters in the position loop.
Unidrive User Guide
Issue code: udxu6
RUN control
RUN FORWARD and RUN REVERSE contacts must
be used for starting and stopping the slave motor.
These contacts can be common to, or independent
of, the RUN contacts for the master Drive.
Common contacts cause the slave Drive to be
started and stopped at the same time as the master
Drive. Independent contacts allow the following
for the slave Drive:
Digital-lock mode Functions
Rigid Jog
Non-rigid Jog and Run
Jog and relative jog
Two types of jog are available depending on the
sequence used for closing contacts, as follows:
Jog The slave motor can be run at a jog speed
independently of the master Drive.
Relative jog The speed of the slave motor
can be increased by a small amount in relation
to the speed of the master.
Digital lock standard features
Operation in Terminal mode only
Adjustment of minimum and maximum
frequencies/speeds
Adjustment of acceleration and
deceleration ramps
Motor thermistor input
SPEED and TORQUE analog outputs
Drive enable digital input
Drive RESET digital input
Shaft orientation specific features
A feedback encoder or resolver must be fitted to
the motor and connected to the Drive. The Drive
should be fitted with one of the following:
UD51 Second encoder small option module
UD53 Resolver small option module
Shaft orientation can be selected to occur under
either of the following conditions:
Only after the Drive has been running
At the moment the Drive is enabled prior to
it being run, as well as after the Drive has
been running
Setting Up the Drive 3-53
The following adjustments can be made: Signal connections for Macro 8
Orientation position relative to the zero
position of the encoder or resolver, Digital lock
1
adjustable in steps of /4096 of a revolution
Orientation tolerance, adjustable in steps of Signal
1
/4096 of a revolution connector

Speed at which orientation occurs Status relay

Drive healthy
Shaft orientation occurs in the following sequence:
Analog speed
1. The motor is decelerated or accelerated (as reference 1
(remote) 0 ~ 10V
appropriate) under ramp control to the
orientation speed.
0V common
2. When the orientation speed is reached, ramps
Analog speed
are disabled and the motor shaft continues to reference 2
be rotated at this speed until the shaft almost (local) 0 ~ 10V

reaches the specified orientation position.

0V common
3. The speed demand is then set at zero and the
SPEED
position loop is closed. This forces the shaft
towards the orientation position.
TORQUE

4. When the shaft speed is less than 2RPM and the

position is within the specified tolerance, an
Motor thermistor
ORIENTATION COMPLETE signal is issued and
the motor is stopped. RESET

Shaft orientation standard features (RELATIVE) JOG

SELECT
Operation in Terminal mode only RUN FORWARD

Digital control by RUN FORWARD, and RUN REVERSE

RUN REVERSE contacts LOCAL / REMOTE REMOTE

Adjustment of minimum and maximum LOCAL

frequencies/speeds Drive enable

Jog function 0V common

Adjustment of acceleration and

deceleration ramps
Motor thermistor input
SPEED and TORQUE analog outputs
Drive enable digital input
Drive RESET digital input
Installing the small option modules
Fit the appropriate small option module in the
master and slave Drives, as follows:
Encoder UD51
Resolver UD53
Figure 321 Control signal and thermistor
connections to the slave Drive for
digital lock
If any of the input sources (eg. RUN contacts,
Drive enable, analog speed reference) are to be
common to the master and slave Drives, ensure that
the 0V common terminals of the two Drives are
connected together.
For electrical specifications, refer to Appendix C
Signal Connections.

For installing and making connections to the small

option module, refer to chapters 1 to 4 in the User
Guide supplied with the module. For the UD53,
ignore Modes of operation in Chapter 4.

Unidrive User Guide

3-54 Setting Up the Drive Issue code: udxu6
 Master Slave
Drive Drive

Simulated encoder Encoder 2 inputs

outputs (Reference encoder)

Encoder 1 inputs Encoder 1 inputs

(Feedback encoder) (Feedback encoder)

Feedback encoder Feedback encoder

Figure 322 Master-slave signal connections for digital lock when encoders are used

Alternatively, a UD51 small option module need not

be fitted in the master Drive. In this case, the
Encoder 2 inputs for the slave Drive must be
connected direct to the feedback encoder on the
master Drive, in parallel with the Encoder 1 inputs on
the master Drive.

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-55
 Master Slave
Drive Drive
Resolver inputs
(Feedback resolver)

Simulated encoder Resolver inputs

outputs (Feedback resolver)

Encoder 1 inputs
(Reference encoder)

Resolver Resolver

Master-slave signal connections for digital lock when resolvers are used

See the UD51 or UD53 User Guide, as appropriate, for

ground connections.

Unidrive User Guide

3-56 Setting Up the Drive Issue code: udxu6
Shaft orientation

Signal
connector

Status relay
Drive healthy

Analog speed
reference 1
(remote) 0 ~ 10V

0V common

Analog speed
reference 2
(local) 0 ~ 10V

0V common

SPEED

TORQUE

ORIENTATION
COMPLETE

RESET

JOG SELECT

RUN FORWARD

RUN REVERSE

LOCAL / REMOTE REMOTE

LOCAL

Drive enable

0V common

Figure 323 Control signal and thermistor

connections for shaft orientation

For electrical specifications, refer to Appendix C

Signal Connections.

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-57
 LOCAL / (RELATIVE) RUN RUN
REMOTE JOG SELECT FORWARD REVERSE
Maximum
29 26 27 28
speed
Reference selection Reference clamp
selector 0.02
Digital-lock
Speed reference 1 with feed-forward: 0
(remote) 0.05
Digital-lock
without feed-forward: 1 Minimum
5 speed clamp
Shaft orientation: 1
6 0.01

Speed reference 2
(local)

Preset references
(see the Unidrive 0.38
Advanced User Guide) Power up
parameter
display
setting

0.35 Digital
feed-forward
Keypad
reference Positioning
speed limit
Precision reference
(not used with Menu 0) 0.25

(Relative) Jog 0.14

0.15 Position-loop
reference
mode selector

Orientation
Reference 0.27 acceptance
encoder/resolver 0.29 window
Reference-encoder /
Feedback-resolver 0.21 revolution counter
position

Feedback-encoder /
Reference-resolver 0.19 Position-
position loop gain 0.24

0.17
Reference-encoder /
Feedback-resolver 0.22 Reference
speed encoder/resolver
ratio
Feedback-encoder / Digital-lock modes: 0
Reference-resolver 0.18 Orientation modes: 1
speed

Feedback
encoder/resolver
0.30
revolution counter

Orientation 0.26
reference
UD53
Position
0.20
Not fitted: 0 error
Fitted: 1

Figure 324 Programmable software for Macro 8

Unidrive User Guide

3-58 Setting Up the Drive Issue code: udxu6
 ORIENTATION
RESET DRIVE ENABLE SPEED TORQUE COMPLETE
25 30 9 10 24
Pre-ramp Post-ramp
reference reference
Motor control
0.11 0.12

0.06
Current
limit
Speed-loop PID gains
Ramps
Speed-loop 0.39
0.07 proportional Synchronize
gain to a spinning
motor

0.08 Speed-loop
integral gain

0.03
Acceleration
rate
Speed-loop Motor parameters
0.04 0.09 derivative
gain
Deceleration 0.42 ~ 0.47
rate No. of poles
Power factor
Rated voltage
Rated speed
Rated current
Rated frequency

Key

Read-write (RW) Motor

0.XX Motor speed active-current
parameter Power stage

Read-only (RO) 0.10 0.13 0.41

0.XX
parameter
PWM switching
frequency
X X Input terminals

X X Output terminals

Other parameters

0.31 Macro number

0.32 Serial comms. mode
0.33 Drive rated current
0.34 User security code
0.36 Serial comms. baud rate
0.37 Serial comms. address
0.40 Autotune
0.48 Drive operating mode selector
0.49 Security status
0.50 Software version number

The parameters are shown at their default settings.

The logic diagram is valid when all parameters are
at their default settings but may not be valid when
certain parameters are adjusted.

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-59
List of parameters specific to Macro 8

Pr Function User [M] indicates the parameter is for monitoring only

value
For descriptions of these parameters, see
0.00 Configuration and saving
Appendix D Menu 0 Parameters.
0.01 Minimum frequency/speed clamp
0.02 Maximum frequency/speed clamp
0.03 Acceleration rate
0.04 Deceleration rate
0.05 Reference selector
0.06 Current limit
0.07 Speed-loop proportional gain
Pr Function User
0.08 Speed-loop integral gain value
0.09 Speed-loop derivative gain 0.11 Pre-ramp reference [M]
0.10 Motor speed [M] 0.12 Post-ramp reference [M]
0.13 Motor active-current [M]
0.14 (Relative) jog reference
0.15 Position-loop mode selector
0.16 Feedback encoder
no. of lines / pulses per revolution
0.17 Reference encoder/resolver ratio
0.18 Feedback-encoder / Reference-resolver [M]
speed
0.19 Feedback-encoder / Reference-resolver [M]
position

Pr Function User 0.20 Position error [M]

value 0.21 Reference-encoder / Feedback-resolver [M]
0.31 Macro number [M] position

0.32 Serial comms. mode 0.22 Reference-encoder / Feedback-resolver [M]

speed
0.33 Drive rated current (FLC) [M]
0.23 Reference encoder
0.34 User security code [M] no. of lines / pulses per revolution
0.35 Keypad reference [M] 0.24 Position-loop gain
0.36 Serial comms. baud rate 0.25 Positioning speed limit
0.37 Serial comms. address 0.26 Orientation reference
0.38 Power up parameter display select 0.27 Orientation acceptance window
0.39 Synchronize to a spinning motor 0.28 Stop mode selector
0.40 Autotune 0.29 Reference encoder/resolver revolution [M]
0.41 PWM switching frequency selector counter

0.42 Motor number of poles 0.30 Feedback encoder/resolver revolution [M]

counter
0.43 Motor power factor
0.44 Motor rated voltage
0.45 Motor rated full load RPM
0.46 Motor rated current
0.47 VT> Motor rated frequency
0.48 Drive operating mode selector
0.49 Security status [M]
0.50 Drive software version [M]

Unidrive User Guide

3-60 Setting Up the Drive Issue code: udxu6
Setting up and using Macro 8 for Digital-lock mode
digital lock Set parameter 0.15 Position-loop mode selector
as follows:
The following require attention in addition to the
settings made in Chapter 2. Digital lock mode Digital 0.15
feed-forward
Encoders Rigid 1
Perform the following only when encoders are fitted 2
to the motors, and UD51 option modules are fitted Non-rigid 3
in the Drives:
4
In the master Drive...
Enter into parameter 3.21 the number of lines Reference selection
per revolution for the feedback encoder that When parameter 0.15 has been set at 2 or 4 (for no
is fitted to the master motor. digital feed-forward), use 0.05 Reference selector to
In the slave Drive... select the required speed-reference source, as
follows:
Enter into parameter 0.23 the same value as
above ([3.21] in the master Drive). 0.05 Source Terminal(s)
Enter into parameter 0.16 the number of lines 0 Analog input 1 or 2 which can be 5 and 6, or 7
per revolution for the feedback encoder that selected using the LOCAL/REMOTE
is fitted to the slave motor. contact
The working-speed ranges are as follows: 1 Analog input 1 5, 6
2 Analog input 2 7
0.16 and 0.23
3 Preset speeds
Quadrature Frequency + Working-speed (see the Advanced User Guide)
direction range
4 Keypad control
5000 10000 0 ~ 3000
5 Precision speed reference
2500 5000 3001 ~ 6000 (see the Advanced User Guide)
1250 2500 6001 ~ 12000
625 10250 12001 ~ 24000 Speed reference
500 1000 24001 ~ 30 000
When parameter 0.15 has been set at 2 or 4 (for no
Operation below a specified working-speed range digital feed-forward), apply a suitable
will result in progressively reducing resolution. speed-reference to the input selected by parameter
Operation cannot occur above a specified 0.05 Reference selector. If required, use the
working-speed range because of a limit on the speed-reference that is applied to the master Drive;
maximum possible pulse repetition frequency. otherwise use a speed-reference that always equals
the master speed-reference. In both cases, if a
For operation with frequency and direction signals, speed ratio is to be used (see Speed ratio later in this
see the Unidrive Advanced User Guide. section), refer to Menu 7 in the Unidrive Advanced
User Guide for scaling the analog input accordingly.
Resolvers
Perform the following only when resolvers are fitted
Analog input mode
to the motors, and UD53 option modules are fitted The analog inputs are configured for 0 ~ 10V; see the
in the Drives: Unidrive Advanced User Guide for selecting other
modes.
In the master and slave Drives...
Refer to Chapter 5 Setting Up the UD53 in the
UD53 User Guide and follow the appropriate
procedure under Phase offset, as follows:
Resolver phasing test (Servo mode)
Magnetizing current test (Closed-loop Vector)

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-61
Stopping mode Jog and relative jog
The stopping mode is as follows: Setting up
Operating Stopping mode If required, change the (relative) jog speed from the
mode default value of 50RPM by adjusting parameter
VT Ramp to a stop 0.14 (Relative) jog reference from 0 to 4000RPM.
SV Stop under current limiting
Using jog
(no ramp)
Use the following sequence to enable jog:
Do not change the setting of parameter 0.28 Ramp
mode selector. 1. Close the DRIVE ENABLE contact.

2. Close the ( RELATIVE) JOG SELECT contact.

Speed ratio
3. Close the appropriate RUN contact.
By default, the slave motor will run at the same
speed as the master motor. To apply a ratio to Using relative jog
these speeds, change the value of 0.17 Reference
encoder/resolver ratio, as follows: Use the following sequence to enable relative jog:

To run the slave slower than the master, 1. Close the DRIVE ENABLE contact.
increase the value
2. Close the appropriate RUN contact.
To run the slave faster than the master,
decrease the value 3. Close the (RELATIVE) JOG SELECT contact.

Ramps In both cases, to stop jogging, open the (RELATIVE)

JOG SELECT contact.
When adusting parameters 0.03 Acceleration rate
and 0.04 Deceleration rate in the master and slave
Drives, to help minimise the incidence of position
errors, ensure that the rates will not cause the
following:
Acceleration and deceleration times for the
slave to be greater than for the master
(allowing for any speed ratio)
Current limiting in the slave Drive

Positioning speed-limit
When a position error is being corrected, the
position loop produces a correction term which is
added to the speed reference that is applied to the
slave Drive. By default, the maximum value of the
correction term is limited to 150RPM. If required,
change the value of this limit by adjusting parameter
0.25 Positioning speed limit from 0 to 250RPM.
Dynamic response to correcting
position errors
Normally, there is no need to adjust the dynamic
response to the correction of position errors. If
required, adjust 0.24 Position-loop gain as follows:
Increase the value for a faster response, but
take care not to induce instability
Decrease the value for a slower response

Unidrive User Guide

3-62 Setting Up the Drive Issue code: udxu6
Setting up and using Macro 8 for Reference selection
shaft orientation Use 0.05 Reference selector to select the required
speed reference source, as follows:
The following require attention in addition to the
settings made in Chapter 2. 0.05 Source Terminal(s)
0 Analog input 1 or 2 which can be 5 and 6, or 7
Encoder selected using the LOCAL/REMOTE
contact
Perform the following only when an encoder is
fitted to the motor, and a UD51 option module is 1 Analog input 1 5, 6
fitted in the Drive: 2 Analog input 2 7
Enter into parameter 0.16 the number of lines 3 Preset speeds
per revolution for the feedback encoder that (see the Advanced User Guide)
is fitted to the motor. 4 Keypad control
The working-speed ranges are as follows: 5 Precision speed reference
(see the Advanced User Guide)
0.16
Quadrature Frequency + Working-speed Speed reference
direction range
5000 10000 0 ~ 3000 Apply a speed reference to the input selected by
parameter 0.05 Reference selector.
2500 5000 3001 ~ 6000
1250 2500 6001 ~ 12000
Analog input mode
625 1250 12001 ~ 24000
500 1000 24001 ~ 30 000 The analog inputs are configured for 0 ~ 10V; see the
Unidrive Advanced User Guide for selecting other
Operation below a specified working-speed range modes.
will result in progressively reducing resolution.
Operation cannot occur above a specified Jog
working-speed range because of a limit on the
maximum possible pulse repetition frequency. Setting up
Note that frequency and direction signals should If required, change the jog speed from the default
not be used with shaft orientation. value of 50RPM by adjusting parameter
0.14 (Relative) jog reference from 0 to 4000RPM.
Orientation mode
Using jog
Set parameter 0.15 Position-loop mode selector
as follows: Use the following sequence to enable jog:

Orientation mode 0.15 1. Close the DRIVE ENABLE contact.

Orientate when stopping 5 2. Close the JOG SELECT contact.
Orientate when enabling the Drive, as well as 6
orientate when stopping 3. Close the appropriate RUN contact.

When the Drive is operating in the closed-loop

Stopping mode
vector mode, set parameter 6.08 Hold zero speed at
When parameter 0.15 Position-loop mode selector is
1 (see Appendix B Security and Accessing the Advanced
set at 5, set parameter 0.28 Ramp mode selector at
Parameters).
rP-Pos.

Unidrive User Guide

Issue code: udxu6 Setting Up the Drive 3-63
Orientation position and window
Set parameter 0.26 Orientation reference at the
1
required angular position in steps of /4096 revolution
from the zero point of the (absolute) encoder or
resolver.

Set parameter 0.27 Orientation acceptance window at

the required orientation tolerance in steps of
1
/4096 revolution. Orientation is completed when the
shaft speed is less than 2RPM and the position is
between WMAX and WMIN , where:
WMAX = [0.26] + [0.27]
WMIN = [0.26] [0.27]

Orientation speed
The default orientation speed is 150RPM. If required,
adjust parameter 0.25 Positioning speed limit from
0 to 250RPM.

Dynamic response when orientating

The dynamic response of the position loop is preset;
do not adjust 0.24 Position-loop gain.

Unidrive User Guide

3-64 Setting Up the Drive Issue code: udxu6
A Programming
Instructions
The instructions in this appendix take you step-by-
step through learning how to use the display and
keypad, and alert you to avoid actions that could
cause confusion. It is in your interests to follow
these instructions carefully.
The instructions can be used when the Drive is
operating in Keypad or Terminal mode. They cover
the basic procedure for accessing a numerical
variable parameter. Instructions for accessing other
types of parameter, as well as for more advanced
operations, are given later in this appendix.
A.1 Electrical connections
Before following the instructions in this chapter
ensure the Drive has been connected in accordance
with the instructions in Chapter 2 Installing the Drive,
in the Installation Guide or Chapter 2 Getting Started
in this User Guide.
When following the instructions in this appendix, It
is your responsibility to connect and disconnect the
AC supply as required.
The terminal cover must be
fitted to the Drive before the
AC supply is connected. If the
cover needs to be removed, the
Warning
AC supply must first be
disconnected for ten minutes.
The AC supply must be
connected to the Drive with
appropriate fuses or
Warning
protection, as described in the
Installation Guide.
Adjustment of parameter
values must be performed only
by suitably trained or
Warning
experienced personnel.
Incorrect values could be
hazardous.
Unidrive User Guide
Issue code: udxu6
A.2 Preparation
1. Ensure that terminal 30 is connected to
terminal 31 or that a contact connected to
these terminals is closed.
2. If these instructions are being followed when a
macro other than Macro 1 is enabled, ensure
terminal 8 is connected to terminal 11 or a
motor thermistor is connected to these
terminals. These connections will allow the
Drive to be operated.
3. Ensure that terminals 27 and 28 are
open-circuit, or that contacts connected to
these terminals are open. This will prevent a
motor (if connected) from being driven.
4. Ensure that if a FREQUENCY/SPEED
potentiometer is connected, it is set at
minimum (wiper at 0V common).
5. Connect the AC supply to the Drive.
6. The display is in Status mode and should indicate
as follows:
(When the Drive is operated in the Closed-loop
Servo mode, the lower display shows StoP
instead of rdY.)
If the lower display shows triP and the upper
display shows one of the following, check the
cause and attend to the remedy:
Display Cause and remedy
th Motor thermistor not connected, or terminal 8
not connected to terminal 11. Make the
necessary connections.
Et External trip signal received, or terminal 30 not
connected to terminal 31. Make the necessary
connections.
rS Motor is not connected, one phase is not
connected or the motor is open-circuit.
7. Press to reset the Drive. The display
should now show:
OL + VT> rdY
SV> StoP
If the lower display still shows triP and another
code is shown on the upper display, see
Appendix E Diagnostics.
Programming Instructions A-1
A.3 Status mode A.5 Entering Parameter mode
and returning to
Status mode
1. Momentarily press . The display enters
Parameter mode.
The lower display indicates that the Drive is ready to The lower display shows parameter number
drive a motor, as follows: 0.10. (A different parameter number could be
OL + VT> rdY shown if the Drive has been used previously.)
The display appears as follows:
SV> StoP

The upper display indicates the output frequency of

the Drive or the motor speed. This is the value of
parameter 0.10. (The value of a different parameter
could be shown if the Drive has been used
previously.)

A.4 Displaying the parameter

number in Status mode
When the display is in Status mode, the upper
display shows the value of parameter 0.10 (or of the
last parameter to be selected). The number of this 8 seconds
parameter can be shown on the lower display,
instead of the Drive status.

1. To show the parameter number, press:

or

2. To show the status, press:
shown immediately.
. The status is 2. Do not press any keys. After eight seconds, the
display returns to Status mode. This shows
that the display always returns from Parameter
mode to Status mode when no keys are pressed
within eight seconds.
You may repeat these two steps as many times
as required to obtain an understanding of the
operation.

Unidrive User Guide

A-2 Programming Instructions Issue code: udxu6
A.6 Selecting Scrolling
a parameter to access 1. Within eight seconds, press and hold down:

If the display returns to Status mode during the

course of selecting parameters (because no keys The parameter number continuously increases
have been pressed for eight seconds), to re-enter (scrolls upward) until the highest numbered
Parameter mode, press: parameter in the menu is reached.

2. To start scrolling upward again from parameter

number 0.00, release then re-press:
1. Momentarily press . The display enters
Parameter mode.
Parameter number 0.10, or the number of the 3. Repeat steps 1 and 2 using
last selected parameter, appears on the lower
The parameter numbers will now decrease. In
display. The value shown on the upper display
step 2, when parameter 0.00 is reached,
remains the same.
releasing and re-pressing the key will re-start
downward scrolling from the highest numbered
parameter in the menu.

Quick selection of parameter 0.00

1. While the display is in Parameter mode, press at
the same time:

and
Parameter 0.00 is displayed.

2. Within eight seconds, press

The parameter number decreases by one.
Repeat this step until 0.06 is displayed.

2. Now select parameter number 0.06.

Notice that the upper display changes to show

the value of the parameter that is selected.

Unidrive User Guide

Issue code: udxu6 Programming Instructions A-3
A.7 Changing the value of a
parameter
1. Within eight seconds of selecting parameter
0.06, press:

The display enters Edit mode.

(If more than eight seconds have elapsed, the
display will have returned to Status mode. In
this case, twice press:

On the first press, the display will re-enter
Parameter mode where parameter 0.06 will
again be displayed; on the second press, the
display will enter Edit mode.)
The upper display still shows the value of the
parameter, but the least-significant digit
flashes. (The value shown is the default value
for 0.06; the value displayed may be different if
the Drive has been used previously.)
3. Press and hold down
The value scrolls downward. Release the key
when the required value is reached.
To increase the value, press
4. When the required value is displayed, press:
5. The display returns to Parameter mode. If no
keys are pressed within eight seconds, the
display enters Status mode.
Making large changes in value quickly
So far, you have changed the value by incrementing
or decrementing the least significant digit. The
speed of change can be increased by selecting, then
scrolling either of the more significant digits, as
follows:

1. When the display is in Edit mode, momentarily

press:

Note that when the display is in Edit mode, it

will not return to Status mode after eight
seconds. You can spend as much time as
required changing the value of a parameter.
2. To decrease the value, momentarily press:
When the key is released, the digit at the left of
the least significant digit flashes. This
operation can be repeated to select the most
significant digit of the display. If this digit is
not currently displayed, it can still be selected.
When selected, a bar appears in its place.

The value of the flashing digit decreases by one.

You can repeat this step as many times as
required. The new value takes effect
immediately.

You can then change the value of the newly

selected digit.

Unidrive User Guide

A-4 Programming Instructions Issue code: udxu6
Quick selection from least to most
significant digit
To select the most significant digit when the
least significant digit is flashing, momentarily
press:
Quick selection from most to
least significant digit
If the most significant digit of the display (not
just the displayed value) is flashing, to select
the least significant digit, momentarily press:
Unidrive User Guide
Issue code: udxu6
Quick selection of the
least significant digit
Irrespective of the digit that is selected, to select
the least significant digit, press at the same time:
and
Reaching the maximum
or minimum value
A special condition arises when both the following
occur:
A digit other than the least significant digit
(LSD) is being increased, and the maximum
value is approached.
The displayed LSD is not the same value as
the LSD of the maximum value. For
example: if the displayed value is 126.4, and
the maximum value is 217.9, the displayed
LSD of 4 differs from 9.
The special condition allows the value to be set at
either of the following:
The highest permissible value that contains
the displayed LSD (eg. 4)
The maximum value for the parameter
Use the following procedure to see how the
operation works:
1. Ensure the selected digit is not the LSD.
2. Press and hold down . When the
maximum value is reached, the entire display
flashes the maximum value (eg. 217.9). Release
the key within three flashes of the display. The
display now shows the highest permissible value
(eg. 216.4) that contains the displayed LSD.
Programming Instructions A-5
3. Again press and hold down . When the
maximum value is reached, the entire display
again flashes the maximum value (eg. 217.9).
Release the key after four flashes of the display.
The display now shows the maximum value.
When setting the value at maximum in normal
operation, it is not necessary to follow step 2.
A.9 Flashing and non-flashing
digits
When the display is in Edit mode, the flashing of a
digit indicates that the value of the digit can be
changed. If no digits flash, the parameter cannot be
edited because it is read-only (or protected).

The same principles apply when reaching the

minimum value. A.10 Negative values
Setting the value at zero When the value of a bipolar variable parameter is
negative, a minus sign appears at the left of the
1. Momentarily press at the same time: displayed value.
and
A.11 Changing the setting of a
bit parameter
When a bit parameter is selected and Edit mode
entered, the display appears as shown below. bit
appears at the left of the upper display. 0 or 1 is
displayed at the right.

When 0 is displayed, press to select 1.

When 1 is displayed, press to select 0.

Return the value to 150 before returning the

display to Parameter mode.

A.8 Saving new

parameter-values
Use the following procedure to save new
parameter-values. The new values will then apply
each time the AC supply is subsequently applied to
the Drive. If new parameter-values are not saved,
the previously saved (or default) values will apply
each time the AC supply is applied to the Drive.

1. Set parameter 0.00 at 1000.

2. Press . The display returns to Parameter

mode. Do not press any keys within eight
seconds; the display then enters Status mode.

3. Momentarily press to reset the Drive. If

the Drive is running, press at the same time:

and
The new parameter-value(s) are now saved.

Unidrive User Guide

A-6 Programming Instructions Issue code: udxu6
A.12 Selecting a different option
Some variable parameters are used for selecting
among a number of options. These options can be
shown as numbers (as 1 to 5 in parameter 0.05
Reference selector) or as character strings (as Ur_S,
etc, in parameter 0.07 Voltage mode selector).
1. To select a different option, press:
to ascend through the range of options
to descend through the range of options
When the first option is displayed, it is
necessary to ascend through the range in order
to select another option. When the last option
is displayed, it is necessary to descend through
the range.
A.13 Restoring the Drive
to a default configuration
Do not attempt to restore the
Drive to a default
configuration when the Drive is
running.
Warning
Restoring the Drive to a
default configuration enables
Macro 0 and returns all
parameters to their default
values including the motor
parameters. (If any one of the
macros 1 to 8 has been enabled,
the Drive still reverts to
Macro 0.)
After restoring the Drive to a
default configuration, it will be
necessary for the required
parameter values to be
re-entered before the Drive is
next run.
2. Press
The default values now take effect.
(The Drive is automatically restored to a default
state when the operating mode is changed.)
Saving the default values
If new parameter-values had previously been saved,
these (not the default) values will apply when the
AC supply is next connected to the Drive. If the
default values are required instead, they must be
saved in the same way as new values. Refer to
Saving new parameter-values earlier in this chapter to
save the default values.
A.14 Summary of key operation
Change the display mode
Parameter mode
Select a parameter
or
Select parameter 0.00
and
Select another menu
or
Select Menu 0
and
Edit mode
Change the value of a digit
or
Change the setting of a bit
parameter
Select a different option
Select the value at 0
and
Select a different digit
or
Select the least significant
and
digit

When the Drive is despatched from the factory, the

parameters have default values, some of which
depend on the AC supply frequency (European 50Hz
or USA 60Hz). Consequently, the Drive has a
default configuration for each of these supply
frequencies.

Use the following procedure:

1. Enter either of the following values in

parameter 0.00:
1233 (Europe, 50Hz AC supply frequency)
1244 (USA, 60Hz AC supply frequency)

Unidrive User Guide

Issue code: udxu6 Programming Instructions A-7
 Unidrive User Guide
A-8 Programming Instructions Issue code: udxu6
B Security, and Accessing
the Advanced Parameters
This User Guide is focused on configuring and
operating the Drive within the confines of the
Menu 0 parameters. To access the advanced
parameters (described in the Unidrive Advanced User
Guide), you will first need to unlock security.
B.3 Unlocking User Security
When User Security has been set-up and AC power is
applied to the Drive, User Security is automatically
locked. No parameters can be edited except for
parameter .00 in any menu.
Unlock User Security as follows:
1. Select parameter 00 in any menu.

2. Set the value at the User Security code number.

B.1 Security levels All readwrite parameters can now be edited. To
enable read-write parameters in the Advanced
Security operates at the following two levels to Menus to be edited, unlock Standard Security.
prevent unauthorized editing of parameters:

User-defined Security B.4 Unlocking Standard

User-defined Security operates only when it has
been set-up by the user. When locked, it
prevents editing of all parameters in all the
menus except for parameter 00 in each menu.
Standard Security
When locked, Standard Security prevents
editing of all the parameters in the Advanced
Menus, but allows editing of the parameters in
the Menu 0. The Drive is supplied with this
level of security.
The code number used to unlock User-defined
Security is defined by the user. This gives
protection against unauthorized editing of
parameters. The code number can be read and
edited only when User Security has been unlocked.
Security
When AC power is applied to the Drive, Standard
Security is automatically locked. Only the
parameters in Menu 0 can be displayed for reading
and editing.
To read and edit parameters in the Advanced
Menus, unlock Standard Security, as follows:
1. Select parameter 0.00
2. Set the value at 149.
All the parameters can now be read and edited
unless User Security has been set.
Parameter 0.00 is now accessible in all the menus as
1.00, 2.00, etc.

B.2 Setting-up User Security

B.5 Locking Standard Security
The Drive is supplied without User Security having
been set-up. Consequently, when Standard Security When AC power is removed and subsequently
is unlocked, all parameters can be read and all read re-applied, Standard Security and User Security
write parameters can be edited. (when set-up) are locked.

Set-up User Security as follows: Lock Standard and User Security without removing
AC power, as follows:
1. Select parameter 0.34 User security code. The
default value 149 is displayed. 1. Select parameter 00 in any menu.

2. Change the value to the required User Security 2. Set the value at 2000.
number which must be within the range 0 to
255. Do not use the default value 149.

3. When the display is returned to Parameter

mode, the displayed value reverts to 149. This
hides the new User Security number.

4. Follow the procedure in Saving new

parameter-values in Appendix A Programming
Instructions.
User Security is now set-up.

Unidrive User Guide

Issue code: udxu6 Security and Access B-1
B.6 Summary
Condition Standard User Security
Security
Locked Advanced Only parameter
parameters cannot .00 in each menu
be read or edited can be edited; all
(Menu 0 is fully other parameters
accessible) can be read
Drive as Advanced None
despatched parameters cannot
from the be read or edited
factory (Menu 0 is fully
accessible)
Setting up Set 0.34 at 149 Set 0.34 at 0 ~ 255
security (but not 149); the
display reverts to
149 hiding the true
value
Saving the code Occurs
number automatically at
power-down
Locking Occurs automatically at power-down or
when parameter .00 in any menu is set
at 2000
Unlocking Set 0.00 at 149 Set parameter .00
in any menu at the
user security code;
the display reverts
to 0, hiding the
true value
Changing the Not possible Set 0.34 at the
code required value
Disabling Set 0.34 at 0 and Set 0.34 at 149
security interrupt the (this value is
AC supply always displayed;
just enter Edit
mode and return to
Parameter mode)
Restoring a No change
default
configuration

Unidrive User Guide

B-2 Security and Access Issue code: udxu6
 Descriptions of the control
C Signal Connections signal connections
The function and possibly the specification of some
The control circuits are
terminals change according to the macro
isolated from the power
configuration that is enabled. In these cases, the
circuits in the Drive by basic
number of the associated macro configuration(s) is
insulation only. The installer
Warning stated in italics before the function of the terminal.
must ensure that the external
Where no indication is given, the function and
control circuits are insulated
specification apply to all the macro configurations.
from human contact by at least
one layer of insulation rated
for use at the AC supply 1 Status relay contact
voltage. 2
Function Drive healthy
If the control circuits are to be
connected to other circuits Contact voltage rating 240VAC
classified as Safety Extra Low Installation category 1
Voltage (SELV) (eg. to a Contact maximum current 5A resistive
Warning rating
personal computer), an
additional isolating barrier Contact minimum current 10mA
must be included in order to rating
maintain the SELV Contact condition Normally open
classification.
Isolation 1.5kV
Update period 8ms
Logic levels of the digital inputs
Logic sense Logic Voltage Action
state
3 0V common (analog)

Negative 0 15V Open-circuit Common connection for external analog devices.

1 5V Connected to 0V

Positive 0 5V Open-circuit 4 +10V reference voltage

1 15V Connected to +24V Function Supply for external analog
signal devices
For positive logic, the supply can be obtained from Voltage tolerance 1%
terminal 22 +24V output.
Maximum output current 10mA
Signal modes of the analog inputs Protection Current limit

Signal Condition Parameter

setting
0 ~ 10V VOLt
0 ~ 20 mA 020
20 ~ 0 mA 200
4 ~ 20 mA Trip on loss of signal 420.tr
current
20 ~ 4 mA Trip on loss of signal 204.tr
current
4 ~ 20 mA Minimum or low speed 420.Lo
on loss of signal current
20 ~ 4 mA Minimum or low speed 204.Lo
on loss of signal current
4 ~ 20 mA Previous speed on loss 420.Pr
of signal current
20 ~ 4 mA Previous speed on loss 204.Pr
of signal current

Unidrive User Guide

Issue code: udxu6 Signal Connections C-1
 Analog input 1 8 Analog input 3
5 Non-inverting input Macro Function
6 Inverting input 0 2 3 4 6 7 8 Motor thermistor input*

Macro Function 1 No function

0 1 2 3 5 6 7 8 Freq./speed reference 1 (remote) Internal pull-up voltage <5V

4 Analog torque reference Trip threshold resistance 3 k 15%

Type of input Bipolar differential analog Reset resistance 1.9 k 15%

(For single-ended use, Short-circuit detection R 51 12%

connect terminal 6 to
terminal 3) Macro Function
5 PID feedback
Operating in voltage mode
Voltage range 10V ~ +10V Type of input Bipolar single-ended analog

Absolute maximum 24V ~ +24V relative to 0V Operating in voltage mode

voltage range 24V differential Voltage range 10V ~ +10V

Input resistance 100k Absolute maximum 24V relative to 0V

voltage range
Operating in current mode
Input resistance 100k
Current ranges 0 ~ 20mA
20mA ~ 0 Operating in current mode
4 ~ 20mA Current ranges 0 ~ 20mA
20 ~ 4mA 20mA ~ 0
Absolute maximum current 50mA 4 ~ 20mA
20 ~ 4mA
Equivalent input resistance 200 at 20mA
Absolute maximum current 50mA
Resolution 12-bit plus sign
Equivalent input resistance 200 at 20mA
Sampling period OL> 2ms
CL> <450s * When the Drive is used with Macro 0, 2, 3, 4, 6, 7
or 8 and a motor thermistor is not connected to
terminal 8 (or terminal 15 on the 15-way D type
7 Analog input 2
connector), terminal 8 must be connected to 0V
Macro Function (terminal 3 or 11).
01678 Freq./speed reference 2 (local)
9 OL> FREQUENCY output signal
4 Freq./speed reference or CL> SPEED output signal
CL> Speed over-ride
10 TORQUE output signal
5 PID reference
Type of output Single-ended analog voltage
Type of input Bipolar single-ended analog
Bipolar
Operating in voltage mode
Maximum output voltage 10V ~ +10V
Voltage range 10V ~ +10V
Maximum output current 10mA peak
Absolute maximum 24V relative to 0V
voltage range Load resistance 1k minimum

Input resistance 100k Protection Short-circuit proof

Resolution 10-bit plus sign
Operating in current mode
Update period 8ms
Current ranges 0 ~ 20mA
20mA ~ 0
4 ~ 20mA
11 0V common (analog)
20 ~ 4mA
Absolute maximum current 50mA Common connection for external analog devices.
Equivalent input resistance 200 at 20mA
21 0V common
When the Drive is used in torque control (Macro 4),
terminal 7 is used for the analog torque reference.

Unidrive User Guide

C-2 Signal Connections Issue code: udxu6
 22 +24V digital supply 30 OL> EXTERNAL TRIP input
Voltage tolerance 10%
CL> DRIVE ENABLE input

Nominal output current 200mA (total including Inputs

terminal 24)
Input Negative-logic digital
Overload output current 240mA (total including
Voltage range 0V ~ +24V
terminal 24)
Absolute maximum 3V ~ +30V
Protection Current foldback
voltage range
above 240mA
Input current when 3.2mA
Supply for external digital signal devices. 0V applied
Negative-logic levels Inactive state
23 0V common (digital) (input open-circuit): > +15V
Active state: < +5V
Common connection for external digital devices.
Positive-logic levels Inactive state
(input open-circuit): < +5V
24 Macro Function
Active state: > +15V
0 1 4 5 6 OL> AT-SPEED output
CL> AT ZERO SPEED output Outputs
2 UP input Type of output Negative-logic digital
(push-pull)
3 PRESET SELECT A input
Voltage range 0V ~ +24V
7 BRAKE RELEASE output
Maximum output current 200mA (total including
8 ORIENTATION COMPLETE terminal 22)
output
Overload output current 240mA (total including
25 RESET input terminal 22)

26 Macro Function
018 JOG SELECT input 31 0V common (digital)
2 DOWN input Common connection for external digital devices.
3 PRESET SELECT B input
4 AT MIN. SPEED output
6 LIMIT FORWARD input
27 RUN FORWARD input
28 RUN REVERSE input
29 Macro Function
0178 LOCAL/REMOTE input
2 MOT. POT. ENABLE input
3 PRESET ENABLE input
4 TORQUE ENABLE input
5 PID ENABLE input
6 LIMIT REVERSE input

Unidrive User Guide

Issue code: udxu6 Signal Connections C-3
C.2 Encoder connections Motor thermistor
If required a motor thermistor can be connected as
shown in Figure C1, as follows:

Macro Condition
0 Required
1 May be connected but is not used by the Drive
2 Required
3 Required
4 Required
5 Do not connect
6 Required
Encoder connector
15-way D-type 7 Required

Encoder 8 Required

Grounding and shielding

Signal
connections for
all encoders
Connect the cable shield as shown. Do not connect
the cable shield to the motor frame.

Descriptions of the
Encoder connections

Additional
1 Quadrature channel A
commutation
signal 2 Quadrature channel A
connections for
use with servo 3 Quadrature channel B
motors only
4 Quadrature channel B
5 Marker pulse channel Z
6 Marker pulse channel Z
7 Commutation channel U

Signal connector 8 Commutation channel U

9 Commutation channel V
Figure C1 Encoder connections and 10 Commutation channel V
alternative motor-thermistor
connections 11 Commutation channel W
12 Commutation channel W
Type RS422 differential receivers
Maximum data rate 205kHz
Line termination 120
components (see parameter 3.24 in the
Advanced User Guide)

Unidrive User Guide

C-4 Signal Connections Issue code: udxu6
 13 Encoder supply C.3 Frequency and direction
Supply voltage +5.15V or 15V connections
Voltage tolerance 2%
Nominal output current 300mA

See parameter 3.23 in the Unidrive Advanced User

Guide.

The output voltage at

terminal 13 is 5V when Encoder connector
parameter 3.23 is set at 0 15-way D-type
(default). When 3.23 is set at 1,
Caution
the output voltage will become
15V. This could damage
encoders that require a 5V
supply.

14 0V common
Frequency
reference
15 Motor thermistor input
Direction
reference

Master

Frequency
reference

Direction
reference

Slave

Signal connector

Figure C2 Frequency and direction

connections and alternative
motor-thermistor connections

Unidrive User Guide

Issue code: udxu6 Signal Connections C-5
Motor thermistor
If required a motor thermistor can be connected as
shown in Figure C1, as follows:

Macro Condition
0 Required
1 May be connected but not required by the
Drive
2 Required
3 Required
4 Required
5 Do not connect
6 Required
7 Required
8 Required

Grounding and shielding

Connect the cable shield as shown. Do not connect
the cable shield to the motor frame.

Description of the Frequency and

Direction connections
1 Frequency input FIN
2 Frequency input FIN
3 Direction input DIN
4 Direction input DIN

7 Frequency output FOUT

8 Frequency output FOUT
9 Direction output DOUT
10 Direction output DOUT
Type RS422 differential receivers
Maximum data rate 205kHz
Line termination 120
components (see parameter 3.24 in the
Advanced User Guide)

14 0V common
15 Motor thermistor

For further information on using Frequency and

Direction signals with the Unidrive, see menu 3 in
the Unidrive Advanced User Guide.

Unidrive User Guide

C-6 Signal Connections Issue code: udxu6
 Symbols
D Menu 0 Parameters
Default value

Range of values
D.1 Introduction [...] Indicates the value of the parameter
In the parameter descriptions in this chapter, the ~ Indicates a range of values (in the case of bit
number of the equivalent advanced parameter is parameters, ~ indicates or)
shown in brackets under the Menu 0 parameter
number.
Categories of the
The functions of parameters 0.11 to 0.30 can be fixed-function parameters
altered independently of any macro that is enabled
by programming the parameters 11.01 to 11.20 (see The parameters are arranged in the following
the Unidrive Advanced User Guide). categories:

0.00 Configuration and saving

Key
0.01 ~ 0.02 Speed limits
Type of parameter
0.03 ~ 0.06 Ramps
RO Read-only
Speed reference selection
RW Readwrite Current limit
...selector Select from a number of settings
0.07 ~ 0.09 Voltage boost (open-loop)
...select Select from two settings PID gains (closed-loop)
...enable Make or allow a function to operate
0.10 Speed indication
...disable Stop or disallow a function from
operating
0.31 Macro-number indication
...indicator The value can only be read
0.32 ~ 0.34 Miscellaneous
Limitations of use
R The Drive must be reset for a new value to 0.35 Keypad-reference monitoring
take effect.
0.36 ~ 0.38 Serial communications
S The new parameter-value is saved when the Parameter displayed at power-up
AC supply is disconnected from the Drive.

P Protected parameter; the parameter cannot 0.39 ~ 0.41 Spinning motor

be used as the destination parameter for a Autotune
programmable input (see Menu 11 in the PWM switching frequency

Unidrive Advanced User Guide).

0.42 ~ 0.47 Motor parameters
Range 0.48 Operating-mode selection
Bi Variable parameter having bipolar value
range. 0.49 ~ 0.50 Security and software information

Uni Variable parameter having unipolar value

range.
Txt Variable parameter having text displayed. A
number is stated alongside the setting; this is
displayed on the system controller when the
Drive is accessed by serial communications
Bit Bit parameter
FLC Full-load current (maximum continuous
output current) (see Appendix C Data in the
Installation Guide)

Unidrive User Guide

Issue code: udxu6 Menu 0 Parameters D-1
D.2 Fixed-function parameters Speed limits
common to all macro
configurations 0.01 OL> Minimum frequency clamp
(1.07) CL> Minimum speed clamp

Configuration (When the Drive is jogging, [0.01] has no effect.)

Open-loop
0.00 Operating mode,
Macro selection,
Configuration, Minimum frequency clamp RW Uni
Saving OL> 0 ~ [0.02] 0 Hz

RW Uni R Set 0.01 at the required minimum output frequency

0 ~ 2010 0
of the Drive for both directions of rotation. The
Drive runs at the minimum frequency when the
frequency reference is zero.
Value Function
[0.01] is a nominal value; slip compensation may
1000 Save new parameter-values
cause the actual frequency to be higher.
1233 Restore parameters to their default values
for 50Hz AC supply frequency (Europe) Closed-loop
1244 Restore parameters to their default values
for 60Hz AC supply frequency (USA) Minimum speed clamp RW Uni

1253 Enable the operating mode of the Drive to CL> 0 ~ [0.02] 0 RPM
be changed and restore parameters to their
default values for 50Hz AC supply Set 0.01 at the required minimum motor speed for
frequency (Europe) both directions of rotation. The motor runs at the
minimum speed when the speed reference is zero.
1254 Enable the operating mode of the Drive to
be changed and restore parameters to their
default values for 60Hz AC supply
0.02 OL> Maximum frequency clamp
frequency (USA) (1.06) CL> Maximum speed clamp
2001 Macro 1
Easy mode
(The Drive has additional over-speed protection.)
2002 Macro 2
Motorized potentiometer Open-loop
2003 Macro 3
Preset speeds Maximum frequency clamp RW Uni
2004 Macro 4 OL> 0 ~ 1000.0 50 (EURO) Hz
Torque control
60 (USA)
2005 Macro 5
PID control Set 0.02 at the required maximum output
2006 Macro 6
frequency for both directions of rotation. The
Axis-limit control frequency reference cannot cause the Drive to run
at a frequency higher than [0.02].
2007 Macro 7
Brake control [0.02] is a nominal value; slip compensation may
2008 Macro 8
cause the actual frequency to be higher.
CL> Digital lock
CL> Shaft orientation
2009 Macro 0
General purpose (USA default configuration)
2010 Macro 0
General purpose (EUR default configuration)

Press after setting parameter 0.00 at the

required value.

Unidrive User Guide

D-2 Menu 0 Parameters Issue code: udxu6
Closed-loop 0.05 Reference selector
(1.14)

Maximum speed clamp RW Uni

RW Uni
VT> 0 ~ 30 000 1500 (EURO)
1800 (USA)
RPM
RPM 0~5 (See below)
SV> 0 ~ 30 000 3000 RPM
The default setting of 0.05 depends on the default
Set 0.02 at the required maximum motor speed for configuration of the Drive and the operating mode,
both directions of rotation. The speed reference as follows:
cannot cause the Drive to run the motor at a speed
EUR All operating modes 0 Terminal mode
higher than [0.02].
USA Closed-loop modes 0 Terminal mode
For operation at motor speeds USA Open-loop mode 4 Keypad mode
greater than twice base speed,
contact the supplier of the Note
Caution motor.
Macros 2 to 5: Do not change the setting of
parameter 0.05.
Ramps,
Macro 6: Only settings 0, 1, 2 can be used.
Speed reference selection,
Current limit Macros 7 and 8: All settings can be used.

Use 0.05 to select the required frequency/speed

0.03 Acceleration rate reference, as follows:
(2.11)
Setting User-interface Function
RW Uni mode

OL> 0 ~ 3200.0 5 s/100Hz 0 Terminal Analog frequency/speed

VT> 0 ~ 3200.0 2 s/1000RPM
reference selected by
LOCAL/REMOTE contact
SV> 0 ~ 32.000 0.2 s/1000RPM 1 Terminal Analog frequency/speed
reference 1 selected
Set 0.03 at the required rate of acceleration. Note
that larger values produce lower acceleration. The 2 Terminal Analog frequency/speed
rate applies in both directions of rotation. reference 2 selected
3 Terminal Preset frequency/speed
0.03 does not apply to jog speed. See Menu 2 in references selected
the Unidrive Advanced User Guide for jog acceleration (used with Macro 3)
and deceleration rates. 4 Keypad Frequency/speed controlled
by the keypad
0.04 Deceleration rate 5 Terminal Precision reference selected
(2.21) (not used with Menu 0)

RW Uni
OL> 0 ~ 3200.0 10 s/100Hz
VT> 0 ~ 3200.0 2 s/1000RPM 0.06 Current limit
SV> 0 ~ 32.000 0.2 s/1000RPM
(4.07)

Set 0.04 at the required rate of deceleration. Note RW Uni

that larger values produce lower deceleration. The OL> 0 ~ 150 150 % IRATIO
rate applies in both directions of rotation. VT> 0 ~ 175 150

0.04 does not apply to jog speed. See Menu 2 in

SV 0 ~ 175 175
the Unidrive Advanced User Guide for jog acceleration
FLC
and deceleration rates. I RATIO =
[ 0.46]

0.06 limits the maximum output current of the

Drive (and hence maximum motor torque) to
protect the Drive and motor from overload.

Unidrive User Guide

Issue code: udxu6 Menu 0 Parameters D-3
Set 0.06 at the required maximum torque as a Use 0.07 (5.14) to select fixed voltage boost, or
percentage of the rated torque of the motor, as Vector control of voltage boost. Fixed boost
follows: requires a value to be set in 0.08 Boost voltage by
the user. See Figure D1. Fixed boost should be
TR used when 0.39 Synchronize to a spinning motor is set
[0.06] = 100 (%)
TRATED at 1.

Where:
TR Required maximum torque Motor voltage

TRATED Motor rated torque

Alternatively, set 0.06 at the required maximum
active (torque-producing) current as a percentage
of the rated active current of the motor, as follows:

IR
[0.06] = 100 (%)
I RATED
[0.08] Frequency
Voltage boost
Where:
IR Required maximum active current Figure D1 Effect of fixed voltage boost on
IRATED Motor rated active current the voltage-to-frequency
Refer to Setting the torque-producing current limit in characteristic
Chapter 3 Setting up the Drive.
Vector control causes the voltage boost to be
Voltage boost (open-loop), automatically regulated according to the load on
the motor.
Speed-loop PID gains (closed-loop)
Vector control requires the value of stator winding
resistance to be stored in a parameter in the Drive.
0.07 OL> Voltage mode selector
(5.14)
The three Vector modes allow the resistance to be
CL> Speed-loop proportional gain
(3.10) measured under different circumstances.

Closed-loop
Open-loop

Speed-loop RW Uni
Voltage mode selector RW Uni P
proportional gain
OL> (See below) Ur_I CL> 0 ~ 32000 200

0.07 (3.10) operates in the feed-forward path of

the speed-control loop in the Drive. See Setting up
Setting Function
operating limits in Chapter 2 Getting Started.
Vector modes
For analysis of the speed-loop, see parameter 3.10 in
Ur_S 0 Motor stator resistance is measured each the Unidrive Advanced User Guide.
time the Drive is started.
Ur_I 1 Motor stator resistance is measured at
power-up if the EXTERNAL TRIP contact is
closed and no other trip condition exists.
Ur 2 Motor stator resistance is not measured
(use this mode only after having used
Ur_S or Ur_I to measure the stator
resistance).

Setting Function

Fixed boost mode

Fd 3 Fixed voltage boost that can be manually
adjusted by parameter 0.08 Boost voltage.

Unidrive User Guide

D-4 Menu 0 Parameters Issue code: udxu6
0.08 OL> Boost voltage
(5.15) CL> Speed-loop integral gain
(3.11) Motor
voltage

Open-loop AC supply
voltage
IMOTOR
Boost voltage RW Uni
OL> 0 ~ 25.0 3.0 % x [0.44]

When 0.07 Voltage mode selector is set at Fd, set

0.08 (5.15) at the required value for the motor to
run reliably at low speeds. See Figure D1. Frequency

Excessive values of 0.08 can cause the motor to be

overheated. Figure D2 Fixed and variable
V/f characteristics
Closed-loop

Speed-loop RW Uni Closed-loop

integral gain
CL> 0 ~ 32000 100 Speed-loop RW Uni
derivative gain
0.08 (3.11) operates in the feed-forward path of CL> 0 ~ 32000 0
the speed-control loop in the Drive. See Setting up
operating limits in Chapter 2 Getting Started. 0.09 (3.12) operates in the feedback path of the
speed-control loop in the Drive. See Setting up
For analysis of the speed-loop, see parameter 3.11 in operating limits in Chapter 2 Getting Started.
the Unidrive Advanced User Guide.
For analysis of the speed-loop, see parameter 3.12 in
the Unidrive Advanced User Guide.
0.09 OL> Dynamic V/f select
(5.13) CL> Speed-loop derivative gain
(3.12)

Open-loop

Dynamic V/f select RW Bit

OL> 0~1 0

Set 0.09 (5.13) at 0 when the V/f characteristic

applied to the motor is to be fixed. It is then based
on the rated voltage and frequency of the motor.

Set 0.09 at 1 when reduced power dissipation is

required in the motor when it is lightly loaded. The
V/f characteristic is then variable resulting in the
motor voltage being proportionally reduced for
lower motor currents. Figure D2 shows the change
in V/f slope when the motor current is reduced.

Unidrive User Guide

Issue code: udxu6 Menu 0 Parameters D-5
Speed indication Miscellaneous
0.32 Serial comms. mode
0.10 OL> Estimated motor speed (11.24)
(5.04) CL> Motor speed
(3.02) RW Txt R P
ANSI 2 ANSI 4
Open-loop ANSI 4
OUtPUt
INPUt
Estimated motor speed RO Bi
OL> 6000 RPM Use 0.32 to select the required serial
communications mode as follows:
0.10 (5.04) indicates the value of motor speed that
is estimated from the following: ANSI 2 ANSI protocol, two-wire

0.12 Post-ramp frequency/speed reference ANSI 4 ANSI protocol, four-wire

0.42 Motor no. of poles Use the following modes to transfer the value of a
parameter in one Drive to a parameter in another Drive:
The value of 0.10 is applied to the analog output on
terminal 9 to indicate estimated speed. OUtPUt Transmit the value of the parameter specified
by the setting of 11.27 Serial comms. source/
destination selector (CT protocol)
Closed-loop
INPUt Apply the received value to the parameter
specified by the setting of 11.27 Serial comms.
Motor speed RO Bi source/ destination selector (CT protocol)
CL> 30 000 RPM

0.10 (3.02) indicates the value of motor speed that

is obtained from the speed feedback.
0.33 Drive rated current (FLC)
(11.32)
The value of 0.10 is applied to the analog output on
terminal 9 to indicate speed.
RO Uni P

Macro number indication 2.10 ~ 1920 A

0.31 Macro number

(11.37) 0.34 User security code
(11.30)
RO Uni
0~8 RW Uni S P
0 ~ 255 149
0.31 indicates the number of the macro that is
currently in operation. Use 0.34 to set up a User Security code.
Irrespective of the code number entered in 0.34, it
always indicates the default value 149. When 0.34
is actually set at 149, no User Security is applied.

See Setting-up User Security in Appendix B Security, and

Accessing the Advanced Parameters.

Unidrive User Guide

D-6 Menu 0 Parameters Issue code: udxu6
Keypad-reference monitoring 0.38 Power up parameter display select
(11.22)

0.35 Keypad reference RW Uni P

(1.17)
0.00 ~ 0.50 0.10

RO Bi S P At the time the AC supply is connected to the Drive,

OL> [0.02] Hz parameter 0.10 Estimated motor speed is
CL> [0.02] RPM automatically pre-selected as the initial parameter
to be displayed. This results in the following:
0.35 indicates the value of the frequency/speed
reference when the Drive is operating in Keypad 1. After the AC supply is connected to the Drive,
mode. The reference is then controlled by the and before any other parameter is selected, the
following control keys (when the display is in Status value of parameter 0.10 is shown on the upper
mode): display. This allows the motor speed to be
monitored without the need to select the
parameter.
The value is automatically saved when the Drive is 2. If the keypad is subsequently used to select
powered-down. At the next power-up, the Drive another parameter, the value of the newly
ramps up to the frequency/speed that applied selected parameter is displayed in place of the
before the power-down. initial parameter.

Serial communications, To select a different parameter to be displayed

initially, enter the required parameter number in
Parameter displayed after power-up 0.38 (eg. to display 0.12 Post-ramp reference, enter
0.12).
0.36 Serial comms. baud rate
(11.25) Spinning motor,
RW Txt P
Autotune,
4800 (0) 4800 baud
PWM switching frequency
9600 (1) (0)
19200 (2)
0.39 Synchronize to a spinning motor
Use 0.36 to select the required baud rate for serial (6.09)

communications when a Basic serial communications

large option module is fitted in the Drive. RW Bit
OL> 0~1 0

0.37 Serial comms. address

CL> 0~1 1
(11.23)
Open-loop
RW Uni P
Set 0.39 at 1 for the Drive always to automatically
0.0 ~ 9.9 1.1 Group.Unit synchronize itself to the motor if the motor is
already rotating when the Drive is started.
Use 0.37 to select the required address for serial
communications when a Basic serial communications If the Drive is started when the motor is already
large option module is fitted in the Drive. spinning and 0.39 is set at 0, the Drive cannot
detect the speed of the motor; the normal
Do not enter an address that contains a zero, since
operation of the Drive will cause the motor to be
this is used when addressing a group of Drives.
braked to a stand-still in the same way as
DC injection braking. The Drive will then accelerate
the motor to the value of the frequency reference.

Unidrive User Guide

Issue code: udxu6 Menu 0 Parameters D-7
Notes
The Drive can be synchronized to a single
motor only. If more than one motor is
connected to the Drive, this function should
not be used.
For the Drive to operate correctly during
and after synchronization, parameter
0.07 Voltage mode selector must be set at Fd.
The Drive starts a sequence of operations at one
quarter of the rated motor voltage in order to
detect the frequency associated with the speed of
the motor. The sequence is stopped when the
motor frequency is detected. The stages in the
sequence are as follows:
1. The frequency of the Drive is set at maximum
(the value of 0.02) in the direction that the
motor was last driven. (If the AC supply to the
Drive was interrupted before an attempt is
made to synchronize to a spinning motor, the
Drive always starts in the forward direction.)
2. The frequency is reduced to zero. If the motor
frequency is detected during the reduction in
Drive frequency, the test is stopped. The Drive
frequency is set at the detected motor
frequency and the Drive takes control of the
motor.
3. If the motor frequency is not detected, the
Drive is set at maximum frequency in the
opposite direction, and the test is repeated.
4. If the motor frequency is still not detected, the
Drive frequency is set at 0Hz, and the Drive
takes control of the motor.
Closed-loop
0.39 is set at 1 by default. The value of 0.12 Post-
ramp reference is automatically set at the value of
speed feedback. The Drive then takes control of the
motor.
When 0.39 is set at 0, the motor will be decelerated
under current limit until the motor speed meets the
value of 0.12 Post-ramp reference.
D-8 Menu 0 Parameters
0.40 Autotune
(5.12)
(3.25)
RW Bit P
0~1 0
Set 0.40 at 1 to start the Autotune sequence. See
Autotune in Chapter 2 Getting Started.
0.40 is related to the advanced parameters as
follows:
OL + CL> 5.12 Magnetizing current test enable
SV> 3.25 Encoder phasing test enable
Note
OL + VT> If the settings of parameters 0.41
to 0.47 are changed by a user after
Autotune has been performed, it is
essential that Autotune is repeated.
0.41 PWM switching frequency
(5.18)
RW Txt P
3, 4.5, 6, 9, 12 3 kHz
See PWM switching frequency in Planning the installation
in Chapter 2 Installing the Drive in the Installation
Guide.
Thermal protection
Intelligent thermal modelling in the Drive effectively
monitors the junction temperature of the IGBTs in
the power stage. When the junction temperature is
calculated to reach the maximum permissible value,
two levels of protection occur, as follows:
1. When a PWM switching frequency of 6kHz, 9kHz
or 12kHz is selected, the PWM switching
frequency is automatically halved. This reduces
switching losses in the IGBTs. (The value of
parameter 0.41 PWM switching frequency remains
at the value set by the user.)
Then at one-second intervals, the Drive will
attempt to return the PWM switching frequency
to the original value. This will be successful
when the thermal modelling has calculated that
the temperature has reduced sufficiently.
2. If the junction temperature continues to rise
(due to the output current) after the PWM
switching frequency has been halved, and the
temperature reaches the maximum permissible
value, the Drive will trip. The display will
indicate trip code Oh1.
Unidrive User Guide
Issue code: udxu6
Motor parameters 0.45 Motor rated full load RPM
(5.08)

0.42 Motor number of poles RW Uni

(5.11)
OL> 0 ~ 6000 0 RPM

RW Txt P
VT> 0 ~ 30 000 1450 (EUR) RPM

OL> 2 ~ 32 4 poles
1770 (USA)

VT> 2 ~ 32 4 poles
SV> 0 ~ 30 000 0 RPM

SV> 2 ~ 32 6 poles Open-loop

Closed-loop Vector
Enter the number of motor poles (not pole pairs).
(See Configuring the Drive for the motor in Chapter 2 Enter the value from the rating plate of the motor.
Getting Started.) (See Configuring the Drive for the motor in Chapter 2
Getting Started.)
0.43 Motor power factor
(5.10) Closed-loop Servo
Leave 0.45 set at 0. This parameter is not used in
RW Uni S P
the servo operating mode.
OL> 0 ~ 1.000 0.92
VT> 0 ~ 1.000 0.92
SV> 1 1.0
0.46
(5.07)
Motor rated current

Open-loop RW Uni
Closed-loop Vector 0 ~ FLC FLC A
When Autotune is used, the power factor of the FLC is the maximum permissible continuous output
motor is measured by the Drive and stored in 0.43. current of the Drive up to 40C ambient
The value can be seen when 0.43 is accessed. The temperature and 3kHz PWM switching frequency.
value may be higher than the value stated on the
motor rating plate. Enter the value from the rating plate of the motor.
(See Configuring the Drive for the motor in Chapter 2
If Autotune is not used, enter the value in 0.43. Getting Started.)

0.44 Motor rated voltage 0.47 Motor rated frequency

(5.09)
(5.06)

RW Uni RW Uni
Unidrive OL> 0 ~ 1000.0 50 (EUR) Hz
OL> 0 ~ 480 400 (EUR) V 60 (USA)
460 (USA) VT> 0 ~ 1000.0 50 (EUR) Hz
400 (EUR) 60 (USA)
VT> 0 ~ 480
460 (USA)
V

SV> 0 0 Hz
SV> 0 0 V

Unidrive LV Open-loop
OL> 0 ~ 240 220 V
Closed-loop Vector
VT> 0 ~ 240 220 V Enter the value from the rating plate of the motor.
SV> 0 0 V (See Configuring the Drive for the motor in Chapter 2
Getting Started.)
Open-loop
Closed-loop Vector
Enter the value from the rating plate of the motor.
(See Configuring the Drive for the motor in Chapter 2
Getting Started.)

Unidrive User Guide

Issue code: udxu6 Menu 0 Parameters D-9
Operating-mode selection D.3 Re-programmable
parameters specific to
0.48 Drive operating mode selector the macro configurations
(11.31)

Since the re-programmable parameters are specific

RW Txt R P
to individual macro configurations, most parameter
(See below) OPEN.LP numbers appear more than once in this section, but
with different names; these are variants on the
The settings for 0.48 are as follows:
parameter number. For guidance, a table headed
Setting Operating mode Applicable to Macros... appears for each parameter
variant. (In places, the listing is not able to be in
0 Open-loop
strict numerical order.)

A table at the end of this appendix shows the

variants for all the macro configurations (except
1 Closed-loop Vector
Macro 1 which does not use these parameters). The
figures in brackets indicate the numbers of the
related advanced parameters.
2 Closed-loop Servo

0.11 Pre-ramp reference

(1.03)
3 For operation in this mode, refer to
0.12 Post-ramp reference
the supplier of the Drive.
(2.01)

RO Bi
See Changing the operating mode in Chapter 2 Getting OL> 1000.0 HZ
Started.
CL> 30 000 RPM
The operating mode cannot be changed while the
Drive is running.
Applicable to Macros......

Security and software information 0 1 2 3 4 5 6 7 8

0.49 Security status When the frequency/speed is constant,
[0.12] = [0.11]. During acceleration and deceleration,
RO Uni the two values may differ.
0~1 1
OL> [0.12] differs from [0.11] also under either of
0.49 normally indicates 1. This shows that access the following conditions:
to the advanced parameters is not possible. (See When the Drive is in current limit
the Unidrive Advanced User Guide.
During braking in a standard ramp (Stnd.Hd
or Std.Ct) mode.
0.50 Software version number
(11.29)

RO Uni P
1 .00~ 99.99

Unidrive User Guide

D-10 Menu 0 Parameters Issue code: udxu6
0.13 Motor active-current 0.14 Limit forward indicator
(4.02) (8.03)

RO Bi RO Bit P
FLC A 0~1

Applicable to Macros... Applicable to Macros...

0 1 2 3 4 5 6 7 8 0 1 2 3 4 5 6 7 8

When the motor is being driven below its rated 0.14 indicates the state of the LIMIT FORWARD
speed, the torque is proportional to [0.13]. contact, as follows:

0.21 LIMIT FORWARD 0.14 Condition

0.14 Jog reference contact
(1.05)
0 Open 0 Limit not reached
RW Uni 0 Closed 1 Limit reached
OL> 0 ~ 400.0 1.5 Hz 1 Closed 1 Limit not reached
CL> 0 ~ 4000 50 RPM 1 Open 0 Limit reached

Applicable to Macros...
0.14 Motor current magnitude
0 1 2 3 4 5 6 7 8 (4.01)
OL>
CL> RO Uni P
0 ~ Imax A
Enter the required value of jog frequency/speed.
The frequency/speed limits affect the Drive when
jogging as follows: Applicable to Macros...

Frequency-limit parameter Limit applies 0 1 2 3 4 5 6 7 8

0.01 Minimum frequency/speed No

0.02 Maximum frequency/speed Yes 0.14 indicates the measured value of phase current
in the motor; this is the vector sum of the active and
Note magnetizing currents.
OL> IMAX = FLC x 150%
Jog can be selected only when Macro 0 or
Macro 1 is enabled and operation is in CL> IMAX = FLC x 175%
Terminal mode, or when Macro 8 is enabled.

Unidrive User Guide

Issue code: udxu6 Menu 0 Parameters D-11
0.14 Analog input 1 mode selector 0.15 Ramp mode selector
(7.06) (2.04)

0.15 Analog input 2 mode selector

(7.11)
RW Txt

0.16 Analog input 3 mode selector

(See below) Stnd.Ct
(7.15)

Applicable to Macros...
RW Txt P
(See below) VOLt
0 1 2 3 4 5 6 7 8

Applicable to Macros... Select the required ramp mode as follows:
0 1 2 3 4 5 6 7 8 Standard ramp with ramp hold
Stnd.Hd (0)
FASt (1) Fast ramp

Set the required mode as follows: Stnd.Ct (2) Standard ramp with proportional
control (refer to the Unidrive Advanced
Setting Input signal When current User Guide)
signal 3mA...
Set 0.15 Ramp mode selector for the required means
VOLt 0 0V to 10V
of controlling regenerated energy. Regeneration
020 1 0 to 20mA Signal treated as zero arises when the Drive is braking the motor. This
200 2 20mA to 0 Signal treated as zero occurs when the Drive decelerates the motor, or
prevents the speed of the motor from being
420.tr 3 4mA to 20mA Drive trips
increased as a result of mechanical influences.
204.tr 4 20mA to 4mA Drive trips
Regeneration causes the DC-bus voltage to be
420.Lo 5 4mA to 20mA Drive runs at minimum
or low speed increased. The settings for 0.15 determine the
braking action in relation to a DC-bus threshold level
204.Lo 6 20mA to 4mA Drive runs at minimum
known as the standard ramp voltage which is fixed at
or low speed
750V.
420.Pr 7 4mA to 20mA Drive runs at previous
speed
Care should be taken when
204.Pr 8 20mA to 4mA Drive runs at previous changing the setting of
speed parameter 2.08. The value
Warning
th.SC 9 Thermistor with trip on short circuit entered in this parameter
detection (Analog input 3 only) must be greater than the
th 10 Thermistor without short circuit voltage produced on the
detection (Analog input 3 only) DC bus by the highest
AC supply voltage. Normally,
the DC-bus voltage will be
approximately the RMS AC
supply voltage x 2. It is
recommended that the value
entered in parameter 2.08
should be at least 50V
higher than the maximum
expected level of the DC-bus
voltage.

0.15 set at Stnd.Hd (0)

Standard hold
If motor regeneration causes the DC-bus voltage to
reach the standard ramp voltage, the braking is
interrupted until the DC-bus voltage reduces
sufficiently. Braking then continues until the next
time the DC-bus voltage reaches its limit, resulting in
maximum braking occurring in steps.

Unidrive User Guide

D-12 Menu 0 Parameters Issue code: udxu6
0.15 set at FASt (1) 0.15 Position-loop mode selector
Fast ramp (13.08)

This setting gives continuous deceleration under

RW Uni
maximum braking conditions. This can give faster
deceleration than the Stnd.Hd setting with the CL> 0~6 1
result that the regenerated power is greater. A
braking resistor is normally required in order to Applicable to Macros...
prevent the DC-bus voltage from reaching the trip
0 1 2 3 4 5 6 7 8
level.
0.15 set at Stnd.Ct (2)

Standard controlled Select the required position-loop mode as follows:
(default setting) 0.15 Function
Deceleration is smoother than with the Stnd.Hd 0 Position loop is disabled
setting. The deceleration is controlled by a current
1 Rigid digital lock with digital feed-forward
controller in the Drive in order to maintain the
DC bus at or below the standard ramp voltage 2 Rigid digital lock without digital feed-forward
(750V). When necessary, this extends the 3 Non-rigid digital lock with digital feed-forward
deceleration time. Do not use this setting when a 4 Non-rigid digital lock without digital feed-forward
braking resistor is connected to the Drive.
5 Orientate when the motor is being stopped
6 Orientate when the Drive is being enabled, and
0.15 Run forward indicator
when the motor is being stopped
(8.04)
For further information, see Macro 8 in Chapter 3
RO Bit Setting Up the Drive.
0~1 0.16 Stop mode selector
(6.01)

Applicable to Macros... RW Txt

0 1 2 3 4 5 6 7 8 OL> (See below) rP
VT> (See below) rP
SV> (See below) no.rP
0.15 indicates the state of the RUN FORWARD
contact, as follows:
Applicable to Macros...
0.15 RUN FORWARD
contact 0 1 2 3 4 5 6 7 8

0 Open
1 Closed Select the required stop mode as follows:
Open loop
COASt 0 The motor is allowed to coast
0.15 Current detected indicator
(12.01) rP 1 Ramp to a stop
rP-dcI 2 Ramp followed by 1 second DC injection
RO Bit P
dcI 3 AC injection braking followed by 1 second
0~1 DC injection braking

td-dcI 4 DC injection braking for an adjustable time

(see the Unidrive Advanced User Guide).
Applicable to Macros...
0 1 2 3 4 5 6 7 8 Closed loop

COASt 0 The motor is allowed to coast

rP 1 Ramp to a stop
0.15 indicates as follows:
no.rP 2 Stop under current limiting (no ramp)
0.15 Motor current magnitude... rP-POS 3 Ramp, orientate and stop
0 Lower than the value set in 0.19 See Stopping and braking modes for the appropriate
1 Higher than the value set in 0.19 macro configurations in Chapter 3 Setting up the Drive.

Unidrive User Guide

Issue code: udxu6 Menu 0 Parameters D-13
0.16 Run reverse indicator The working-speed ranges are as follows:
(8.05)
0.16
RO Bit Quadrature Frequency + Working-speed
0~1 direction range
5000 10000 0 ~ 3000
2500 5000 3001 ~ 6000
Applicable to Macros...
1250 2500 6001 ~ 12000
0 1 2 3 4 5 6 7 8
625 1250 12001 ~ 24000

500 1000 24001 ~ 30 000
0.16 indicates the state of the RUN REVERSE
Operation below a specified working-speed range
contact, as follows:
will result in progressively reducing resolution.
0.16 RUN REVERSE Operation cannot occur above a specified
contact working-speed range because of a limit on the
maximum possible pulse repetition frequency.
0 Open
1 Closed For operation with frequency and direction signals,
see the Unidrive Advanced User Guide.

0.16 Drive healthy indicator 0.17 Torque mode selector

(4.11)
(10.01)

RW Uni
RO Bit P
0~1 OL> 0~1 0
CL> 0~4 0

Applicable to Macros...
Applicable to Macros...
0 1 2 3 4 5 6 7 8
0 1 2 3 4 5 6 7 8


0.16 indicates as follows:
Set 0.17 as follows:
0.16 Drive...
1 Operating normally Setting Open-loop Closed-loop

0 Tripped 0 Frequency control Speed control

1 Torque control Torque control

0.16 Feedback encoder No. of lines / 2 Torque control with

speed over-ride
(3.21) pulses per revolution
3 Coiler/uncoiler
RW Uni mode
VT> 256 ~ 10 000 1024 lines/pulses 4 Speed control with
SV> 256 ~ 10 000 4096 per rev. torque feed-forward

For operation in setting 1 Torque control, see Macro 4

Applicable to Macros... in Chapter 3 Setting Up the Drive.
0 1 2 3 4 5 6 7 8
For settings 3 and 4, refer to parameter 4.11 in the
Unidrive Advanced User Guide.

Enter the value related to the feedback encoder that

is fitted to the motor (slave motor in digital-lock
operation). The correct value must be entered in
order for the position loop and revolutions counter
to operate correctly.

Unidrive User Guide

D-14 Menu 0 Parameters Issue code: udxu6
0.17 Status relay invert Closed-loop
(8.26)
0.17 Motor speed
RW Bit 0 Above 2 RPM
0~1 0 1 Below 2 RPM

To change the frequency/speed at which change of

Applicable to Macros...
state occurs (2Hz), see parameter 3.05 in the
0 1 2 3 4 5 6 7 8 Unidrive Advanced User Guide.

0.17 Reference encoder/resolver ratio
When 0.17 is set at 0 and the Drive trips, the status (13.07)
relay contacts open.
If required, set 0.17 at 1 for the contacts to close RW Uni
when the Drive trips.
CL> 0.000 ~ 4.000 1
0.17 Limit reverse indicator
(8.06)
Applicable to Macros...
RO Bit 0 1 2 3 4 5 6 7 8
0~1
Use 0.17 to specify a speed ratio between the
Applicable to Macros... master and slave Drives in digital-lock operation.
0 1 2 3 4 5 6 7 8
Values below unity cause the slave to run faster than
the master; values above unity cause the slave to
0.17 indicates the state of the LIMIT REVERSE run slower than the master.
contact, as follows:
0.22 LIMIT REVERSE 0.17 Condition 0.17 Analog input 1
contact (7.01)

0 Open 0 Limit not reached 0.18 Analog input 2

(7.02)
0 Closed 1 Limit reached
0.19 Analog input 3
1 Closed 1 Limit not reached (7.03)
1 Open 0 Limit reached
RO Bi P

0.17 At zero speed indicator

100 %
(10.03)

Applicable to Macros...
RO Bit P
OL> 0~1 0 1 2 3 4 5 6 7 8

Applicable to Macros... These parameters indicate the values of the
0 1 2 3 4 5 6 7 8 following inputs as percentages of the full-scale
values:
0.17 Frequency/speed reference
0.17 indicates as follows: 0.18 PID reference
0.19 PID feedback
Open-loop
0.17 0.12
0 Above 2Hz
1 Below 2Hz

The value of 0.12 is the output frequency of the

Drive when it is not in current limiting.

Unidrive User Guide

Issue code: udxu6 Menu 0 Parameters D-15
0.18 S-ramp enable 0.18 indicates as follows:
(2.06)
0.18 Brake...
RW Bit 0 Applied
0~1 0 1 Released

Applicable to Macros...
0 1 2 3 4 5 6 7 8
0.18 Feedback-encoder /
(13.07) Reference-resolver speed

RO Bi P
Set at 1 to enable S-ramp. See 0.19 S-ramp da/dt
limit. CL> 0 ~ 30 000 RPM

0.18 Stop mode selector

(6.01) Applicable to Macros...
0 1 2 3 4 5 6 7 8
RW Txt

OL> rP
VT> (See below) rP For digital-lock operation, 0.18 indicates the
SV> no.rP
following, depending on which type of feedback
device is used:
Feedback-encoder speed
Applicable to Macros...
Reference-resolver speed
0 1 2 3 4 5 6 7 8
For shaft orientation, 0.18 indicates
feedback-encoder speed.
Select the required stop mode as follows:
When a feedback encoder is used, correct indication
Open loop depends on the correct value having been entered in
0.16 Feedback encoder No. of lines / pulses per
COASt 0 The motor is allowed to coast
revolution.
rP 1 Ramp to a stop
rP-dcI 2 Ramp followed by 1 second DC injection
0.19 S-ramp da/dt limit
dcI 3 AC injection braking followed by 1 second (2.07)
DC injection braking

td-dcI 4 DC injection braking for an adjustable time RW Uni

(see the Unidrive Advanced User Guide). OL> 0 ~ 3000.0 3.1
2
s /100Hz
VT> 0 ~ 30.000 1.5
2
s /1000 RPM
Closed loop
SV> 0 ~ 30.000 0.03
2
s /1000 RPM
COASt 0 The motor is allowed to coast
rP 1 Ramp to a stop
Applicable to Macros...
no.rP 2 Stop under current limiting (no ramp)
0 1 2 3 4 5 6 7 8
rP-POS 3 Ramp, orientate and stop

See also 0.19 Hold zero speed enable.
Use S-ramp to limit the rate of change of
0.18 Brake release indicator acceleration and deceleration at the start and end
(9.01) of ramps.
If a different rate of change of acceleration and
RO Bit P deceleration is required, set 0.19 S-ramp da/dt limit
0~1 at the required rate. (The acceleration and
deceleration rates are set in parameters 0.03 and
0.04).
Applicable to Macros...
0 1 2 3 4 5 6 7 8

Unidrive User Guide

D-16 Menu 0 Parameters Issue code: udxu6
 0.19 Current threshold
(12.04)
Speed demand
RW Uni P
0.0 ~ 100.0 0 % Imax

Acceleration
Applicable to Macros...
0 1 2 3 4 5 6 7 8

Set 0.19 at the required percentage of Imax (see
below). This value must ensure that adequate
current will flow through the motor to control the
load when the brake is released.
OL> IMAX = FLC x 150%
Actual speed Time
CL> IMAX = FLC x 175%

Figure D3 S-ramp time durations

0.19 Feedback-encoder /
(3.27) Reference-resolver position
Refer to Figure D3. The time duration t of the
curved sections can be calculated as follows: RO Uni P

For acceleration: CL> 0 ~ 16383 1

/16384 rev

[ 0.19]
t=
[0.03] Applicable to Macros...

For deceleration: 0 1 2 3 4 5 6 7 8

[0.19]
t=
[0.04] 0.19 indicates position as a count in 1/16384 revolution.
In comparison with a normal ramp, S-ramp increases When a Z marker pulse is detected by the small
the total ramp time by the value of t, since an option module, the position is counted from the
t
additional /2 is added at the beginning and end of pulse. Otherwise, the position is counted from the
the ramp. position at the moment the Drive was last
powered-up.

0.19 Hold zero speed enable For digital-lock operation, 0.19 indicates one of the
(6.08) following, depending on which type of feedback
device is used:
RW Bit
Feedback-encoder position
OL> 0~1 0
Reference-resolver position
VT> 0~1 0
SV> 0~1 1
For shaft orientation, 0.19 indicates
feedback-encoder position.
When a feedback encoder is used, correct indication
Applicable to Macros... depends on the correct value having been entered in
0 1 2 3 4 5 6 7 8 0.16 Feedback encoder No. of lines / pulses per
revolution.

Set at 0 to cause the IGBT bridge to become disabled

when no RUN signal is applied. The motor shaft will
then be free to rotate.
Set at 1 to keep the IGBT bridge enabled when no
RUN signal is applied. The Drive will apply torque to
hold the motor shaft stationary.

Unidrive User Guide

Issue code: udxu6 Menu 0 Parameters D-17
0.20 Skip frequency/speed 1 0.20 OL> Brake release delay
(1.29) (9.19) CL> Brake application delay
0.22 Skip frequency/speed 2
(1.31) RW Uni
0.0 ~ 25.0 0.2 s
RW Uni
OL> 0 ~ 1000.0 0 Hz
Applicable to Macros...
CL> 0 ~ 30 000 0 RPM
0 1 2 3 4 5 6 7 8

Applicable to Macros...
0 1 2 3 4 5 6 7 8 OL> If required, change the setting of 0.20 Brake
release delay to a suitable value (between 0 and 25
seconds) that will ensure a brake release signal is not
See 0.21 and 0.23 Skip bands. issued if the following occur simultaneously under
transient conditions:

0.20 PID proportional gain 0.16 Drive healthy indicator changes state to 1
(14.10) 0.17 At zero speed changes state to 0
CL> If required, change the setting of 0.20 Brake
RW Uni
application delay to a suitable value (between 0 and
0~4 1 25 seconds) that will ensure a brake release signal is
not removed if the following occur simultaneously
under transient conditions:
Applicable to Macros...
0 1 2 3 4 5 6 7 8
1.11 Reference enabled indicator changes state
to 1
0.17 At zero speed change state to 1
Refer to the setting up instructions for Macro 5 in
Chapter 3 Setting Up the Drive. 0.20 Position error
(13.01)

0.20 Limit deceleration rate RO Bi P

(2.21)
CL> 16384 1
/16384 rev
RW Uni
OL> 0 ~ 3200.0 0.2 s/100Hz Applicable to Macros...
0 1 2 3 4 5 6 7 8
Applicable to Macros...
0 1 2 3 4 5 6 7 8
0.20 indicates position as a count in
1
/16384 revolution, but only when the position loop is
closed (see Macro 8 in Chapter 3 Setting Up the Drive).
OL> Set 0.20 at the required rate of deceleration
For digital-lock operation, this is the error between
at the limit of travel (ie. when the relevant limit
the master and slave motors; for shaft orientation,
switch has been activated). Note that larger values
this is the position in relation to the value of
produce lower deceleration. The rate is applied in
0.26 Orientation reference at the final stage of
both directions of rotation.
orientation.
CL> 0.20 does not exist.

Refer to the setting up instructions for Macro 6 in

Chapter 3 Setting Up the Drive.

Unidrive User Guide

D-18 Menu 0 Parameters Issue code: udxu6
0.21 Skip freq./speed band 1 Example
(1.30) Skip speed 1 = 250RPM
0.23 Skip freq./speed band 2 Enter 250 in parameter 0.20
(1.32)
Required skip band = 60RPM
RW Uni
Enter 30 in parameter 0.21
OL> 0 ~ 5.0 0.5 Hz (Skip band = 2 Value of skip-band parameter.)
CL> 0 ~ 50 5 RPM
0.21 PID integral gain
(14.11)
Applicable to Macros...
RW Uni
0 1 2 3 4 5 6 7 8
0~4 0.5

Use skip frequencies/speeds and skip bands to Applicable to Macros...
prevent the motor from running at speeds that 0 1 2 3 4 5 6 7 8
cause mechanical resonances in the machine. During
acceleration and deceleration, the Drive passes
through the skip bands, but it does not stabilize in a Refer to the setting up instructions for Macro 5 in
skip band. Chapter 3 Setting Up the Drive.
Up to two skip frequencies/speeds can be
programmed. 0.21 Limit forward invert
Enter the centre frequency/speed of the band in (8.17)
0.20 (or 0.22) Skip frequency/speed, then enter the
width of each sideband in 0.21 (or 0.23) Skip RW Bit
freq./speed band. 0~1 0
When the value of a skip frequency is zero, the
related skip band is disabled. Applicable to Macros...
0 1 2 3 4 5 6 7 8
[0.11]
Pre-ramp reference
Set 0.21 at 1 when the LIMIT FORWARD contact is
normally closed.

0.21 Reference-encoder /
(16.03) Feedback-resolver position

RO Uni P

With skip frequency CL> 0 ~ 16383 1

/16384 rev
Without skip frequency

Applicable to Macros...

Input reference 0 1 2 3 4 5 6 7 8

Figure D4 Action of skip frequency/speed 1 1
and skip freq./speed band 1 0.21 indicates position as a count in /16384 revolution.
When a Z marker pulse is detected by the small option
When the frequency/speed (input) reference module, the position is counted from the pulse.
ascends into a skip band, the resulting (output) Otherwise, the position is counted from the position at
reference remains at the lower edge of the band the moment the Drive was last powered-up.
until the input reference has reached the upper edge For digital-lock operation, 0.21 indicates one of the
of the band. The output reference then jumps to following, depending on which type of feedback
the value of the input reference. device is used:
When the frequency/speed (input) reference Reference-encoder position
descends into a skip band, the resulting (output) Feedback-resolver position
reference jumps immediately to the lower edge of For shaft orientation, 0.19 indicates
the band. feedback-encoder/resolver position.

Unidrive User Guide

Issue code: udxu6 Menu 0 Parameters D-19
0.22 PID derivative gain 0.23 PID output high limit
(14.12) (14.13)

RW Uni RW Uni
0~4 0 0 ~ 100 100 %

Applicable to Macros... Applicable to Macros...

0 1 2 3 4 5 6 7 8 0 1 2 3 4 5 6 7 8

Refer to the setting up instructions for Macro 5 in Refer to the setting up instructions for Macro 5 in
Chapter 3 Setting Up the Drive. Chapter 3 Setting Up the Drive.

0.22 Limit reverse invert 0.23 Reference-encoder No. of lines /

(8.24) (16.04) pulses per revolution
RW Bit RW Uni
0~1 0 CL> 0 ~ 10 000 1024 lines/pulses
per rev.
Applicable to Macros...
0 1 2 3 4 5 6 7 8 Applicable to Macros...

0 1 2 3 4 5 6 7 8

Set 0.22 at 1 when the LIMIT REVERSE contact is

normally closed. For digital-lock operation, enter the value related to
the feedback encoder that is fitted to the master
0.22 Reference-encoder / motor. The correct value must be entered in order
(16.02) Feedback-resolver speed for the position loop and revolutions counter to
operate correctly.
RO Bi P
The same value must be entered in 3.21 Feedback
CL> 0 ~ 30 000 RPM encoder No. of lines / pulses per revolution in the
master Drive.
Applicable to Macros...
The working-speed ranges are as follows:
0 1 2 3 4 5 6 7 8

0.23
Quadrature Frequency + Working-speed
For digital-lock operation, 0.22 indicates the direction range
following, depending on which type of feedback 5000 10000 0 ~ 3000
device is used:
2500 5000 3001 ~ 6000
Reference-encoder speed
Feedback-resolver speed 1250 2500 6001 ~ 12000
When a reference-encoder is used (ie. a feedback 625 1250 12001 ~ 24000
encoder is used in the master Drive), correct 500 1000 24001 ~ 30 000
indication of 0.22 (in the slave Drive) depends on
the correct value having been entered in Operation below a specified working-speed range
3.21 Feedback encoder No. of lines / pulses per revolution will result in progressively reducing resolution.
in the master Drive as well as in 0.23 Reference Operation cannot occur above a specified
encoder No. of lines / pulses per revolution in the slave working-speed range because of a limit on the
Drive. maximum possible pulse repetition frequency.

For shaft orientation, 0.18 indicates For operation with frequency and direction signals,
feedback-encoder/resolver speed. see the Unidrive Advanced User Guide.

Unidrive User Guide

D-20 Menu 0 Parameters Issue code: udxu6
 Set the required mode as follows:
0.24 PID output low limit
(14.14) Setting Input signal When current
signal 3mA...
RW Bi VOLt 0 0V to 10V
100 100 % 020 1 0 to 20mA Signal treated as zero
200 2 20mA to 0 Signal treated as zero

Applicable to Macros... 420.tr 3 4mA to 20mA Drive trips

0 1 2 3 4 5 6 7 8 204.tr 4 20mA to 4mA Drive trips

420.Lo 5 4mA to 20mA Drive runs at minimum

or low speed
Refer to the setting up instructions for Macro 5 in 204.Lo 6 20mA to 4mA Drive runs at minimum
Chapter 3 Setting Up the Drive. or low speed
420.Pr 7 4mA to 20mA Drive runs at previous
0.25 PID output scale factor speed
(14.15) 204.Pr 8 20mA to 4mA Drive runs at previous
speed
RW Uni
0~4 1
0.24 Position-loop gain
(13.09)

Applicable to Macros...
RW Uni
0 1 2 3 4 5 6 7 8
CL> 0 ~ 4.000 0.1

Refer to the setting up instructions for Macro 5 in Applicable to Macros...
Chapter 3 Setting Up the Drive. 0 1 2 3 4 5 6 7 8

0.24 Analog input 1 mode selector

(7.06)
For digital-lock operation, adjust 0.24 in order to
0.25 Analog input 2 mode selector change the dynamic response of the position loop.
(7.11) Increase the value to produce a faster response, but
take care not to induce instability. Decrease the
RW Txt P value for a slower response. See also 0.25
(See below) VOLt Positioning speed limit.

For shaft orientation, do not adjust 0.24.

0.24 Applicable to Macros...
0.25 Motorized potentiometer reset
0 1 2 3 4 5 6 7 8
(9.28) indicator

RO Bit
0.25 Applicable to Macros...
0~1
0 1 2 3 4 5 6 7 8

Applicable to Macros...
0 1 2 3 4 5 6 7 8

When 0.25 is set at 1, this indicates that the
motorized potentiometer output is reset to 0%.
The motorized potentiometer is reset when the
RESET contact is closed (terminal 25) (only when
Macro 2 is enabled).

Unidrive User Guide

Issue code: udxu6 Menu 0 Parameters D-21
0.25 Preset reference 1 0.26 Analog input 2 destination selector
(1.21) (7.14)

0.26 Preset reference 2

(1.22)
RW Uni R P

0.27 Preset reference 3

0.00 ~ 20.50 1.37 Menu.
parameter
(1.23)

0.28 Preset reference 4

(1.24) Applicable to Macros...
0 1 2 3 4 5 6 7 8
RW Bi

OL> 1000 0 Hz
CL> 30 000 RPM A signal applied to an input terminal is converted
into a value which is applied to a (destination)
parameter. The function of this destination
Applicable to Macros... parameter determines the function of the terminal.
0 1 2 3 4 5 6 7 8 By default, terminal 7 (Analog input 2) is used as the
local frequency/speed reference. If required, use
0.26 to change the function of terminal 7 by
Enter the required values. entering the number of the required destination
parameter, which must be an advanced parameter
0.25 Analog reference 1 (not a Menu 0 parameter). Refer to the Unidrive
(1.36) Advanced User Guide.

RO Bi 0.26 Motorized potentiometer

OL> 1000 Hz (9.03) output indicator
CL> 30 000 RPM
RO Bi S P

Applicable to Macros...
100 %

0 1 2 3 4 5 6 7 8

Applicable to Macros...
0 1 2 3 4 5 6 7 8
0.25 indicates the value of the torque reference
applied to terminals 5 and 6 of the signal connector.
0.25 Positioning speed limit 0.26 indicates the value of the output of the
(13.09) motorized potentiometer as a percentage of the
maximum value.
RW Uni
CL> 0 ~ 250 150 RPM 0.26 Analog input 2 mode selector
(7.11)

Applicable to Macros...
RW Txt P
0 1 2 3 4 5 6 7 8
(See below) VOLt

For digital-lock operation, use 0.25 to determine Applicable to Macros...
the maximum variation in slave speed in relation to
0 1 2 3 4 5 6 7 8
that of the master when position errors are being
corrected. This speed limit can be used to suppress
large variations in speed that would otherwise arise
when high values of 0.24 Position-loop gain are used.

For shaft orientation, adjust 0.25 for the required

shaft speed during the orientation process.

Unidrive User Guide

D-22 Menu 0 Parameters Issue code: udxu6
Set the required mode as follows:
0.27 EUR> Positive logic select
Setting Input signal When current (8.27) USA> Sequencing mode selector
signal 3mA... (6.04)
VOLt 0 0V to 10V
020 1 0 to 20mA Signal treated as zero
Applicable to Macros...
200 2 20mA to 0 Signal treated as zero
0 1 2 3 4 5 6 7 8
420.tr 3 4mA to 20mA Drive trips

204.tr 4 20mA to 4mA Drive trips
420.Lo 5 4mA to 20mA Drive runs at minimum European configuration
or low speed
204.Lo 6 20mA to 4mA Drive runs at minimum Positive logic select RW Bit R P
or low speed 0~1 0
420.Pr 7 4mA to 20mA Drive runs at previous
speed Use 0.27 (8.27) to select the logic polarity of the
digital inputs, as follows:
204.Pr 8 20mA to 4mA Drive runs at previous
speed
0 Negative logic
1 Positive logic

0.26 Orientation reference

(13.11) USA configuration

RW Uni
Sequencing mode RW Uni P
CL> 0 ~ 4095 0
1
/4096 REV. selector
0~4 4
Applicable to Macros...
Use 0.27 (6.04) to change the functions of the
0 1 2 3 4 5 6 7 8 digital inputs; these functions determine the digital
control mode.

Adjust 0.26 for the required shaft orientation
relative to the zero position of the (absolute)
encoder or resolver fitted to the motor. See also
0.27 Orientation acceptance window.
Not used for digital lock.
The default setting (4) gives the functions shown in
the signal connection diagrams in Chapter 3 Setting
up the Drive.
Set 0.27 at 0 for digital control by momentary
contacts. See Macro 0 in Chapter 3 Setting up the
Drive.

0.26 Preset reference 7 It is essential that you see 0.29 USA> Terminal-29
(1.27) destination selector in order to set up a RUN PERMIT /
0.27 Preset reference 8 STOP input.
(1.28)
For other settings of 0.27, refer to parameter 6.04
RW Bi in the Unidrive Advanced User Guide.
OL> 1000 0 Hz
CL> 30 000 0 RPM
0.27 Motorized potentiometer
(9.21) zero-start select

Applicable to Macros... RW Bit

0 1 2 3 4 5 6 7 8
0~1 0

Applicable to Macros...
These parameters are used as preset references for 0 1 2 3 4 5 6 7 8
the frequency/speed reference and PID reference.
Refer to Macro 5 in Chapter 3 Setting Up the Drive.
Set 0.27 for the way the motorized potentiometer
is to behave at power-up of the Drive as follows:

Unidrive User Guide

Issue code: udxu6 Menu 0 Parameters D-23
 0 The motorized-potentiometer output returns to European configuration
the value it held when the Drive was previously
powered-down RW Uni

1 The motorized-potentiometer output starts at

OL> 0 ~ 30 000 20
zero VT> 0 ~ 30 000 150
SV> 0 ~ 30 000 130

0.27 Analog reference 2 The values of 0.28 and 0.29 affect the dynamic
(1.37) performance of the Drive in the following
conditions:
RO Bi Current-limit in frequency/speed control
100 Hz Torque control
30,000 RPM Braking when 0.15 Ramp mode selector is set
at Stnd.Ct (default)
Synchronizing the Drive to a spinning motor
Applicable to Macros...
(0.39 set at 1)
0 1 2 3 4 5 6 7 8
Loss of AC supply when 6.03 AC supply loss
mode selector is set at ridE.th.

0.27 indicates the value of the torque reference For information on adjusting these parameters, refer
applied to terminal 7 of the signal connector. to parameters 4.13 and 4.14 in the Unidrive Advanced
User Guide.

0.27 Orientation acceptance window USA configuration

(13.12)
RO BI
RW Uni OL> 0 ~ 1000 Hz
CL> 0 ~ 200 20
1
/4096 REV. CL> 0 ~ 30 000 RPM

0.28 differs from 0.11 Pre-ramp reference in that it

Applicable to Macros... indicates the demanded reference before
0 1 2 3 4 5 6 7 8 frequency/speed limiting and skip bands.

0.29 EUR> Current-loop integral gain
Adjust 0.27 for the required tolerance for shaft (4.14)
orientation (see also 0.26 Orientation reference). (8.23) USA> Terminal-29 destination
Orientation is completed and an selector
ORIENTATION COMPLETE signal is issued when the
shaft speed is less than 2RPM and the shaft position is
between WMAX and WMIN, where: Applicable to Macros...
WMAX = [0.26] + [0.27] 0 1 2 3 4 5 6 7 8
WMIN = [0.26] [0.27]
Not used for digital lock.
European configuration
0.28 EUR> Current-loop RW Uni
proportional gain

(4.13)
OL> 0 ~ 30 000 40
(1.01) USA> Frequency/speed demand VT> 0 ~ 30 000 2000
SV> 0 ~ 30 000 1200

Applicable to Macros... USA configuration

0 1 2 3 4 5 6 7 8
RW Uni R P

OL> 0.00~20.50 1.41 Menu.
parameter

Use 0.29 to change the function of the digital input

on terminal 29.
Unidrive User Guide
D-24 Menu 0 Parameters Issue code: udxu6
The default setting (1.41) gives LOCAL/REMOTE For shaft orientation, set 0.28 at rP-Pos.
switching.
The functions of the settings are as follows:
When 0.27 Sequencing mode selector is set at 0, it
is essential that you set 0.29 at 6.34. This makes rP 1 Ramp to a stop
terminal 29 function as a stop input (RUN PERMIT / no.rP 2 Stop under current limiting (no ramp)
STOP)
rP-POS 3 Ramp, orientate and stop
0.28 Motorized potentiometer
For other settings, see parameter 6.01 in the Unidrive
(9.22) bipolar select
Advanced User Guide.
RW Bit
0~1 0 0.29
(9.23)
Motorized potentiometer rate

RW Uni
Applicable to Macros...
0 1 2 3 4 5 6 7 8
0 ~ 250 20 s

Applicable to Macros...
Set 0.28 as follows:
0 1 2 3 4 5 6 7 8
0 Unipolar output (0 ~ 100%)
1 Bipolar output (100%)
Enter the required time for the
motorized-potentiometer output to change by
100%.
0.28 Overspeed threshold
(3.08)
0.28 Analog input 2 (PID reference)
RO Bi (7.12) scaling
OL> 0 ~ 1000 1000 HZ 0.29 Analog input 3 (PID feedback)
VT> 0 ~ 30000 2000 RPM (7.16) scaling
SV> 0 ~ 30000 4000 RPM
RW Uni
0~4 1
Applicable to Macros...
0 1 2 3 4 5 6 7 8 Applicable to Macros...
0 1 2 3 4 5 6 7 8

Enter the value of frequency (open-loop) or speed

(closed-loop) above which the Drive is to trip due to
If required, change the scaling of the PID reference
overspeed. See parameter 3.29 in the Unidrive
and feedback inputs by entering appropriate values
Advanced User Guide for details of setting up the
in these parameters.
open-loop overspeed trip.

0.28 Stop mode selector 0.29 Reference encoder/resolver

(6.01) (13.16) revolution counter

RW Txt RO Uni P
VT> (See below) rP CL> 0 ~ 16384 revolutions
SV> no.rP
Applicable to Macros...
Applicable to Macros... 0 1 2 3 4 5 6 7 8
0 1 2 3 4 5 6 7 8
For digital-lock operation, the value of 0.29 is
For digital-lock operation, the default setting of incremented by 1 for each forward revolution of the
0.28 should be used.

Unidrive User Guide

Issue code: udxu6 Menu 0 Parameters D-25
reference encoder, and decremented by 1 for each 0.30 Optional PID-enable source selector
reverse revolution. (14.09)

When 16384 is passed during incrementation, [0.29] RW Bit

changes to 1 and continues counting up. When 1 is
passed during decrementation, [0.29] changes to
0~1 0

16384 and continues counting down.

Applicable to Macros...
Not used for shaft orientation.
0 1 2 3 4 5 6 7 8
0.29
(7.08)
Analog input 1 (torque reference)
scaling

0.30 Analog input 2 (frequency/speed 0.30 is used for selecting a source parameter as a
(7.12) reference) scaling software enable for PID control. This software
enable is AND-gated with the PID enable signal
applied to terminal 29. Refer to Menu 14 in the
RW Uni
Unidrive Advanced User Guide.
0~4 1

0.30 Feedback encoder/resolver

Applicable to Macros... (13.17) revolution counter
0 1 2 3 4 5 6 7 8
RO Uni P
CL> 0 ~ 16384 revolutions
If required, change the scaling of the torque
reference and frequency/speed reference inputs by Applicable to Macros...
entering appropriate values in these parameters.
0 1 2 3 4 5 6 7 8

0.30 FWD/REV key enable
(6.13) For digital-lock operation as well as shaft
orientation, the value of 0.30 is incremented by 1
RW Bit for each forward revolution of the feedback
0~1 0 encoder, and decremented by 1 for each reverse
revolution.

Applicable to Macros... When 16384 is passed during incrementation, [0.30]

0 1 2 3 4 5 6 7 8
changes to 1 and continues counting up. When 1 is
passed during decrementation, [0.30] changes to
16384 and continues counting down.

The Drive is supplied with the key disabled.

To enable this key, set 0.30 FWD/REV enable at 1.

0.30 Motorized potentiometer

(9.24) output scale factor

RW Uni
0~4 1

Applicable to Macros...
0 1 2 3 4 5 6 7 8

By default, when the motorized potentiometer
output is 100%, the frequency/speed is set at 100%.
If necessary, enter the required value to reduce the
frequency/speed range.

Unidrive User Guide

D-26 Menu 0 Parameters Issue code: udxu6
 Pr Macro 0 Macro 2 Macro 3 Macro 4
0.11 Pre-ramp reference (1.03) Pre-ramp reference (1.03) Pre-ramp reference (1.03) Pre-ramp reference (1.03)
0.12 Post-ramp reference (2.01) Post-ramp reference (2.01) Post-ramp reference (2.01) Post-ramp reference (2.01)
0.13 Motor active-current Motor active-current Motor active-current Motor active-current
(4.02) (4.02) (4.02) (4.02)
0.14 Jog reference (1.05) Jog reference (1.05) Jog reference (1.05) Jog reference (1.05)
0.15 Ramp mode selector (2.04) Ramp mode selector (2.04) Ramp mode selector (2.04) Ramp mode selector (2.04)
0.16 Stop mode selector (6.01) Stop mode selector (6.01) Stop mode selector (6.01) Stop mode selector (6.01)
0.17 Torque mode selector (4.11) Status relay invert (8.26) Status relay invert (8.26) Status relay invert (8.26)
0.18 S-ramp enable (2.06) S-ramp enable (2.06) S-ramp enable (2.06) S-ramp enable (2.06)
0.19 S-ramp da/dt limit (2.07) S-ramp da/dt limit (2.07) S-ramp da/dt limit (2.07) S-ramp da/dt limit (2.07)
0.20 Skip freq./speed 1 (1.29) Skip freq./speed 1 (1.29) Skip freq./speed 1 (1.29) Skip freq./speed 1 (1.29)
0.21 Skip freq./speed band 1 Skip freq./speed band 1 Skip freq./speed band 1 Skip freq./speed band 1
(1.30) (1.30) (1.30) (1.30)

0.22 Skip freq./speed 2 (1.31) Skip freq./speed 2 (1.31) Skip freq./speed 2 (1.31) Skip freq./speed 2 (1.31)
0.23 Skip freq./speed band 2 Skip freq./speed band 2 Skip freq./speed band 2 Skip freq./speed band 2
(1.32) (1.32) (1.32) (1.32)

0.24 Analog input 1 mode Analog input 1 mode Analog input 1 mode Analog input 1 (torque
selector (7.06) selector (7.06) selector (7.06) reference) mode selector
(7.06)

0.25 Analog input 2 mode Motorized pot. reset Preset reference 1 (1.21) Analog reference 1
selector (7.11) indicator (9.28) (torque reference) (1.36)
0.26 Analog input 2 destination Motorized pot. output Preset reference 2 (1.22) Analog input 2 mode
selector (7.14) indicator (9.03) selector (7.11)
0.27 EUR> Positive logic select Motorized pot. zero-start Preset reference 3 (1.23) Analog input 2
(8.27) select (9.21) (CL> Speed over-ride)
(1.37)
USA> Sequencing mode
selector (6.04)
0.28 EUR> Current-loop Motorized pot. bipolar Preset reference 4 (1.24) Over-speed threshold
proportional gain (4.13) select (9.22) (3.08)
USA> Freq./speed demand
(1.01)

0.29 EUR> Current-loop Motorized pot. rate (9.23) Analog input 1 scaling
integral gain (4.14) (7.08)

USA> Terminal-29
destination selector (8.23)
0.30 FWD/REV key enable (6.13) Motorized pot. output Analog input 2 scaling
scale factor (9.24) (7.12)

Unidrive User Guide

Issue code: udxu6 Menu 0 Parameters D-27
 Pr Macro 5 Macro 6 Macro 7 Macro 8
0.11 Pre-ramp reference (1.03) Pre-ramp reference (1.03) Pre-ramp reference (1.03) Pre-ramp reference (1.03)
0.12 Post-ramp reference (2.01) Post-ramp reference (2.01) Post-ramp reference (2.01) Post-ramp reference (2.01)
0.13 Motor active-current Motor active-current Motor active-current Motor active-current
(4.02) (4.02) (4.02) (4.02)
0.14 Analog input 1 Limit forward indicator Motor current magnitude Jog reference (1.05)
(frequency/speed (8.03) (4.01)
reference) mode selector
(7.06)

0.15 Analog input 2 Run forward indicator Current detected indicator Position-loop mode
(PID reference) mode (8.04) (12.01) selector (13.08)
selector (7.11)
0.16 Analog input 3 Run reverse indicator (8.05) Drive healthy indicator Feedback encoder No. of
(PID feedback) mode (10.01) lines / pulses per
selector (7.15) revolution (3.21)
0.17 Analog input 1 Limit reverse indicator At zero speed indicator Reference encoder/
(frequency/speed (8.06) (10.03) resolver ratio (13.07)
reference) (7.01)
0.18 Analog input 2 Stop mode selector (6.01) Brake release indicator Feedback-encoder /
(PID reference) (7.02) (9.01) reference-resolver speed
(3.26)
0.19 Analog input 3 Hold zero speed enable Current threshold (12.04) Feedback-encoder /
(PID feedback) (7.03) (6.08) reference-resolver position
(3.27)
0.20 PID proportional gain Limit deceleration rate OL> Brake release delay Position error (13.01)
(14.10) (2.22) CL> Brake application
delay
(9.19)
0.21 PID integral gain (14.11) Limit forward invert (8.17) Reference-encoder /
Feedback-resolver position
(16.03)
0.22 PID derivative gain (14.12) Limit reverse invert (8.24) Reference-encoder /
Feedback-resolver speed
(16.02)
0.23 PID output high limit (14.13) Reference encoder No. of
lines / pulses per
revolution (16.04)
0.24 PID output low limit (14.14) Position-loop gain (13.09)
0.25 PID output scale factor Positioning speed limit
(14.15) (13.10)
0.26 Preset reference 7 (1.27) Orientation reference
(13.11)
0.27 Preset reference 8 (1.28) Orientation acceptance
window (13.12)
0.28 Analog input 2 scaling Stop mode selector (6.01)
(7.12)

0.29 Analog input 3 scaling Reference encoder/

(7.16) resolver revolution
counter (13.16)
0.30 Optional PID-enable source Feedback encoder/
selector (14.09) resolver revolution
counter (13.17)

Unidrive User Guide

D-28 Menu 0 Parameters Issue code: udxu6
E Diagnostics E.1 Status indications
Lower Conditions Drive
display output

Users must not attempt to rdY

repair a Drive if it is faulty, nor The Drive is ready to be run. Disabled
carry out fault diagnosis other run
Warning than through the use of the
The Drive is running. Enabled
diagnostic features described
in this appendix. inh

Under no circumstances must The Drive cannot be run. Disabled

the casing of the Drive be CL> Drive enable signal not applied to
opened when the AC supply is terminal 30.
connected. StoP
If a Drive is faulty, it must be The Drive is holding the motor at zero Enabled
returned to an authorized speed
Control Techniques distributor dEC
for repair.
The Drive is decelerating the motor Enabled
SCAn
When the Drive display is in Status mode, it is used The Drive is searching for the motor Enabled
for displaying coded messages. These are frequency when synchronizing to a
categorized as follows: spinning motor.
ACUU
Status indications
The Drive has detected that the AC supply Enabled
When the Drive is in normal operation, the is lost and is attempting to maintain the
lower display shows a code which indicates the DC-bus voltage by decelerating the motor.
status of the Drive. dc
Alarm indications The Drive is applying DC injection braking. Enabled

If a critical condition is detected, the Drive POS

continues operating and the lower display The Drive is positioning the motor shaft. Enabled
shows an alarm code in place of the status triP
code. If the condition is not rectified, the Drive
The Drive has tripped and is no longer Disabled
could trip.
controlling the motor. The trip code
The alarm message flashes alternately with the appears on the upper display.
normal display indication.
Trip codes
E.2 Alarm indications
If the Drive trips, the output is disabled so that
the Drive stops controlling the motor. The Lower Conditions
lower display indicates that a trip has occurred display
and the upper display shows a trip code. br.rS
The braking-resistor [I x t] accumulator in the Drive has
reached 75% of the value at which the Drive will be
tripped.
OVLd
The motor [I x t] accumulator in the Drive has reached 75%
of the value at which the Drive will be tripped.
hot
The Drive heatsink has reached 95C (203F) and the
output current has not been reduced (sufficiently).
Air
The temperature of the air around the control circuits is
near the maximum permissible.

Unidrive User Guide Diagnostics E-1

Issue code: udxu6
E.3 Trip codes ENC.OVL 10
Encoder ASIC
The number shown in the table is transmitted when (Encoder supply or frequency/direction output).
parameters 10.20 to 10.29 Trip log are accessed by
ENC.PH1 11
serial communications.
Encoder U phase missing.
Upper No. Conditions
ENC.PH2 12
display
Encoder V phase missing.
UU 1
ENC.PH3 13
Insufficient DC-bus voltage
Standard models: <320VDC Encoder W phase missing.
Low-voltage models: <160VDC ENC.PH4 14
This occurs when the AC supply is removed. Encoder U V W commutation signals connected
OU 2 incorrectly.
Excessive DC-bus voltage ENC.PH5 15
Standard models: >830VDC Encoder A channel missing.
Low-voltage models: >415VDC
ENC.PH6 16
Excessive regenerated power caused by the following:
0.04 Deceleration rate value too low Encoder B channel missing.
Braking resistor not being used ENC.PH7 17
OI.AC 3 Encoder A and B channels connected incorrectly.
Excessive output current caused by the following: SIN-COS encoder or resolver SIN and COS connections

0.03 Acceleration rate value too low connected incorrectly or the phase sequence of the motor
is reversed.
0.04 Deceleration rate value too low
CL> 0.27 Proportional gain too high ENC.PH8 18
(used in Macro 0 only) Autotune fail (wrong test for operating mode,
Excessive motor-cable capacitance limit-switch operated, trip, etc).
Short-circuit at the output of the Drive Resolver phasing test or magnetizing current test ended
4 prematurely.
OI.br
Excessive current in the braking resistor. It.br 19

A short-circuit exists across the braking resistor. Excessive braking-resistor [I x t].

PS 5 It.AC 20

Internal power supply fault. The [I x t] thermal overload accumulator has reached 100%
(see the OVLd alarm).
Remove and re-connect the AC supply. If the trip persists,
contact the supplier of the Drive. Oh1 21
Et 6 Excessive heatsink temperature due to excessive [I xt]
(see the hot alarm).
OL> External trip signal applied to terminal 30.
Oh2 22
Remove the trip signal, then reset the Drive.
Excessive heatsink temperature detected by thermistor.
OV.SPd 7
OA 23
The motor has exceeded the over-speed threshold.
This can be caused by the following: The temperature of the air around the control circuits is
excessive (see the Air alarm).
Sudden removal of a large mechanical load
0.04 Deceleration rate value too low th 24
Inappropriate setting for 0.16 Stop mode selector The motor thermistor has detected excessive motor
0.19 S-ramp da/dt too high (not used in Macro 5) temperature (or the thermistor or wiring is open-circuit).

Prc2 8 thS 25

Trip in Processor-2 large option module. The motor thermistor or wiring is short-circuit.

SEP 9 OP.OVLd 26

Trip in the small option module. See the User Guide for The total current drawn from terminals 22 and 24
the relevant small option module. exceeds 200mA.

Unidrive User Guide

E-2 Diagnostics Issue code: udxu6
 cL1 27 trXX 40 ~ 99
When configured for current signal, loss of signal current Trip codes defined by the user. XX indicates the trip
at terminals 5 and 6 (Analog input 1). code number.
cL2 28 tr 100 100
When configured for current signal, loss of signal current Process-generated trip (see parameter 10.38).
at terminal 7 (Analog input 2).
Ot inP 101
cL3 29
Input stage over-temperature (model size 5).
When configured for current signal, loss of signal current
at terminal 8 (Analog input 3). Ot HS n 102 ~ 109

SCL 30 Heatsink over-temperature on module n (model size 5)

detected by one of the two thermistors in the Drive.
Loss of serial communications when slaving Drives. (Not
Ensure that ventilation at the front and rear of the Drive is
applicable to operation in Menu 0).
adequate.
EEF 31
PS n 110 ~ 117
Fault in the internal EEPROM causing loss of parameter
Power supply failure in module n (model size 5)
values.
Follow the procedure Restoring all parameters OI.AC n 118 ~ 125
to the default values in Appendix A, then re-enter the values AC instantaneous current trip in module n (model size 5)
for the application.
OU n 126 ~ 133
Ph 32
Over-voltage in module n (model size 5)
Loss of an AC supply phase.
OI.dc n 134 ~ 141
rS 33
DC instantaneous current trip in module n (model size 5)
VT> Incorrect measurement of stator resistance due to
the following: UFLt n 142 ~ 149
Motor cable disconnected when the measurement was Unidentified fault in module n (model size 5)
being made Conf n 150 ~ 158
Motor too small for the Drive
No. of modules has changed to n modules (model size 5)
If required, set 0.07 Voltage mode at Ur and enter the
tr XX 159 ~ 179
value of stator resistance in parameter 5.17. (Not
applicable to operation in Menu 0). User trips where XX is the trip number
ST GL 34 SEP.diS 180
Spurious trip (model size 5). The type of small option module that the Drive has been
35 programmed to operate with has been removed or is not
SEP EC
fitted correctly.
Communications failure with SIN-COS encoder small option
Perform either of the following:
module. Absolute position information will not then be
obtained. Ensure the appropriate type of small option module is
correctly fitted
Possible causes of failure are as follows:
To operate the Drive in the present configuration, set
Incorrect serial comms. connections (terminals 46, 47)
parameter .00 at 1000 and press the STOP/RESET key.
DC supply to the encoder not connected (terminals 44,
45) or failed ENCPH9 181

Incorrect DC supply voltage for the encoder (parameter VT> Loss of resolver output signals
16.15) SV> Resolver and/or motor phase connections incorrect,
After rectifying the fault, remove, then re-apply the causing reverse torque to be produced
AC supply to the Drive in order to obtain absolute position FSH.Err 182
information.
The memory of the UD55 small option module has been
SEP EF 36 found to be corrupt. If the trip has occurred at power-up,
Fault in the SIN-COS encoder. the memory is automatically re-formatted and all the
parameter-sets are erased. If the trip occurs after power-
AN1.diS 37 up, the memory and parameter-sets are unaffected. See
Servo large option module removed. the UD55 User Guide.

L1.SYNC 39 FSH.Dat 183

Regeneration sinusoidal rectifier failed to synchronize to No values have been found in the selected parameter-set in
the AC supply. the UD55 small option module. Consequently, no values
have been copied to the destination Drive.

Unidrive User Guide Diagnostics E-3

Issue code: udxu6
 FSH.TyP 184
The operating mode of the destination Drive is different
from that related to the selected parameter-set in the
UD55 small option module. Consequently, no values have
been copied to the destination Drive. Either select an
appropriate parameter- set, or change the operating mode
of the destination Drive.
FSH.ACC 185
Write-access to the UD55 small option module has not
been enabled. Consequently, no values have been copied
to the destination Drive. To enable write-access, connect
together terminals 40 and 41 on the UD55.
FSH.LO 186
The selected parameter-set in the UD55 small option
module contains values for Menu-20 parameters (which
relate to a specific large option module), but the related
module is not fitted in the destination Drive.
Consequently, values of Menu-20 parameters have not
been copied to the destination Drive.
FSH.20 187
The selected parameter-set in the UD55 small option
module does not contain values for Menu-20 parameters
(which relate to a specific large option module), but a
large option module is fitted in the destination Drive.
Consequently, values of Menu-20 parameters have not
been copied to the destination Drive.

FSH.rng 188

The current rating or voltage rating of the destination

Drive is different from that relating to the selected
parameter-set in the UD55 small option module.
Consequently, all parameter values have been copied to
the destination Drive except for those listed in Transferring
parameter-sets between Drives of different ratings in the UD55
User Guide.
tr XX 189 ~ 200
User trips where XX is the trip number

Unidrive User Guide

E-4 Diagnostics Issue code: udxu6