Lery Somr 3927 en

3927 en - 12.
2007 / c
This manual is to be given

to the end user
Positioning
Installation and commissioning manual
UNIDRIVE SP
Universal speed drive
The LEROY-SOMER offer
Operation RFI filters - Line choke Control

4 quadrants
• Additional input/output module
• Decentralised input/output
• Brake resistor
• RTU Modbus serial link in standard version
• Field bus module :
- DP Profibus,
- S Interbus,
- Devicenet,
Operator interfaces - CANopen,
- CTNet
• LED display
• LCD display
• LS Soft parameter-setting software
• Man-Machine interfaces
Application Solutions
• Positioning
• Lifting Other integrable modules
• Synchronisation
• Winding-Unwinding • Encoder second input
• Length cut • Resolver
• Programmable PLC module
Gearboxes
Output choke - Ferrite
standard or reduced play Power cables and encoder
Motors
• Axial output
- Helical gears Options
• Asynchronous • Forced ventilation
- LS • Parking brake or dynamic brake
- FLS
Motor transducer
• Encoders :
• Asynchronous incremental, 'EnDat" or SSI absolute,
adapted to the sincos ...
• Resolvers
• Orthogonal output variable speed
- Helical gears - LSMV Other motor options
and helical torque, - FLSMV • Forced ventilation
• Parking brake or dynamic brake
- Worm
• Servo Options
- SMV UM
• Forced ventilation
• Parking brake
UNIDRIVE SP
Safety instructions
NOTE
LEROY-SOMER reserves the right to modify the characteristics of its products at any time in order to incorporate the latest
technological developments. The information contained in this document may be therefore changed without prior notice.
CAUTION
For the user’s safety, this speed drive must be connected to a proper earthing (terminal ).
If the accidental starting of the installation is likely to cause a risk to the personnel or to the machines being driven, it is necessary
to supply with power the equipment by means of an isolating switch and of a circuit-breaking device (power contactor) controlled
by an external safety chain (emergency stop, detection of anomalies on installation).
The speed drive is fitted with safety devices which in case of fault may control its stopping and consequently the motor stopping.
This motor itself can be also subject to stopping as result of the mechanical blocking. Finally, the voltage fluctuations, in particular
power cuts, may also cause the motor to stop.
The elimination of the shutdown causes can lead to a restart which may be dangerous for certain machines or installations,
especially for those which must comply with appendix 1 of decree 92.767 of 29th July, 1992 on safety.
In such cases, it is important for the user to take the appropriate precautions against the motor restarting in case of an unscheduled
motor stop.
The variable speed drive is designed to be able to supply with power a motor and the driven machine above its rated speed.
If the motor or the machine are not mechanically designed to withstand such speeds, the user may be exposed to a serious
risk due to their mechanical deterioration.
It is important for the user to check, before setting a high speed, if the installation can withstand it.
The speed drive making the object of this manual is a component designed to be integrated into an installation or an electrical
machine and it can under no circumstances be considered to be a safety device. It is therefore the responsibility of the machine
manufacturer, the installation designer or the user to take the necessary precautions in order to ensure that the installation
complies with the standards in force and to provide any devices required to ensure the safety of the equipment and personnel.
Use of the drive for lifting: the implementation of this application imposes the observance of the particular instructions given in
a specific manual, on demand. The user is the one who must require it from its usual interlocutor LEROY-SOMER.
LEROY-SOMER declines all responsibility in case the above-mentioned recommendations are not observed.
........................................
Manual corresponding to the software versions higher or equal to 1.07.01
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UNIDRIVE SP
Safety instructions
SAFETY AND OPERATING INSTRUCTIONS RELATED TO SPEED DRIVES

(According to the low voltage directive 73/23/CEE amended by 93/68/CEE)
• Throughout this manual this symbol warns of the 4 - Installation
consequences arising from the misuse of the The equipment installation and cooling must comply with the
variable speed drive, since the electrical risks may lead provisions of the documentation supplied with the product.
to material damages or to bodily injuries, as well as to The variable speed drives must be protected against any
fire hazards. excessive stress. In particular, the parts must not be
damaged and/or the clearances between components must
1 - General not be changed during the transportation and the handling.
According to their degree of protection, the variable speed Do not touch the electronic components and the contact
drives may contain live parts which are powered up, which parts.
may be moving or rotating, as well as hot surfaces, during The variable speed drives contain parts which are sensitive
their operation. to electrostatic stress and may be easily damaged in case
The improper removal of the protection devices, an of inadequate handling. Electric components must not be
inadequate use, a faulty installation or an inappropriate exposed to mechanical damage or destruction (otherwise,
handling could represent a serious risk to the personnel and your health is at risk!).
equipment.
For further information, read this documentation. 5 - Electric connection
All the works related to the transportation, installation, When works are performed on variable speed drives which
commissioning and maintenance must be performed by a are powered up, the national provisions related to the
qualified and authorised personnel (see IEC 364 or prevention of accidents must be observed.
CENELEC HD 384, or DIN VDE 0100, as well as the national The electric installation must be executed according to the
provisions regarding installation and accident prevention). applicable provisions (for example, conductor section, pro-
Within the scope of these basic safety instructions, qualified tection by fused short-circuit, connection of the protection
personnel means persons having competence as regards the conductor). More detailed information is given in the manual.
installation, the assembling, the commissioning and the The documentation accompanying the variable speed drives
product exploitation, and having the relevant qualifications. contains the instructions for an installation which meets the
electromagnetic compatibility requirements, such as
2 - Use screening, earthing, presence of filters and adequate
The variable speed drives are components designed for insertion of cables and conductors. These instructions must
integration into installations or electrical machines. be observed in all cases, even if the variable speed drive
In case of incorporation into a machine, their commissioning carries the CE mark. The observation of the limit values
is forbidden if the compliance of the machine with the imposed by the legislation on CEM is the responsibility of the
provisions of the Directive 89/392/CEE (machine directive) manufacturer of the installation or the machine.
has not been checked. It is also necessary to observe the
EN 60204 standard stipulating mainly that the electrical 6 - Operation
actuators (which include the variable speed drives ) cannot The installations with built-in speed drives must be fitted with
be considered as circuit-breaking devices and certainty not additional protection and monitoring devices as laid down in
as isolating switches. the safety provisions in force, such as the law on technical
Their commissioning is not allowed if the provisions of the equipment, the provisions on accident prevention, etc. The
Electromagnetic Compatibility Directive (89/336/CEE, modification of the variable speed drives by means of the
amended by 92/31/CEE) are not observed. control software are permitted.
The variable speed drives meet the requirements of the Low The active parts of the device and the live power connections
Voltage Directive 73/23/CEE, amended by 93/68/CEE. The must not be touched immediately after the the variable speed
harmonised standards of the DIN VDE 0160 series along with drive in powered down, as the capacitors may still be loaded.
the VDE 0660 standard, part 500 and EN 60146/VDE 0558 The warnings attached to the variable speed drives must be
are applicable to them. observed.
The technical characteristics and the instructions concerning During operation, all doors and protective devices must be
the connection conditions specified on the nameplate and in kept closed.
the documentation provided, must be observed.
7 - Servicing and maintenance
3 - Transportation, storing Refer to the manufacturer’s documentation
All the instructions concerning the correct transportation,
storing and handling must be observed. This manual is to be given to the end user.
The climatic conditions specified in the technical manual must
be observed.
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Contents
GENERAL INFORMATION A
GENERAL CHARACTERISTICS B
MECHANICAL INSTALLATION C
POWER CONNECTION D
CONTROL CONNECTIONS E
ENCODER CONNECTIONS F
SETTING G
COMMISSIONING H
COMMUNICATION I
SMARTCARD J
DIAGNOSTICS K
OPTIONS L
MAINTENANCE M
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General information
Contents
A1 - General principle................................................................................................................. 3
A2 - Operating conditions.......................................................................................................... 3
A3 - Control principle ................................................................................................................. 4
A4 - Operating principle ............................................................................................................. 5

A4.1 - Absolute positioning ................................................................................................................................ 5
A4.2 - Relative positioning ................................................................................................................................. 5
A4.3 - Origin cycle.............................................................................................................................................. 5
A4.3.1 - When stopped ............................................................................................................................................ 5
A4.3.2 - On reference sensor and Top 0 ................................................................................................................. 6
A4.3.3 - On reference sensor .................................................................................................................................. 6
A4.3.4 - On reference sensor with origin cycle on the fly ........................................................................................ 6
A4.3.5 - On current limitation .................................................................................................................................. 6
A4.4 - High speed or low speed forced run........................................................................................................ 6
A4.5 - Zones of passage at reduced speed ....................................................................................................... 6
A4.6 - Limit stops ............................................................................................................................................... 7
A4.7 - Mechanical brake .................................................................................................................................... 7
A4.8 - Positions parameter setting..................................................................................................................... 7
A4.9 - Positioning commands ............................................................................................................................ 7
A4.9.1 - Direct control .............................................................................................................................................. 7
A4.9.2 - Encoded control without parity bit .............................................................................................................. 7
A4.9.3 - Encoded control with parity bit ................................................................................................................... 7
A4.10 - Report.................................................................................................................................................... 7
A4.10.1 - Ref OK ..................................................................................................................................................... 7
A4.10.2 - O val......................................................................................................................................................... 7
A4.11 - Rotary positioning.................................................................................................................................. 8
A4.11.1 - Shortest rotary positioning ....................................................................................................................... 8
A4.11.2 - Rotary positioning with origin in the revolution......................................................................................... 8
A4.11.3 - Rotary positioning with a single direction of rotation ................................................................................ 8
A4.11.4 - Rotary positioning by index numbers ....................................................................................................... 8
A4.11.5 - Rotary positioning with pin indexing function ........................................................................................... 8
A4.12 - Synchronisation..................................................................................................................................... 8
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General information
B Notes
C
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General information
A1 - General principle
The SM-POS module (Positioning programmable application In certain applications, an additional encoder is mounted on
module) integrated into a Unidrive SP variable speed drive, the slow shaft (machine encoder). In this case, the encoder
when used with an SM-IO Plus additional input/output mounted on the motor gives the speed information, and the
module, allows a mobile assembly to be positioned linearly encoder mounted on the slow shaft gives the position
or angularly on an axle (up to 32 positions). information. To process this information, an optional SM-
The drive manages the positioning using the speed and Universal-Encoder Plus speed feedback module must be
position feedback generated by an encoder mounted on the added.
self-controlled asynchronous or synchronous motor (closed For other cases, the SM-POS module also makes it possible
loop flux vector control or Servo control). to change from positioning mode to synchronisation, or to
The positioning solution incorporates a scan timer function, manage a rotary system.
which allows automatic selection of each position
(P1 -> P2 -> P3, etc), and the length of time between each
selection is determined by the user.
Manual for use with the positioning software versions equal to or greater than 32000610
A2 - Operating conditions
The UNIDRIVE SP permanent output current and the
maximum transient current depend on the operating
conditions.
Maximum overload : In order to obtain the maximum Reduced overload : If the operating conditions are not
available overload, the permanent output current (Isp) is severe, the output current may be increased and it may allow
limited. In this situation, the maximum transient current of the a higher power motor to be driven. On the other hand, the
drive (transient Imax ) is of 150 % Isp in open loop or of maximum transient current is limited to 110 % Isp.
175 % Isp in closed loop or servo. Below 15 % of the rated speed, the permanent output
Isp is available for all speed range. current is reduced as indicated in the curve below.
Isp
Maximum transient overload Maximum transient overload = x 1.1 x 100.
Isp IN motor
= x 1.5 x 100. Example :
IN motor
- LS MV 132 SM motor - 4 poles - 5.5 kW - 400V Y
Maximum transient overload and
IN motor = 10.4 A.
Isp - Constant torque application - open loop vector control -
= x 1.75 x 100.
IN motor reduced overload and minimum speed > 15 % rated speed.
Example : - Drive selection --> UNIDRIVE SP 5.5T, Isp with reduced
- LS MV 132 SM Motor - 4 poles - 5.5 kW - 400V Y overload : 11A
IN motor = 10.4A. Maximum transient overload = 11 x 1.1 x 100 = 116 %.
( (
10.4
- Constant torque application - open loop vector control -
maximum overload.
- Drive selection --> UNIDRIVE SP 8T, Isp with maximum
overload : 13A.
13
Maximum transient overload =
10.4
( (
x 1.5 x 100 = 187.5 %.
I Maximum overload I Reduced overload

Imax transient Imax transient
110 %I
150 % ( ) sp (reduced overload)
175 % ( et ) IN motor
100% Isp (maximum overload)
Maximum
IN motor 70% Isp transient
Maximum overload
transient
overload
N N
100% 15 % 100%
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General information
B A3 - Control principle
C Torque
Triple
parameter
control
Mains supply
loop Elaboration P Power

P P of the 3 W bridge
I Torque
D
I Calculation
ref. D references M
D
DC
Magnetising Bus
P.I.D.
current Speed
Speed I cos ϕ
E
image
feedback Reactive
I sin ϕ without
loop feedback M
Currents 3
Speed
calculation
reference
Speed
F
Selection
image
with
Positioning application feedback
Encoder
or resolver
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General information
A4 - Operating principle
Starting from an origin stored when powering up the system, Position management can be 16-bit or 32-bit, according to
the mobile moves on either side of this origin and it takes its the level of accuracy required.
position according to the automation commands. The SM-POS application can be used to move the mobile in
Following the applications, the positioning may be forced run mode (manual movement), and to declare zones
ABSOLUTE or RELATIVE. For absolute positioning, the point of passage at reduced speed and software limit stops.
of origin of the axle must be set by the user; this is the origin
cycle. During factory setup, the origin cycle is performed The SM-POS application can also be used to change from
using a reference sensor. However, by modifying the drive positioning operation to synchronisation or vice versa.
configuration, the origin cycle can be set up to be when
stopped, on sensor, on Top 0, on sensor and Top 0, on on-
the-fly sensor or on active current threshold.
Positioning can be managed using the motor encoder or the
machine encoder in the various operating modes of the drive
(open or closed loop flux vector or servo control).
A4.1 - Absolute positioning

The absolute positioning is a movement to stop positions of which are referenced to an origin which is generally the " 0 " position
of the installation.
A position will always be placed in relation to the origin.
The software limit stops set the maximum travel of the mobile.
Origin
P3 0 P1 P2
Software P1 = X Software
stop 1 stop 2
P2 = Y
P3 = -Z
A4.2 - Relative positioning

The relative positioning is a movement the origin of which is the previous position.
The mobile advancing is made step by step.
In relative positioning, the software stops establish the minimum or maximum value of the authorised steps :
Software stop 1 d step d Software stop 2.
0 P1 P2 P4 P3
P1 = + X
P2 = P1 + X
P3 = P2 + Y
P4 = P3 - Z
A4.3 - Origin cycle A4.3.1 - When stopped

In relative positioning, there is no need of mechanical stop In this case the mobile is positioned by manual movement
for the system. If the stop is necessary for certain specific (using the I+ and I- inputs) to its origin position. The origin is
applications, the use of a pulse sensor is enough. confirmed by external information (digital input I0).
Meanwhile, it is really necessary to access the system (see This type of origin cycle is used for relative mode with no
A4.3.1). reference sensor, for which it is nevertheless necessary to
initialise the system.
CAUTION :
All position requests may be managed by the drive only
when the ref. OK reference is validated.
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General information
B A4.3.2 - On reference sensor and Top 0

A reference sensor must be set on the installation including
the mobile to be positioned.
A4.3.4 - On reference sensor with origin cycle on the fly
A reference sensor must be mounted on the installation
including the mobile to be positioned. It will be used to place
Top 0 is used to place the origin in a motor revolution. the origin of the application on an origin cycle request, and
C The mobile moves up to the sensor, then the drive automat-

ically stops the system origin on Top 0 of the encoder (path
C or Z).
then during a movement into position (even at high speed).
- In standard positioning mode, stop on sensor detection +
possible origin shift (for example, makes it possible to take
the origin on an object carried by the mobile).
- In scan timer mode, on sensor detection, linking of the next
D Sensor
Top 0
position from its new origin (for example, makes it possible
to define a movement on detection of the mobile).
- In rotary system mode, recalibration on the next position
request after detection of the sensor (for example, makes it
possible to avoid accumulation of errors due to the accuracy
E
Motor
of the system).
cycles 1 2 3
A4.3.5 - On current limitation
Origin The system origin is taken on a fixed threshold of the motor
F
active current.
A4.3.3 - On reference sensor The origin is validated when the motor active current is higher
A reference sensor must be mounted on the installation in- than this threshold established by the user (corresponding to
cluding the mobile to be positioned, and the rising edge of the torque level).
the sensor will be used to place the origin of the installation.
G
Current
limitation
Sensor
Motor
cycles 1 2 3
Motor
H cycles 1 2 3
Origin
Origin
I
A4.4 - High speed or low speed forced run
Two inputs I+ and I- are provided in order to control the mobile
movement in either direction.
The action on these inputs has priority and sets the drive
into servo control on a high speed or low speed movement,
J which has been set.

This is used for manual operation or programming reference
points.
K A4.5 - Zones of passage at reduced speed

Three zones of passage at "reduced speed" can be delimited on the movement axle of the mobile.
The "terminal" of each zone, the speed in the zone and the direction of passage at reduced speed are configurable.
The terminal of the zones can intersect (in that case the lowest speed is the one used), and "presence in zone" data can be
L generated when the mobile passes.
Terminal Terminal Terminal Terminal Terminal Terminal

1 Zone 1 2 1 Zone 2 2 1 Zone 3 2
M Software
stop 1 Low
speed V1
Low
speed V2
Low
speed V3
Software
stop 2
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General information
A4.6 - Limit stops A4.9.2 - Encoded control without parity bit
Two software limit stops can be configured to limit the travel Each binary combination of inputs corresponds to a preset
of the mobile in absolute mode. In relative mode, the limit position or step. This mode can therefore be used to manage
stops limit the minimum and maximum steps made by the a maximum of 16 positions (32 if input I5 is used).
mobile. The mobile moves to the position corresponding to the com-
In rotary mode, the limit stops are disabled. bination selected when the validation input Ival is activated.
• For safety, end stop switches (or overtravel This " validation " input avoids the untimely movement of the
detectors) must be installed between the software mobile during the combination selection.
limit stops and the mechanical limits of the system. CAUTION :
These end stop switches must act directly on the The input I val must be maintain activated during the
mechanical brake set on the motor or on the machine. entire mobile movement stage. If input Ival is cancelled,
They may also control the drive locking . The position the movement is interrupted.
of the end stop switches must take into account the
mobile inertia and the brake reaction time. A4.9.3 - Encoded control with parity bit
In this case, the 4 inputs (I1 to I4) are used for position control.
A4.7 - Mechanical brake The fifth input (I5) is used as a parity bit. The use of a parity
A safety brake must be set on the motor or on the machine. bit allows the drive to check the consistency of control com-
The dynamic brake during each positioning is provided by mands (for example, when a wire on an input is broken).
the drive, if necessary, with a brake resistor.
If the motor is provided with forced ventilation, the drive main- Principle : the input " parity bit " must be validated when the
tains the torque at zero speed with the motor stopped. So it number of inputs validated for the position control is even (0
is not necessary in this situation to brake after each position- or 2). It must be devalidated in the other situations.
ing. So the brake will be used only for an emergency stop This mode allows a maximum of 16 positions. The mobile
or for mains supply failure. moves to the position corresponding to the combination se-
lected when the validation input Ival is activated and if the
A4.8 - Positions parameter setting status of the input " parity bit " corresponds to the number of
In absolute positioning, it is necessary to set a rating in re- inputs selected.
lation to the origin while in relative positioning, the speed is
set. CAUTION :
In certain cases, the positions may be stored after an auto- • The input Ival must be maintained activated during the
matic scaling procedure. entire mobile moving stage. If the input I val is cancelled,
the movement is interrupted.
A4.9 - Positioning commands • The movement does not begin or it is interrupted if the
The drive has 4 digital inputs I1 to I4 (using the SM-I/O Plus status of the input " parity bit " does not correspond to
module) in order to receive the automation positioning com- the number of validated position control inputs regis-
mands. tered by the drive.
An additional input I5 may be assigned by the user (allocation
of a digital input). These inputs allow three types of control: A4.10 - Report
direct, encoded with parity and encoded without parity. A4.10.1 - Ref OK
This output is validated when the origin cycle has been cor-
A4.9.1 - Direct control rectly set and the variable speed drive has stored the origin.
Each input corresponds to a preset position or step. This It allows authorisation of the positioning orders.
mode can therefore be used to manage a maximum of 4
positions (5 if input I5 is used). The mobile moves as soon A4.10.2 - O val
as the input corresponding to the desired position is enabled This output is validated when the mobile is located in a "win-
(the drive must be enabled and the run command enabled). dow " around the position requested.
CAUTION : It allows indication to the automation that the positioning has
When 2 inputs are simultaneously validated, the move- been correctly made.
ment is interrupted. The width of the window may be set.
The movement starts again when one of the two inputs
is cancelled.
The mobile will stop at the position corresponding to the
validated input.
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General information
B A4.11 - Rotary positioning

At each revolution of the mobile, the position counter is reset
to zero. If necessary, an on-the-fly origin cycle sensor will be
A4.11.4 - Rotary positioning by index numbers
The operation is the same as rotary positioning in the
revolution, except that encoding of the position value is no
enabled to recalibrate the system each revolution. longer done by a position in customer units but by an index
C In this mode, the dynamic characteristics must be defined:

• The reduction ratio (to determine the number of motor
number.
Example:
Origin
revolutions for 1 revolution of the rotary system) in the form 1
of a numerator and a denominator.
D • The distance travelled for 1 revolution of the system.
A4.11.1 - Shortest rotary positioning

P2 = 2 relative P1 = 4 relative
When an absolute position in the revolution is requested, the

shortest path will be taken.
E Example:
Origin
1 Movement = origin, P1 then P2
P1 = 4 = rotation/4 = 360/4 =90°
2
P1 = 60° absolute P2 = 2 = rotation/2 = 360/2 =180°
F P2 = 270° absolute 2 A4.11.5 - Rotary positioning with pin indexing function

Upon a position request, the system starts rotating at the
speed defined by that position. Upon release of this position
request, the system slows and comes to a standstill at the
Movement = origin, P1 then P2
G A4.11.2 - Rotary positioning with origin in the revolution

Allows relative or absolute positioning in the revolution.
angle defined by the position.
Origin
1
To reach the requested position, the origin used corresponds
H
to the origin of the revolution in which the mobile is situated. 2
Example: P1 = 90° absolute
2
Origin
I P1 = 270° absolute
1
P2 = 60° absolute
2
Movement = origin,
On enabling P1 (speed control),
On release P1 (positioning at 90°)
J Movement = origin, P1 then P2

A4.12 - Synchronisation
If synchronisation is enabled, it is possible to synchronise
with a master axle, then change to positioning in order to
reposition the axle.
A4.11.3 - Rotary positioning with a single direction of The synchronisation information can be sent from the master
K rotation
With the axle stopped, when an absolute position is
requested, the path taken to go to the position will be in the
to the slave via the encoder channels (SM-ENCODER PLUS
or SM-UNIVERSAL ENCODER PLUS module on the slave
drive) or by CTSYNC communication if both axles have an
forward direction of rotation only. SM-POS module.
L
Example:
Note: Further information on CTSYNC communication can
2
be obtained from your usual LEROY-SOMER contact.
Origin P2 = 60° absolute
M
P1 = 90° absolute
N Movement = origin, P1 then P2
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General characteristics
Contents B
B1 - Environment characteristics.............................................................................................. 3
B2 - Product Name...................................................................................................................... 3
B3 - Electric characteristics....................................................................................................... 4
B3.1 - General detail .......................................................................................................................................... 4
B3.2 - Electric characteristics at 40°C and 3 kHz switching frequency.............................................................. 4
B3.3 - Degrading according to the temperature and the switching frequency ................................................... 5
B4 - Electromagnetic compatibility (CEM) ............................................................................... 7

B4.1 - Compatibility tabel ................................................................................................................................... 7
B4.2 - Internal RFI filter...................................................................................................................................... 8
B5 - UL compliance .................................................................................................................... 8
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B Notes
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B1 - Environment characteristics B
• Drives shall be installed on a control panel in order to protect them from conductive dust and condensation.
The access of non authorised persons is denied.
Characteristics Level
Protection IP20 with installed cable run and glands.
Storage temperature -40°C to +50°C, maximum 12 months
(after this period, follow the maintenance instructions described in section M).
Operation temperature 0°C to +50°C.
The drive characteristics are given at +40°C.
Beyond 40°C, the permanent output current may be degraded.
Refer to section B3.3 characteristics.
Relative humidity d 95 % without condensation.
Altitude d 1000 m without degrading.
The maximum authorised altitude is 3000 m, but beyond 1000m, the permanent output current must
be degraded by 1% for each additional 100m.
(ex.: for a 3000m altitude, degrade by 20%).
Vibrations Compliant with IEC 68-2-64 and IEC 60068-2-6.
Shocks Compliant with IEC 60068-2-29.
B2 - Product Name
Unidrive SP = Range. - Display label (on the upper cover side):
2.5 = kVA rating at maximum overload. Power at
TL = 200 to 240V ±10% three-phase supply , maximum overload / reduced overload
or Type
T = 380 to 480V ±10% three-phase supply,
Please read the manual before connecting.
or
SP1401 0.75/1.1kW
TM = 500 to 575V ±10% three-phase supply, Electric Shock Risk: Wait 10 mins between
disconnecting supply & removing covers
or IND.
TH = 500 to 690V ±10% three-phase supply. CONT. R Compliance
SP 1,5 T EQ.
Front label:
Serial Ser No: 3000005001 Made in U.K
Input Input Phase number STDL25
voltage frequency number
I/P 380 - 480V 50-60Hz 3ph 4.8A Input

Type SP1401 S.No : 3000005001 current
O/P 0 - 480V SP 1.5 T 2.1/2.8A Logo Compliance
Output Trade Permanent output CE Europe
voltage reference current at
maximum overload/ C Tick Australia
reduced overload
R UL / cUL USA & Canada
CaractToutAppli
B en d 06/07 3/8
UNIDRIVE SP
B B3 - Electric characteristics
B3.1 - General detail
C
Characteristics Level
Voltage variation between phases <3%
Maximum number of power ups per hour d 20
Input frequency 48 to 65 Hz
Maximum short-circuit current 5 kA except 50T to 60T, 50TH and 60TH: 10 kA and size 6 : 15 kA
Inrush current limitation during power up Rating TL : T1 = 18A, T2 = 12A, T3= 8A, T4 = 73A,
D Rating T : T1 = 35A, T2 = 24A, T3= 14A, T4 (40T) = 37A,

T4 (50T and 60T) = 73A, T5 = 110A
Rating TM : T3 = 18A
Ratings TH : T4 = 35A, T5 = 70A
Interval between power up and " rdy " (drive ready) 4s
E Frequency range / output speed
B3.2 - Electric characteristics at 40°C and 3 kHz

: 0 to 3000 Hz
and : 0 to 40000 min-1
380V to 480V ± 10% three-phase mains supply

switching frequency UNIDRIVE SP Maximum overload Reduced overload
F Caution:
• With the factory settings, the drive operates with a 3 kHz
switching frequency at a 40°C ambient temperature. In
case of higher switching frequency or temperature, it is
Size LS
1.5T
CT
1401
Pmot at 400V
(kW)
0.75
Isp
(A)
2.1
Pmot at 400V
(kW)
1.1
Isp
(A)
2.8
2T 1402 1.1 3 1.5 3.8
necessary to degrade the output current (see section
2.5T 1403 1.5 4.2 2.2 5
B3.3).
G
1
• In servo mode, in order to obtain optimum functions, 3.5T 1404 2.2 5.8 3 6.9
chose a 12 kHz switching frequency. 4.5T 1405 3 7.6 4 8.8
5.5T 1406 4 9.5 5.5 11
Isp : Permanent output current. 8T 2401 5.5 13 7.5 15.3
Pmot : Motor power. 2 11T 2402 7.5 16.5 11 21
H 200V to 240V ± 10% three-phase mains supply
Size
UNIDRIVE SP
LS CT
Maximum overload
Pmot at 220V Isp
Reduced overload
Pmot at 220V Isp
3
16T
22T
27T
33T
2403
3401
3402
3403
11
15
18.5
22
25
32
40
46
15
18.5
22
30
29
35
43
56
(kW) (A) (kW) (A)
1.5TL 1201 0.75 4.3 1.1 5.2 40T 4401 30 60 37 68
I 1
2TL
2.5TL
3.5TL
4.5TL
1202
1203
1204
2201
1.1
1.5
2.2
3
5.8
7.5
10.6
12.6
1.5
2.2
3
4
6.8
9.6
11
15.5
4
5
50T
60T
75T
100T
4402
4403
5401
5402
37
45
55
75
74
96
124
156
45
55
75
90
83
104
138
168
2 5.5TL 2202 4 17 5.5 22 120T 6401 90 180 110 202
6
J 3
8TL
11TL
16TL
22TL
2203
3201
3202
4201
5.5
7.5
11
15
25
31
42
56
7.5
11
15
18.5
28
42
54
68
150T 6402 110 210
500V to 690V ± 10% three-phase mains supply

UNIDRIVE SP Maximum overload
132 236
Reduced overload
4 27TL 4202 18.5 68 22 80 Pmot at 690V Isp Pmot at 690V Isp
Size LS CT
K 33TL 4203 22 80 30 104 (kW) (A) (kW) (A)

22TH 4601 15 19 18.5 22
500V to 575V ± 10% three-phase mains supply 27TH 4602 18.5 22 22 27
UNIDRIVE SP Maximum overload Reduced overload 33TH 4603 22 27 30 36
4
Pmot at 575V Isp Pmot at 575V Isp 40TH 4604 30 36 37 43
Size LS CT
L
(kW) (A) (kW) (A) 50TH 4605 37 43 45 52
3.5TM 3501 2.2 4.1 3 5.4 60TH 4606 45 52 55 62
4.5TM 3502 3 5.4 4 6.1 75TH 5601 55 62 75 84
5.5TM 3503 4 6.1 5.5 8.4 5
100TH 5602 75 84 90 99
3 8TM 3504 5.5 9.5 7.5 11 120TH 6601 90 100 110 125
11TM 3505 7.5 12 11 16 6
M
150TH 6602 110 125 132 144
16TM 3506 11 18 15 22
22TM 3507 15 22 18.5 27
33TH 4603 18.5 27 22 36
40TH 4604 22 36 30 43
4
50TH 4605 30 43 37 52
N 5
60TH
75TH
100TH
120TH
4606
5601
5602
6601
37
45
55
75
52
62
84
100
45
55
75
90
62
84
99
125
6
150TH 6602 90 125 110 144
O B en
CaractToutAppli
d 06/07 4/8
UNIDRIVE SP
B3.3 - Degrading according to the temperature and the switching frequency
UNIDRIVE SP Three-phase permanent output current below 220V at a switching frequency t 3 kHz
B
Temp. Maximum overload Reduced overload
Size LS CT
3 kHz 4 kHz 6 kHz 8 kHz 12 kHz 16 kHz 3 kHz 4 kHz 6 kHz 8 kHz 12 kHz 16 kHz
1.5TL 1201 40°C 4.3 5.2
50°C 4.3 5.2
2TL 1202 40°C 5.8 6.8
1 50°C 5.8 6.8
2.5TL 1203 40°C 7.5 9.6
50°C 7.5 9.6 9
3.5TL 1204 40°C 10.6 11
50°C 10.6 9.5 8.3 11 10.9 9.5 8.3
4.5TL 2201 40°C 12.6 15.5
50°C 12.6 11.4 15.5 13.5 11.5
2 5.5TL 2202 40°C 17 22
50°C 17 15.7 13.4 11.4 19.7 18.9 17.3 15.9 13.5 11.5
8TL 2203 40°C 25 24.2 22.5 19.6 17.2 28 27.9 24.8 21.8
50°C 19.2 18.4 17 15.7 13.3 11.4 19.5 18.6 17.2 15.8 13.4 11.5
11TL 3201 40°C 31 x 42 x
3 50°C 31 x 42 38.2 x
16TL 3202 40°C 42 41.3 x 54 48.5 x
50°C 42 37.2 x 54 52.8 47 38.2 x
22TL 4201 40°C 56 x x 68 x x
50°C 56 x x 68 x x
4 27TL 4202 40°C 68 x x 80 x x
50°C 68 x x 80 x x
33TL 4203 40°C 80 x x 104 x x
50°C 80 x x 87 x x
UNIDRIVE SP Three-phase permanent output current below 400V at a switching frequency t 3 kHz
Size LS CT
1.5T 1401 40°C 2.1 2.8
50°C 2.1 2.8
2T 1402 40°C 3 3.8
50°C 3 3.8
2.5T 1403 40°C 4.2 5
1 50°C 4.2 3.8 5 3.9
3.5T 1404 40°C 5.8 5.4 4.3 6.9 5.9
50°C 5.8 4.8 3.7 6.9 5.1 3.9
4.5T 1405 40°C 7.6 5.6 4.4 8.8 7.4 5.7
50°C 7.6 7.2 6 4.2 3.1 8.8 7.3 6 4.2 3.1
5.5T 1406 40°C 9.5 9.2 7.7 5.6 4.4 11 10 7.4 5.7
50°C 9.5 9 7.2 6 4.2 3.1 10.1 9 7.3 6 4.2 3.1
8T 2401 40°C 13 12.6 9.6 7.6 15.3 12.7 10.1
50°C 13 11.7 9.9 7.3 5.5 15.3 14.2 11.8 10 7.3 5.5
2 11T 2402 40°C 16.5 14.9 12.6 9.6 7.6 21 19.5 16.7 12.7 10
50°C 15.5 14.1 11.7 9.9 7.3 5.5 15.7 14.2 11.8 10 7.3 5.5
16T 2403 40°C 25 23.7 19.9 16.9 12.8 10.1 29 27.2 23.2 20 15 11.8
50°C 16.7 15 12.2 10.1 7.1 5.1 16.8 15 12.2 10.1 7.1 x
22T 3401 40°C 32 28.9 22 17.5 35 34.5 26.3 21
50°C 32 30.7 26.1 19.7 15.4 35 33.5 28.5 21.5 16.9
3 27T 3402 40°C 40 38.3 32.5 24.5 19.2 43 37.9 28.6 22.5
50°C 40 34.1 28.4 20.7 16 43 41.5 34.2 28.7 21 16
33T 3403 40°C 46 45.9 38.5 32.5 24.4 x 56 53.4 44.6 37.9 28.6 x
50°C 46 41.5 33.6 28.3 20.8 x 46 41.5 34.2 28.7 21 x
40T 4401 40°C 60 52 42 x x 68 62 x x
50°C 60 47 38 x x 68 67 55 x x
4 50T 4402 40°C 74 65 51 42 x x 83 74 61 x x
50°C 68 59 46 38 x x 83 82 67 52 x x
60T 4403 40°C 96 84 67 55 x x 104 95 79 x x
50°C 86 75 60 50 x x 87 86 71 60 x x
75T 5401 40°C 124 107 82 67 x x 138 118 97 x x
5 50°C 113 96 75 60 x x 138 106 87 x x
100T 5402 40°C 156 137 109 91 x x 168 158 129 107 x x
50°C 140 123 99 82 x x 141 140 112 92 x x
120T 6401 40°C 180 174 134 x x x 202 164 x x x
6 50°C 180 158 121 x x x 191 190 148 x x x
150T 6402 40°C 210 175 130 x x x 236 210 158 x x x
50°C 190 158 116 x x x 198 181 138 x x x
CaractToutAppli
B en d 06/07 5/8
UNIDRIVE SP
B Size
UNIDRIVE SP
LS CT
Temp.
Three-phase permanent output current below 575V at a switching frequency t 3 kHz
Maximum overload Reduced overload
40°C 4.1 x x 5.4 x x
C
3.5TM 3501
50°C 4.1 x x 5.4 x x
4.5TM 3502 40°C 5.4 x x 6.1 x x
50°C 5.4 x x 6.1 x x
5.5TM 3503 40°C 6.1 x x 8.4 x x
50°C 6.1 x x 8.4 x x
D 3 8TM 3504 40°C 9.5 x x 11 x x

50°C 9.5 x x 11 x x
11TM 3505 40°C 12 x x 16 x x
50°C 12 x x 16 14.7 x x
16TM 3506 40°C 18 15.5 x x 22 21.6 18.2 x x
50°C 18 16.8 13.9 x x 22 17.8 14.7 x x
E 22TM
UNIDRIVE SP
3507 40°C
50°C 22
22
20.4
18.4
16.7
15.5
13.9
x
x
x
x
Three-phase permanent output current below

27
24.6
26
22
21.6
17.8
18.1
14.7
x
x
x
x
575V/690V at a switching frequency t 3 kHz

Size LS CT
F
22TH 4601 40°C 19 x x 22 x x
50°C 19 x x 22 x x
27TH 4602 40°C 22 x x 27 x x
50°C 22 x x 27 25 x x
40°C 27 x x 36 34 x x
G
33TH 4603
4 50°C 27 x x 36 31 25 x x
40TH 4604 40°C 36 34 x x 43 41 34 x x
50°C 36 31 25 x x 43 40 31 25 x x
50TH 4605 40°C 43 41 34 x x 52 41 34 x x
50°C 46 40 31 25 x x 43 40 31 25 x x
40°C 52 45 36 x x 62 61 48 40 x x
H 5
60TH
75TH
4606
5601
50°C
40°C
50°C
40°C
52
62
84
45 35 28 x
x
x
x
x
x
x
x
52
84
99
45 35 28 x
x
x
x
x
x
x
x
100TH 5602
50°C x x x x
I 120TH 6601 40°C 100 x x x 125 x x x

6 50°C x x x x x x
150TH 6602 40°C 125 x x x 144 x x x
50°C x x x x x x
J
K
L
M
N
O B en
CaractToutAppli
d 06/07 6/8
UNIDRIVE SP
B4 - Electromagnetic compatibility (CEM) B
B4.1 - Compatibility tabel
CAUTION :
The drive is compliant only when the mechanical and electric installation instructions described in this manual are
observed.
Immunity
Standard Description Application Compliance
IEC 61000-4-2
Electrostatic discharges Product casing Level 3 (industrial)
EN 61000-4-2
IEC 61000-4-3
Radiated radio-frequencies immunity standards Product casing Level 3 (industrial)
EN 61000-4-3
IEC 61000-4-4 Control cable Level 4 (heavy industry )
Fast transient burst
EN 61000-4-4 Power cables Niveau 3 (industry)
IEC 61000-4-5 Supply cables between phase Level 4

and earth
Surges Level 3
Supply cables between phases
EN 61000-4-5
Earth signal port Level 2
IEC 61000-4-6
Generic standards for conducted radio-frequencies immunity Control and power cables Level 3 (industry)
EN 61000-4-6
EN 50082-1
IEC 61000-6-1 Generic standards for residential, commercial and light industry - Compliant
environments
EN 61000-6-1
EN 50082-2
IEC 61000-6-2 General immunity standards for the industrial environment - Compliant
EN 61000-6-2
EN 61800-3
IEC 61800-3 Speed drive standards Compliant with the first and second environment
EN 61000-3
Emission
Compliance conditions
Drive / RFI Filter
Standard Description Scope of application motor
cable Size 1 Size 2 Size 3 Size 4 Size 5 Size 6
length
int. filter, int. filter and

d4m fd=3 kHz ferrite*, fdd6 int. filter
kHz and
2nd envir. with non int. filter and int. filter and ferrite*,
restricted distrib. (E2U) d 10 m ferrite*, fdd6 ferrite*, fd=3 fd=3 kHz
kHz kHz
d 100 m ext. filter ext. filter ext. filter

d4m int. filter, fdd16kHz
int. filter
2nd envir. with restricted d 10 m and int. filter,
distrib. (E2R) ferrite*, int. filter, fdd12kHz
EN 61800-3 Speed drive standard fdd16 kHz fdd16 kHz
d 100 m
st ext. filter,
1 envir. with non d 20 m ext. filter, fdd6kHz
restricted distrib. (R) fd=3 kHz
d 20 m ext. filter,
ext. filter, fdd16kHz fdd12 kHz
1st envir. with ristricted d 75 m ext. filter, fdd8kHz ext. filter,
distrib. (I) fdd8 kHz
d 100 m ext. filter, ext. filter,

fdd4 kHz fd=3 kHz
EN 50081-1 Generic emission standards for Alternative mains supply
residential, commercial and light (EN50081-1) d 20 m ext. filter, fdd6kHz ext. filter,
EN61000-6-3 industry environment fd=3 kHz
EN 50081-2 (I) Generic emission standards for Alternative mains supply d 100 m ext. filter, ext. filter,
EN 61000-6-4 industrial environment (EN50081-2) fdd4 kHz fd=3 kHz
* For information on ferrite, refer to section L4. For sizes 2 and 3, the ferrite is delivered as standard (accessories). Put the
ferrite at the drive output and run U, V, W cables through the ferrite (without shielding).
CaractToutAppli
B en d 06/07 7/8
UNIDRIVE SP
B • The second environment comprises with

industrial networks supplied in low voltage but it
does not supply households. The operation of a drive
• Installation
- Installation on 1 to 3 sizes:
without RFI filter in such an environment may lead to
interference in certain electronic devices placed near the
C drive whose immunity level is not compatible with the

industrial environment. If it is not possible to filter the
disrupted element, the drive must be added an external
RFI filter.
D B4.2 - Internal RFI filter

This filter is connected to the drive in standard mode. It
reduces the radio-frequency emission in the mains supply.
CAUTION:
Remove the filter:
E - when the leakage current must be below 28mA AC at

400V - 50 Hz or 30μA DC (10 M:) (without the internal
filter, the drive leakage current is below 1mA),
- Installation on 4 to 6 sizes:
- from a 3 to 6 size drive connected to a mains supply.

If an external RFI filter or an additional motor earth is
F used, it is not necessary to remove the internal RFI filter.
• Terminal access
1 Unscrew
G 3 Let the cover

slide
C
BR
2 Remove the cover

+D
-DC
BV
H
I 22 23
L1 L2
24 25
L3
26 272
U V
W
82930
31
J
K
L B5 - UL compliance
• For UL compliance, the operation temperature must not • Motor thermal protection
M
exceed 50°C. The drive has a built-in motor thermal protection.
• Motor overload protection • Overspeed protection

The drive is fitted with a motor overload protection. The drive has a built-in overspeed protection.
The overload level is 150% of the current at full drive load in Nevertheless, this protection cannot provide a level
open loop ( ), and 175 % on closed loop vector mode ( ) equivalent to an independent high integrity overspeed
N or servo ( ).
It is thus necessary to set correctly the current at parameter
0.46 in order that the protection be effective (the protection
level can be adjusted below 150% if necessary).
protection circuit.
O B en
CaractToutAppli
d 06/07 8/8
UNIDRIVE SP
Mechanical installation
Contents
C1 - Warning................................................................................................................................ 3
C2 - Checks upon receipt........................................................................................................... 3
C3 - Mounting types ................................................................................................................... 3

C
C4 - Heater mounting inside the cabinet .................................................................................. 4
C4.1 - Sizes and weights ................................................................................................................................... 4
C4.2 - Losses inside the cabinet........................................................................................................................ 5
C4.3 - Ventilation ............................................................................................................................................... 7
C4.4 - Cabinet volume calculation ..................................................................................................................... 7
C4.5 - Advice on installation inside a cabinet .................................................................................................... 7
C5 - Heater mounting outside the cabinet................................................................................ 8

C5.1 - Sizes and weights ................................................................................................................................... 8
C5.2 - Mounting instructions ............................................................................................................................. 9
C5.3 - Losses inside the cabinet........................................................................................................................ 9
C5.4 - Cut out for integral resistors .................................................................................................................... 9
C5.5 - Heater IP54 protection .......................................................................................................................... 10
C5.5.1 - Mounting instructions ............................................................................................................................... 10
C5.5.2 - Derating of the permanent output current ................................................................................................. 10
C6 - SM modules installation................................................................................................... 11
C6.1 - Access to locations ............................................................................................................................... 11
C6.2 - Installation of modules in the drive ........................................................................................................ 11
InstalMecaPosEs
C en c 06/07 1/12
UNIDRIVE SP
B Notes
C
D
E
F
G
H
I
J
K
L
M
InstalMecaPosEs
C en c 06/07 2/12
UNIDRIVE SP
C1 - Warning
• It is the owner or the user responsibility to make • In an atmosphere subject to condensation, install
sure that the installation, operation, maintenance a heating system that operates when the drive is not
of the drive and its options are realised in compliance
with the legislation relating to the goods and personnel
safety, and with the provisions in force in the country in
used and switched off when the drive is operating. Il is
preferable to control the reheating system automatically.
•The UNIDRIVE SP casing is inflammable; if neces-
C
which it is used. sary, use an fire protection cabinet.
• The UNIDRIVE SP has to be installed in a location • In order to respect the UL conformity, the variable
free from conductive dust, steam, gas and corrosive speed drive has to be installed in a type 1 minimum cabi-
fluids and from condensation (for example class 2 fol- net, as defined by the UL50 standard.
lowing UL 840 and CEI 664.1). The drive must not be ins-
talled in an area likely to be at risk but in a location fit for
purpose. In this situation, the installation shall be gua-
ranteed.
C2 - Checks upon receipt

Before starting the drive installation, make sure that :
-the drive was not damaged during the transportation, "UL warning" Feet mount Foot mount Additional
sizes 1 to 3 sizes 4 to 6 feet mount
-the accessories, the general manual and the CD Rom are in- CAUTION
Risk of Electric Shock
(acc. to section C4) (acc. to section C4) size 6
Power down unit 10 minutes (acc. to section C4)
cluded in the drive casing, before removing cover
-the name plate corresponds to the mains supply.

Foot mount
sizes 1 and 2
(acc. to section C5)
Positioning solution
SM-POS SM-I/O
Réf. 3616 F - 4.33/a - 02.03
Plus
CC terminal block Power terminal block Relay terminal block / Control terminal block Cooling fan
cover glands sizes 1 and 2 (acc. to section E) connector
Guide and resistor (acc. to section D) size 6
(acc. to section D2)
www.leroysomer.com
Shelding supports
This manual is to be given (acc. to sections
to the end user
D8 and F1)
Documentary system and softwares
Kit IP54 size 2
Universal Var
iable Sp
eed Drive (acc. to section C5.5.1)
Installa
tion and Commissioning
anual
M
Joint
(acc. to section C5)
Ferrite
sizes 2 and 3 Earthing bridge size 2
(acc. to sections B4.1 and L4) (acc. to section D2.2)
Flat joint for IP54
CAUTION: size 1 PE
Location of the options (acc. to section C5.5.1)
Casing and accessories
C3 - Mounting types
The drive may be mounted in 2 ways… - Heater outside the cabinet :
Mounting the heater outside the cabinet allows the dissipation
- Heater inside the cabinet : of most of the heat losses. Consequently, the cabinet sizes
In this configuration, it is necessary to take into consideration may be significantly reduced.
the drive losses for cabinet sizing . If it is necessary, the drive may be modified in order to keep
the IP54 protection of heater outside the cabinet (see section
C5.5).
InstalMecaPosEs
C en c 06/07 3/12
UNIDRIVE SP
B C4 - Heater mounting inside the cabinet

C4.1 - Sizes and weights
• Rating 1.5TL to 3.5TL / 1.5T to 5.5T (Size 1)
C Front view Profile view Drilling schema
L1 L1
L P
D
E H
H1
Feet
mount H2
F
G Bottom
guard
H • Rating 4.5TL to 16TL / 8T to 33T / 3.5TM to 22TM (Sizes 2 and 3)
H4
I L2
J H
Feet
mount H2
K
L L3
M
UNIDRIVE SP Dimension (mm) Screw Weight Mounting
Size Type L L1 L2 L3 H H1 H2 H3 P (mm) (kg)
1.5TL to 3.5TL 5
1 100 20 ± 2.5 - - 368 386 370 ± 1 - 219 4 x Ø6.5 x2
1.5T to 5.5T (4.5T & 5.5T : 5.8)
4.5TL to 8TL
2 155 53 ± 0.5 24.5 24.5 368 371.6 337.5 ± 1 21 219 4 x Ø6.5 7 x2
8T to 16T
11TL and 16TL
3 22T to 33T 250 53 ± 0.5 97 47 368 361 327 ± 1 21 260 4 x Ø6.5 15 x2
3.5TM to 22TM
InstalMecaPosEs
C en c 06/07 4/12
UNIDRIVE SP
• Rating 22TL to 33TL / 40T to 150T / 22TH to 150TH (Sizes 4 to 6)
Front view Profile view Drilling schema
L P
?
L2
L1 L1
L3
C
H Feet
H1 mount H2
H3
Bottom
guard
UNIDRIVE SP Dimension (mm) Screw Weight Mounting

Size Type L L1 H H1 H2 H3 P (mm) (kg)
22TL to 33TL
4 40T to 60T 310 129.3 ± 0.25 510 546.8 528.8 ± 0.5 18.4 298 4 x ØM8 30 x4
22TH to 60TH
75T and 100T +
5 310 129.3 ± 0.25 820 857.3 839.3 ± 0.5 18.4 298 4 x ØM8 55
75THand 100TH
120T and 150T x 2 (size 6)
6 310 129.3 ± 0.25 1131 1168.8 1150.8 ± 0.5 18.9 298 4 x ØM8 75
120THand150T
C4.2 - Losses inside the cabinet

The table below indicates the maximum value of the drive losses at the rated current, according to the carrier frequency. The
values correspond to normal operation for ambient temperatures of 40°C and 50°C.
UNIDRIVE SP Losses (W)
Size Type 3 kHz 4 kHz 6 kHz 8 kHz 12 kHz 16 kHz 3 kHz 4 kHz 6 kHz 8 kHz 12 kHz 16 kHz
1.5TL 40°C 27 29 32 35 41 47 33 35 38 42 49 56
50°C 27 29 32 35 41 47 33 35 38 42 49 56
2TL 40°C 38 40 43 47 55 62 45 47 51 56 64 73
1 50°C 38 40 43 47 55 62 45 47 51 56 64 73
2.5TL 40°C 51 53 58 62 71 81 67 70 76 81 92 104
50°C 51 53 58 62 71 81 67 70 76 81 92 97
3.5TL 40°C 75 78 86 94 109 124 78 82 89 97 113 129
50°C 75 78 86 94 97 78 82 89 97
4.5TL 40°C 133 139 150 160 182 203 155 161 173 186 210 235
50°C 133 139 150 160 182 190 155 161 173 186 190
2 5.5TL 40°C 170 176 190 203 229 256 210 218 234 250 282 314
50°C 170 176 190 190
8TL 40°C 245 254 263 261 259 258 272 282 302 320 315
50°C 190 190
11TL 40°C 260 272 297 321 370 x 331 347 380 412 477 x
3 50°C 260 272 297 289 273 x 331 347 380 412 436 x
16TL 40°C 349 365 398 430 486 x 431 451 492 532 551 x
50°C 306 315 300 289 273 x 431 451 480 463 439 x
22TL 40°C 428 448 488 528 x x 517 541 589 637 x x
50°C 428 448 488 528 x x 517 541 589 637 x x
4 27TL 40°C 517 541 589 637 x x 611 639 694 750 x x
50°C 517 541 589 637 x x 611 639 694 750 x x
33TL 40°C 611 639 694 750 x x 810 845 916 987 x x
50°C 611 639 694 750 x x 671 701 761 821 x x
InstalMecaPosEs
C en c 06/07 5/12
UNIDRIVE SP
B Size
UNIDRIVE SP
Type
Temp.
3 kHz 4 kHz
Maximum overload
Losses (W)
6 kHz 8 kHz 12 kHz 16 kHz 3 kHz 4 kHz

Reduced overload
6 kHz 8 kHz 12 kHz 16 kHz
1.5T 40°C 20 24 30 37 51 64 26 29 37 45 61 76
50°C 20 24 30 37 51 64 26 29 37 45 61 76
C 1
2T
2.5T
40°C
50°C
40°C
50°C
27
27
37
37
31
31
42
42
39
39
52
52
48
48
62
62
64
64
82
82
80
80
102
95
34
34
44
44
38
38
50
50
48
48
61
61
57
57
72
72
76
76
95
95
95
95
117
97
3.5T 40°C 52 58 70 83 101 104 62 69 83 97 126 134
50°C 52 58 70 83 92 62 69 83 97
D 4.5T
5.5T
40°C
50°C
40°C
50°C
40°C
72
72
91
91
164
82
82
103
178
101
206
121
123
97
97
229
123 125
125
231
83
83
106
186
94
94
120
202
117
147
234
97
139
158
266
97
156
156
283
157
157
282
8T
50°C 164 178 190 186 190
40°C 201 218 230 229 231 248 269 291 286 283 281
E
2 11T
50°C 190 190
16T 40°C 272 282 279 278 279 282 313 320 315 316
50°C 190 190 x
22T 40°C 337 363 415 424 408 401 364 392 449 499 477 465
50°C 337 363 399 387 373 364 364 392 430 417 399 389
3 27T 40°C 411 443 485 469 452 444 437 471 540 538 514 501
F 33T
40T
50°C
40°C
50°C
40°C
50°C
411
474
474
629
629
443
509
459
689
689
435
485
429
704
638
417
469
415
674
617
396
452
397
x
x
388
x
x
x
x
437
567
474
714
714
455
580
459
781
781
435
552
429
914
898
418
533
415
956
852
399
510
397
x
x
388
x
x
x
x
4 50T 40°C 780 745 690 663 x x 882 961 995 941 x x
G
50°C 716 673 629 607 x x 882 944 894 814 x x
60T 40°C 976 920 854 821 x x 1070 1158 1217 1144 x x
50°C 876 820 775 750 x x 877 949 912 875 x x
75T 40°C 1311 1236 1150 1112 x x 1471 1618 1640 1560 x x
5 50°C 1186 1118 1047 1009 x x 1471 1616 1462 1411 x x
100T 40°C 1681 1600 1508 1464 x x 1830 1881 1781 1717 x x
50°C 1500 1434 1366 1333 x x 1500 1644 1543 1480 x x
H 6
120T
150T
40°C
50°C
40°C
50°C
1817
1817
2192
1979
1935
1747
2042
1851
1772
1610
1888
1715
x
x
x
x
x
x
x
x
x
x
x
x
2058
1942
2477
2068
2259
2118
2455
2108
2153
1939
2255
1997
x
x
x
x
x
x
x
x
x
x
x
x
UNIDRIVE SP Losses (W)
I
Size Type 3 kHz 4 kHz 6 kHz 8 kHz 12 kHz 16 kHz 3 kHz 4 kHz 6 kHz 8 kHz 12 kHz 16 kHz
3.5TM 40°C 112 124 148 172 x x 127 141 168 196 x x
50°C 112 124 148 172 x x 127 141 168 196 x x
4.5TM 40°C 127 141 168 196 x x 135 150 180 209 x x
50°C 127 141 168 196 x x 135 150 180 209 x x
40°C 135 150 180 209 x x 163 181 218 254 x x
J
5.5TM
50°C 135 150 180 209 x x 163 181 218 254 x x
3 8TM 40°C 178 198 237 276 x x 197 219 263 306 x x
50°C 178 198 237 242 x x 197 219 263 306 x x
11TM 40°C 212 235 281 328 x x 267 296 354 412 x x
50°C 212 235 246 242 x x 267 296 354 383 x x
16TM 40°C 300 332 396 405 x x 362 399 475 471 x x
K 22TM
50°C
40°C
50°C
257
365
257
253
403
253
246
406
246
242
405
242
x
x
x
x
x
x
362
448
405
Losses (W)
399
486
399
390
477
390
384
471
384
x
x
x
x
x
x
UNIDRIVE SP
L Size Type
22TH
27TH
40°C
50°C
40°C
50°C
3 kHz
360
360
409
409
4 kHz
413
413
470
470
6 kHz 8 kHz 12 kHz 16 kHz 3 kHz
519
619
590
590
625
625
711
711
x
x
x
x
x
x
x
x
409
409
496
496
4 kHz
470
470
568
568
6 kHz 8 kHz 12 kHz 16 kHz
590
590
712
712
711
711
857
789
x
x
x
x
x
x
x
x
33TH 40°C 496 568 712 857 x x 660 754 941 1063 x x
50°C 496 568 712 789 x x 660 754 805 789 x x
M
4
40TH 40°C 660 754 941 1063 x x 798 908 1083 1058 x x
50°C 660 754 805 789 x x 798 831 805 789 x x
50TH 40°C 798 908 1083 1058 x x 985 1115 1080 1058 x x
50°C 798 831 805 789 x x 850 831 805 789 x x
60TH 40°C 873 987 1042 1023 x x 1060 1179 1130 1105 x x
50°C 871 848 816 797 x x 871 848 816 797 x x
75TH 40°C x x x x
5 50°C x x x x
100TH 40°C x x x x
50°C x x x x
120TH 40°C x x x x x x
6 50°C x x x x x x
150TH 40°C x x x x x x
50°C x x x x x x
InstalMecaPosEs
C en c 06/07 6/12
UNIDRIVE SP
C4.3 - Ventilation where :
• The drive is ventilated by an internally mounted two-speed P0
kp : -----
-
forced ventilation (low speed/over speed). P1
UNIDRIVE SP controls the change from one speed to P0 : Atmospheric pressure at sea level.
another.
• High speed air flow :

UNIDRIVE SP 3
Flow (m /h)
P1 : Atmospheric pressure of the installation.
P
(Generally, ------0 corresponds to a margin of 1.2 to 1.3).
P1
C
Size 1 75
Size 2 85 C4.5 - Advice on installation inside a cabinet
Size 3 200 Mount the drive vertically respecting the spacings between
Size 4 200 the drive and the other options or equipment described be-
Size 5 low.
Consult LEROY-SOMER
Size 6
Power supply Brake resistor
(option)
•Sound levels : Cabinet
High speed Low speed(DBA)
UNIDRIVE SP
(DBA)
Size 1 48 28
100mm
Size 2 54 35
Size 3 56 43
Size 4
Size 5 Consult LEROY-SOMER
Size 6
C4.4 - Cabinet volume calculation

The installation of a drive inside the cabinet demands specific
Filter
calculation of the volume according to the location of the dri- RFI
(option)
ve. One must check that the thermal dissipation is enough.
Taking worst case example : Size 1 0mm UNIDRIVE SP Size 1 0mm
IP54 cabinet (without forced ventilation), the bottom and the Sizes 2 to 4 30mm Sizes 2 to 4 30mm
underside in contact with other surfaces.
A
B
100mm
C
The minimum required heat exchange surface is the fol-
lowing:
Pi
S = -----------------------------------
k Tj – Tamb
where :
Pi = loss of all heat producing elements (ex. : 400 W).
Tj =maximum operation internal ambient temperature (ex : Motor
40°C).
Tamb = maximum external ambient temperature (ex : 25°C).
k = thermal transmission margin (ex : 5.5).
S = 4.85 m2. • Make sure that the air flow necessary to the drive and to the
The exchange surfaces are : 2(AB) + AC + BC = S.
external optional RFI filter circulates normally.
A = 2.2 m (height),
B = 0.6 m (depth). • The external optional RFI filtre has to be placed as close as
==> C = 0.8 m. possible to the drive respecting the minimum spacings requi-
red (on the drive or under the drive).
In case of a ventilated cabinet, the volume may be reduced. • The external optional brake resistor has to be located out-
Considering the same example, the flow of the V.F. is calcu- side, as close as possible or on the cabinet.
lated according to the following formula : • Do not place on another heat source or on another variable
3kp 3 speed drive.
V = --------------------------- = 83 m e h
Tj – Tamb •Do not obstruct the drive ventilation outlets.
InstalMecaPosEs
C en c 06/07 7/12
B C5 - Heater mounting outside the cabinet
C5.1 - Sizes and weights
• Rating 1.5TL to 8TL / 1.5T to 16T (Sizes 1 and 2)
C Front view Profile view
P
Size 1
L1
Drilling scheme
Size 2
L1 L1
P1
L
D Foot
mount
L2
H4
L2
H4
E 1
3
H1
H
H2 H3
H2
H3
F L1
1 2 3 4 5 6 7 8 9 10 11
2122 23 24 252627 2829 30 31 41 42

L2 L3 U V W
PE
H5
G
H5 L3
Cabinet guard
P2
H • Rating 11TL to 16TL / 22T to 33T / 3.5TM to 22TM (Size 3)

Front view Profile view
P
Drilling scheme
P1 L3
L
I L1
H4
L2
J 1
3
H
H2
K L1
PE
1 2 3 4 5 6 7 8 9 10 11
2122 23 24 252627 2829 30 31 41 42

L2 L3 U V W
L1 H5
L3
L UNIDRIVE SP Dimensions (mm)

P2
Screw
L4
Weight Mounting
Size Type L L1 L2 L3 L4 H H1 H2 H3 H4 H5 P P1 P2 (mm) (kg)
35 93 343 368 15.6 9.4 3
M
1.5TL to 3.5TL 5
1 100 - - 368 391 219 139 80 x1
1.5T to 5.5T ±0.15 ±0.5 ±0.5 ±1 ±0.5 ±0.75 x Ø6.5 (4.5T & 5.5T : 5.8)
4.5TL to 8TL 35 148 101.5 294 368 64.6 9.3 3
2 155 - 368 391 219 139 80 7 x1
8T to 16T ±0.15 ±0.5 ±0.5 ±0.5 ±1 ±0.5 ±0.5 x Ø6.5
11TLand16TL 60.5 236 135.5 193 287 56 8 5
3 22T to 33T 250 368 - - 260 140 120 15 internal
±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5 ±0.3 x Ø6.5
3.5TMto 22TM
InstalMecaPosEs
C en c 06/07 8/12
UNIDRIVE SP
• Rating 22TL to 33TL / 40T to 150T / 22TH to 150TH (Sizes 4 to 6)
P L1 L1
L P1 P2
H4
L2 C
Feet H3
H mount H2
L3
UNIDRIVE SP Dimensions (mm) Screw Weight Mounting

Size Type L L1 L2 L3 H H1 H2 H3 H4 P P1 P2 (mm) (kg)
22TL to 33TL 129.3 286 14.2 487 540.3 26.65
4 40T to 60T 310 510 - 298 200 98 4 x ØM8 30
±0.25 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5
22TH to 60TH
75T and 100T 129.3 286 14.2 797.5 852.6 26.7
5 310 820 - 298 200 98 4 x ØM8 55 x4
75TH and 100TH ±0.25 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5
120T and 150T 129.3 286 13.7 1107 1161.2 27.1
6 310 1131 - 298 200 98 4 x ØM8 75
120THand150T ±0.25 ±0.5 ±0.5 ±0.5 ±0.5 ±0.5
C5.2 - Mounting instructions C5.4 - Cut out for integral resistors
- Make the cut out and the drilling in the rear panel of the For the ratings sizes 1 and 2, optional brake resistors may
cabinet. If an optional resistor is integrated into the drive be directly installed in the drive heater.
heater (see section L8), take into consideration the cut out
represented in section C5.4, necessary for the cable run. For a heater mounting outside the cabinet, one must proceed
- Unscrew the front screw of the drive in order to remove the to a further cut out for the resistor(s) cables run.
control terminal block cover. For the drives size 3, also (For more details on this type of resistor, refer to section L8).
unscrew the lower and upper covers of the power part (if it is
necessary, see section D2.3) in order to get to the mounting Size 1
holes.
- Place on the flange the sealing joint delivered with the drive. 60 mm
Ø 15 mm
Note : For sizes 4 to 6, assemble the mount foot as follows : 15.6mm
- insert the long part of the left upper and lower feet, then bolt Ø 6.5 mm
together,
- Insert the long side of the right lower and upper feet. Do not
screw, the feet remain held by compression (internal to the 93 mm
drive).
- Install the drive into the cut out of the rear panel, and mount
it by the upper and lower elements. Size 2
- Replace the drive cover(s). 115 mm
CAUTION : Ø 15 mm
Make sure there is sufficient air flow at the rear of the
cabinet. 66 mm
Ø 6.5 mm
C5.3 - Losses inside the cabinet
The main losses related to the power being dissipated outside
the cabinet, the only things to take into consideration are the 148 mm
losses from the control card or from the integral option
modules.
UNIDRIVE SP Losses (without heater losses)
Size 1 d 50 W
Size 2 d 75 W
Size 3 d 100 W
Size 4 d 204 W
Size 5 d 347 W
Size 6
InstalMecaPosEs
C en c 06/07 9/12
UNIDRIVE SP
B C5.5 - Heater IP54 protection

When the drive is mounted in the IP54 cabinet with the heater mounted outside, the heater has a IP20 protection. For the drives
sizes 1 and 2, the heater protection index may reach IP54.
CAUTION :
C • Regular cleaning of the heater and of the ventilation is then necessary.

• In an environment that needs a IP54 protection, the standard ventilation may be kept, but its life will be diminished
in relation to standard use. In order to increase the ventilation reliability, replace it by an equivalent ventilation but
IP54 protection (for the mounting instructions and references, contact your ordinary LEROY-SOMER representative).
C5.5.1 - Mounting instructions
D • Size 1
3 Open the shutter

2 Push to the
8 Replace
the clip
top and
maintain 5
E 1 Remove the clip 6

Position
Collar
the joint
supplied
with the
Kit
4 Take the
kit located
in the
shutter
Close again 7
the shutter
accessories
F
Insert 7
the kit
G • Size 2
3 Open the shutter
Kit 4 Place the
H Push
1
2 Push
to the top
and maintain
1 Push
kit supplied
with the
accessories
into the
indicated
location
5 Close again
the shutter
I
J Note : In order to remove the heater IP54 protection, follow the instructions described above but in reverse order.
K
C5.5.2 - Derating of the permanent output current
• The IP54 kit installation requires a derating of the current capacity.
Permanent out put current with IP54 kit (standard ventilation) at 40 °C
L
UNIDRIVE SP Maximum overload Reduced overload
1.5TL .4.3 5.2
2TL 5.8 6.8
2.5TL 7.5 7.3 9..6 9.3 8.2 7.3
3.5TL 10.6 10.5 9.7 9 7.7 6.6 11 10.6 9.7 9 7.7 6.6
M 4.5TL
5.5TL
8TL
1.5T
24.2 23.4
17
21.8
12.6
2.1
20.3 17.7
15.5
15.5 24.5
22
23.7 22
15.5
2.8
20.7
20.5
18
17.9
15.7
15.6
2T 3 2.9 3.8 2.9

2.5T 4.2 3.9 2.9 5 3.9 2.9
3.5T 5.8 5.4 3.9 2.9 6.9 6.5 5.4 3.9 2.9
4.5T 7.6 7.3 5.8 4.7 3.2 2.3 8.3 7.3 5.8 4.7 3.2 2.3
5.5T 8.2 7.3 5.8 4.7 3.2 2.3 8.3 7.3 5.8 4.7 3.2 2.3
8T 13 12.6 9.4 7.3 15.3 13.3 10.1 7.9
11T 16.5 14.9 12.3 9.3 7.2 20.1 18.4 15.6 13.4 10.1 7.9
16T 21.6 19.6 16.4 13.8 10.2 7.7 21.7 19.7 16.4 13.9 10.2 7,7
InstalMecaPosEs
C en c 06/07 10/12
UNIDRIVE SP
C6 - SM modules installation
C6.1 - Access to locations Proceed in the same way to insert the SM-I/O Plus
• In order to insert a module, power down the drive module in the environment location.
(including the power supplies +24V and +48V), and
wait for 10 min. Otherwise, the option may be damaged.
• Check the condition of the option : a damaged
Replace the cover.
C
module must not be inserted in the drive.
1 Unscrew
Dévisser
(Location 1)
the le
Soulever
2 Open capot
cover
SM-I/O Plus
(Location 2)
SM-POS
(Location 3)
30 31
28 29
26 27 W
24 25
22 23 U V
2 L3
L1 L
Note : If the application needs a further module (ex. : SM-

30 31
28 29
26 27 W
24 25
22 23 U V
2 L3
L1 L
Universal-Encoder Plus module), install it in the last one.
If it is necessary to dismantle a module, follow the

instructions below.
C6.2 - Installation of modules in the drive

First of all, install the SM-POS module in the lowest location
and gently press on the module, until a click is heard. SM-EDL COD
SM-POS
30 31
28 29
26 27 W
24 25
22 23 U V
2 L3
L1 L
30 31
28 29
26 27 W
24 25
22 23
3 U V
2L
L1 L
InstalMecaPosEs
C en c 06/07 11/12
UNIDRIVE SP
B Notes
C
D
E
F
G
H
I
J
K
L
M
InstalMecaPosEs
C en c 06/07 12/12
UNIDRIVE SP
Power connection
Contents B
D1 - Warning................................................................................................................................ 3
D2 - Terminal position ................................................................................................................ 3

D2.1 - Size 1 drives............................................................................................................................................ 3
D2.2 - Size 2 drives............................................................................................................................................ 4
C
D2.3 - Size 3 drives............................................................................................................................................ 5
D2.4 - Size 4 drives............................................................................................................................................ 6
D3 - Power diagrams .................................................................................................................. 7 D

D3.1 - Safety input ............................................................................................................................................ 7
D3.2 - Three-phase AC power supply according to the EN 954-1 safety standard - Category B or 1 ............... 8
D3.3 - Three-phase AC power supply according to the EN 954-1 safety standard - Category 2 or 3 ............... 9
D3.3.1 - Use of a special cable for the safety input ................................................................................................. 9
D3.3.2 - Use of a contactor .................................................................................................................................... 10
E
D4 - Cables and fuses ............................................................................................................. 11
D5 - Special applications ......................................................................................................... 12

D5.1 - Motor insulation .................................................................................................................................... 12
F
D5.2 - Parallel motor association in U/F mode ................................................................................................ 12
D5.3 - Parallel operation of drives by means of a continuous bus .................................................................. 12
D6 - 48V secondary supply .................................................................................................... 13 G

D7 - UL Compliance ................................................................................................................. 13
D7.1 - Supply specifications ............................................................................................................................ 13
D7.2 - Cables ................................................................................................................................................... 13
D7.3 - Fuses .................................................................................................................................................... 13
H
D8 - Recommendations for EMC compliance ....................................................................... 14
D8.1 - Diagram................................................................................................................................................. 14
D8.2 - Recommendations ................................................................................................................................ 15
D8.3 - Details on the shielding supports (power) ............................................................................................. 15
I
D9 - Supply types ..................................................................................................................... 15
J
K
L
M
RaccordPuiss
D en e 06/07 1/16
UNIDRIVE SP
Power connection
B Notes
C
D
E
F
G
H
I
J
K
L
M
RaccordPuiss
D en e 06/07 2/16
UNIDRIVE SP
Power connection
D1 - Warning B
• All connection works must be perfomed • Check that the continuous bus voltage is below
according to the laws in force in the country of 40V before intervention.
installation. It also includes the earthing or the
grounding so that no accessible drive part be connected
to the mains supply voltage or any other dangerous
voltages.
• Check the drive, motor and mains supply voltage
and current compatibility.
• After operation, the drive can be heated, do not
touch it.
C
• The voltage in the cables or the supply, motor, • Give special attention to a drive installed in an
brake resistor or filter connections may cause fatal
electric shocks. Avoid all contact.
• The drive must be supplied by means of a
contactor in order to power it down for security reasons.
equipment connected to the mains supply by rapid
connectors. The supply drive terminals are connected to
internal capacitors by a diode bridge, which in this case
does not provide enough insulation. It is thus necessary
D
• The drive supply must be protected against to add an automatic isolation system for the connectors
overcharges and short-circuits. as long as they are not among them.
• The drive stop command does not prevent from
high voltages on the terminal.
• The drive contains the capacitors loaded with a
fatal voltage after supply cut-out.
• For UL complaince and in order to avoid any fire
risks, the grip torque specified in this section must be
observed.
E
• Power down the drive 10 min before removing For option connection refer to section L.
the cover. For UL compliance, stick the label «CAUTION
Risk of electric shock power down unit 10 minutes before
removing cover» (supplied with the accessories), so that
the maintenance personnel see it.
F
D2 - Terminal position G
D2.1 - Size 1 drives • Position
• Access to terminals
3 Let the cover

upper
1 Unscrew
(*)
DC Bus terminal, resistor, 48V ext.
48V -DC +DC BR

H
slide
Grip torque : 1.5 N.m
I
BR
C
+D
BV
-DC
2 Remove the lower Section : 6.5 mm
cover
48V
48V -DC +DC BR
J
Control
terminal
VOLTAGE 50-60hZ 3PH 380-480V
Supply
CURRENT 95A OVERLOAD 14-1A 60S
31
82930
22 23
L1 L2
L3
24 25
26 272
U V
W
24V ext.
1
K
2
Safety input
31
(*) To rescrew, observe the 1 N.m grip torque.
• Installment of terminals
Insert the quick release terminals supplied with the drive:
Grip
torque : 0.5 N.m
Section : 2.5 mm
L
- 1 power terminal (L1, L2, L3, U, V, W),
- 1 control terminal (terminals 1 to 11),
- 1 relay terminal (terminals 41 and 42).
Power terminal: mains supply and motor
L1 L2 L3 U V W M
• Installment of cables runs and glands
- Remove the pre-cut washer of the cable run plate for power
and control cable run (lower terminals). Section : 6.5 mm
- If necessary, break the upper cover miters and install the Power Motor
glands for the brake resistor or 48V supply cable runs. earth (PE) earth ( )
Grip torque : 4 N.m
Section : 8 mm
RaccordPuiss
D en e 06/07 3/16
UNIDRIVE SP
Power connection
B D2.2 - Size 2 drive

• Installement of cables runs and glands
and control cable run (lower terminals).
- If necessary, break the upper cover miters and install the
C
glands for the brake resistor or 48V supply cable runs.
(*)
1 Unscrew • Terminal position
3 Let the 2 Power terminal: Bus DC Terminal
upper covers DC Bus, resistor (low current), and 48V ext.
slide 2 Remove the lower
D cover
48V -DC +DC BR
DC1 DC2 BR 48V -DC +DC

Grip torque : 1.5 N.m Grip torque : 1.5 N.m
Section : 6.5 mm Section : 6.5 mm
E 5 6 7 8 9 10 11
25 26 27 28 29 30 31
L3 U V W
41 42
DC1 DC2 BR
48V
48V -DC +DC BR
Control
F
terminals
Supply
1
24V ext.
2
2
G
3
• Installment of terminals Safety input

Insert the quick release terminals supplied with the drive: 31
- 1 power terminal (L1, L2, L3, U, V, W),
H
- 1 control terminal (terminals 21 to 31), Grip
- 1 relay terminal (terminals 41 and 42). torque : 0.5 N.m
Section : 2.5 mm
• Earthing
Power terminal: Mains supply and motor
I An earthing bridge is supplied with the drive. It is used to

facilitate the run of earth cables in the cable run plate holes.
Screw the earthing bridge supplied with the drive.
L1 L2 L3 U V W
J 1 2
3 4
5 6
7 8
9 10
Section : 6.5 mm
11
21 22
L1 23 24
25 26
L2 27 28
L3 29 30
U 31
41 42
V
Power earth W
Motor earth ( )
(PE) Grip ATTENTION :
K Grip torque: 4 N.m Use the DC Bus power cable to connect the brake
torque : 4 N.m resistor (DC2 and BR), the drive suppy by DC, or the
connection in parallel of DC buses of several drives
(DC1, DC2).
Use the low current DC bus terminal (terminals 48V, -DC,
L Note:
• In order to avoid additional handling, place the shielding
+DC) only for the connection of the integrable RFI filter
(supplied with the drive) or for the 48V safety supply.
support (described insections E3 and F), then the bridge
M on the two drive earth terminal.

• According to the used earth cables section, it can be
possible to make the connection directly to the drive
terminals.
RaccordPuiss
D en e 06/07 4/16
UNIDRIVE SP
Power connection
D2.3 - Size 3 drives
• Position
Power terminal:
DC Bus, resistor
Bus DC Resistor
(low current), and 48V ext.
B
C
3 Let the two
upper covers
slide 48V -DC +DC
DC1 DC2 BR
1 Unscrew (*)
Grip torque : 2.5 N.m Grip torque: 1.5 N.m
Section : 10 mm Section : 6.5 mm
D
-DC +DC BR
48V
2 Remove the
lower cover
48V
48V -DC +DC BR
Unscrew
4 Let the
lower cover
slide
1
1
Control
terminals
E
Supply
2
24V ext.
F
3
1 2 3 4 5 6 7 8 9 10 11
2122 23 24 252627 2829 30 31 41 42 Safety input

PE
31
G
Power terminal: Mains supply and motor Grip
• Installment of terminals torque : 0.5 N.m
Insert the quick release terminals supplied with the drive:
- 1 relay terminal (terminals 41 and 42).
L1 L2 L3 U V W
Section : 2.5 mm
H
• Earthing
Connect the mains supply (PE) and motor earth cables ( )
to the heater as specified.
Section
ATTENTION :
: 10 mm
I
Smooth washers
Use the DC Bus power cable to connect the brake
J
Spring washer resistor (DC2 and BR), the drive suppy by DC, or the
connection in parallel of DC buses of several drives
(DC1, DC2).
Use the low current DC bus terminal (terminals 48V, -DC,
+DC) only for the connection of the integrable RFI filter
M6
(supplied with the drive) or for the 48V safety supply.
K
L
Power earth
(PE) 6 N.m
Motor earth
( ) 6 N.m M
• Installement of cables runs and glands
and control cable run (lower terminals).
- If necessary, break the upper cover miters and install the
glands for the brake resistor or 48V supply cable runs.
RaccordPuiss
D en e 06/07 5/16
UNIDRIVE SP
Power connection
B D2.4 - Size 4 to 6 drives

• Access to drives
3 Let the upper
• Position
Power terminal:
Supply and DC Bus
L1 L2 L3
cover slide Unscrew (*)
1
C PE
Grip torque
Section
+DC -DC
: 15 N.m
: 16 mm
2 Remove the inner
cover
D Unscrew
1
E 4 Let the
lower cover
slip Internal RFI
filter
Control
F Supply
terminals
24V ext.
2
G (*) To rescrew, observe the 1 N.m grip torque.
• Installment of terminals
Safety input
31
Insert the quick release terminals supplied with the drive: Grip
H
- 1 control terminal (terminals 1 to 11), torque : 0.5 N.m
Section : 2.5 mm
- 1 relay terminal (terminals 41 and 42). Power terminal : Supply
Motor and resistor +24V DC
U V W
• Earthing
I The power earth (PE) and the motor earth ( ) are internally
linked by a copper conductor (section 19.2 mm2).
This internal link is sufficient if the phase power supply cables
has a section below or equal to 38.4 mm2 (according to
+DC
Grip torque
Section
BRAKE
: 15 N.m
: 16 mm
Grip torque:
0.5 N.m
Section :
2.5 mm
standard 60204-1 / EN60204-1) and when the power
J protection systems is calculated to less than or 200A

(standard NFPA 79). In addition, it is necessary to perform
an additional connection between the power earth and the
motor.
K • Installement of cables runs and glands

Remove the pre-cut washer of the cable run plate for brake
resistor, power and control cable run (lower and upper left
terminals)
L
M
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D en e 06/07 6/16
UNIDRIVE SP
Power connection
D3 - Power diagrams B
D3.1 - Safety input
This input, when open, leads to the drive enabling.
Independent of the microprocessor, it activates several power
bridge control levels. It is conceived so as the absence of
torque on the motor shaft have a very high level of integrity
C
even in case of failure of one or more circuit components.
D
Certified by the independent European bodies, this input has
been recognised as compliant with the EN 954-1 safety
standard category 3 specified in the Machine Directive.
As a consequence, it can be used as a safety element and
it can replace an electromechanical contactor or a safety
relay.
According to the safety category with which the installation
must comply, it is recommended to observe the power
connection diagrams described in the following paragraphs.
E
• The safety input is a safety element to be built in
the complete machine safety system. As any other
installation, the entire machine shall form the object of
a risk analysis performed by the integrator in order to
F
determine the safety category with which the installation
must comply.
• The safety input, when open, disables the drive
and prevents the dynamic braking function. If a brake
G
function is required before the drive safety disabling, a
timing safety relay must be installed in order to
automatically control the disabling after brake.
If the brake is a machine safety function, it must be
provided by an electromechanical solution as the
H
dynamic drive brake function is not intended for safety
purposes.
• The safety input does not provide the electric
insulation function. Before any intervention, the power
cut must be provided by a certified disconnection body
I
(disconnector, switch …).
J
K
L
M
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D en e 06/07 7/16
UNIDRIVE SP
Power connection
B D3.2 - Three-phase AC power supply according to the EN 954-1 safety standard - Category B or 1
WARNING: before power connection, check the

position of the drive terminals (according to Optional
C
Brake
size). resistor
Refer to §D2. (4)
RF
Mains supply
D Remote
supply QS
FR
(*) (*) 48V -DC +DC

DC1 DC2 BR
E Resistor Ext. 48V connection

AU connection
Optional DC power Control
FR Line supply terminal
(1) Safety
input
F SB1 UNIDRIVE SP
22
KA
31
SB2 KA Optional AC power
RFI filter
Three-phase Motor
G
(2)
Power supply connection
earth Earth
(PE) L1 L2 L3 U V W ( )
KA
H Optional
MC Supply
(3)
I • When using a brake resistor,

it is necessary to set 2.04 = FAST.
• It is necessary to protect the optional external brake
resistor by thermal relay.
According to application
KF
In this case, set 10.30 and 10.31 to 0. U V W Brake
Motor F power supply
J QS : Fuse disconnector
AU : Emergency stop button
SB1 : Power down button
SB2 : Power up button
or
KA : Remote relay
FR : External brake resistor thermal relay (not necessary for heater built-in resistors)
K
KF : Brake relay (refer to section H3.21 for brake management)
(1) Line mains supply:
Option used to reduce the supply current harmonic amplitude and the transient interferences
of the mains supply with the drive. Refer to section L7
(2) " RFI " filter:
Option used to reduce the drive electromagnetic emissions and to comply with the EN 61800-3 standard
in certain cases. Refer to section L3.
L (3) " MC " mains supply:

Option used to reduce the leakage currents as well as the drive interferences.
Refer to section L5.
(4) Brake resistor
Option used to disperse the active power returned by the motor on the drive continuous bus in case of a
driving machine. Refer to section L8.
M (*) For drives size 1, the DC1 terminal is replaced by -DC, and the DC2 terminal is replaced by + DC (there is no risk of confusion
taking into account that there is only one continuous bus terminal for size 1).
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D en e 06/07 8/16
UNIDRIVE SP
Power connection
D3.3 - Three-phase AC power supply according to the EN 954-1 safety standard - Category 2 or 3
D3.3.1 - Use of a special cable on the safety input
B
WARNING: before power connection, check the Optional
position of the drive terminals (according to
C
Brake
size). resistor
Refer to §D2. (4)
RF
Mains supply
D
FR
Remote
supply QS
(*) (*) 48V -DC +DC

DC1 DC2 BR
Ext. 48V connection
E
Resistor
AU connection
Optional DC power Control
Line supply terminal
FR (1) Safety
UNIDRIVE SP input
F
SB1
22
KA
Reset 31
SB2 KA Optional AC power
KA RFI filter
(2) Three-phase Motor
supply connection
G
Power
earth Earth
Safety (PE) L1 L2 L3 U V W ( )
Disable relay
KA
Optional
MC Supply
(3)
H
• When using a brake resistor,
it is necessary to set 2.04 = FAST.
In this case, set 10.30 and 10.31 to 0. U V W
According to application
KF
Brake
I
Motor F power supply
QS : Fuse disconnector
J
AU : Emergency stop button or
SB1 : Power down button
KA : Remote relay
KF : Brake relay
of the mains supply with the drive. Refer to section L7.
(2) " RFI " filter:
K
(3) " MC " mains supply:
L
(4) Brake resistor
WARNING: In this case, the cable used for the safety input connection must be isolated from other cables, either by
introducing it into a metal or a separate pipe, or by using a special shielded cable.
(*) For drives size 1, the DC1 terminal is replaced by -DC, and the DC2 terminal is replaced by + DC (there is no risk of confusion
M
taking into account that there is only one continuous bus terminal for sizes 1).
RaccordPuiss
D en e 06/07 9/16
UNIDRIVE SP
Power connection
B D3.3.2 - Contactor use

In case a safety input cable cannot be used, add a contactor.
WARNING: before power connection, check the
Optional
position of the drive terminals (according to Brake
C size).
Refer to §D2.
resistor
(4)
RF
Mains supply
FR
D Remote
supply QS
(*) (*) 48V -DC +DC

DC1 DC2 BR
Resistor Ext. 48V connection
E AU
FR
Optional
Line supply
(1)
connection
DC power Control
terminal
Safety
UNIDRIVE SP input
SB1
F KA
KM1
Reset
SB2 KA
Optional
RFI filter
(2)
Three-phase
AC power
Motor
22
31
KA
Power supply connection
G
earth Earth
Safety (PE) L1 L2 L3 U V W ( )
Disable relay
Optional MC Supply
H KA KM1 (3)
• When using a brake resistor, KM1 According to application
I it is necessary to set 2.04 = FAST.

In this case, set 10.30 and 10.31 to 0.
U V W
Motor F
KF
Brake
power supply
QS : Fuse disconnector
AU : Emergency stop button or
J SB1 : Power down button

KA : Remote relay
KF : Brake relay
K of the mains supply with the drive. Refer to section L7

(2) " RFI " filter:
(3) " MC " mains supply:
L
(4) Brake resistor
M • If a contactor is connected between the drive and the motor (recommended type: AC3), check that the drive is
disabled when the contactor is activated or disactivated.
(*) For drives size 1, the DC1 terminal is replaced by -DC, and the DC2 terminal is replaced by + DC (there is no risk of confusion
taking into account that there is only one continuous bus terminal for sizes 1).
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D en e 06/07 10/16
UNIDRIVE SP
Power connection
D4 - Cables and fuses B
• It is the responsibility of the user to perform the UNIDRIVE SP connection and protection according to the
legislation and the rules in force in the country of use. It is especially important for the size of cables, the fuse type
and diameter, the earthing and grounding, the power down, the repairing, the insulation and protection against
overcurrent.
• These tables are given for information only and they do not replace the existing standards.
• The diameters and characteristics correspond to a maximum overload. For reduced overload, refer to the
C
corresponding motor current.
• Sizes 1 to 3
UNIDRIVE I rated I max

Power supply
Fuses Cable section* & ** I sp * Cable section* & **
Motor
Max. motor cable length
D
SP (Reduced IEC (gG) USA EN60204 UL508C EN60204 UL508C (m)
overload)
1.5TL
2TL
2.5TL
(A)
7.1
9.2
12.5
(A)
9.5
11.3
16.4
(A)
12
10
20
(A)
15
(mm2)
1.5
1.5
4
(AWG)
14
14
12
(A)
4.3
5.8
7.5
(mm2)
1
1
1
(AWG)
18
16
14
3kHz 4kHz 6kHz 8kHz 12kHz 16kHz
130
100
65
100
75
75
50
50
50
37
37
37
E
3.5TL 15.4 19.1 20 4 12 10.6 1.5 14 200 150 100 75 50 37
4.5TL 13.4 18.1 20 4 12 12.6 2.5 14 200 150 100 75 50 37
5.5TL
8TL
11TL
16TL
18.2
24.2
35.4
46.8
22.6
28.3
43.1
54.3
32
50
63
25
30
45
60
4
6
16
25
10
4
8
6
17
25
31
42
4
6
16
25
10
8
6
4
200 150 100
200 150 100
200 150 100
200 150 100
75
75
75
75
50
50
50
50
37
37
x
x
F
1.5T 4.1 4.8 6 1 18 2.1 1 22 65 50 37
2T 5.1 5.8 6 1 16 3 1 20 100 75 50 37
2.5T
3.5T
4.5T
5.5T
6.8
9.3
10
12.6
7.4
10.6
11
13.4
8
12
12
16
10
15
15
15
1
1.5
1.5
2.5
16
14
14
14
4.2
5.8
7.6
9.5
1
1
1
1.5
18
16
14
14
130
200 150 100
200 150 100
200 150 100
100 75
75
75
75
50
50
50
50
37
37
37
37
G
8T 15.7 17 20 4 12 13 2.5 14 200 150 100 75 50 37
11T 20.2 21.4 25 4 10 16.5 4 10 200 150 100 75 50 37
16T
22T
27T
33T
26.6
34.2
40.2
51.3
27.6
36.2
42.7
53.5
32
50
63
40
30
45
60
6
10
16
25
6
4
8
6
25
32
40
46
6
10
16
25
8
6
6
4
200 150 100
200 150 100
200 150 100
200 150 100
75
75
75
75
50
50
50
50
37
37
37
x
H
3.5TM 5 6.7 8 10 1 16 4.1 1 18 200 150 100 75 50 x
4.5TM 6 8.2 10 1 16 5.4 1 16 200 150 100 75 50 x
I
5.5TM 7.8 11.1 12 15 1.5 14 6.1 1 14 200 150 100 75 50 x
8TM 9.9 14.4 16 15 2.5 14 9.5 1.5 14 200 150 100 75 50 x
11TM 13.8 18.1 20 4 12 12 2.5 14 200 150 100 75 50 x
16TM 18.2 22.2 25 4 10 18 4 10 200 150 100 75 50 x
22TM 22.2 26 32 30 6 8 22 6 8 200 150 100 75 50 x
• Sizes 4 to 6
UNIDRIVE
I rated I max
Mains supply
Option 2 : series
semiconductor with
Option 1: HRC fuse or circuit
Cable section
* & **
I sp*
Cable section
* & **
Motor
Max. motor cable lentgh

J
fuse IEC breaker
SP (gR) HRC Semi-
K
(Reduced
overload) UL (clas. J) conductor EN60204 UL508C EN60204 UL508C (m)
IEC (gG) IEC (aR)
(A) (A) (A) (A) (A) (mm2) (AWG) (A) (mm2) (AWG) 3kHz 4kHz 6kH 8kHz 12kHz 16kHz
22TL 62.1 68.9 90 90 160 25 3 56 25 3
27TL 72.1 78.1 100 100 160 35 3 68 35 3 250 185 125 90 x x
33TL 94.5 99.9 125 125 200 50 1 80 70 1
40T
50T
60T
75T
61.2
76.3
94.1
125
62.3
79.6
97.2
131
80
110
125
175
80
100
125
160
160
200
200
200
25
35
50
95
3
2
1
60
74
96
2/0 124
25
35
70
95
3
2
1
2/0
250 185 125 90 x x L
100T 150 156 225 200 250 120 4/0 139 120 4/0
120T 205.8 214.9 250 2 x 70 2 x 2/0 180 2 x 70 2 x 2/0 250 185 125 x
M
x x
150T 247.2 257.9 315 2 x 120 2 x 4/0 210 2 x 120 2 x 4/0
22TH 23 26.5 63 32 125 4 10 18 4 10
27TH 26.1 28.8 63 35 125 6 8 22 6 8
33TH 32.9 35.1 63 50 125 10 8 27 10 8
40TH 39 41 63 50 125 16 6 36 16 6 250 185 125 90 x x
50TH 46.2 47.9 63 63 125 16 6 43 16 6
60TH 55.2 56.9 80 80 125 25 4 52 25 4
75TH 76 83 100 90 160 35 2 62 35 2
100TH 89 95 110 125 160 50 1 84 50 1
120TH 119 123.1 200 2 x 50 2 x 1 100 2 x 50 2 x 1 250 185 125 x x x
150TH 140 146.3 200 2 x 50 2 x 1 125 2 x 50 2x1
* and **: see the following page.
RaccordPuiss
D en e 06/07 11/16
UNIDRIVE SP
Power connection
B * The permanent output current value and the motor cable

sections are given for information only. Knowing that the mo-
tor rated current used by the drive varies according to the
switching frequency, the temperature and the overload, refer
be half of the phase cable section (choose the equal or higher
existing section).
• Circuit breakers can replace the class gG fuses. They must
be of the same C type and size as the fuses (for sizes 4 to 6,
to section B3.3 for more details. they must be serially connected to class aR fuses).
C ** The pre-established sections are given for single-wire ca-

ble with a max. lenght of 10m, and for all other lengths take
into consideration the line drops due to length.
WARNING:
• In order to limit the leakage current it is recommended
to use cables with a capacity lower than 260pF/m. If ca-
Note: bles of higher capacity are required, reduce to half the
• The supply current value is a typical value depending on the maximum length of motor cables specified on the above
D source impedance. The higher the impedance, the lower the

current.
• In factory setting, the switching frequency is 3 kHz (except
for the Servo operating mode: 6 kHz).
page.
• In order to determine the earth cable section (according to
E
the EN 60204 standard):
- phase cable section d 16 mm2: use an earth cable of the
same section,
- 16 mm2 < phase cable section d 35 mm2: the earth cable
section is 16 mm2,
- phase cable section > 35 mm2: the earth cable section must
F D5 - Special applications
D5.1 - Motor Insulation section L). The determination of this supply depends on the drive
G When one of the following cases:

- the power voltage is higher than 500 Vac or 670Vdc,
- the 400V drive is used with highly frequent brake
rating and the cable length between the drive and the motor.
Contact LEROY-SOMER.
applications, D5.3 - Parallel operation of drives by continuous
H is associated to a motor cable length exceeding 10m, it is

recommended to use a motor adapted to frequency variation
(LSMV). These motors insulation may resist to repeated
voltage peaks.
bus
• General detail
The parallel coupling of several drives by continuous bus is
With a standard motor, it is recommended to install an output used to limit the number and power of brake resistors. You
I mains supply (FP mains supply type) with an approximately

2% reactance.
can even remove the brake resistors if the amount of energy
to restore is lower than the motion energy.
This mounting is also useful in case the mains supply is
D5.2 - Motor parallel operation in U/F mode missing if you want to stop several synchronised motors
loaded by different inertias.
J QS
Mains supply
Unidrive
SP
FP IN I1
I2
M1
If the drives have the same ratings or close ratings, they can
be powered up simultaneously.
If the ratings are highly different, in order to avoid that the
lowest rating drive load the entire bus, you must either delay
M2 its power up (1 second), or delay the bus coupling by a bus
K I
M
contactor which switches off 1 second after power up.
In order to provide a good distribution of supply currents at
the drive input , it is recommended to serially install with each
The drive controle mode must be the open loop mode (0.48 = drive power supply a line inductance adapted to the drive
Open.LP(1)) U/F control (0.07 = Fd(2) or SrE(5)). rating (refer to section L7 for details).
L The total length of motor cables (M1 cable length + M2 cable

length + ...) must be shorter than the maximum length
specified in D4 section according to the drive rating and the
In addition, each modulator continous bus shall be fitted with
fuses (see section D4).
used switching frequency.
M
It is possible to supply several motors of different powers
with a single drive. Each motor must be protected by a
thermal relay.
Determination of the drive rating:
IN drive > I1 + I2 + … + I
In order to avoid accidental starting of thermal relays, a specific

supply of the Low Loss type may be proposed as an option (see
RaccordPuiss
D en e 06/07 12/16
UNIDRIVE SP
Power connection
• Example of connection diagram
B
Fuses
Line
Fuses
Line
C
inductance inductance
L1 L2 L3
Unidrive SP
L1 L2 L3
Unidrive SP D
U U
- +
V
W
M
3~
- +
W
V
M
3~
E
Continuous bus
+
-
F
D6 - 48V safety supply
The Unidrive SP gives the possibility to connect the power
to a 48V DC safety supply.
• The operation below 48V DC implies strict
observance of cabling and sequencing rules.
G
This operation mode can be used only at the end of the For additional information, contact the LEROY-
H
motion following a power supply loss. In this case, the SOMER assistant.
available voltage being much lower than the rated operation
voltage, the system performances are limited to the following • Characteristics
values.
- Asynchronous motor: constant torque up to 4 Hz and Characteristics Level
defluxed motor afterwards. Minimum operating continuous voltage 36 V
- Servo motor: the maximum motor speed depends on its Ke
factor.
Example:
for a 3000 min-1 motor with 98V/kmin-1 Ke, the maximum
Operating rated voltage
Size 1 : 48 V
Sizes 2 to 6 :
48 to 72V
I
Minimum start supply voltage 40 V
speed shall be 347 min-1.
Maximum brake transistor driving voltage 63.6 V
Note: the safety supply voltage level must be set at *. The
start level in overvoltage default corresponds to 1.45 x 6.46
(V), and the brake transistor driving voltage corresponds to
Maximum overvoltage default threshold
Current
69.6 V
2 x Isp with
maximum
J
overload
1.325 x 6.46 (V).
D7 - UL compliance
K
D7.1 - Mains supply
The drive can be built in an installation which can supply
maximum 5000A rms for sizes 1 to 3, 10000A rms for sizes
4 and 5 and 15000A rms for size 6, under maximum 264V
D7.3 - Fuses
The UL compliance is observed if the fuses are rapid and Ul
UL listed (class DC up to 30A, and class J below) and the
symetric short-circuit current does not exceed 5 kA up to
L
AC rms for 200V (TL) drives and maximum 528V AC rmsfor ratings 16TL, 33T and 22TM.
400V (T) drives, or maximum 632V AC for 575V (TM) and
690V (TH) drives.
D7.2 - Cables
Example of rapid fuses:
- Bussman Limitron KTK,
- Gould Amp - trap ATM. M
Use only class 1 copper cables 60/75°C (140/167° F). Note: in case of a circuit breaker in stead of fuses, the UL
compliance is no longer observed.
RaccordPuiss
D en e 06/07 13/16
UNIDRIVE SP
Power connection
B D8 - Recommendations for EMC compliance

D8.1 - Diagram
C
Optional brake
resistor
RF Shield the resistor cables,
Power if they run outside the
supply Thermal cabinet.
PE L1 L2 L3 relay
D Earth bar connected

to the bottom board
Non painted metal
bottom board
Cabinet
Earth
E
bar
0V
PE
DC1 DC2 BR 48V -DC +DC
Other
F
electronic
devices Optional
RFI UNIDRIVE SP
(If 0V is earthed, filter
it is possible to connect it
to the earth bar in order to avoid
0V interference current)
PE L1 L2 L3 U V W
G
Conductor
H clamp collar
I Conductor clamp collar

to install as closest as
possible to the terminal
Optional
J terminal
(*)
The cables must be as
short as possible
K Optional insulator (*)

The cables must be as
short as possible
L Connect the shield to

the eart terminal of
the motor (maximum
50 mm link)
Conductor clamp collar
The coupling bar can be
The motor cable shield earthed by connecting it to
M must be connected to a low impedance earth, for

example a large metal frame
a metal coupling bar with connected as close as possible to
M3~ low flat inductance the drive earth
(*) It is recommended to use an uninterrupted shielded motor cable. Nevertheless, if a motor cable must be connected
to a drive cabinet built-in terminal or when a motor insulator must be installed, check that
the shields are continuous as specified above.
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D en e 06/07 14/16
UNIDRIVE SP
Power connection
D8.2 - Recommendations
• The earth loop must comply with the
recommendations of the local security regulation.
• Size 2
L1 L2 L3 U V W
B
• The earth connections must be tested and
inspected periodically.
WARNING:
• Bare the wires at grip level so as the shielding be in
C
contact. PE
• Threaded screws must be used to fix the drive on the
bottom sheet in order to obtain a direct electric
connection to the earth.
• Do not place sensitive circuits (unshielded wires,
D
control circuits, encoder cables, etc.) at less than 300
mm around the drive, the motor cables, the cables of the
(optional) RFI filter and the cables of the (optional)
braking resistor.
• Put the supply cables and the earth cables at least 100
E
mm away from the drive power module and the motor • Size 3
cable (except for the RFI filter connection cables of the
drive).
The power earth (PE) must be connected to an earth bar (or

L1 L2 L3 U V W F
a low impedance earth terminal) in the cabinet. This bar must
correspond to a commun bar of all the cabinet components.
In addition, if the power earth (PE) connection is made by
separated cable, il must run in parallel with the other mains
cables in the cabinet (reduces the risk of emissions).
G
D8.3 - Details on the shield supports (power)
• Size 1
L1 L2 L3 U V W
H
I
PE
J
K
D9 - Supply types
The drives can be used in all neuter regime, such as TN-S, For size 3 and higher, when the drive is used with
L
TN-C-S, TT, IT. an IT supply, the internal RFI filter must be
M
disconnected, except if an additional external filter or a
The drives have been conceived to be used with category III motor earth protection is used.
supplies or less, according to the IEC 60664-1 standard. In
case of a higher category supply, provide adapted
overvoltage devices before the drive.
RaccordPuiss
D en e 06/07 15/16
UNIDRIVE SP
Power connection
B Notes
C
D
E
F
G
H
I
J
K
L
M
RaccordPuiss
D en e 06/07 16/16
UNIDRIVE SP
Control connections
Contents B
E1 - Warning................................................................................................................................ 3
E2 - Location and characteristics ............................................................................................. 3

E2.1 - Drive terminal blocks ............................................................................................................................... 3
C
E2.1.1 - Location........................................................................................................................................................ 3
E2.1.2 - Terminals characteristics.............................................................................................................................. 3
E2.2 - SM-I/O Plus module terminal blocks ....................................................................................................... 5
E2.2.1 - Terminal block location................................................................................................................................. 5
E2.2.2 - Terminal block PL2 characteristics............................................................................................................... 5
D
E2.2.3 - Terminal block PL1 characteristics............................................................................................................... 5
E2.2.4 - Sampling ...................................................................................................................................................... 5
E2.3 - SM-POS module terminal blocks ............................................................................................................ 6
E2.3.1 - Terminal block location................................................................................................................................. 6
E2.3.2 - Terminal block characteristics ...................................................................................................................... 6
E
E2.3.3 - Example of connection for synchronisation with CTSYNC communication ................................................. 6
E3 - Cabling diagrams ................................................................................................................ 7

E3.1 - Connection of variable speed drive and SM-I/O Plus module ................................................................. 7
F
E3.2 - SM-POS module connection ................................................................................................................... 7
E3.3 - Connection of +24 V external mains supply ............................................................................................ 7
E3.4 - Negative logic connection ....................................................................................................................... 7
E3.5 - Fieldbus use ............................................................................................................................................ 7
G
E4 - EMC electromagnetic compatibility .................................................................................. 8
E4.1 - Precautions for control cables outside the cabinet.................................................................................. 8
E4.2 - Immunity to overvoltage .......................................................................................................................... 8 H
I
J
K
L
M
RaccordContrPos
E en c 06/07 1/8
UNIDRIVE SP
Control connections
B Notes
C
D
E
F
G
H
I
J
K
L
M
RaccordContrPos
E en c 06/07 2/8
UNIDRIVE SP
Control connections
E1 - Warning B
• For the factory settings, UNIDRIVE SP is configu- • If the control circuits must be connected to cir-
red in positive logic. Associating a variable speed cuits complying with the SELV safety requirements, a
drive with a different control logic, may cause the inad-
vertent starting of the motor.
• In the variable speed drive, the control circuits are
further insulation must be inserted in order to maintain
the SELV classification.
• The software integrated into the SM-POS module
C
insulated from the power circuits by a simple insulation automatically configures the terminal blocks of the drive
D
(CEI 664-1). The installer must make sure that the exter- and the optional modules according to the requirements
nal control circuits are insulated against any human con- of the "Positioning" application.
tact .
E2 - Location and characteristics E

E2.1 - Drive terminal blocks Analogue input 1 of
5
E2.1.1 - Location
Control terminal blocks

1 11 Relay terminal
accuracy (+)
6 Analogue input 1 of
accuracy (-)
Characteristics
Allocatable
Differential bipolar inputs

F
block
connected to voltage
41 42
21 31
Tightening torque : 0.5 N.m
(operation in common mode:
connect terminals 6 and 3) G
Section : 2.5 mm (1 to31) Resolution 16 bits plus sign
3 mm (41and42) Maximum offset 70 μV
E2.1.2 - Terminals characteristics

1 Common 0V
Sampling 250 μs for a speed reference
in closed loop, 4ms for other
functions
H
Full scale voltage range ±9.8 V ±1 %
I
2 +24V for external power supply of the drive control
circuit Maximum voltage in com-
±13 V/0V
Rated voltage +24 Vdc mon mode
Minimum operating voltage Maximum absolute voltage ±36 V/0V
+19.2 Vdc
Input impedance 100 k:, ± 1 %
J
Maximum operating voltage +30 Vdc 7 Analogue input 2 (allocatable)
Characteristics Analogue bipolar voltage
Minimum starting power +21.6 Vdc (common mode ) or unipolar
supply voltage current
Recommended power supply 60 W, 24Vcc rated Resolution 10 bits + sign
K
Recommended fuse 4A Gg, 50Vdc Sampling 250μs for a speed reference
•This 24V power supply may be used as fail safe supply connected to voltage, or a
which protects against overload, for example, during the torque reference in closed
simultaneous use of many SM modules (SM-Universal- loop, 4ms for other functions
Encoder Plus module, SM-Encoder Plus module and Voltage input
SM-I/O Plus module). If the internal 24V is overloaded, the Full scale voltage range
drive defaults with " PS.24V ".
• It may be used as fail safe supply of the control card, in
case of loss of the mains supply, that allows the
programmable modules (with or without field bus) or to the
Maximum offset
Maximum absolute voltage
± 9.8V ±3 %
± 30 mV
± 36Vdc/0V
L
encoder module, to continue operating. Input impedance >100 k:
Current input
For the UL conformity, the external power supply must
belong to the class 2 UL.
3 Common 0V
Current range 0-20mA ±5 %
20-0mA ±5 %
4-20mA ±5 %
M
4 +10V analogue internal source 20-4mA ±5 %
Voltage tolerance ±1% Maximum offset 250 μA
Rated output current 10 mA Maximum absolute voltage - 36 Vmax
Protection Overload and thermal (trip Maximum absolute current 70 mA
at 30mA) Input impedance d 200 : at 20 mA
RaccordContrPos
E en c 06/07 3/8
UNIDRIVE SP
Control connections
B 8 Analogue input 3 Motor thermal probe 22 +24V internal source

Characteristics Analogue bipolar voltage Output current 200mA (including all digital
(common mode), unipolar inputs/ outputs)
C Resolution
Sampling
current or motor probe input
10 bits + sign
250μs for a speed reference
Overload current
Protection
240mA (including all digital
inputs/ outputs)
Current limitation and stop
connected to voltage,
4ms for another function
D Voltage input
Full scale voltage range ± 9.8V ±3 %
23
25
Common 0V
24 Digital inputs or outputs Ref. OK
Oval
Maximum offset ± 30 mV 26 Io
Characteristics Digital inputs in positive or
E
Maximum absolute voltage ± 36 Vdc/0V
Input impedance >100 k: negative logic, or outputs in
negative logic open
Current input commutator or push-pull
Current range 0-20mA ±5 % Threshold Positive logic:
20-0mA ±5 % 0 : < 5V
F
4-20mA ±5 % 1 : >15V
20-4mA ±5 % Negative logic :
Maximum offset 250 μA 1 : < 5V
Maximum absolute voltage - 36 Vmax 0 : > 15V
Maximum absolute current 70 mA Voltage range 0 to +24V
d 200 : at 20 mA
G
Input impedance Sampling/ Refresh 200μs if the output has as
Motor probe input source 6.35 or 6.36,
Internal voltage < 5V 4ms in the other cases
Default start threshold 3.3k: ± 10 % Digital input
Drive reset threshold 1.8k: ± 10 % Maximum absolute voltage ±30V
H Short-circuit detection
CAUTION :
50: ± 30 %
Terminal 8 is internally connected to pin 15 of the

connector HD-15. When the motor probe is connected
Load
Input threshold
Digital output
Maximum output current
> 2mA at 15Vdc
10.0V ± 0.8V
200mA (totally, all digital out-

to pin 15, terminal 8 is not available anymore. puts + terminal 22)
I 9 Analogue output 1
10 Analogue output 2
Allocatable
Overload current
27
240mA (totally, all digital out-
puts + terminal 22)
Origin cycle sensor

Characteristics Analogue bipolar voltage 28 Digital inputs Run/Stop
(common mode) or unipolar
J Resolution
Refresh
current
10 bits (+ sign connected to voltage)
4ms
29
Characteristics
Ival
Negative or positive digital
inputs
Sampling 250 μs if the output has as Thresholds Positive logic:
source 4.02 or 4.17 or 0 : < 5V
K Voltage output
Voltage range
3.02 or 5.03 in closed loop
4 ms in the other cases
± 9.6Vdc ±5 %, ±10mA max

1 : >15V
Negative logic :
1 : < 5V
0 : > 15V
Maximum offset 100 mV Sampling / Refresh 200μs if the output has as
L Load resistor
Protection
Current output
Current ranges
1 k: minimum
Short-circuit (35mA max)
0-20mA ±10 %
Voltage range
source 6.35 or 6.36,
4ms in the other cases
0 to +24V
±30V
4-20mA ±10 % Load > 2mA to 15Vdc
M Maximum offset
Open circuit maximum
voltage
Maximum load resistor
600 μA
+15V
Input threshold
30 Common 0V
10.0V ± 0.8V
500:
11 Common 0V
21 Common 0V
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E en c 06/07 4/8
UNIDRIVE SP
Control connections
31 Safety input/ variable speed drive unlocking

(see section D3)
E2.2.2 - Terminal block PL2 characteristics
1 Common 0V (digital)
B
Characteristics Positive digital input
2 Digital input or output I1
Sampling period Variable speed drive locking (F1)
(Hardware) : < 100 μs
Drive disable (software) :
4 ms
(F2)
C
Voltage range 0 to +24V (F3)
5 Common 0V (digital))
D
Maximum absolute voltage ±30V
6 Logic input (F4) I4
Thresholds 18.5V ± 0.5V
7 Logic input (F5) I+
41 Relay output Default relay 8 Logic input (F6) I-
42 Control logic Positive, according to the
Characteristics 240Vac CEI61131standard (only for
Refresh period
Maximum contact current
4ms
• 2A ac 240V
• 4A dc 30V resistive load Insulation
the digital inputs : negative
logic accessible by
parameter setting of 16.29)
Not insulated from the
E
• 0.5A dc 30V inductive load control electronics
(L/R = 40ms) Input
Minimum recommended
contact
Configuration
12V/100mA
Closed contact : powered up
Load
Thresholds
± 30V
> 2mA at +15Vcc
10V ± 0.8V
F
and operating variable speed Output
drive Maximum current 250 mA
Note :
Open contact : powered
down or stopped drive
9 Analogue input 4
10 Analogue input 5
11 Common 0V (analogue)
G
• According to the safety standard EN954-1 for category 2 Characteristics Analogue bipolar voltage
or 3, the safety input must be isolated from other cables,
either by running it into a metallic duct , or by being cabled
by means of a shielded cable.
• The digital circuits cables will be shielded or not, according
Full scale rated voltage
Input impedance
± 9.8 V
± 36 V in relation to 0V
>20 k:
H
to the variable speed drive environment and of the Resolution 10 bits plus sign
I
communication interfaces used (see section E3). Insulation Not insulated from the
control electronics
E2.2 - SM-I/O Plus module terminal blocks 12 Analogue output 3

E2.2.1 - Terminal block location Characteristics Analogue bipolar voltage
Full scale rated voltage ± 10 V
PL2
1 2 3 4 5 6 7 8 9 10 11 12
PL1
2122 23
Maximum current
Load resistor
± 20 mA protected against
short-circuits
1 k: at f
J
Resolution 10 bits plus sign
Insulation Not insulated from the
control electronics
Note : If the total consumption exceeds 240mA at 24V, it is
then necessary to use an external power supply +24V,
K
+24V available to terminals 1 and 2 of the variable speed drive
control terminal block.
E2.2.3 - Terminal block PL1 characteristics

21 Relay 1 (F7)
22 Common relay
L
23 Relay 2 (F8)
Contact voltage
Contact maximum current
240 Vac
2 Aac 240V/4Acc 30V resis-
tive load
Minimum level of the recom- 12V, 100 mA
M
mended contact
Configuration Contact normally open
E2.2.4 - Sampling
Sampling interval for the inputs, outputs and relays:
8 ms for 1 SM-I/O Plus module,
16 ms for 2 SM-I/O Plus modules,
24 ms for 3 SM-I/O Plus modules.
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E en c 06/07 5/8
UNIDRIVE SP
Control connections
B E2.3 - SM-POS module terminal blocks

E2.3.1 - Terminal block location
C PL2
1 2 3 4 5
PL3
6 7 8
PL4
9 10 11 1213
D E2.3.2 - Terminal block characteristics

Terminal
Functions Description
blocks
1 0V SC 0 V connection for the RS485 port
E 2
3
4
RX\
RX
TX\
RS485 negative receive line (input)
RS485 positive receive line (input)
RS485 negative transmit line
(output)
5 TX RS485 positive transmit line (output)
F 6
7
8
CTNet-
CTNet
Shielding
CTNet+
CTNet data line (negative)
Connection of the shielding for CTNet
CTNet data line (positive)

9 0V 0 V connection for the digital I/O
G 10
11
12
13
DI0
DI1
DO0
DO1
Digital input 0 (DIGIN0)
Digital input 1 (DIGIN1)
Digital output 0 (DIGOUT0)
Digital output 1 (DIGOUT1)
H E2.3.3 - Example of connection for synchronisation with CTSYNC communication

MASTER SLAVE
PL2 PL3 PL4 PL2 PL3 PL4
I *
0V RX\ RX TX\ TX 6 7 8 9 10 11 1213 0V RX\ RX TX\ TX 6 7 8 9 10 11 1213
J Next slave *
*: Termination resistor: 120Ω/0.25W
K (Termination resistor to be connected at each end between Rx and Rx\)

Earthing: It is recommended to connect the shielding of the communication cable to earth, at a single connection point.
L
M
RaccordContrPos
E en c 06/07 6/8
UNIDRIVE SP
Control connections
E3 - Cabling diagrams
E3.1 - Connection of variable speed drive and SM-I/O Note:
B
Plus module • In accordance with safety standard EN954-1 for category
Common 0V
External power supply +24V
1
2
2 or 3, the safety input must be isolated from the other cables,
either by being routed through a metal duct, or by being wired
with a shielded cable.
C
Common 0V 3 • The cables for the logic circuits will be shielded or not,
depending on the environment of the drive and the
D
4
communication interfaces used.
5
Upper
6 control E3.2 - SM-POS module connection
terminal
7
block
E
8 1
Motor thermal probe
11 2
Common 0V CTSYNC Terminal
9 communication 3 block
(optional) PL2
10 4
UNIDRIVE
F
5 SM-POS
Common 0V 21 SP
module
+24V 22 6
Common 0V 23 Terminal
7
block
Ref OK 24
G
8 PL3
Oval 25 +24V
Io 26 Lower 9
control On-the-fly
Mains supply 27 origin cycle 10
sensor terminal
block sensor Terminal
Run/ Stop 28 11
H
block
Ival 29 12 PL4
Common 0V 30
13
Safety input/ 31
unlocking
I
41 Relay
Default relay terminal E3.3 - Connection of +24 V external mains supply
to drive 22 42
block
terminal
Common 0 V 1 Upper
1 control
+24V +24 V external 2 terminal
I1
J
2 power supply 3 A/50 V DC block
I2
fuse
3
I3 4
Logic 0V 5 E3.4 - Negative logic connection

I4 6
For negative logic, connect the commons to 0 V (apart from
I+
I-
7
8
9
PL2
terminal
block
the safety input).
Note: To configure the drive for negative logic, modify the
configuration (refer to Section H, menu 8, parameter 29). To
configure the SM-I/O Plus module for negative logic, modify
K
the configuration by 16.29 = On (1).
10 SM-I/O
Analogue 0V 11
12
module
• In the factory settings, the UNIDRIVE SP is
configured for positive logic. Using a drive with a
control system which has a different control logic may
cause unwanted starting of the motor.
L
21
Relay
M
(eventually brake) PL1
22
terminal
E3.5 - Fieldbus use
23 block Where an SM-Fieldbus module is used (SM-PROFIBUS DP,
SM-DeviceNet, SM-INTERBUS, SM-CANopen or SM-
CAUTION:
Ethernet), refer to the manual for the bus option used.
If the motor sensor is connected to pin 15 of connector
HD-15 (see encoder connection in Section F), terminal 8
of the drive is no longer available.
Legend :
x : input
x : output
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E en c 06/07 7/8
UNIDRIVE SP
Control connections
B E4 - EMC electromagnetic compatibility

E4.1 - Precautions for control cables outside the E4.2 - Immunity to overvoltage
cabinet Immunity to overvoltage of the control circuits or high length
C If the control cables must be run outside the cabinet, use

shielded cables, and connect the shielding to the variable
speed drive shielding support.
of cables and connection outside a building.
The different input and output circuits of the variable speed

drive are in compliance with the overvoltage standard
• Shielding support installation (control) EN61000-6-2 (1kV).
D Screw the support on the 2 earth terminals. There are exceptional situations, when the installation may
be exposed to overvoltage peaks that exceed the levels
established by the standard. This may be the case of
lightning or of earth faults associated with high length of
cables (>30 m). In order to limit the risks of damage of the
BV -DC +DC BR
variable speed drive, the following precautions may be taken
E into account:
- Galvanic isolation of the inputs/ outputs. In this situation,
make sure that the 0V is not connected to earth, and avoid
the loops,
- double the cable shielding and use an earth wire of 10mm2
F
minimum. The cable shielding and the earth wire must be
connected together at each end and they must be connected
to the ground by the shortest possible connection. This
method allows the high currents to pass through the earth
wire, rather than through the shielding,
- Increase the protection of the digital and analogue inputs/
G outputs by adding a zener diode or a peak limiter

2223 24 2526 2728 293031
L1 L2 L3 U V W
Suppression of the unipolar digital Inputs/ Outputs

overvoltage
Signal to the drive
H • Shielding connection 0V
Zener diodes 30V
0V
Suppression of the bipolar analogue Inputs/ Outputs
overvoltage
I Signal to the drive
2 x Zener diodes 15V
J Stripped
0V 0V
cable These circuits are available in modules (rail mounting), for

ex. at Phoenix Contact (unipolar : TT UKK5 D/24 DC, bipolar:
K Conductive
tightening
TT UKK5 D/24 AC).
These circuits are not fit for encoder signals or for fast digital
data networks, because the diodes may affect the signal.
Most of the encoders have a galvanic isolation between the
collar
motor casing and the encoder circuit, and in this situation,
L no precaution is necessary. For data networks, follow the

recommendations specific to the network.
If a digital output is subject to high overvoltage, the variable
speed drive defaults to " O.Ld1 ".
RaccordContrPos
E en c 06/07 8/8
UNIDRIVE SP
Encoder connections
Contents B
F1 - Incremental encoders ........................................................................................................ 3
F2 - Other encoders.................................................................................................................... 4
F3 - Coder input / output characteristics ................................................................................. 5

C
F4 - EMC recommendations for encoder cabling ................................................................... 6
D
E
F
G
H
I
J
K
L
M
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F en d 06/07 1/6
UNIDRIVE SP
Encoder connections
B Notes
C
D
E
F
G
H
I
J
K
L
M
RaccordCodToutAppli
F en d 06/07 2/6
UNIDRIVE SP
Encoder connections
F1 - Incremental encoders B
• Drive side
HD-15
Ref.
1 -
Mode
B or F
(1)
A or F
Drive
connector
Unidrive SP
C
2 - B\ or F\ A\ or F\ HD 15
D
3 - A or D or R B or D or R (socket)
1 6
4 - A\ or D\ or R B\ or D\ or R\ 11 4 5 6 7 8 9 10 11
5 - C or O or Z
22 23 24 25 26 27 28 29 30 31
6 - C\ or O\ or Z\ L1 L2 L3 U
41 42
V W
7 Aout or Fout - U
8
9
10
11
Aout\ or Fout\
Bout or Dout
Bout\ or Dout\
-
-
-
-
-
U\
V
V\
W
5 10 15
E
Bare the cable part which
12 - - W\ comes in contact with
13
14
-
-
+5V or +8V or +15V
0V
the earth contact
Shield support to be
screwed to the drive
earth terminals
F
15 - Motor thermal probe (3)
WARNING:
Pin 15 is internally
connected to terminal 8 of
the control terminal
For cable supply,
refer to section L9
G
1 Ref.
• Motor side (ex.: quadrature encoder)
17 pin connector
on encoder side (plug)
Designation Ref.
12 pin connector
on encoder side (plug)
Designation
H
2 11 1 9 8
12 10
3 13 17 16 9
1 Motor thermal 1 0V 2 10 12 7
4 14 15 8
5 6 7
2
3
4
5
probe (2)
-
U
U\
2
3
4
5
+5V or +8V or +12V
A
B
C or O or Z
3
11
4 5
6
I
asynchronous
6 V 6 A\
servo 7
8
9
10
V\
W
W\
A
7
8
9
10
B\
C\ or O\ or Z\
-
-
J
11 C or O or Z 11 Shield (3)
12
13
14
15
C\ or O\ or Z\
A\
B
B\
12 -
K
16 +5V or +8V or +15V
17 0V
Shield (3)
Note: in order to facilitate the encoder connection, a INTERCOD 15 interface is proposed as option (see section L10).
L
Connect and disconnect the powered down drive encoder plug.
WARNING: Supplying an encoder with overvoltage can damage it. Use the quick putting into service
or refer to menu 3 section H.
(1) Certain types of auto-ventilated asynchronous motors with quadrature encoder of the LEROY-SOMER range
(LS or LSMV motors) have a slightly different connection. Starting with the 160M, L or LU and 180MT types,
M
you must connect the B path to terminal 2, and B\ path to terminal 1 of HD-15 drive connector,
OR cross the 2 motor phases.
(2) In order to validate the probe control, change parameter 7.15. Refer to section H, menu 7.
When the motor thermal probe is not connected to the coder connector but to the motor terminal box,
connect the probe to terminal 8 of the drive control terminal block.
(3) Depending on the encoder supplier, the shielding may not be as indicated in the table. If a shielding terminal is not available,
connect the shield at 360 at connector level.
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F en d 06/07 3/6
UNIDRIVE SP
Encoder connections
B F2 - Other encoders
• Drive connections
C
Encoders
HD-15 All encoders SinCos with SinCos with SinCos with EnDat or
SinCos EnDat or SSI
pins U, V, W path Hiperface link (*) SSI link
and and and and
D 1
2
3
4
-
-
-
- Cos
CosRef
Sin
SinRef
Cos
CosRef
Sin
SinRef
Cos
CosRef
Sin
SinRef
-
-
-
-
5 - - C or O or Z Data Data Data
E 6
7
8
-
Aout, Fout
Aout\, Fout\
-
-
-
C\ or O\ or Z\
U
U\
Data\
-
-
Data\
-
-
Data\
-
-
9 Bout, Dout - V - - -
F
10 Bout\, Dout\ - V\ - - -
11 - - W - Clockout Clockout
12 - - W\ - Clockout\ Clockout\
13 +5V or +8V or +15V
14 0V
G 15 WARNING:
Motor thermal probe (in order to validate probe control, refer to section H)
Pin 15 is internally connected to terminal 8 of the control terminal
Note: in order to facilitate the encoder connection, an INTERCOD 15 interface is proposed as option (see section L10).
H Connect or disconnect the encoder plug of the powered down drive.
WARNING: supplying the encoder with overvoltage may damage it. Follow the quick putting into service or refer to menu
3 section H.
I (*) Types SCS/M60/70, SRS/M50/60, SHS170, LINCODER, SCS-KIT101, SKS/M36 are managed by the drive.
• Motor side connections (standard LEROY-SOMER)
J
Sincos encoder with
Hiperface link
Encoder Sincos encoder with Endat link
SRS/M50/60
connector SCM70
SKS/M36 ECN413/EQN425 ( )
pins
( )
( )
K 1
2
3
CosRef
Data
-
CosRef
Data
Data\
-
-
-
4 - Cos -
5 Sin Sin -
L 6
7
8
SinRef
Data\
Cos
SinRef
CTP
CTP
-
+5V
Clock
9 - Shield Clock\
M
10 0V 0V 0V
11 - - Shield
12 +8V +V SinRef
13 - Sin
14 - Data
15 - CosRef
16 - Cos
17 - Data\
Note: For any other type of encoder (motor side), contact the encoder supplier or your usual LEROY-SOMER representative.
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F en d 06/07 4/6
UNIDRIVE SP
Encoder connections
F3 - Encoder input/output characteristics B
• Quadrature incremental encoders, Frequency/Direction, • Absolute SinCos encoder with Hyperface, SSI or EnDat
Forward / Reverse link, EnDat and SSI encoders
• Sincos encoders 5 to 12 terminal only
1 Path B or F ( ) ; path A or F ( )
2 Path B\ or F\ ( ) ; path A\ or F\ ( )
5 Data
6 Data\
Characteristics RS 485 differential voltage
C
3 Path A, D or R ( ) ; path B, D or R ( ) Maximum input frequency 2 MHz
4 Path A\ , D\ or R\ ( ) ; path B\, D\ or R\ ( )
5 Path Z or 0 or C ( ,
6 Path Z\ or 0\ or C\ ( ,
)
)
Line load
Operation range
32 drives
-7 to +12V
± 14V/0V
D
7 Path U ( ) Maximum absolute ± 14V
8 Path U\ ( )
9 Path V ( )
10 Path V\ ( )
differential voltage
• EnDat, absolute SinCos encoders with EnDat or SSI

link and SSI encoders
E
11 Path W ( ) 11 Clock
12 Path W\ ( )
Characteristics
Maximum input
frequency
RS485 differential voltage
410 kHz for terminals 1 to 4
12 Clock\
Characteristics
Maximum input frequency
RS 485 differential voltage
2 MHz
F
512 kHz for terminals 5 to 12
Line load 1 drive
Line load < 2 drives for terminals 1 to 4
Input impedance
32 drives for terminals 5 and 6
1 drive for terminals 7 to 12
120 :
Operation range
Maximum absolute
-7 to +12V
± 14V/0V
± 14V
G
Operation range -7 to +12V
Maximum absolute
voltage
Maximum absolute
± 25V/0V for terminals 1 to 4
-9 to 14V/0V for terminals 5 to 12
± 25V for terminals 1 to 4
7 Output path Aout or Fout ( )
8 Output path Aout\ or Fout\ ( )
H
differential voltage 9 Output path Bout or Dout ( )
-9 to 14V/0V for terminals 5 to 12
• SinCos, absolute SinCos encoders with Hiperface link,

and EnDat link
10 Output path Bout\ or Dout\ ( )
Characteristics
Maximum output frequency
512 kHz
I
1 Path Cos Maximum absolute voltage ± 14V / 0V
Maximum absolute ± 14V
J
2 Path Cosref
3 Path Sin
4 Path Sinref
13 Encoder supply
Characteristics Differential voltage
Maximum signal 1.25V peak to peak Supply voltage 5.15V ± 2 %, 8V ± 5 %, or
Maximum input frequency

(Sin/SinRef or Cos/Cos Ref)
115 KHZ
Maximum differential voltage ± 4V
15V ± 5 %
300 mA for 5V and 8V
200 mA for 15V
K
WARNING:
Supplying an encoder with overvoltage can damage it.
14 Common 0V
L
15 Motor thermal probe probe
Management of the motor thermal probe
Note: On the HD15 drive connector, pin 15 is internally
M
connected to pin 8 of the drive (control terminal block).
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F en d 06/07 5/6
UNIDRIVE SP
Encoder connections
B F4 - EMC recommendations for encoder cabling

The sensor cable shielding in important due to high voltages
and currents at drive output. If the supplied LEROY-SOMER
C cables are not used, it is recommended to observe the

following rules:
Drive connection
D Shielding connected
to 0V
Cable shield Shielded twisted
E pairs
F Metal clamp
collars on the
shielding
G
H Shielded twisted
pairs
Shielding connected
to 0V
I
Motor connection
J It is preferable not to make encoder cable extensions. If an

extension is unavoidable, check that the shield connections
are as short as possible (use preferably metal clamp collars
directly on the shielding at the end of the cable ).
Connect the shields directly to the encoder terminal block
K and the drive shielding support.
Note: It is preferable to use a cable which has an appropriate

number of wires for the selected sensor. If some conductors
are unused, they must be connected to the shielding and to
L 0 V at both ends of the cable.
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F en d 06/07 6/6
UNIDRIVE SP
Setting
Contents B
G1 - Warning ............................................................................................................................... 3
G2 - General detail ..................................................................................................................... 3
G3 - LED display installation ..................................................................................................... 3

C
G4 - LED display use .................................................................................................................. 4
G5 - Parameter selection and modification.............................................................................. 5

D
G6 - Keypad drive control .......................................................................................................... 5
G7 - Access level ....................................................................................................................... 6

E
G8 - Storing ................................................................................................................................. 6
G9 - Restore factory settings..................................................................................................... 6 F

G10 - Operating mode change................................................................................................... 6
G11 - Changed parameter list ................................................................................................... 7 G

G12 - Destination parameter list ............................................................................................... 7
G13 - Security code .................................................................................................................... 7

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UNIDRIVE SP
Setting
B Notes
C
D
E
F
G
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UNIDRIVE SP
Setting
G1 - Warning B
• The drives use a software which is adjusted by • If brake resistors are necessary, check that they
parameters. Unsuitable adjustments may have are well connected to the DC2 (or +DC for size 1) and BR
serious consequences on the personnel and the
machine.
• The drive setting must be performed only by
qualified and certified personnel.
terminals, and protected by a correctly sized thermal
relay in case of external resistors.
• The motor parameter values affect the motor
protection and system security. The set values must be
C
• Before the drive power up check that the power noted on the name plate of the used motor.
D
connections (mains supply and motor) are correct and • For safety, in case of a brake, disconnect the
the moving parts are mechanically protected. brake coil during the setting phase.
• The users must pay special attention in order to
avoid accidental starting.
E
G2 - General detail
• Structure
In order to configure the drive with a given application, you
must change the parameters organised by menus, where
each menu corresponds to a parameter group linked by a
• Commissioning in 3 levels
- Quick commissioning with the factory settings of the

variable speed drive :
F
function. allows the operation of the variable speed drive with a
G
Example: minimum parameter-setting.
02.04 - Simplified commissioning starting with 0 menu (user
menu):
group of parameters used to simply adapt the variable speed
Menu number: Number of parameter in the menu drive to the application, by modifying only the most current
2 - Ramps 04 - Deceleration mode
adjustments.
• Parameter types
- The parameters are digital or binary and are accessible by
reading or in writing.
- Elaborated commissioning by using menus 1 to 22
(menu diagram) :
used to configure the variable speed drive according to the
variable speed drive needs, by accessing all the variable
H
- Certain parameters are accessible only by reading and give speed drive functions.
indications on the drive operating status. If necessary, the detailed explanations about each parameter
are regrouped in the manual Explanation of parameters ref.
3655, available on the CD ROM supplied with the drive. I
G3 - Installation of LED display
CAUTION :
The display can be mounted or dismantled when the
J
variable speed drive is powered up, save when the Run
and Stop commands are given from the keyboard.
- Display installation - Display dismantling

K
1 Place the display
parallel to the
2 Remove the display
L
drive and press
until you hear 1 Press the
a click
1
keys on each
side of the
display M
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G en c 06/07 3/8
UNIDRIVE SP
Setting
B G4 - Use of LED display

Command Ref. Function
Upper display made of 4 displays
C A
B
A
7 segments allowing the display of:
- the variable speed drive operating status,
- the adjustment parameters, made of menu and of
C parameter
D
G Lower display made of 7 displays 7 segments
used to display:
F D
B - the operating mode,
E
- the parameter content,
- the default code.
E C Touche Mode is used to pass from the normal mode

to the setting mode.
The 2 arrows are used to move on the displays
7 segments of the lower display in order to modify
its value or to pass from one menu to another.
F D
The 2 arrows are used to scroll in increase
or decrease order of the parameters or of their
value.
G E
F
In keboard mode, these keys allow the foll. commands:
- Run,
- Stop, default deletion,
G - Inversion of the direction of rotation.
H
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UNIDRIVE SP
Setting
G5 - Selection and modification of a parameter B
This procedure describes the use of the Action Comment
Unidrive SP LED display. Power-up
CAUTION :
• This procedure has been drawn up
for initial commissioning.
• If the variable speed drive is already
Disabled variable speed drive (terminal 31 opened)
(initial status) C
powered up, the first parameter dis-
played cannot be 0.10. Simply select
the parameter to be displayed or
modified using the
keys.
or
1 : Access to the setting mode. Parameter 0.10
flashes on display. D
2 : The and keys are used to access the
Note : In setting mode, if there is no op- 1
parameter to be modified.
E
erator action for 4 minutes, the display 2
stops flashing and returns automatically For instance, select parameter 0.04.
to the initial variable speed drive status.
3 : Access to parameter modification. The parameter
number stops flashing.
Its value is indicated in the lower display (the lowest
weight digit flashes). F
4 : Press and hold down the key, to quickly scroll through
3 4 the parameter value.
The final setting is made by short presses on the
same key. For more rapidity, you can move
G
to modify the other digits by or .
5 : The new 0.04 value is memorised
Press the
to be modified.
or key to select a new parameter H
5
6 : Return to the initial variable speed drive status. I

6
J
G6 - Control of the drive by means of the keyboard
Connect at least a contact maintained on the safety/enable
input (terminal 31) and +24V (terminal 22) of the variable
speed drive control terminal block (if necessary, see section
K
E).
• Power up the variable speed drive, the display shows " inh ".
• Set the parameter 0.05 to Pad (4) (speed reference
selection by keyboard).
• Display the parameter 0.10 to see the speed measure.
L
• Power down the contact of terminal 31, the display shows
" rdy ".
• Press the
• Press the
key to start.
key to increase the speed.

M
• Press the key to decrease the motor speed.
• Press the key to stop the motor, the display shows "rdy"
or " stop " for servo mode.
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G en c 06/07 5/8
UNIDRIVE SP
Setting
B In factory settings, only 0 menu is

G7 - Access level
accessible to the user.
C
To access other menus, you must:
• select the parameter 0.49 : its value
is at " L1 "
• modify the value of 0.49 at " L2 "
The left and right arrows are now
enabled and the menus 1 to 21 are
D accessible.
E Level 1 (L1)
F Level 2 (L2)
G8 - Storing
G Parameter Setting Description Validation
• The modification of the 0 menu parameters are not stored
automatically by the variable speed drive.
xx.00 • The modification of the 1 to 22 menu parameters are not
Storing of the Press the
stored automatically, the opposite procedure must be
H
(parameter 0 1000 parameters modified Reset
of any followed.
in the menus 1 to 22 key Note : If the drive is " UU " powered up by default or if the
menu)
variable speed drive operates by the 48V safety power
supply, enter 1001 in xx.00 to store the parameters.
I Parameter Setting
G9 - Restore the factory settings
Description Validation
•Before following this procedure, check that the
system safety is assured.
Europe factory setting
1233
J 0.00 or
1244
configuration
or
USA factory setting
configuration
Press the
Reset
key
Note: This procedure is also valid if you use parameter 0 of
another, for ex. 1.00 or 4.00.
In addition, it does not change the operating mode (OPEn.LP,
CLVECt, SErVO).
K G10 - Modification of the operating mode

Parameter Setting Description Validation • This procedure of modification of the operating
L Europe configuration mode causes the restoring of the factory settings

1253
50 Hz mains supply of the parameters corresponding to the new mode,
0.00 or or including the motor parameters (it is necessary to set
USA configuration, the motor parameters before starting). The modification
1254 60 Hz mains supply of the operating mode must be made with the variable
M OPEn LP (1)
or
Open loop
(factory settings)
Vector
or
control in
Press the
Reset
speed drive stopped or disabled.
• Before following this procedure, check that the
system safety is assured.
CL VECt (2) key
closed loop
0.48 or or
Servo mode with
SErVO (3) Brushless motor
or or
Regenerative mode
rEgEn (4) (not used)
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UNIDRIVE SP
Setting
G11 - List of modified parameters B
Parameter Setting Description During the setting, it is sometimes useful to know which are
the drive parameters different from the factory setting.
xx.00
(parameter 0
of any menu)
12000
All the factory set parameters are
no loger accessible, only the
modified parameters are visible
To display only these parameters, follow this procedure.
Note : to disable this function, enter the 0 value in a
parameter xx.00.
C
G12 - List of destination parameters D
Parameter Setting Description If the setting of menus 1 to 22 has been modified, this
xx.00
(parameter 0
of any menu)
12001
Only destination parameters are
visible
procedure is used to present the destination parameters of
the variable speed drive. This type of parameter is used to
transfer a function output to another parameter. (See details
at section H3.2).
E
To display only these parameters, follow this procedure.
Note : to disable this function, enter the 0 value in a
parameter xx.00.
F
G13 - Safety code
In certain cases, it is necessary to block the modification of
the variable speed drive parameters, maintaining the
• Access to settings with security code
Select the parameter to be modified.
G
possibility to read them. Press the M key, the display displays "CodE".
• Disabling of settings by the security code

Parameter Setting
Enter a
Description Validation
By means of the arrows, enter the security code, then press
again M .
- Correct code : the parameter is in parameter-setting mode,
ready to be modified.
H
value Selection of the - Incorrect code: the parameter remains only in reading mode,
0.34
I
- as all the other parameters.
between security code
1 and 999
To return to the reading mode, select 0.49 and enter the
Press the
Enabling of the value "Loc", then press the Reset key.
0.49 Loc (0) Reset
security code The security code is enabled again.
key
Parameter 0.49 returns automatically to value "L1" : all the
parameters of 0 menu are visible but they cannot be modi-
fied.
• Suppression of a security code
Select a parameter.
Press the M key, the display shows "CodE".
J
Only parameter 0.49 can be modified for reading the By means of the arrows, enter the security code, then press
parameters of other menus.
K
again M .
The value 0.34 returns automatically to 0. Select 0.34, enter 0 value and press again M .
• Research of a security code

If the user forgets the security code (variable speed drive
blocked only for reading), contact your usual LEROY-
SOMER interlocutor.
L
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UNIDRIVE SP
Setting
B Notes
C
D
E
F
G
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UNIDRIVE SP
Commissioning
Contents B
H1 - Quick commissioning ........................................................................................................ 3
H2 - Menu 0: User Menu ............................................................................................................ 7

H2.1 - Diagrams ................................................................................................................................................ 7
C
H2.2 - List of parameters ................................................................................................................................ 10
H2.3 - Explanation of parameters ................................................................................................................... 14
H3 - Advanced menus ............................................................................................................. 21

H3.1 - Menus .................................................................................................................................................. 21
D
H3.2 - Parameter types ................................................................................................................................... 22
H3.3 - Factory setting ...................................................................................................................................... 23
H3.4 - Use ....................................................................................................................................................... 23
H3.5 - Definitions of maximum values ............................................................................................................ 24
E
H4 - Positioning diagrams ...................................................................................................... 26
H5 - Explanation of positioning parameters ......................................................................... 40

H5.1 - Menu 17 ............................................................................................................................................... 40
F
H5.1.1 - List of parameters .................................................................................................................................. 40
H5.1.2 - Explanations of parameters ................................................................................................................... 40
H5.2 - Menu 18 ............................................................................................................................................... 41
G
H5.2.2 - Explanations of parameters ................................................................................................................... 42
H5.3 - Menu 19 ............................................................................................................................................... 45
H5.3.2 - Explanation of parameters ..................................................................................................................... 46
H5.4 - Menu 20 ............................................................................................................................................... 49
H
H5.5 - Menus 70 and 71 (use with fieldbus) ................................................................................................... 53
I
H5.6 - Menus 72 and 73 ................................................................................................................................. 54
H5.7 - Menu 75 ............................................................................................................................................... 55
J
K
H6 - Basic menu diagrams ...................................................................................................... 59

H6.1 - Menu 1: Frequency or speed reference (selections - limitations - or filters) ........................................ 60
H6.2 - Menu 2: Ramps .................................................................................................................................... 62
H6.3 - Menu 3: Encoder input and speed loop in open loop ........................................................................... 64
H6.4 - Menu 3: Encoder input and speed loop in closed loop and servo mode and ...................................... 66
H6.5 - Menu 4: Current loop, torque control in open loop ............................................................................... 68
L
H6.6 - Menu 4: Current loop and torque control in closed loop ...................................................................... 69
H6.7 - Menu 4: Current loop, torque control in servo mode ........................................................................... 70
H6.8 - Menu 5: Open loop motor control ........................................................................................................ 71
H6.9 - Menu 5: Motor control in closed loop and servo mode , ..................................................................... 72
M
H6.10 - Menu 6: Management of logic commands and counters ................................................................... 74
H6.11 - Menu 7: Configuration of analog I/O .................................................................................................. 76
H6.12 - Menu 8: Configuration of digital I/O .................................................................................................... 78
H6.13 - Menu 9: Logic functions ................................................................................................................... 81
H6.14 - Menu 10: Drive states and diagnostics .............................................................................................. 83
H6.15 - Menu 11: Menu 0 parameter setting - serial link - drive characteristics ............................................. 86
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Commissioning
B Contents (continued)
H6.16 - Menu 12: Comparators, transfers of variables ................................................................................... 89
H6.17 - Menu 13: Synchronisation in open loop mode ................................................................................... 92
C H6.18 - Menu 13: Synchronisation and indexing in closed loop and servo mode, ........................................ 94
H6.19 - Menu 14: PID ..................................................................................................................................... 96
H6.20 - Menus 15, 16, 17: SM MODULES ..................................................................................................... 97
H6.20.1 - Introduction .......................................................................................................................................... 97
D H6.20.2 - SM-I/O PLUS module .......................................................................................................................... 98

H6.20.3 - SM-I/O Lite and SM-I/O Timer module .............................................................................................. 102
H6.20.4 - SM-UNIVERSAL ENCODER PLUS module ...................................................................................... 104
H6.20.5 - SM-ENCODER PLUS module ........................................................................................................... 106
H6.20.6 - SM-RESOLVER module .................................................................................................................... 107
E H6.20.7 - SM-Fieldbus module .......................................................................................................................... 108

H6.20.8 - SM-Applications module .................................................................................................................... 109
H6.21 - Menu 18: Application parameters .................................................................................................... 111
F
H6.24 - Menu 21: Operating parameters for a second motor ....................................................................... 112
H6.25 - Menu 22: Menu 0 parameter setting (continued) ............................................................................. 113
G
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H en e 09/07 2/114
UNIDRIVE SP
Commissioning
H1 - Quick commissioning B
C
Powered down drive, make sure that…
• The drive is disabled (terminal 31 open)
• The run command is not validated
• The motor and the encoder are connected
Power up the drive

• The drive displays "inh"
• If the drive stops, see section K "diagnostics" D
Operating mode selection
E
• 0.00 : Enter the value 1253 for an European configuration (50 Hz mains supply)
or enter the value 1254 for an USA configuration (60Hz mains supply)
0.48 : Enter the OPEn.LP mode (1) or CL.VECt (2) for
asynchronous motor or SerVO (3) for servo motor
Press the Reset key
Control logic
In the factory settings, the drive is configured for positive logic.
To control the drive using negative logic, set 8.29 to On (1) (drive) and 16.29
to On (1) (SM-I/O Plus module).
F
Take care with the control connections (Section E3).
SM-POS program initialisation

• 0.29 : Enter the value 2047 (after initialisation, 0.29 changes back to 0). G
Enter the motor parameters indicated on the name plate
• 0.42
• 0.43
• 0.44
• 0.45
:
Poles [Auto (0), 2POLE (1), 4POLE (2), 6POLE (3) etc...]
Power factor (cos ϕ) +
:
Motor rated voltage (V)
: +
Rated on-load speed (min-1)
: +
H
or motor thermal time constant (see the motor catalogue)
• 0.46 : Motor rated current (A) + / Stall current (A)
I
• 0.47 : Motor rated frequency (Hz) +
Pay attention to motor coupling (star or delta)
Incremental encoder :
- in quadrature, 5V NO
J
- 1024 points/turn B
or 4096 points/turn ? In order to enter the
encoder characteristics
YES see page 6
A
K
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UNIDRIVE SP
Commissioning
B A
YES NO
C
Possibility to disconnect the motor?
Auto-tuning with rotation Auto-tuning without rotation

Measurement of the motor characteristics (stator resistor, voltage offset, magnetising current, , , : Reduced measurement of
leakage inductance and cos ϕ). This mode is used to obtain optimum performances, the motor characteristics and
but for this test, the motor must be without load. adjustment of the current loop gains.
D
Check that the motor is stopped
• Check that the motor is stopped and disconnected from the load, then proceed to before proceeding to auto-tuning.
the auto-tuning.
• If there is a brake, make sure of its disengagement (re-activate the brake after • 0.43 : Set the phase angle of the
the auto-tuning). servo motor .
• Check that there is no danger for personnel or equipment. • 0.40 : Set to 1 , or to 4 .
• Once the procedure ends, the motor will automatically stop in free wheel. • Enable the drive.
• The procedure may be interrupted at any moment by a stop command,
E
• Give a run command.
by pressing the stop button on the keyboard, or by opening the disabling circuit. The drive displays alternately
, • Irrespective of the reference and the direction of rotation required, the "AutO" then "tunE" during the
auto-tuning procedure drives the motor clockwise at 2/3 of its rated speed. auto-tuning phase.
• Irrespective of the required reference and direction of rotation, the motor performs • Disable the drive again and suppress
2 electrical rotations at low speed. the run command.
, : Full measurement of the motor characteristics and adjusment of the current loop
F
CAUTION , :
gains. The auto-tuning does not check if
the encoder and motor connections
: Measurement of the phase angle of the slave encoder (0.43), and adjustment of are correct (no reverse detection
the current loop gains. or phase loss).
Note: If the drive is over-rated with respect to the motor used, set 0.40 = 1 for the
phase angle measurement only.
• 0.40 : Set to 2.
G • Enable the drive.

• The motor starts rotating. Wait until it has completely stopped.
Disable the drive again, and suppress the run command.
Connect the motor to the load.
H • Check that the motor is stopped.

Inertia measurement (
• Check that there is no danger for personnel or equipment.

and
• Once the procedure ends, the motor will automatically stop in free wheel.
only)
• The procedure may be interrupted at any moment by a stop command, by pressing the stop button of the keyboard
or by opening the disabling circuit.
I • The load must not increase with the speed.

• 0.40 : Set to 3.
• Enable the drive.
The motor makes several rotations of 1/3 to 2/3 of the rated speed.
Wait until it has completely stopped.
J Disable the drive again, and suppress the run command.

Note: To optimise the gains of the speed loop, inertia measurement is necessary. For further explanations, refer to the parameter
explanation manual ref. 3655 (parameter 3.17) available on the CD Rom supplied with the drive.
0.49 = L2 (1)
K
Origin cycle
a) Without a sensor:
Even without a sensor, the origin cycle must be carried out.
• Set 0.20 = 3, then enable the drive.
G ive a run command.
F
• Activate input Io. The origin cycle is completed.
• Check that 0.14 "Ref OK" indicates On (1). If 0.14 = OFF (0), start the procedure again.
L b) With sensor:
Manual movement:
This manual operation is used to control the mechanics and releasing of the brake.
• Enable the drive.
• Activate input I+ or I-: the mobile moves in the motor clockwise (I+) or motor counter-clockwise (I-) direction at the reduced speed
set in 0.16. (factory setting = 150 min-1)
M
Controlling the direction of movement of the mobile for the origin cycle:
During the origin cycle, the search for the sensor will take place in the same direction as that used when input I+ is active.
If the mobile does not move in the correct direction (moving away from the sensor), enter On (1) in 18.32.
Origin cycle:
• Activate input Io: the mobile moves towards the reference-taking sensor, decelerates as soon as the rising edge of the sensor is
detected, reverses slightly and stops on the falling edge of the sensor. The origin cycle is completed.
• Deactivate the run command and Io.
• To make sure that the origin cycle has been performed correctly, check that 0.14 " Ref. OK " indicates On (1). If 0.14 = OFF (0),
start the procedure again.
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H en e 09/07 4/114
UNIDRIVE SP
Commissioning
C
B
Linear Rotary
C
Linear or Rotary
Positioning
Automatic scaling Rotary mode

This scaling allows the drive to define the ratio between the •Select rotary mode using 0.51:
customer unit and the rotation of the motor. - 0.51 = 5 : shortest
• Move the mobile to a known position using I+ or I-. - 0.51 = 6 : origin in the revolution
• Enable the start of the scaling procedure by entering On (1)
into 0.53.
• Move the mobile to another position using I+ or I-.
• Enter into 0.28 the value of the movement in customer units
(e.g. the value 100 to express 100 cm or 100 mm).
- 0.51 = 7 : a single direction of movement
- 0.51 = 8 : the movement step is defined by an index number
- 0.51 = 9 : pin indexing
• Give the reduction ratio, in the form of a numerator 0.27,
and a denominator 0.28, between the position encoder
D
• Enter 0.53 = OFF(0) to end the scaling procedure. and the rotary system. The position counter is reset to zero
All positions will be expressed in the user unit defined by
at each revolution performed by the mobile.
E
this procedure.
Note: This method is not recommended in relative mode.
Enter the scaling manually using parameters 0.27 and 0.28
(see Section H2.3).
Position setting
• 0.21 : Selection of the position to be set, for example position n°1 (P1), if 0.21 = 1.
• 0.22 : enter the value of the position or the index number,
• 0.23 : enter the type of positionning (OFF (0): absolute mode, On (1): relative mode) in order to reach P1,
F
• 0.24 : enter the maximum speed of travel in order to reach P1 (min-1),
• 0.25 : enter the acceleration ramp in order to reach P1 (1/100s for 1000 min-1),
G
• 0.26 : enter the deceleration ramp in order to reach P1 (1/100s for 1000 min-1).
Select a new position using 0.21, and restart the settings for each position.
•Check that the motor and the machine can support the maximum selected speed.
Software stops setting

• The software stops are activated in factory settings. If they are not necessary (relative mode), enter OFF (0) in 19.34.
• When the stops are necessary (check that 19.34 is at On (1)), enter limit A in 19.27 and limit B in 19.28
(expressed with respect to the origin).
H
I
Mémorisation
• 0.00 : Enter the value 1000
• Press the reset key
YES NO
Direct mode?
Direct mode
• Activate an input in order to give a positive
Encoded mode (without parity)
• 19.40: enter On (1), to select the encoded mode.
• Store: 0.00 = 1000 + Reset
J
command to the mobile: • Select a position by I1 à I4, then activate Ival in order to validate the position
I4 I3 I2 I1 Position command.
K
I4 I3 I2 I1 Position
0 0 0 0 0 (none) 0 0 0 0 1
0 0 0 1 1 0 0 0 1 2
0 0 1 0 2 0 0 1 0 3
0 1 0 0 3 0 0 1 1 4
1 0 0 0 4 0 1 0 0 5
Note:
• When all inputs I1 to I4 are deactivated,
no position is selected.
• To stop the system, deactivate I1 to I4, then
remove the run command.
0
0
0
1
1
1
1
0
0
1
1
0
1
0
1
0
6
7
8
9
L
1 0 0 1 10
1 0 1 0 11
1
1
1
1
0
1
1
1
1
0
0
1
1
0
1
0
12
13
14
15
M
1 1 1 1 16
• To stop the system, deactivate Ival and remove the run command.
Disable the drive
MisEnServPosLED
H en e 09/07 5/114
UNIDRIVE SP
Commissioning
B If the encoder is not a standard LEROY-SOMER incremental encoder, follow the instructions below:
Other incremental NO
B encoder or Sincos encoder
without serial link
C YES
0.49 = L2 (1)
D
Enter the encoder characteristics
• 3.34 : ELPR (0 to 50000)
Quadrature: enter the number of points per revolution.
Frequency/direction or forward/reverse: enter the number of points per revolution divided by 2.
Sincos: enter the number of sine waves per revolution.
• 3.36 : Voltage
Enter the mains supply voltage of the encoder: 5V (0) or 8V (1) or 15V (2)
E CAUTION:
Supplying an encoder with an excessive voltage can damage it.
• 3.38 : Type
Enter the type of encoder used: Ab (0): quadrature encoder
Fd (1): frequency-direction
Fr (2): foward-reverse
Ab.SErvo (3): quadrature encoder + communication channels
F Fd.SErvo (4): frequency-direction + switching channels

Fr.SErvo (5): foward-reverse + switching channels
SC (6): SinCos encoder without serial link
G In order to proceed to commissioning, resume it at page 4
0.49 = L2
H Enter the encoder characteristics

SinCos encoder with serial link
Hiperface or EndAt or EnDat encoder
• 3.41 : Auto-configuration
Sincos encoder with SSI link or SSI encoder
• 3.41 : Selection of SSI format

Enter the value On (1) for an auto-configuration of the Enter the value OFF (0) to select the Gray SSI code
encoder parameters when powering up (3.33, 3.34 and format.
I 3.35).
• 3.36 : Voltage
Enter the encoder mains supply voltage: 5V (0) or 8V (1)
or 15V (2).
CAUTION:
Enter the value On (1) to select the SSI binary format.
• 3.33 : Number of turns (number of bits)
Enter the maximum number of encoder turns, eg: if 3.33 = 5,
the maximum number of turns will be 25.
• 3.34 : number of increments/turn (ELPR)
Supplying an encoder with an excessive voltage can (SinCos encoder only)
damage it. Enter the number of sinus wavers per turn.
J • 3.37 : Transmission speed

Enter the serial link speed (except for the SinCos encoder
with Hiperface link):
100 kbauds (0), 200 kbauds (1), 300 kbauds (2),
• 3.35 : Resolution (number of bits)
Enter the resolution of the serial link (number of bits used
to represent an encoder turn).
• 3.36 : Voltage
Enter the encoder mains supply voltage: 5V (0) or 8V (1)
1500 kbauds (6), 2000 kbauds (7), 4000 kbauds (8). or 15V (2).
• 3.38 : Type CAUTION:
K Enter the type of encoder used:

SC.Hiper (7): SinCos with Hiperface,
EndAt (8): EndAt,
SC.EndAt (9): SinCos with EnDat link.
Supplying an encoder with an excessive voltage can
damage it.
• 3.37 : Transmission speed
Enter the link speed:
• 0.00 : Enter the value 1000. 400 kbauds (3), 500 kbauds (4), 1000 kbauds (5),
• Press the Reset key . 1500 kbauds (6), 2000 kbauds (7), 4000 kbauds (8).
L • Power down the drive, then power it up again (necessary

for the settings of the encoder characteristics to be taken
into account).
• 3.38 : Type
Enter the type of encoder used:
SSI (10): SSI encoder,
SC.SSI (11): SinCos with SSI link.
• 0.00 : Enter the value 1000.
• Press the Reset key .
M • Power down the drive, then power it up again (necessary

for the settings of the encoder characteristics to be taken
into account).
In order to proceed to commissioning, resume it at page 4
MisEnServPosLED
H en e 09/07 6/114
UNIDRIVE SP
Commissioning
H2 - Menu 0: User Menu B
H2.1 - Diagrams
• Smartcard use
C
0.30
D
M
Transfer of Smartcard REAd + 1

parameters to drive
SMARTCARD
Transfer of drive Prog +
parameters to Smartcard
2
Transfer from Smartcard to

SM-POS module
6666
0.29
E
(Menus 18 to 20, 70, 71, 74 & 75) 3333
Transfer from SM-POS module

to Smartcard
2047 +
Return to
F
(Menus 18 to 20, 70, 71, 74 & 75) SM-POS program
factory settings
Note: It is necessary to transfer the drive parameters using parameter 0.30,

before transferring the positioning parameters using parameter 0.29 (see Section J2).
G
• Origin cycle and manual movement mode
Ref OK
Origin cycle
Reduced
H
0.20 speed reference
Mode
I
0.16
Ref. OK 24 0.14
Sensor + TOP 0 0
Origin 27 Sensor 1
cycle sensor Speed A
control
SM-POS
module
TOP 0
Stopped
Current threshold
2
3
4
J
Origin 10
K
cycle sensor On the fly 5
Enable
I0 26
I+ 7
L
SM-I/O Plus Manual
module OR movement
I- 8
Variation range Factory setting

M
Parameters
0.14 OFF (0) or On (1) -

0.16 0 to 0.02 min-1 150 min-1
0.20 0 to 5 1
0.29 -32768 to +32767 0
0.30 nonE (0), rEAd (1), Prog (2), AutO (3), boot (4) nonE (0)
MisEnServPosLED
H en e 09/07 7/114
UNIDRIVE SP
Commissioning
B • Positioning
I4 I3 I2 I1
6 4 3 2
C I4
0
0
I3
0
0
I2
0
0
I1
0
1
Position
0 (none)
1
0 0 1 0 2
D 0
1
1
0
Position number
0.21
0
0
0
0
3
4
E Value
0.22
Positioning
Operating mode Numerator Denominator
Type 0.51 0.27 0.28
0.23
F Speed
0.24 Position
Selected
position
0
1-4 See
Linear
scaling
0.13 Advanced
parameters menus
Auto
G scaling 0.53
Acceleration 5-9
ramp B
0.25 Numerator Denominator
0.27 0.28
Deceleration
H ramp
0.26
5
Rotary system
Shortest Rotary
scaling
6 Origin in the revolution
I
7 1 direction of rotation Movement for 0.52
one revolution
The positioning is
8 defined by an
index number
9 Pin indexing
J
K
L Variation range Factory setting
Parameters
M 0.13
0.21
0.22
0 to 32
1 to 32
-32768 to +32767 (customer unit)
-
1
0
0.23 0 or 1 0
0.24 1 to (0.02 x 0.9) min-1 1500 min-1
0.25 - 0.26 0 to 32767 1/100 s for 1000 min-1 200 1/100 s for 1000 min-1
0.27 -999999 to +9999999 65536
0.28 1 to 9999999 10
0.52 1 to 9999999 3600
0.53 OFF (0) or On (1) OFF (0)
MisEnServPosLED
H en e 09/07 8/114
UNIDRIVE SP
Commissioning
• Positioning (continued)
P I D
B
0.17 0.18 0.19 Position
error
B Position loop
gains
0.12
Motor
speed Speed loop
( , )
Production
of speed
reference
A C
Mobile Mobile D gain +
absolute relative
position
0.11
position
0.54 0.15
Position
Oval
reached
0.10 0.09
-
Speed loop
0.07
gains
P
( )
D
I
E
Current 0.08
limitation
0.06
Motor control
0.40
0.41
Autotune
Maximum switching
frequency
0.45 On-load rated
speed
Thermal
time constant
or
F
0.42 Number of poles 0.46 Rated current
or
0.43
0.44
Cos ϕ
Encoder phase
angle
Rated voltage
or Stall current
0.47
0.48
Rated frequency
Operating mode
G
Controls
H
31
Safety/
unlocking input
I
Parameters
0.06
Variation range
0 to LIM IM1 MAX (%) 165.0%

Factory setting
175.0%
J
0.07 - 0 to 6.5535 (1/rads-1) - 0.0100 (1/rads-1)
0.08 0 to 655.35 (1/rad) - 1.00 (1/rad)
K
-
0.09 OFF (0) or On (1) 0 to 0.65535 (s) OFF (0) 0
0.10 ± N MAX (min-1) -
0.11 - 0.12 - 0.54 -32768 to +32767 (customer unit) -
0.15 OFF (0) or On (1) -
0.17
0.18
0.19
0.40 0 to 2
0 to 32767
0 to 32767
0 to 32767
0 to 4 0 to 6
500
0
1000
0
L
3 (0), 4 (1), 6 (2), 8 (3), 12 (4), 16 (5) kHz
0.41
M
3 (0) kHz 6 (2) kHz
(16 kHz not available for sizes 3)
0.42 Auto (0) to 120POLE (60) Auto (0) 6POLE (3)
0.43 0 to 1.000 0 to 359.9° 0.850 0
TL: 230 V; T: 400 V (EUR) / 460 V (USA);
0.44 0 to UAC MOT MAX (V)
TM: 575 V; TH: 690 V
1500 min-1 (EUR) 1450.00 min-1 (EUR)
0.45 0 to 180000 min-1 0 to 40000.00 min-1 0 to 400.0 20.0
1800 min-1 (USA) 1770.00 min-1 (USA)
0.46 0 to IN MAX (A) Inom DRIVE (11.32)
0.47 0 to 3000.0 Hz 0 to 1250.0 Hz 50.0 Hz (EUR) / 60.0 Hz (USA)
0.48 OPEn LP (1), CL VECt (2), SerVO (3), REgEn (4) OPEn LP (1)
MisEnServPosLED
H en e 09/07 9/114
UNIDRIVE SP
Commissioning
B H2.2 - List of parameters

Menu 0 contains the most used parameters for simplified commissioning.
Each parameter in menu 0 is the image of a parameter contained in another menu (menu 1 to 21). The correspondence of
parameters in Menu 0 is indicated in the "Address" column in the table below.
C : RO = Read parameter
: R-W = Read/write parameter

: Open loop flux vector control mode
: Closed loop flux vector control mode
: Servo mode
: R-A = Read/assign parameter EUR: 50 Hz mains supply

USA: 60 Hz mains supply
D Parameter
• Storage
• Factory settings
Description Address Type Mode Variation range Factory setting
0.00 - R-W 0 to 32767 0

• Operating mode selection
E 0.01
• Parameter list
Frequency limit or minimum speed 1.07 R-W

±3000.0 Hz 0
± LIM N MAX * 0
F 0.02 Frequency limit or maximum speed 1.06 R-W

0 to 3000.0 Hz
50.0 Hz (EUR)
60.0 Hz (USA)
1500.0 min-1 (EUR)
0 to LIM N MAX * 1800.0 min-1 (USA)
G 0.03 Acceleration ramp 2.11 R-W

0 to 3200.0 s/100 Hz
0 to 3200.000 s/1000 min -1
3000.0 min-1
5.0 s/100 Hz
2.000 s/1000 min-1
-1
0 to 3200.000 s/1000 min 0.200 s/1000 min-1
H 0.04 Deceleration ramp 2.21 R-W

0 to 3200.0 s/100 Hz
0 to 3200.000 s/1000 min-1
0 to 3200.000 s/1000 min-1
10.0 s/100 Hz
2.000 s/1000 min-1
0.200 s/1000 min-1
A1.A2 (0), A1.Pr (1),
I 0.05 Reference selection 1.14 R-W A2.Pr (2), Pr (3), PAd (4),
Prc (5)
0 to LIM IM1 MAX (%) *
A1.A2 (0)
165.0%
0.06 Current limitation 4.07 R-W
0 to LIM IM1 MAX (%) * 175.0%
J 0.07
Control mode
Speed loop proportional gain

5.14
3.10
R-W
R-W
Ur_S (0), Ur (1), Fd (2),
0 to 6.5535 (1/rads-1)
Ur_I (4)
0.0100 (1/rads-1)
K
Size 1 to 3: 3.0%
Torque on starting (Boost) 5.15 R-W 0 to 25.0% of UN motor Sizes 4 and 5: 2.0%
0.08 Size 6: 1.0%
Speed loop integral gain 3.11 R-W 0 to 655.35 (1/rad) 1.00 (1/rad)
L 0.09
Dynamic V/F selection
Speed loop differential gain

5.13
3.12
R-W
R-W
OFF (0) or On (1)
0 to 0.65335 (s)
OFF (0)
Calculated motor speed 5.04 RO ± 180000 min-1 -
M 0.10
Measured motor speed 3.02 RO ± N MAX (min-1) * -
-32768 to +32767
0.11 Actual position of the mobile 18.02 RO -
(customer unit)
-32768 to +32767
0.12 Position error 18.03 RO -
(customer unit)
* For an explanation of the parameter range, refer to section H3.5.

MisEnServPosLED
H en e 09/07 10/114
UNIDRIVE SP
Commissioning
Parameter Description Address Type Mode Variation range Factory setting
B
0.13 Selected position 18.05 RO 0 to 32 -
0.14 Ref. OK 19.31 RO OFF (0) or On (1) -

C
0.15 Position Oval reached 19.33 RO OFF (0) or On (1) -
D
0.16 Reduced speed reference 20.22 R-W 0 to 0.02 min-1 150 min-1
0.17 Position loop proportional gain 20.10 R-W 0 to 32767 500

E
0.18 Position loop integral gain 20.11 R-W 0 to 32767 0 F
0.19 Position loop differential gain 20.12 R-W 0 to 32767 1000
G
0.20 Origin cycle mode 20.13 R-W 0 to 5 1
0.21 Setting position number 19.11 R-W 1 to 32 1

H
0.22 Setting position value 19.12 R-W
-32768 to 32767
(customer unit)
0 I
0.23 Setting position type 19.13 R-W 0 or 1 0
J
0.24 Setting position speed 19.14 R-W 1 to (0.02 x 0.9) min-1 1500 min-1
0.25 Setting position acceleration ramp 19.15 R-W

0 to 32767 200
K
1/100 s for 1000 min-1 1/100 s for 1000 min-1
0.26 Setting position deceleration ramp 19.16 R-W

0 to 32767
1/100 s for 1000 min-1

200
1/100 s for 1000 min-1

L
0.27 Scaling numerator 20.23 R-W -999999 to 9999999 65536
M
0.28 Scaling denominator 20.26 R-W 1 to 9999999 10
Return to factory settings and copying of

0.29 20.01 R-W -32768 to 32767 0
positioning parameters
MisEnServPosLED
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UNIDRIVE SP
Commissioning
B Parameter Description Address Type Mode Variation range Factory setting
nonE (0), rEAd (1), Prog (2),

0.30 11.42
C
Parameter copy R-W nonE (0)
AutO (3), boot (4)
200 (0), 400 (1), 575 (2),

0.31 Drive rated voltage 11.33 RO -
690 (3) V
D 0.32 Drive rated current 11.32 RO 0 to 9999.99 A -
6.09
E
Flying restart R-W 0 to 3 0
0.33
Auto-tuned rated speed 5.16 R-W 0 to 2 0
0.34 User security code 11.30 R-W 0 to 999 0
F 0.35 Communication type 11.24 R-W AnSI (0), rtU (1), Lcd (2) rtU (1)
300 (0), 600 (1), 1200 (2),
G 0.36 Serial link transmission speed 11.25 R-W

2400 (3), 4800 (4), 9600 (5),
19200 (6), 38400 (7),
57600 (8), 115200 (9)
19200 (6)
0.37 11.23
H
Serial link address R-W 0 to 247 1
0 to 30000 20
200 V drive (TL): 75
0.38 4.13
I
Current loop proportional gain R-W 400 V drive (T): 150
0 to 30000
575 V drive (TM): 180
690 V drive (TH): 215
0 to 30000 40
J
200 V drive (TL): 1000
0.39 Current loop integral gain 4.14 R-W 400 V drive (T): 2000
0 to 30000
575 V drive (TM): 2400
690 V drive (TH): 3000
K
0 to 2
0.40 Auto-tuning, meaurements and calculations 5.12 R-W 0 to 4 0
0 to 6
3 (0), 4 (1), 6 (2), 8 (3),
L
12 (4), 16 (5) kHz
3 (0) kHz
(16 kHz not available
for sizes 3)
0.41 Switching frequency 5.18 R-W
3 (0), 4 (1), 6 (2), 8 (3),
M
12 (4), 16 (5) kHz
6 (2) kHz
(16 kHz not available
for sizes 3)
Auto (0)
0.42 Number of motor poles 5.11 R-W Auto (0) to 120POLE (60)
6POLE (3)
Cos M 5.10 R-W 0 to 1.000 0.850

0.43
Encoder phase angle 3.25 R-W 0 to 359.9° 0
MisEnServPosLED
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UNIDRIVE SP
Commissioning
Parameter Description Address Type Mode Variation range Factory setting

B
200 V drive (TL): 230 V
400 V drive (T):
0.44 Motor rated voltage 5.09 R-W 0 to UAC MOT MAX (V) * 400 V (EUR), 460 V (USA)
575 V drive (TM): 575 V
690 V drive (TH): 690 V
C
1500 min-1 (EUR)
0.45
On-load motor rated speed 5.08 R-W
0 to 180000 min-1
0 to 40000.00 min-1
1800 min-1 (USA)
1450.00 min-1 (EUR)
1770.00 min-1 (USA)
D
Motor thermal time constant 4.15 R-W 0 to 400.0 20.0
0.46
Motor rated current
Stall current
5.07 R-W 0 to IN MAX (A) * INOM DRIVE (11.32) E
50.0 Hz (EUR)
0.47 Motor rated frequency 5.06 R-W

0 to 3000.0 Hz
0 to 1250.0 Hz
60.0 Hz (USA)
50.0 Hz (EUR)
60.0 Hz (USA)
F
0.48 Operating mode selection 11.31 R-W
OPEn LP (1), CL VECt (2),
SErVO (3), rEgEn (4)
OPEn LP (1)
G
0.49 Level 2 access and security code storing 11.44 R-W L1 (0), L2 (1), Loc (2) L1 (0)
0.50 Drive software version 11.29 RO 1.00 to 99.99 -

H
0.51 Positioning mode 20.34 R-W 0 to 9 0 I
0.52 Movement for one rotary system revolution 20.40 R-W 1 to 9999999 3600
J
0.53 Automatic scaling 18.31 R-W OFF (0) or On (1) OFF (0)
0.54 Relative position of the mobile 19.10 RO

-32768 to 32767
(customer unit)
-
K
0.55 Menu 7x parameter selection 20.28 R-W 0 to 9999 0
L
0.56 20.29
M
Menu 7x parameter value R-A -999999 to +9999999 0
* For an explanation of the parameter range, refer to section H3.5.
MisEnServPosLED
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UNIDRIVE SP
Commissioning
B H2.3 - Explanation of parameters

0.00 : Parameter relating to storage, return to
Ur (1): The stator resistance and voltage offset are not
measured.
This mode is of course the least effective. It should only be
European and USA factory settings, used when the other modes are incompatible with the
operating mode modification, parameter list operating cycle.
C Variation range : 0 to 9999

Factory setting
1000: Storage
:0
1001: Storage, even in standby power supply
In this case, during commissioning, auto-tuning without
rotation should be carried out (see 0.40), and mode Ur
should then be used in normal operation.
Fd (2): Voltage-frequency ratio with fixed boost at low speed
mode
1070: Reset of option modules (boost adjustable via parameter 0.08).
D 1233: Return to European factory settings

1244: Return to USA factory settings
1253: Operating mode selection with return to European
factory settings
Motor
voltage
0.44
1254: Operating mode selection with return to USA factory

settings
E 12000: Selection of all parameters with a value different from

the factory setting
12001: Selection of all destination parameters
Press the Reset key to confirm the parameter settings.
0.44/2
0.01 : Frequency limit or minimum speed Boost

0.08
F Automatic parameter setting by the SM-POS module.

Do not modify.
0.02 : Frequency limit or maximum speed
This is the highest operating speed or frequency (laid down
the same drive.
0.47/2 0.47 Motor
frequency
This mode is generally used to control several motors from
for both directions of rotation). With the reference at Ur_Auto (3): The stator resistance and voltage offset are
G
maximum, it is the output speed or frequency. measured only during the first power-up, after a run
Note: The drive incorporates overspeed detection. command. In this case, the stator resistance and voltage
CAUTION: offset are stored. Then, 0.07 takes the value "Ur".
0.02 is a nominal value. Slip compensation and current CAUTION:
limiting may lead to a slightly different output frequency. If the measurement fails, the stator resistance and
voltage offset are not recorded, but 0.07 remains at the
0.03 : Acceleration ramp
H
value Ur_Auto and the measurement will be attempted
Automatic parameter setting by the SM-POS module. again at the next power-up.
Do not modify.
Ur_I (4): The stator resistance and voltage offset are
0.04 : Deceleration ramp measured each time the drive is powered up, and after a
Automatic parameter setting by the SM-POS module. run command.
These measurements are valid only if the machine is
I
Do not modify.
stopped at power-up.
0.05 : Reference selection
Automatic parameter setting by the SM-POS module. • In Ur I mode, a voltage is briefly applied to the
Do not modify. motor. For safety reasons, no electrical circuit
must be accessible once the drive has been powered up.
0.06 : Current limitation
J Sets the maximum active current (percentage of the rated

active current) delivered by the drive in motor or generator
operation.
The output speed or frequency is limited in order to keep the
SrE (5): This mode is used for centrifugal applications (fans,
pumps, etc.) with fixed boost at low speed (boost adjustable
via parameter 0.08).
active current less than or equal to the limit laid down by Motor
0.06. voltage
K 0.07 : Control mode

Speed loop proportional gain
and
0.44
L The difference between these modes is the method used to

identify the motor parameters, in particular the stator
resistance. These parameters vary with the motor
temperature and therefore according to its cycle of use.
For the performance in flux vector control mode to be
Boost
0.08
optimum, it is necessary for the parameters for cos M (0.43), 0.47/2 0.47 Motor
M
stator resistance and voltage offset to be set accurately. frequency
Ur_S (0): The stator resistance and voltage offset are

measured each time the drive receives a run command. and :
These measurements are valid only if the machine is Sets the stability of the motor speed in the event of sudden
stopped, and totally defluxed. The measurement is not made variations in the reference.
when the run command is given less than one second after Increase the proportional gain until vibrations occur in the
the previous stop. motor, then reduce the value by 20 to 30%, checking that the
This is the most effective flux vector control mode. However, motor remains stable for sudden variations in the speed
the operating cycle must be compatible with the one second reference, both at no load and on load.
required between a stop command and a new run command.
MisEnServPosLED
H en e 09/07 14/114
UNIDRIVE SP
Commissioning
0.08
:
: Torque on starting (Boost)
Speed loop integral gain and
0.15 : Position Oval reached
OFF (0): The mobile has not reached the requested position.
B
For operation in V/F mode (0.07 = Fd (2) or SrE (5)), On (1): The mobile is in position.
parameter 0.08 is used to overflux the motor at low speed so
that it delivers more torque on starting.
It is a percentage of the rated motor voltage 0.44.
(Refer to the diagrams for 0.07).
0.16 : Reduced speed reference
This parameter sets the reduced speed used for:
• The manual movement controlled by I+ or I-
C
• The origin cycle procedure, enabled by Io.
and :
Sets the stability of the motor speed on load impact.
Increase the integral gain so that the same speed is obtained
on load and at no load in the event of load impact.
0.17 : Position loop proportional gain
The value contained in this parameter adjusts the control
accuracy and the stability of the position loop.
D
0.18 : Position loop integral gain
0.09
:
: Dynamic V/F selection
Speed loop differential gain and
OFF (0): The V/F ratio is set and adjusted by the base
The value contained in this parameter adjusts the stability of
the position loop on load transients.
0.19 : Position loop differential gain

E
frequency (0.47). The value contained in this parameter adjusts the stability of
On (1): Dynamic V/F ratio.
Generates a voltage/frequency characteristic which varies
with the load. It is for use in quadratic torque applications
(pumps/fans/compressors). It can be used in constant torque
the position loop taking speed transients into consideration.
0.20 : Origin cycle mode

6 origin cycle modes are offered:
F
applications with low dynamics to reduce motor noise.
0: The origin is detected by the origin cycle sensor taking the
G
encoder Top 0 into consideration.
and :
1: The origin is detected by the origin cycle sensor only.
Sets the stability of the motor speed in the event of load 2: The origin is detected on encoder Top 0 only.
shedding or rapid variations in the reference. Reduces 3: The origin cycle is performed when stopped, on change
overshoots. of state of input Io.
In general, leave the setting at 0. 4: The origin cycle is performed on a motor active current
0.10
:
: Calculated motor speed
Measured motor speed and
threshold. When the motor current reaches the current
threshold laid down, the system origin cycle is initiated.
(Factory setting = threshold of 2 A).
5: Origin cycle on the fly with no Top 0 (during positioning):
H
The motor speed is calculated from the post-ramp frequency • If 0.51 = 0 or 4 (positioning modes), immediate stop on
reference (in Hz) or from the final frequency reference when
I
detection of the sensor
operating in frequency servo-control mode (reference signal • If 0.51 = 1 to 3 (scan timer modes), immediate incrementing
on encoder input). of the scan timer on sensor detection
• If 0.51 = 5 to 9 (rotary system modes), on sensor detection,
and : new origin taken into account at the next position request.
This parameter is used to read the actual speed of the motor,
coming from the speed feedback (incremental encoder, for
example).
0.11 : Actual position of the mobile

0.21 : Setting position number
This parameter selects the number of the position to be set
using parameters 0.22 to 0.26. J
0.22 : Setting position value
After selecting the position in 0.21, enter the distance to be
K
Indicates the position of the mobile with respect to the origin.
travelled by the mobile between the origin and the place
0.12 : Position error where the mobile is to be positioned in absolute mode, or
between the previous position and the place where the mobile
Indicates the error in the position of the mobile compared is to be positioned in relative mode (depends on 0.23).
with the requested position, and is used to define the state The value of the position is defined by the scaling 0.27 and
of output Oval (0.15).
0.13 : Selected position

0.28.
For rotary positioning defined by an index number (0.51 =
8), configure the index number corresponding to the number
of steps in the movement defined in 0.52.
L
Note: In Fieldbus control mode, the registers can be
Indicates the number of the position the mobile must reach,
M
accessed directly from the advanced menus (menus 70 and
selected by the inputs I1 to I4 or I5 according to the mode 71).
enabled (direct mode, encoded mode, or scan timer mode,
see 0.51).
0.14 : Ref. OK
OFF (0): The origin cycle procedure has not been performed.
Start the procedure again.
On (1): The origin cycle procedure has taken place correctly.
The system origin is known.
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Commissioning
B 0.23 : Setting position type

After selecting the position in 0.21, enter the movement
mode of the mobile for reaching the required position.
For a rotary system:
- Set 0.27 as the numerator of the reduction ratio.
- Set 0.28 as the denominator of the reduction ratio.
OFF (0): Absolute mode; the positions are referenced - Set 20.40 according to the formula: 20.40 = D.
with respect to the system origin.
C On (1): Relative mode; the position is referenced with respect

to the previous position. The mobile advances step by step.
Note: In Fieldbus control mode, the registers can be accessed
directly from the advanced menus (menus 70 and 71).
0.29 : Return to factory settings and copying of
positioning parameters
• Return to positioning factory settings
This parameter initiates an automatic procedure for return to
0.24 : Setting position speed the factory settings specific to the positioning application.
D Sets the motor speed for reaching the position selected in

0.21.
To enable this return to the Positioning factory settings, follow
the procedure below:
Parameter Setting Description Enable
1233 European factory settings
0.25 : Setting position acceleration ramp configuration (50 Hz)
E Sets the acceleration ramp for reaching the position selected

in 0.21.
0.00 or
1244 USA
or
factory settings
configuration (60 Hz)
Positioning program
Press the
Reset key
0.29 2047 initialisation

0.26 : Setting position deceleration ramp
F Sets the deceleration ramp for reaching the position selected

in 0.21.
• Check that the motor is stopped and the safety
of the system is not called into question.
• Copying of positioning parameters

This parameter is used to save or load the parameters of the
0.27 : Scaling numerator positioning menus using the SMARTCARD.
G 0.28 : Scaling denominator

If 0.51 = 0 to 4, then 0.27 and 0.28 are respectively the
numerator and the denominator of the scaling for linear
Parameter
0.29
Setting
3333
Description
Saving of menus 18 to 20, 70, 71, 74
and 75 in the SMARTCARD
positioning. Loading of menus 18 to 20, 70, 71, 74
If 0.51 t 5, then 0.27 and 0.28 are respectively the 0.29 6666 and 75 from the SMARTCARD into the
H numerator and the denominator of the reduction ratio for

rotary positioning (reduction ratio - number of teeth - between
the motor and the rotary system).
Note: To reverse the direction of movement into position, 0.30 : Parameter copy
drive
enter a negative value in the numerator 0.27. 0.30 Action
I For scaling the positioning (0.51 = 0 to 4) there are two

possible methods:
• Automatic scaling:
nonE (0)
rEAd (1) +
Prog (2) +
None
Transfer of parameters stored in the
SMARTCARD to the drive
Transfer of parameters from the drive to the
Allows users to carry out their scaling very quickly by SMARTCARD
movement visually. Transfer of parameters from the drive to the
J - Move the mobile to the required place using I+ or I-.

- Enable the start of the scaling procedure by entering On
(1) into 0.53.
- Move the mobile to another position using I+ or I-.
Auto (3) + SMARTCARD. Then, any modification of a
menu 0 parameter is automatically saved in
the SMARTCARD
- Enter into 0.28 the value of the movement in customer If a SMARTCARD is present at power-up,
units (e.g. the value 100 to express 100 cm or 100 mm). the SMARTCARD parameters are
boot (4) +
- Enter 0.53 = OFF (0) to end the scaling procedure.
K
automatically transferred and stored in the
The drive then automatically calculates the scaling. 0.27 is drive.
not used in this procedure. See procedures in Section J.
For certain applications, however, the scaling must be very
accurate. It is then necessary to set the exact ratios of the
dynamic characteristics by customer scaling. 0.31 : Drive rated voltage
L
Use the customer scaling below. This parameter indicates the drive rated voltage.
• Customer scaling:
Allows accurate values of the dynamic characteristics to be 0.32 : Drive rated current
set.
M Motor
speed
R
Machine
slow shaft
speed
D = Movement of the
mobile for 1 slow
shaft turn, expressed
in customer unit
This parameter indicates the continuous output current of the
drive corresponding to the maximum overload (possibility of
an overload of 150% or 175% and ).
For a linear system:

- Set 0.27 according to the formula: 0.27 = 65536 x R.
- Set 0.28 according to the formula: 0.28 = D.
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UNIDRIVE SP
Commissioning
0.33
:
: Flying restart
Auto-tuned rated speed
0.36 : Serial link transmission speed
Used to select the transmission speed of the protocol used.
Note: Speeds 57600 and 115200 are used only for Modbus
B
If this parameter is enabled (0.33 = 1 to 3), when there is a RTU.
run command or after a mains supply break, the drive
executes a procedure to calculate the motor frequency and
direction of rotation. It will automatically recalibrate the output
frequency to the measured value and reaccelerate the motor
This parameter can be modified via the keyboard, by an SM
option or via the serial link itself. If the modification is
transmitted via the serial link, the response to the command
will be transmitted using the original protocol. The master
C
up to the reference frequency.
0: Disable flying restart on a motor which is rotating must wait 20 ms before transmitting a new command in the
1: Enable flying restart on a motor which is rotating clockwise
or counter-clockwise
2: Enable flying restart only on a motor which is rotating
clockwise.
new protocol.
0.37 : Serial link address

Used to define the address of the drive, which is always the
D
3: Enable flying restart only on a motor which is rotating
counter-clockwise. slave.
:
Motor slip is calculated from the rated on-load speed 0.45,
and the rated motor frequency 0.47.
Modbus RTU:
For this protocol, addresses 0 to 247 can be used. Address 0
is used to communicate to all slaves on the network
(Broadcast). For this reason, this address must not be
E
However, as slip varies with temperature, the calculation of entered into this parameter.
the variable speed drive from 0.45 and 0.47 may be
incorrect.
Setting parameter 0.33 to 1 or 2 is used to automatically
adjust the rated on-load speed.
To keep the new value of 0.45, store the parameters (0.00 =
ANSI:
For this protocol, the first digit corresponds to the group, and
the second to the address of the drive in the group. The
maximum number of groups is 9, and the maximum number
F
1000 + Reset ). of addresses in the group is 9. Consequently, the value of
This optimisation is active only when the speed is above 0.37 is limited to 99. In addition, address 0 is used to
12.5% of the rated speed and when the motor load becomes
greater than 62.5% of the rated load. The optimisation is no
longer active when the load becomes less than 50% of the
rated load.
communicate to all the slaves on the network, and addresses
x0 are used for the slaves in group x. For this reason, these
addresses must not be entered into this parameter.
G
0.34 : User security code 0.38
This parameter is used for entering a personal security code
that disables all modification of parameters (except 0.49).
The personal code can be read only during its editing.
: Current loop proportional gain
0.39 : Current loop integral gain

Due to a number of factors internal to the drive, oscillations
H
Do not choose code 0.
may occur in the following cases:
I
To validate or use a code, follow the procedure described in
- Frequency control with current limiting around the rated
Section G12.
frequency and on load impacts
- Torque control on machines with a low load and around the
0.35 : Communication type
rated speed
AnSI (0): ANSI protocol used - On a mains supply break or on a controlled deceleration
RtU (1): Modbus RTU protocol used
Defines the communication protocol used by the RS485 port
of the variable speed drive.
This parameter can be modified via the keyboard, by an SM
ramp when control via the DC bus is requested.
To reduce these oscillations, we recommend that you first:
- Increase the proportional gain 0.38
- Then reduce the integral gain 0.39
J
option or via the serial link itself. If the modification is Note: The gains are set automatically by auto-tuning
transmitted via the serial link, the response to the command according to the selected procedure (see 0.40).
will be transmitted using the original protocol. The master
must wait 20 ms before transmitting a new command in the
new protocol.
K
Note: ANSI uses 7 data bits, 1 stop bit and 1 parity bit.
Modbus RTU uses 8 data bits, 2 stop bits and no parity bit.
Lcd (2): Special protocol for disabling the use of a "client"
console. L
M
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Commissioning
B 0.40 : Auto-tuning, meaurements and calculations

• Make sure that the auto-tuning with rotation has
no safety risks, and check that the motor is
:
Measurement of the encoder phase angle, stator resistance
and transient inductance, and automatic setting of the current
stopped before starting the procedure. loop gains.
The motor must be disconnected from the load.
C • After modifying the operating mode or motor

parameters, repeat the auto-tuning.
0: No auto-tuning
Procedure:
- Ensure that the motor parameters have been configured and
that the motor is stopped
- Enable the drive (close terminal 31)
- Give a run command (close terminal 26 or 27).
D 1:
and :
Measurement of characteristics with motor stopped:
- Voltage offset
The motor performs two electrical rotations at low speed, then
stops.
The display shows "Auto" and "tunE" alternately. Wait for the
display to stabilise at "0.00".
Open terminal 31 and terminal 26 or 27.
- Stator resistance and The motor is then ready to operate normally.
E - Current loop gains

- Transient inductance
Choose this mode when the load cannot be disconnected
from the motor.
Parameter 0.40 returns to 0 as soon as auto-tuning is
complete.
3:
Procedure: and :
F
- Ensure that the motor parameters have been configured and Measurement of the total inertia (load and motor). The load
that the motor is stopped can remain connected to the motor during the measurement,
- Enable the drive (close terminal 31) except in the case where the load is not linear or if it increases
- Give a run command (close terminal 26 or 27). The display with speed (erroneous measurement).
shows "Auto" and "tunE" alternately. Wait for the display to Procedure:
stabilise at "0.00". - Ensure that the motor parameters have been configured and
G Open terminal 31 and terminal 26 or 27.

The motor is then ready to operate normally.
complete.
that the motor is stopped
- Enable the drive (close terminal 31)
The motor performs several rotations (3/4 of the rated on-load
speed), then stops. During auto-tuning, the display shows
: "Auto" and "tunE" alternately. Wait for the display to stabilise
H Measurement of the encoder phase angle. The motor must

be disconnected.
Procedure:
- Ensure that the motor parameters have been configured and
at "0.00".
that the motor is stopped complete.
I - Enable the drive (close terminal 31)

- The motor performs 2 electrical rotations forward, at very
low speed, then stops. The display shows "Auto" and "tunE"
4:
:
Calculation of current loop gains.
alternately. Wait for the display to stabilise at "0.00". The values of the transient inductance and stator resistance
Open terminal 31 and terminal 26 or 27. must be entered before enabling the gain calculation. To do
J The motor is then ready to operate normally.

complete.
this, carry out an auto-tuning 0.40 = 1 or 2 (according to
whether or not the motor can be disconnected) before
enabling the gain calculation.
Note: When the gain calculation is complete, 0.40 changes
2: from 4 to 0.
K
and :
Measurement of motor characteristics with rotation: :
- Voltage offset Measurements of characteristics with motor stopped:
- Stator resistance and - Stator resistance
- Transient inductance - Stator inductance
- cos M and - Loop gains of the current loop
L - Current loop gains

This mode is used to obtain optimal performance levels, but
the motor must have no load during the procedure.
Procedure:
- Ensure that the motor parameters and the encoder phase
angle 0.43 have been configured and that the motor is
stopped.
Procedure:
- Ensure that the motor parameters have been configured and - Enable the drive (close terminal 31).
M that the motor is stopped - Give a run command (close terminal 26 or 27). The display
- Enable the drive (close terminal 31) shows "Auto" and "tunE" alternately. Wait for the display to
- Give a run command (close terminal 26 or 27). stabilise at "0.00".
The motor accelerates up to 2/3 of the rated speed, then Open terminal 31 and terminal 26 or 27.
performs a freewheel stop. During auto-tuning, the display The motor is then ready to operate normally.
shows "Auto" and "tunE" alternately. Wait for the display to Parameter 0.40 returns to 0 as soon as auto-tuning is
stabilise at "0.00". complete.
complete.
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Commissioning
5 :
Measurement of the encoder phase angle 0.43 with small
rotation.
0.43
and
: Cos M
:
and
Encoder phase angle
B
Small current pulses are applied to the motor to produce a Cos M is measured automatically during the auto-tuning with
movement of the rotor, and then return it to its initial position.
Should this procedure fail, it is automatically repeated twice (if
the measurement is still not satisfactory, the drive goes into
the "tunE2" trip state).
Next, the drive checks whether the direction of rotation of the
rotation phase (0.40 = 2), and set in this parameter. If it is not
possible to carry out this procedure, enter the value of cos M
shown on the motor nameplate.
Note: After auto-tuning 0.40 = 2 in closed loop mode, the
C
value of cos M can no longer be modified manually.
position sensor is correct.
The phase angle 0.43 is then updated and stored.
This test runs correctly when the load is an inertia, and as a
small motor step and acceptable friction are necessary, the
motor must not be heavily loaded for this test (inertia less than
:
In order to control a servo motor correctly, the phase angle
between the rotor flux and the encoder position must be
configured.
D
0.715 x Cnom/5.38 kgm2). This phase angle is set automatically during auto-tuning with
This test cannot be used with sensors equipped with a serial 0.40 = 1, 2 or 5.
link alone; it is preferable to use another auto-tuning mode for
Ab.servo and Fr.servo types.
6:
This parameter can be modified at any time, and is used
immediately by the drive.
Note:
E
• After a return to factory settings, the value of 0.43 is not
: modified.
Calculation of current loop gains.
This mode is not used for simple applications of menu 0. For
further information, refer to the Explanations of Parameters
manual ref. 3655.
• For a UNIMOTOR motor manufactured from 2002 onwards,
the encoders are calibrated in the factory (0.43 = 0).
0.44 : Motor rated voltage

F
Note: This value is not visible on the display which changes This is the rated voltage shown on the motor plate.
from 5 to 0. The return of 0.40 to 0 means that the gains
calculation has been carried out.
0.41 : Switching frequency

Sets the PWM switching frequency. Frequency of sampling
0.45
and
: On-load motor rated speed
Motor thermal time constant
:
and
G
This is the on-load speed of the motor shown on the
the digital and analog inputs. nameplate.
CAUTION:
• Depending on the switching frequency and the rating of
the UNIDRIVE SP, it may be necessary to derate the
output current. See Section B3.3.
Note: Slip compensation is not active if 0.45 is at 0 or at the
value of the synchronism speed.
:
H
• A high switching frequency reduces the magnetic noise This parameter is used to define the motor thermal protection.
and increases the drive losses; on the other hand it
I
For UNIMOTOR motors, set the thermal time constant of
increases the motor temperature rise and the level of the winding (Table B2.2 in the Technical Catalogue ref.
radio-frequency interference emission, and reduces the 3863) in 0.45.
starting torque.
• Where 0.41 is set to a value greater than 3 kHz, and 0.46 : Motor rated current and
when the junction temperature of the IGBT transistors
Stall current
J
reaches a certain alarm threshold, the switching
frequency is automatically reduced (0.41 remains at the and :
value set by the user). When the drive can no longer This is the value of the motor rated current shown on the
reduce the switching frequency, it goes into "O.ht1" trip motor nameplate. Above this value the motor is overloaded.
state.
The drive restores the configured switching frequency as :
K
soon as the temperature of the IGBTs becomes lower This is the value of the stall current shown on the motor
than the alarm threshold. nameplate.
CAUTION:
0.42 : Number of motor poles For an ambient temperature of 50°C, check that the value
of 0.46 does not exceed the value in the table in Section
and :
B3.3.
L
Enter the number of motor poles • To avoid risks of fire should the motor be
e.g. 2POLE (1): 2-pole motor (3000 min-1) overloaded, 0.46 must be configured correctly.
4POLE (2):4-pole motor (1500 min-1)
6POLE (3):6-pole motor (1000 min-1), etc. 0.47 : Motor rated frequency and
In the factory settings, the value of 0.42 is "Auto (0)", and the This is the point at which motor operation changes from
drive automatically calculates the number of poles according
M
constant torque to constant power.
to the rated frequency (0.47) and the rated on-load speed During standard operation, it is the frequency shown on the
(0.45). motor nameplate.
:
Enter the number of poles shown on the motor plate.
In the factory settings, the value of 0.42 is "6 POLE (3)".
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Commissioning
B 0.48 : Operating mode selection

Used to select the operating mode.
To modify the operating mode, follow the procedure
0.53 : Automatic scaling
This scaling allows the drive to define the ratio between the
customer unit and the rotation of the motor, when 0.51 = 0
described in Section G9. to 4.
C
The factory settings of the drive are automatically adjusted • Move the mobile to a known position using I+ or I-.
according to the selected operating mode. • Enable the start of the scaling procedure by entering On
OPEN.LP (1): Operation in open loop flux vector control (1) into 0.53.
or V/F mode. • Move the mobile to another known position using I+.
CL.VECt (2): Operation in closed loop flux vector control • Enter into 0.28 the value of the movement in customer
mode with encoder. units (e.g. the value 100 to express 100 cm or 100 mm).
D SerVO (3): Operation in Servo mode with self-synchronous

(servo) motor.
REgEn (4): Regenerative mode, not used.
Note:
• Enter 0.53 = OFF (0) to end the scaling procedure.
All positions will be expressed in the user unit defined by this
procedure.
• Returning to factory settings does not change the operating 0.54 : Relative position of the mobile
mode.
E • The operating mode can only be changed when the drive is

stopped.
0.49 : Level 2 access and security code storing

Indicates the actual position of the mobile with respect to the
previous position reached.
0.55 : Menu 7x parameter selection

L1 (0): Level 1 access. Only the parameters of menu 0
0.56 :Menu 7x parameter value
F (0.00) to 0.50) are accessible at the keyboard.
L2 (1): Level 2 access. The parameters of all the menus are
accessible at the keyboard.
Loc (2): Used to store or reactivate a security code (refer to
It is possible to display the parameters of menus 70 to 75 of
the SM-POS module by means of 2 parameters: 0.55 and
0.56.
the procedure described in Section G12). 0.55 is used to select the parameter to be displayed (e.g.
0.55 = 7501, menu 75 parameter 01).
G 0.50 : Software version
Gives the first 2 digits of the software version installed in the

drive.
0.56 is used to read and/or modify the value of the parameter
selected in 0.55.
Note: These two parameters allow quick reading or easy
modification of parameters of the advanced menus 7x (e.g.
setting of positions greater than 16 bits).
H 0.51 : Positioning mode

0: Linear positioning (16 bits).
1: Automatic linear positioning with scan timer and end-of-
cycle stop (with no looping).
2: Automatic linear positioning with scan timer permanently
enabled (with looping).
I 3: Automatic linear positioning with scan timer and change

of position on command (the cycle increment command must
be sent in 18.35).
4: Linear positioning (32 bits) with position synchronisation
on command (the synchronisation command must be sent in
18.35).
J 5: Shortest rotary positioning (position counter reset to zero

each revolution).
6: Rotary positioning with origin in the revolution (position
counter reset to zero each revolution).
7: Rotary positioning with a single direction of movement
K (position counter reset to zero each revolution).

8: Rotary positioning. The movement step is defined by a
number of indexes in the revolution (position counter reset
to zero each revolution).
9: Rotary positioning. Upon a position request, the mobile
L
starts rotating at the speed defined by that position, and then,
upon release of the position request, it stops at the angle
defined by the position. (Pin indexing) (position counter reset
Note:
• The maximum value of the positions depends on the
M customer scale.
•þRefer to Section A4.11 for an explanation of rotary
positioning.
0.52 : Movement for one rotary system revolution

Parameter valid in rotary system mode 0.51 = 5 to 9.
It is used to define the movement for one revolution of the
rotary system.
Example:
If 0.52 = 3600, for one revolution the rotary system will give
a position of 3600, which corresponds to a unit in tenths of
a degree.
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Commissioning
H3 - Advanced menus B
• Before setting the drive parameters using the In addition, to ensure the safety of personnel and
diagrams, all instructions relating to installation, equipment, precautions must be taken during use of the
connection and commissioning of the drive contained in
the previous sections must have been followed to the
letter.
parameters marked with the symbol .
For further details, refer to document ref. 3655 available

in computer-readable version on the CD-ROM delivered
C
with the drive.
H3.1 - Menus
Depending on the application, it is sometimes necessary to optimise the parameter settings of the variable speed drive beyond
those accessible via menu 0.
D
For this reason, all the drive functions have been grouped together in the form of menus (22 menus).
For the positioning application, the user has special diagrams for setting parameters, plus explanations of the parameters of
menus 17 to 20 and 70 to 75, related to the application.
However, all the basic functions of the drive and SM modules remain accessible via menus 1 to 17, 21 and 22 (diagrams or tables). E
F
MENUS 17 to 20, 70 to 75
SM-POS module
MENU 14 MENUS 15, 16 and17 (options)

• SM-I/O Plus module L1
MENU 7
PID regulator
•
•
•
•
•
SM-UNIVERSAL-ENCODER Plus module
SM-ENCODER Plus module
SM-RESOLVER module
SM-APPLICATIONS, SM-APPLICATIONS-LITE modules
SM-PROFIBUS-DP, SM-DEVICENET,
L2
L3
G
6 Analogue SM-INTERBUS, SM-CANopen, SM-CAN modules
H
7 inputs-outputs
8 configuration
9 MENU 1 MENU 2 MENU 3 MENU 4
10
Limitations Encoder input Current
and speed or and speed loop loop,
Ramps
22
24
25
MENU 8
frequency
references
torque
adjustment
I
26 Logic
27 inputs-outputs
28
29
31
41
configuration
MENU 6
Logic
MENU 0 MENU 21
Double
MENU 5
Motor control
J
42 commands (mode, carrier
Simplified
management- motor frequency,
K
commissioning
timer settings characteristics)
MENU 9
Logic
MENU 10
Drive status
MENU 11
and MENU 22
User menu,
MENU 12
Comparators,
variables
MENU 13
Synchronisation
L
functions and diagnosis serial link, and indexing
transfers
M
miscellaneous
U V W
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Commissioning
B H3.2 - Parameter types

For each menu, a diagram shows schematically the function
of the menu parameters.
• Decimal parameters
At the keyboard, these take a mnemonic value (e.g. A1.A2,
Pr, etc.), and via a serial link they take a value 0, 1, 2, 3, etc.
The variation ranges which cannot be shown schematically For easier reading of the diagrams, these parameters are
are included in a table at the bottom of each diagram. represented by contacts, whose position corresponds to the
C Symbols:
1.06 : A number in bold refers to a parameter.
2 : Refers to an input or output terminal of the
factory setting.
(A1.A2) 0
(A1.Pr) 1
(A2.Pr) 2
drive.
D
(Pr) 3
• Read/Write parameters (Pad) 4
1.21 : Parameters which appear in a rectangle or (Prc) 5
are identified by R-W are parameters with 1.14
1.21 Read and Write access. Reference
E
They can be designated as an assignment destination for selection
connection to: • Numerical parameters
- Digital inputs for bit parameters A numerical parameter can be used to:
- Analog inputs for non-bit parameters. - Set a value which will be used in variable speed drive
- Outputs of internal functions (comparators, logical or calculations (e.g. Inom motor 5.09)
arithmetical operations, etc.) - Provide information on the drive operation (e.g. pre-ramp
F • Read parameters
reference 1.03).
The maximum value of certain parameters may be variable
depending on the drive type and the operating mode used,
or depending on the effect other parameters may have.
1.01 : Parameters which appear in a diamond or For simplification, the maximum values of these parameters
are identified by RO are parameters are expressed by mnemonics for which an explanation is
G 1.01
with read access only. given in Section H3.5.
Examples: REF. MAX, I MAX UTIL, UAC MOT MAX, ETC.
• "Source" parameters
They are used to provide information concerning operation of A source parameter allows the user to assign a parameter
the drive and can be designated as an assignment
H source for connection to:

- Digital outputs for bit parameters
- Analog outputs for non-bit parameters
- Inputs of internal functions (comparators, logical or
as the input of a function. After modification of a source, press
Reset for it to be recognised by the drive (or store using
0.00 = 1000 + ).
The value of the source corresponds to:
Input value x 100 %
arithmetical operations, etc).
I
Max. value of the source parameter
• Read/Assignment parameters Example:
1.41 : Parameters which appear in a hexagon or PID reference selection
are identified by R-A are parameters which can 14.03
1.41 only be assigned to digital inputs 0.00
J
(for bit parameters) or to analog inputs
(for non-bit parameters).
This parameter type cannot therefore be modified directly. 4.02 14.20
• Binary parameters
At the keyboard, these take the value "OFF" when they are 21.51
K inactive, and "On" when they are active.

Via a serial link, they take the value "0" when they are
inactive, and "1" when they are active.
For easier reading of the diagrams, these parameters are
14.20 = 100% when 4.02 is equal to its theoretical
maximum value.
represented by contacts, whose position corresponds to the

factory setting.
L 1
8.11
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Commissioning
• "Destination" parameter
A destination parameter allows the user to assign a
parameter as the output of a function. After modification of
H3.3 - Factory setting
The operation of the drive using factory settings is depicted
by a green line.
B
a destination, press Reset for it to be recognised by the For sources and destinations, the parameters assigned with
drive (or store using 0.00 = 1000 + ).
The value of the destination corresponds to:
- 0 or 1 if a binary parameter is assigned as
a destination
- Output value x max. value of the destination parameter
factory settings are depicted in green.
H3.4 - Use
• Assignments:
C
100 % - Unknown parameter:
if a non-binary parameter is assigned as a destination.
Example:
Destination
If an unknown parameter is assigned to a source or a
destination, in that case the value 0 will be used by the drive.
- Double assignment:
D
7.10 A parameter cannot be assigned twice as a destination. In
0.00 the event of unintentional double assignment, the drive
1.36
initiates a "dESt" trip state, which will persist until the
assignment problem is resolved (except for menus 15, 16
and 17).
Note: It may be necessary to check the parameters already
E
assigned in the factory settings, depicted in green in the
21.51
F
diagrams.
When the output of the function is at 100%, 1.36 reaches
its theoretical maximum value, i.e. REF MAX. - Association:
Note: If a protected parameter is assigned as a destination, Do not assign a destination parameter in a source parameter.
then this assignment will not be recognised. YES (9.14 = 9.01)
NO (9.10 = 9.14)
9.10 Destination 9.14 Source 3

G
0.00 0.00 Logic inversion
9.01
1
9.15
H
Logic function 1 0
status 21.51 21.51
• After modification of a destination, the old destination

parameter goes back to the value 0, except in the case of a
return to factory settings where the old parameter takes its
I
factory value again. In the case of a transfer by SMARTCARD
to the drive, the old destination parameter keeps its old value,
unless its value is modified by the SMARTCARD.
J
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H en e 09/07 23/114
UNIDRIVE SP
Commissioning
B H3.5 - Definitions of maximum values

Range Definition
REF MAX Maximum frequency reference ( ) or maximum speed reference ( and )
• If 1.08 = 0: REF MAX = 1.06
C
: 3000.0 Hz
and : 40000.0 min-1 • If 1.08 = 1: REF MAX = 1.06 or - (1.07)
If the second motor is selected, the limits correspond to 21.01 (instead of 1.06) and 21.02 (instead of 1.07).
LIM N MAX Maximum applied to the speed reference limitations
D
40000.0 min-1 A maximum limit may be applied to the speed reference to avoid the encoder rated frequency exceeding 500
kHz.
The maximum is defined by:
LIM N MAX (min-1) = 410 kHz x 60/ELPR
= 2.46 x 107/ELPR
E
Quadrature encoder ELPR: drive encoder lines per revolution
Frequency encoder ELPR/direction: drive encoder lines per revolution/2
Resolver ELPR: resolution/4
SinCos ELPR: number of sinusoids per revolution
Encoder with serial link ELPR: resolution/4
F
N MAX Maximum speed
40000.0 min-1 This maximum is used for certain parameters of menu 3 related to the speed.
N MAX = 2 x REF MAX
IN MAX Maximum motor rated current
9999.99 A IN MAX d 1.36 x Maximum drive rated current (11.32).
G IMAX DRIVE
9999.99 A
LIM IM1 MAX

Maximum drive current
The maximum drive current corresponds to the "OIAC" overcurrent trip level, such that:
IMAX DRIVE = Maximum drive rated current (11.32)/0.45
Maximum current limit set for motor 1
1000.0% and :
H [ ] ]
[ ]
IMAX 2
+ cos ϕ 2 - 1
5.07
LIM IM1 MAX = x 100 %
cos ϕ
I Note: IMAX corresponds to 1.75 x (Isp in maximum overload) if the current configured in 5.07 is less than or
equal to the maximum value of the current in maximum overload given in 11.32, otherwise IMAX corresponds to
1.1 x (Isp in reduced overload).
Cos M = 5.10
:
J LIM IM1 MAX =

IMAX
5.07
x 100 %
Note: IMAX corresponds to the drive rated current (11.32) x 1.75.

LIM IM2 MAX Maximum current limit set for motor 2
1000.0%
K LIM IM2 MAX =

[ [ IMAX
21.07 ]
2
]
] x 100 %
Note: IMAX corresponds to 1.75 x (Isp in maximum overload) if the current configured in 21.07 is less than or
L equal to the maximum value of the current in maximum overload given in 11.32, otherwise IMAX corresponds to
1.1 x (Isp in reduced overload).
Cos M = 21.10
:
M LIM IM1 MAX =

IMAX
21.07
x 100 %
Note: IMAX corresponds to the drive rated current (11.32) x 1.75.
IACTIVE MAX This is the value of LIM IM1 MAX or LIM IM2 MAX depending on the parameter settings used (motor 1 or 2).
1000.0%
IMAX UTIL Limiting of the current parameters by the user (4.24)
1000.0% The user can select a maximum for 4.08 (torque reference) and 4.20 (load percentage) for scaling the analog
I/O with 4.24.
This maximum is limited by LIM IM1 MAX or LIM IM2 MAX depending on the motor selected.
MisEnServPosLED
H en e 09/07 24/114
UNIDRIVE SP
Commissioning
Definitions of maximum values (continued)
Range Definition
B
UAC MOT MAX Maximum output voltage
C
690 V This is the maximum motor voltage that can be used:
TL: 240 V
T: 480 V
TM: 575 V
TH: 690 V
UAC OUT MAX
930 V
Maximum output voltage
This value corresponds to the maximum voltage produced by the variable speed drive, including operation in
quasi-square modulation:
UAC OUT MAX = 0.78 x UDC MAX
D
TL: 325 V
UDC MAX THRESHOLD

T: 650 V
TM: 780 V
TH: 930 V
DC voltage threshold
E
1150 V TL: 400 V
T: 800 V
TM: 950 V
TH: 1150 V
F
UDC MAX Maximum DC bus voltage
G
1190 V This is the maximum voltage of the DC bus
TL: 415 V
T: 830 V
TM: 995 V
TH: 1190 V
P MAX
9999.99 kW
Maximum power in kW
This is the maximum power at maximum UAC OUT, controlled maximum current and power factor equal to 1.
P MAX = 3 x UAC OUT MAX x IN MAX x 1.75
H
I
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MisEnServPosLED
H en e 09/07 25/114
UNIDRIVE SP
Commissioning
B H4 - Positioning diagrams
• Position selection
C
I1 I2 SM-I/O Plus module I3 I4
2 3 4 6
Destinations 16.21 16.22 16.23 16.24
I5
D Input
status 18.46 18.47 18.48 18.49 18.50
Direct/
encoded 19.40
E
Direct
mode Encoded
1 0
Parity 19.41 Maintained front/ 19.42
0 1 rising front 0 1
Encoded mode without parity Encoded mode with I5 parity
F
I5 I4 I3 I2 I1 Position I5 I4 I3 I2 I1 Position
Mode Direct
0 0 0 0 0 1 1 0 0 0 0 1 I5 I4 I3 I2 I1 Position
0 0 0 0 1 2 0 0 0 0 1 2 0 0 0 0 0 0 (no position)
0 0 0 1 0 3 0 0 0 1 0 3 0 0 0 0 1 1
0 0 0 1 1 4 1 0 0 1 1 4 0 0 0 1 0 2
0 0 1 0 0 5 0 0 1 0 0 5
G
0 0 1 0 0 3
0 0 1 0 1 6 1 0 1 0 1 6 0 1 0 0 0 4
0 0 1 1 0 7 1 0 1 1 0 7 1 0 0 0 0 5
0 0 1 1 1 8 0 0 1 1 1 8
0 1 0 0 0 9 0 1 0 0 0 9
0 1 0 0 1 10 1 1 0 0 1 10
0 1 0 1 0 11
H
1 1 0 1 0 11
0 1 0 1 1 12 0 1 0 1 1 12
0 1 1 0 0 13 A
1 1 1 0 0 13
0 1 1 0 1 14 0 1 1 0 1 14
0 1 1 1 0 15 0 1 1 1 0 15
0 1 1 1 1 16 1 1 1 1 1 16
I
1 0 0 0 0 17
1 0 0 0 1 18
1 0 0 1 0 19
1 0 0 1 1 20
1 0 1 0 0 21
1 0 1 0 1 22
J 1 0 1 1 0
1 0 1 1 1
1 1 0 0 0
1 1 0 0 1
23
24
25
26
1 1 0 1 0 27
1 1 0 1 1 28
K 1 1 1 0 0
1 1 1 0 1
1 1 1 1 0
1 1 1 1 1
29
30
31
32
0
L 8.39 = 1
Destination
8.26 18.45 1
29
M
Iena

Parameters
8.26 0.00 to 21.51 18.45

16.21 0.00 to 21.51 18.46
16.22 0.00 to 21.51 18.47
16.23 0.00 to 21.51 18.48
16.24 0.00 to 21.51 18.49
18.46 to 18.50 OFF (0) or On (1) -
MisEnServPosLED
H en e 09/07 26/114
UNIDRIVE SP
Commissioning
• Positioning mode selection
SM-POS
module
B
(DIGIN 0)
10
C
Cycle
complete
19.39
D
Automatic
incrementing of
Automatic -
end-of-cycle
stop with no
E
Number the scan timer reset to zero
of positions
F
with
scan timer Positioning
Automatic - 20.34 mode
20.33 Scan timer
scan timer
permanently
enabled
Ref. OK
G
Starting
position By 19.31
of the increment
scan timer Synchronisation/ 0 Control
Scan timer
incrementing 1
19.04
18.35
H
2
A Positioning
0 0
Location selection 0 3 B
20.17 4
C
0 1 2
Drive (HD15)
I
Position 1 5 Synchronisation
Synchro- Location 1 1 75.66 of the master
2 6
nisation Location 2
Master Location 3 3 Position 7
encoder 4 75.67 of the master
User (e.g. in customer 8
CTSYNC) units
J
9
Rotary system movement
Shortest
K
Absolute in the revolution
1 direction of rotation
The step is defined
by an index number
L
Pin indexing
M
Parameters
19.39 OFF (0) or On (1) -

20.33 1 to 32 1
75.66 - 75.67 ± 31 bits -
MisEnServPosLED
H en e 09/07 27/114
UNIDRIVE SP
Commissioning
B • Positioning
Position
common
settings
Position setting Setting of the passage
19.18
C
in zones 1 to 3
Position Absolute/ Maximum Acceleration Deceleration Auto scan
No. Value relative speed ramp ramp timer stop time Zone 1 Zone 2 Zone 3
19.11 19.12 19.13 19.14 19.15 19.16 19.17 Terminal 1 18.13 18.17 18.21
D
Terminal 2 18.14 18.18 18.22
Direction 18.15 18.19 18.23
Selected Absolute/ Acceleration Deceleration Auto scan
E
position Value relative Speed ramp ramp timer stop time Speed 18.16 18.20 18.24
B 18.05 18.06 18.07 18.08 18.09 18.10 18.11

18.12 Zone management in
relative mode
F Ref. OK
Shift
19.31 take-up
G
19.37
0
Origin 0
shift +
+
19.29
1
H
1
B1
I
J
K Parameters
18.06 -32768 to 32767 (customer unit) -
L 18.05
18.07
18.08
18.09 and 18.10
0 to 32
0 or 1
-32768 to 32767 min-1
-
-
-
-
0 to 32767 1/100 s for 1000 min-1
18.11 0 to 32767 ms -
M 18.12 - 19.13 - 19.18

18.13 - 18.14 - 18.17 - 18.18
18.21 - 18.22 - 19.10 - 19.12
0 or 1
-32768 to 32767 (customer unit)

0
0
19.29
18.15 - 18.19 - 18.23 0 to 3 3
18.16 - 18.20 - 18.24 1 to 32767 min-1 0
19.11 1 to 32 1
19.14 1 to (1.06 x 0.9) min-1 1350 min-1
19.17 0 to 32767 ms 0
MisEnServPosLED
H en e 09/07 28/114
UNIDRIVE SP
Commissioning
• Positioning (continued)
B1
B
Position loop
Profile
generator
19.43
OZ1
(presence
zone 1)
19.47
O2 (position 2
status) C
OZ2 O3 (position 3
19.44 (presence 19.48 status)
Positioning
mode
20.34
5à 9
Actual
position
of the
mobile
18.02
19.45
zone 2)
OZ3
(presence 19.49
O4 (position 4
status)
D
zone 3)
0 to 4
Rotary system
scaling
Relative
position
of the
mobile
19.10
19.46
O1 (état
position 1) 19.50
O5 (position 5
status)
Pursuit
error
E
Position 19.03
PID gains
20.40 Movement for error Pursuit in points
F
1 revolution Actual error
position + 20.10 P
of the 20.30 -
x mobile 18.03 20.11 I 18.01 x D
(high 20.12 D
accuracy)
G
Oval
Positioning window position
20.27 reached
Scaling
19.33
20.23 Numerator Automatic scaling
Encoder
selection
20.26 Denominator 18.31
H
18.36
Location 0 1
I
0 1 selection Source
Machine 6.04 = 4 8.22 1
Motor Machine 20.16
encoder encoder encoder Machine encoder scaling
0
1 Drive (HD15)
Location 1 19.25 Driving ratio
Menu 3 2
Location 2 19.26 Driven ratio
Drive HD15
3 Location 3
25
Oval
J
encoder
Parameters
Variation range Factory setting K
8.22 0.00 to 21.51 19.33
18.01 - 18.02 - 18.03
L
-32768 to 32767 (customer unit) -
18.31 OFF (0) or On (1) OFF (0)
19.03 -32768 to 32767 -
19.10 -32768 to 32767 (customer unit) 0
19.25 -32768 to 32767 1
19.26
19.33 - 19.43 to 19.50
20.10
1 to 32767
OFF (0) or On (1)
0 to 32767
1
-
500
M
20.11 0 to 32767 0
20.12 0 to 32767 1000
20.23 -999999 to 9999999 65536
20.26 1 to 9999999 10
20.27 1 to 9999999 (customer unit) 10
20.30 -999999 to 9999999 -
20.40 1 to 9999999 3600
MisEnServPosLED
H en e 09/07 29/114
UNIDRIVE SP
Commissioning
B • Synchronisation
Synchronisation
20.02 Maximum speed
C C
20.03 Acceleration
20.04 Deceleration
20.05 Numerator
D 20.06 Denominator
+
E Actual
position 18.02 Profile
Position loop
of the generator
mobile
F Relative
position
of the
19.10
-
+
Synchro-
nisation
error
PID gains
20.07 P
18.27 20.08 I x D
mobile
G
20.09 D
Actual Synchro-
position nisation
of the 20.30 window
mobile 19.30
(high
accuracy)
H 19.39 Synchronisation OK
I Encoder
selection
18.36
0 1
Location
selection
0 1
20.16 Machine 1
J Motor
encoder
Menu 3
Machine
encoder 0
1
2
encoder
Drive (HD15)
Location 1
Machine encoder scaling
19.25 Driving ratio

Location 2
19.26 Driven ratio
K
Location 3
3
Drive
HD15
connector
L
M
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H en e 09/07 30/114
UNIDRIVE SP
Commissioning
Parameters
B
18.02 - 18.27
C
-32768 to 32767 (customer unit) -
19.10 -32768 to 32767 (customer unit) -
19.25 - 20.05 - 20.06 -32768 to 32767 1
19.26 1 to 32767 1
19.30 1 to 32767 (customer unit) 10
19.39
20.02
20.03 - 20.04
OFF (0) or On (1)
1 to 32767 min-1
0 to 32767 1/100 s for 1000 min-1
-
1.06 min-1
0
D
20.07 0 to 32767 500
20.08 0 to 32767 0
20.09
20.30
0 to 32767
1000
- E
F
G
H
I
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K
L
M
MisEnServPosLED
H en e 09/07 31/114
UNIDRIVE SP
Commissioning
B • Control mode
SM-I/O Plus
module
I+ I- I0
7 8 26
C Destinations 16.25 16.26 8.23 6.04 = 4
Input Position/speed
states 18.43 18.44 18.42 regulation
D OU 19.04
Manual movement
Speed selection
E High
speed
20.21
1
18.40
1 Preset
reference 1
Low
F
speed 0 1.21
20.22 Acceleration Deceleration
20.24 20.25 0-2
Development
of the speed
reference
G D
Motor
speed Speed loop
D gain
( , )
Reference
2.01
after ramps
3.02 3.12
H
- ( )
Speed loop
gains
3.10 P
I Curent
limitation
4.07
3.11 I
J 5.06
5.07
Rated frequency
Rated current
Motor control
5.10 Cos ϕ
or
Encoder phase angle
or Commands
Stall current 5.11 Number of poles
K 5.08 On-load rated

speed
Thermal time
constant
or 5.12
5.18
Autotune
Maximum switching
frequency
6.30 Run
command
5.09 Rated voltage 11.31 Operating mode
L 31
Safety/unlocking
input
MisEnServPosLED
H en e 09/07 32/114
UNIDRIVE SP
Commissioning
Parameters
B
1.21 ± REF. MAX 0
2.01
3.02
3.10 -
± REF. MAX
± N MAX (min-1)
0 to 6.5535 (1/rads-1) -
-
-
0.0100 (1/rads-1)
C
3.11 - 0 to 655.35 (1/rad) - 1.00 (1/rad)
3.12
D
OFF (0) or On (1) 0 to 0.65535 s OFF (0) 0
4.07 0 to LIM IM1 MAX (%) 165.0% 175.0%
50.0 Hz (EUR)
5.06 0 to 3000.0 Hz 0 to 1250.0 Hz
60.0 Hz (USA)
5.07 0 to In MAX (A) Inom DRIVE (11.32)
5.08 0 to 180000 min-1 0 to 40000.00 min-1

1500 min-1 (EUR)
-1
1800 min (USA)
1450.00 min-1
1770.00 min-1
TL: 200 V
3000.00 min-1
E
5.09 0 to Uac MOT MAX (V) T: 400 V (EUR)/480 V (USA)
TM: 575 V; TH: 690 V
5.10
5.11
5.12 0 to 2
0 to 1.000
Auto (0) to 120POLE (60)
0 to 4
0 to 359.9°
0 to 6
0.850
Auto (0)
0
0
6POLE (3) F
3 (0), 4 (1), 6 (2), 8 (3), 12 (4), 16 (5) kHz
5.18 3 (0) kHz 6 (2) kHz
G
(16 kHz not available for sizes 3)
6.30 OFF (0) or On (1) OFF (0)
11.31 OPEn LP (1), CL VECt (2), SerV (3), REgEn (4) OPEn LP (1)
8.23 0.00 to 21.51 18.42
16.25 0.00 to 21.51 18.43
16.26
18.42 to 18.44
20.21
20.22
0.00 to 21.51
OFF (0) or On (1)
0 to 1.06 min-1
18.44
-
1500 min-1
H
0 to 1.06 min-1 150 min-1
I
J
K
L
M
MisEnServPosLED
H en e 09/07 33/114
UNIDRIVE SP
Commissioning
B • Origin cycle
SM-POS
module
(DIGIN 0) Origin
Origin cycle cycle
C sensor
10
sensor
27
I0
26
Ref. OK
24
Ref. OK
Source
Origin cycle 8.21
D mode 19.31
20.13
Search
direction
Destination Destination
18.33 Top 0 (encoder)
8.24 6.04 = 4 & 8.23 6.04 = 4
E Sensor
Sensor status
18.39
Sensor search
mode
release 18.34
mode Difference
F 19.38 0 I0 between
sensor
Sensor 19.36 1 and Top 0
edge 18.42
2 Internal
& manage- 18.28
Search direction 3 ment
G
18.33 Top 0 (encoder)
4
Stopped Direction
5 18.32 Reduced
speed
With current threshold
20.22
H
Current Active
Motor 20.31 threshold delay current
current threshold
status
4.02
19.07
I Current
threshold
20.32
Sensor
search
J
mode
On-the-fly
Sensor 18.34 origin
release 19.38 cycle
mode
Sensor 19.36
edge
K
L Parameters
18.39 - 18.42 - 19.31 OFF (0) or On (1) -
M 4.02
8.21
8.24
± IMAX DRIVE (A)
0.00 to 21.51
0.00 to 21.51
-
19.31
18.39
18.28 -32768 to 32767 (customer unit) -
18.32 - 18.33 - 19.38 OFF (0) or On (1) OFF (0)
18.34 - 19.36 OFF (0) or On (1) On (1)
19.07 0 to 2 -
20.22 0 to 1.06 min-1 150 min-1
20.31 0 to 9999999 ms 100 ms
20.32 0 to 9999999 mA 2000 mA
MisEnServPosLED
H en e 09/07 34/114
UNIDRIVE SP
Commissioning
• Run command management
Run/Stop
28
B
Zero
8.39 = 1
Destination
8.25
Run command
18.41
speed
10.03
C
I+
Unlocking
6.29
18.43
I-
18.44
OU
& OU
Run forward
6.30
D
Drive ready
10.01
&
E
• Brake control
Oval
position reached Brake in position
control mode
19.35
Brake
tempo
control
F
19.33 20.37
&
Run/Stop
6.30
1
0
t
t &
Brake
control
19.32
Source
16.27 21
G
& OU SM-I/O
Plus
At zero
Relay 1
22 module
H
Rated 10.03 speed
current
5.07
Brake release
Current
threshold 19.09
status
Locking
6.29
I
current threshold
+
J
75.01 % Inom Seuil &
- (OPEn LP) 1 Drive ready
( CL.VECt) 2
Magnetising I
(SErVO) 3 10.01
1
4.17 Filtre (Regen) 4
Magnetising
20.38 current return
filter
Operating
mode 11.31 K
L
Parameters
4.17
5.07
6.29 - 6.30 - 10.01 - 10.03
± IMAX DRIVE (A)
0 to IN MAX (A)
OFF (0) or On (1)

-
INOM DRIVE (A) (11.32)
-
M
19.32 - 19.33
16.27 0.00 to 21.51 19.32
18.41 to 18.44 OFF (0) or On (1) -
19.09 0 or 1 -
20.37 0 to 9999999 ms 0
20.38 0 to 9999999 ms 18 ms
75.01 0 to 100% (% of 5.07) 25%
MisEnServPosLED
H en e 09/07 35/114
UNIDRIVE SP
Commissioning
B • Conversion of a value into a percentage
Source (%) Max. value Destination
C
75.09 75.08 75.10
0.00 0.00
Conversion
7.01 0.00
C1 C1 x 75.08 C2
D
C2 =
100
75.99 75.99
E
F
G
H
I
J
K
L
M
Parameters
75.08 0 to 31 bits 1350
MisEnServPosLED
H en e 09/07 36/114
UNIDRIVE SP
Commissioning
• Trip management
Final reference Trip enabling
B
20.15
3.01 +
Speed return
3.02
0 -
+
&
1
0
bit 0
Back
driving
trip
C
0 - t080
D
Trip enabling
20.15
Speed error
bit 1
3.03 + 1
Speed Speed gap
error 20.35 - trip
threshold
0 t081
Trip enabling
E
20.15
Pursuit error
18.01
Pursuit
error
threshold
20.36
+
-
1
0
bit 2
Pursuit error
trip
t082
F
Software stop A
19.27
Actual position
of the mobile
-
+ Threshold
status
19.05
Software stop
validation
19.34
Trip enabling
20.15 G
18.02 1 bit 3
OU
H
1
+ Software stop
Software stop B
0 trip
19.28 -
0 t083
End stop Trip enabling
sensor A input
20.15
18.37
End stop
End stop
sensors
status
19.06
OU
1
bit 4
End stop
I
sensor B input trip
0 t084
J
18.38
Ref OK Trip enabling

Direction 20.15
Motor current of rotation Current 19.31
threshold status
4.02
Current
threshold 20.32
+
-
19.07
0
1
1
bit 5
Current
threshold trip
K
0 t085

L
Parameters
3.01 - 3.02 - 3.03

4.02
18.01 - 18.02
18.37 - 18.38
±1000.0 Hz ±N MAX
± IMAX DRIVE (A)
-32768 to 32767
OFF (0) or On (1)
-
-
-
OFF (0)
M
19.05 - 19.06 - 19.07 0 to 2 -
19.27 -32768 to 32767 (customer unit) 32767
19.28 -32768 to 32767 (customer unit) -32767
20.32 -999999 to 9999999 mA 2000 mA
20.35 0 to 9999999 min-1 500 min-1
20.36 0 to 9999999 (customer unit) 200
MisEnServPosLED
H en e 09/07 37/114
UNIDRIVE SP
Commissioning
B • Trip management (continued)

Machine encoder reduction ratio
Driving 19.25
ratio
Threshold for Machine encoder
C position difference selection Trip enabling

Driven 19.26 between encoders 20.15
ratio 18.36
20.39
Machine + 1
encoder position + bit 6
- 1
Motor Position
D
- 0 difference trip
encoder position
0 t086
Synchronisation Trip enabling
location selection Scan timer incrementing/
synchronisation 20.15
CTSYNC enable 20.17 Positioning
18.35
E 2
17.06 = 26 mode
20.34
0 to 3
5 to 9
0
0
bit 7
CTSYNC
trip
t087
No CTSYNC
SM-POS 3 master 4 1
F module communication
&
4 1
5 4
0 to 3 Operating Trip enabling
Rated mode 20.15
current Brake release
11.31
G
current level 0
Magnetising current 5.07 3-4 bit 8 "Magnetising
75.01 % Inom +
current"
Reset trip
4.17 - t088
Run command Timer 1
(5 sec) 1-2 Trip enabling
18.41
H U
Phase
0
20.15
bit 9
"Motor phase
missing"
trip
V t089
test
W 1
I
Trip enabling
Positioning 20.15
mode Position value
Maximum 20.34 Maximum being
position modified bit 10
position 0
Linear scaling 32767 permitted in "Position
+
J
( 20.23 & 20.26 ) 0 reference reference"
trip
Maximum 1-4 - Position value
75.07 being OU t070
position + 1
calculation modified
Rotary scaling Software
5-9 limit stop 19.27 -
( 20.23 , 20.26 & 20.40 ) Maximum A Software
K
position limit stops
calculation Software
limit stop 19.28
B

Parameters
L 4.17
5.07
18.41
± IMAX DRIVE (A)
0 to IN MAX (A)
OFF (0) or On (1)
-
INOM DRIVE (A) (11.32)
-
19.25 -32768 to 32767 1
M 19.26
19.27
19.28
1 to 32767
-32768 to 32767
-32768 to 32767
1
32767
-32767
20.23 -999999 to 9999999 65536
20.26 1 to 9999999 10
20.38 0 to 9999999 ms 18 ms
20.39 0 to 9999999 (customer unit) 65536
20.40 1 to 9999999 3600
75.01 0 to 100% (% of 5.07) 30%
75.07 ± 31 bits (customer unit) -
MisEnServPosLED
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UNIDRIVE SP
Commissioning
• Trip management (continued)
Number of revolutions
performed
B
Positioning
mode Trip enabling
C
75.64
20.34 20.15
Position Maximum +
encoder permitted 0 to 4 bit 11
number of - 1 "Absolute
revolutions encoder
D
5 to 9 overflow"
trip
0
75.65 t071
E
F
G
H
I
J
K
L
M
Parameters
75.64 - 75.65 ± 31 bits -
MisEnServPosLED
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UNIDRIVE SP
Commissioning
B H5 - Explanation of positioning parameters

H5.1 - Menu 17
H5.1.1 - List of parameters
C Parameter
17.01
to Reserved
Description Type Variation range Factory setting
17.05
D 17.06
17.07
to
Configuration of the module's RS485
Reserved
L-A 0 to 255 -
17.18
E 17.19
17.20
to
Positioning module reset
Reserved
L-E OFF (0) or On (1) OFF (0)
17.48
F 17.49 Positioning program version
H5.1.2 - Explanations of parameters

LS 0 to 9999 -
17.01 to 17.05 : Reserved
G 17.06 : Positioning module RS485 configuration

1: ANSI slave
25: CTSYNC master
H
26: CTSYNC slave
Note: Automatic setting of 17.06 as CTSYNC master or
slave.
I 17.19 : Positioning module reset

OFF (0): No reset requested or reset complete
On (1): Positioning module reset
Note: Upon a change to On (1), 17.19 quickly changes back
J to OFF (0) to indicate the end of the reset.
17.49 : Positioning program version
K The program version is displayed by blinking.

Example: For version 32000610, 3200 and 610 are displayed
alternately.
L
M
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Commissioning
H5.2 - Menu 18
B
Parameter Description Type Variation range Factory setting
18.01 Pursuit error RO -32768 to 32767 (customer unit) -
18.02
18.03
18.04
Actual position of the mobile
Position error
Speed of the mobile
RO
RO
RO
-32768 to 32767 customer unit/min
-
-
-
C
18.05 Selected position RO 0 to 32 -
18.06
18.07
18.08
Selected position value
Selected position type
Selected position speed
RO
RO
RO
0 or 1
-32768 to 32767 min-1
-
-
-
D
18.09 Selected position acceleration time RO 0 to 32767 1/100 s for 1000 min -1 -
18.10
E
Selected position deceleration time RO -1 -
0 to 32767 1/100 s for 1000 min
18.11 Selected position auto scan timer stopping time RO 0 to 32767 ms -
18.12 Zone management in relative mode L-E 0 or 1 0
18.13 Terminal 1 of zone 1 R-W -32768 to 32767 (customer unit) 0
18.14
F
Terminal 2 of zone 1 R-W -32768 to 32767 (customer unit) 0
18.15 Direction of passage in zone 1 R-W 0 to 3 3
18.16 Speed in zone 1 R-W 1 to 32767 min-1 0
18.19
18.20
18.21
Direction of passage in zone 2
Speed in zone 2
Terminal 1 of zone 3
R-W
R-W
R-W
0 to 3
1 to 32767 min-1
3
0
0
G
18.23
18.24
18.25
Direction of passage in zone 3
Speed in zone 3
R-W
R-W
0 to 3
1 to 32767 min-1
3
0 H
and Not used
18.26
18.27
18.28
Synchronisation error
Difference between sensor and Top 0
RO
RO
-
-
I
18.29 Bus control word R-W -32768 to 32767 -
18.30 Status word via bus RO -32768 to 32767 -
18.31
18.32
18.33
Automatic scaling
Origin cycle movement direction
Top 0 search direction
R-W
R-W
R-W
OFF (0) or ON (1)
OFF (0) or ON (1)
OFF (0) or ON (1)
OFF (0)
OFF (0)
OFF (0)
J
18.34 Sensor search mode R-W OFF (0) or On (1) On (1)
18.35
18.36
18.37
Scan timer incrementing and synchronisation enable R-W
Machine encoder selection
End stop sensor A input
R-W
R-W
OFF (0) or On (1)
OFF (0) or On (1)
OFF (0) or On (1)
OFF (0)
OFF (0)
OFF (0)
K
18.38 End stop sensor B input R-W OFF (0) or On (1) OFF (0)
18.39
18.40
18.41
Origin cycle sensor input
Manual movement speed selection
Run command
R-W
R-W
R-A
OFF (0) or On (1)
OFF (0) or On (1)
OFF (0) or On (1)
-
OFF (0)
-
L
18.42 Input Io, origin cycle enable R-A OFF (0) or On (1) -
18.43
M
Input I+, manual movement R-A OFF (0) or On (1) -
18.44 Input I-, manual movement R-A OFF (0) or On (1) -
18.45 Input Ival, encoded position enable R-W OFF (0) or On (1) -
18.46 Input I1, position selection R-W OFF (0) or On (1) -
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Commissioning
B H5.2.2 - Explanations of parameters
18.01 : Pursuit error

18.12 : Zone management in relative mode
0: Management of zones of passage in absolute mode
with respect to the origin.
1: Management of zones of passage in relative mode with
C The position loop determines an ideal "profile" for the

movement depending on the maximum motor speed, the
acceleration time and the deceleration time. The pursuit error
reading is an expression of the difference in position between
respect to the previous requested position.
18.13 : Terminal 1 of zone 1

Zone 1 requires the mobile to pass through at reduced speed.
the actual position of the mobile 18.02 and the ideal profile. This setting fixes the position of terminal 1 of zone 1
D
(delimiting of the zone).
18.02 : Actual position of the mobile
Indicates the position of the mobile with respect to the origin. Zone 1 requires the mobile to pass through at reduced speed.
This setting fixes the position of terminal 2 of zone 1
18.03 : Position error (delimiting of the zone).
E Indicates the error in the position of the mobile compared with

the requested position, and is used to define the state of
18.15 : Direction of passage in zone 1
Detemines in which direction the mobile must travel in zone 1.
output Oval (19.33). 0: The speed is limited in zone 1 when the mobile moves
from terminal 1 (18.13) towards terminal 2 (18.14).
F 18.04 : Speed of the mobile
Indicates the linear or angular speed of the mobile during

positioning.
1:The speed is limited in zone 1 when the mobile moves from
terminal 2 (18.14) towards terminal 1(18.13).
2: The speed is limited in zone 1 when the mobile moves in
both directions.
3: Disabling of zone 1 (zone 1 at reduced speed is
G 18.05 : Selected position
Indicates the number of the position the mobile must reach,

selected by the inputs I1 to I4 or I5 according to the mode
disabled).
18.16 : Speed in zone 1

Sets the speed of the mobile when it is situated in zone 1.
enabled (direct mode, encoded mode, or scan timer mode, Note: This speed is active only if it is lower than the speed
see 20.34). set in 19.14.
H 18.06 : Selected position value 18.17 : Terminal 1 of zone 2

Indicates the value of the selected position. This setting fixes the position of terminal 1 of zone 2
I 18.07 : Selected position type
Indicates the selected position mode.

0: Absolute mode (with respect to the origin) This setting fixes the position of terminal 2 of zone 2
1: Relative mode (with respect to the previous position) (delimiting of the zone).
J 18.08 : Selected position speed
Reading of the maximum speed of the motor for reaching the

18.19 : Direction of passage in zone 2
Detemines in which direction the mobile must travel in zone 2.
selected position. terminal 1 (18.17) towards terminal 2 (18.18).
K 18.09 : Selected position acceleration time
Reading of the acceleration time for reaching the selected

both directions.
position. 3: Disabling of zone 2 (zone 2 at reduced speed is
L
disabled).
18.10 : Selected position deceleration time
Reading of the deceleration time for reaching the selected Sets the speed of the mobile when it is situated in zone 2.
position. Note: This speed is active only if it is lower than the speed
set in 19.14.
M 18.11 : Selected position auto scan timer

stopping time
In automatic scan timer mode (enabled by 20.34), reading 18.21 : Terminal 1 of zone 3
of the stopping time at the selected position before moving Zone 3 requires the mobile to pass through at reduced speed.
to the following position. This setting fixes the position of terminal 1 of zone 3
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Commissioning
18.30 : Status word via bus
Control of the drive via fieldbus. Used to obtain information

B
(delimiting of the zone). on the status of the drive via a single parameter. If necessary,
C
refer to Section I.
18.23 : Direction of passage in zone 3 Parameter
Bit N° 18.30 = Description
Detemines in which direction the mobile must travel in zone 3. activated
0: The speed is limited in zone 3 when the mobile moves Bit 0 1 10.01 Drive healthy
from terminal 1 (18.21) towards terminal 2 (18.22). Bit 1 2 10.02 Drive output activated
10.03
both directions.
3: Disabling of zone 3 (zone 3 at reduced speed is disabled).
Bit 2
Bit 3
Bit 4
Bit 5
4
8
16
32
10.04
19.31
19.33
Zero speed
Minimum speed
Ref. OK
Oval (position reached)
D
Bit 6 64 19.46 O1 (position 1 status)
Sets the speed of the mobile when it is situated in zone 3.
Note: This speed is active only if it is lower than the speed
set in 19.14.
Bit 7
Bit 8
Bit 9
128
256
512
19.47
19.48
19.49
O2 (position 2 status)
E
Bit 10 1024 19.50 O5 (position 5 status)
18.25 and 18.26 :Not used Bit 11 2048 19.43 OZ1 (presence in zone 1)
18.27 : Synchronisation error
The synchronisation error is an expression of the difference

Bit 12 4096
Bit 13 8192
Bit 14 16384
19.44
19.45
19.39
OZ2 (presence in zone 2)
Cycle complete
F
in position between the actual position of the mobile (18.02)
18.31 : Automatic scaling
and the position of the master to be synchronised.
18.28 : Difference between sensor and Top 0

This scaling allows the drive to define the ratio between the
customer unit and the rotation of the motor, when
20.34 = 0 to 4.
G
When origin cycle on sensor and Top 0 is enabled (20.13 = • Move the mobile to a known position using I+ or I-.
0), this parameter indicates the difference between the • Enable the start of the scaling procedure by entering On
encoder top 0 and the pulse from the origin cycle sensor.
18.29 : Bus control word

(1) into 18.31.
• Move the mobile to another known position using I+.
- Enter into 20.26 the value of the movement in customer
units (e.g. the value 100 to express 100 cm or 100 mm).
H
Control of the drive via fieldbus. Used to send commands to
the drive via a single parameter. If necessary, refer to Section - Enter 18.31 = OFF (0) to end the scaling procedure.
All positions will be expressed in the user unit defined by this
I.
Bit N° 18.29 =
Bit 0 1
Parameter
activated
10.33 Drive reset
Description
procedure.
18.32 : Origin cycle movement direction

I
During the origin cycle, this parameter is used to change the
Bit 1 2 18.41 Run command direction of movement of the mobile should it not be moving
Bit
Bit
Bit
2
3
4
4
8
16
18.43
18.44
18.42
I+ (manual movement)
I- (manual movement)
I0 (origin cycle enable)
in the correct direction for reaching the sensor or the fixed
limit stop.
18.33 : Top 0 search direction

J
Bit 5 32 18.45 Ival (encoded position enable)
This concerns the origin cycle on sensor and Top 0 (20.13 =
Bit 6 64 18.46 I1 (input 1, position selection) 0).
Bit 7 128 18.47 I2 (input 2, position selection)

OFF (0): The search for the encoder Top 0 is performed
in the direction opposite to that used for the search for
the origin cycle sensor.
K
Bit 8 256 18.48 I3 (input 3, position selection) On (1): The search for the encoder Top 0 is performed in
the same direction as that used for the search for the origin
Bit 9
Bit 10
512
1024
18.49
18.50
I4 (input 4, position selection)
I5 (input 5, position selection)

cycle sensor.
18.34 : Sensor search mode

This concerns the origin cycle on sensor (20.13 = 0, 1 or 5).
L
Bit 11 2048 18.40 Manual movement speed OFF (0): When the mobile passes over the origin cycle
selection sensor, the rising edge of the sensor sets the position counter
Bit 12
Note:
4096 18.35 Scan timer incrementing/
Position or synchro enable
of the mobile 18.02 to 0.
On (1): When the mobile passes over the origin cycle
sensor (rising edge), the mobile stops and then reverses
(at very reduced speed) in order to detect the falling
M
• The control word enabling depends on the value of the edge, for which the pulse will set the position counter
control word mask 20.19. 18.02 of the mobile to 0.
• Bit 12:
- Scan timer incrementing, if 20.34 = 1 to 3
- Position or synchronisation enabling, if 20.34 = 4
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UNIDRIVE SP
Commissioning
B 18.35 : Scan timer incrementing and synchro enable

In "scan timer by increment" mode (20.34 = 3), a pulse on
18.35 (via a digital input for example) inititates the change
18.41 : Run command
This parameter is controlled by the terminal 28 digital input
(or via the fieldbus), and gives the system run command.
from one position to another.
In Synchro/Position mode (20.34 = 4), 18.35 is used to 18.42 : Input Io origin cycle enable
C select:
OFF (0): Positioning mode
On (1): Synchronisation mode
(or via the fieldbus), and gives the command to carry out an
origin cycle.
If an origin cycle is carried out when stopped, it is the change
18.36 : Machine encoder selection of state of this parameter which is used for the detection (and
D This parameter selects the encoder that will be used for

positioning (independently of the speed control of the variable
speed drive).
OFF (0): The positioning encoder is mounted on the
not the origin cycle sensor).
18.43 : Input I+ manual movement
This parameter is controlled by the terminal 7 digital input (or
motor. via the fieldbus) of the SM-I/O Plus module, and gives the
On (1): The positioning encoder is not mounted on the motor,
E
command to carry out a manual movement.
but on the slow shaft of the machine (the motor encoder The movement corresponds to the motor clockwise direction.
provides the speed information). To use another encoder,
the drive must be fitted with an SM-Universal-Encoder 18.44 : Input I- manual movement
module. This parameter is controlled by the terminal 8 digital input (or
Note: This parameter is automatically set to On (1) if the drive via the fieldbus) of the SM-I/O Plus module, and gives the
F is in open loop flux vector control mode.
18.37 : End stop sensor A input

This parameter can be assigned to a digital input to which
command to carry out a manual movement.
The movement corresponds to the motor counter-clockwise
direction.
the right (or top) end stop detection sensor will be connected. 18.45 : Input Ival encoded position enable
It generates trip t084 (enabled in the factory settings by
G
20.15). (or via the fieldbus). During operation in encoded mode, this
To determine the location, activate input I- and the mobile input enables the combination of inputs I1 to I5.
must move towards end stop A.
Note: Invert the digital input to obtain an open contact on 18.46 : Input I1 position selection
end stop tripping. Input used for position selection.
H 18.38 : End stop sensor B input

This parameter can be assigned to a digital input to which
the left (or bottom) end stop detection sensor will be
via the fieldbus) of the SM-I/O Plus module.
18.47 : Input I2 position selection

connected. Input used for position selection.
It generates trip t084 (enabled in the factory settings by
I
20.15). via the fieldbus) of the SM-I/O Plus module.
To determine the location, activate I- and the mobile must
move towards end stop B. 18.48 : Input I3 position selection
Note: Invert the digital input to obtain an open contact on Input used for position selection.
end stop tripping. This parameter is controlled by the terminal 4 digital input (or
J 18.39 : Origin cycle sensor input

This parameter is activated by the terminal 27 digital input,
to which the origin cycle detection sensor is connected.
18.49 : Input I4 position selection

Input used for position selection.
18.40 : Manual movement speed selection
K
Selects the speed for movements carried out when I+ or I- is
activated. 18.50 : Input I5 position selection
OFF (0): The manual movement speed corresponds to Input used for position selection.
the speed preset in 20.22 (reduced speed). This is not assigned to a digital input in the factory settings,
ON (1): The manual movement speed corresponds to the and remains free to be assigned by the user.
speed preset in 20.21 (high speed).
L
M
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Commissioning
H5.3 - Menu 19
B
19.01 Not used
19.02
19.03
19.04
Reserved
Pursuit error in encoder lines
Position/speed/synchronisation control
RO
RO
-32768 to 32767
0 to 2
0
-
C
19.05 Software limit stops A or B threshold status RO 0 to 2 -
19.06
19.07
19.08
End stop sensors A and B status
Active current threshold status
Limit stop and threshold management status
RO
RO
RO
0 to 2
0 to 2
0 or 1
-
-
-
D
19.09 Brake control current threshold status RO 0 or 1 -
19.10
19.11
19.12
Relative position of the mobile
Setting position number
Setting position value
RO
R-W
R-W
1 to 32
1
0
-
E
19.13 Setting position type R-W 0 or 1 0
19.14
19.15
19.16
Setting position speed
Setting position acceleration ramp
Setting position deceleration ramp
R-W 1 to (1.06 x 0.9) min -1
R-W 0 to 32767 (1/100 s for 1000 min )

R-W 0 to 32767 (1/100 s for 1000 min )
-1
-1
1350 min-1
200 (1/100 s for 1000 min-1)
200 (1/100 s for 1000 min-1)
F
19.17 Setting position stopping time R-W 0 to 32767 ms 0
19.18
19.19
to
Position common settings
Not used
R-W 0 or 1 0
G
19.24
19.25
19.26
19.27
Machine encoder driving ratio
Machine encoder driven ratio
Software limit stop A
R-W
R-W
R-W
-32768 to 32767
1 to 32767
1
1
32767
H
19.28 Software limit stop B R-W -32768 to 32767 (customer unit) -32767
19.29
19.30
19.31
Origin shift
Synchronisation window
Ref OK
R-W
R-W
RO
1 to 32767 (customer unit)
OFF (0) or On (1)
0
10
-
I
19.32 Brake control RO OFF (0) or On (1) -
19.33
J
Position Oval reached RO OFF (0) or On (1) -
19.34 Software limit stops A and B enable R-W OFF (0) or On (1) On (1)
19.35 Brake in position control mode R-W OFF (0) or On (1) OFF (0)
19.36 Sensor edge R-W OFF (0) or On (1) On (1)
19.37
K
Shift take-up mode R-W OFF (0) or On (1) On (1)
19.38 Sensor release mode R-W OFF (0) or On (1) OFF (0)
19.39 Cycle complete/synchronisation OK RO OFF (0) or On (1) -
19.40 Direct/encoded mode R-W OFF (0) or On (1) OFF (0)
19.41 Parity mode selection R-W OFF (0) or On (1) OFF (0)
19.42
19.43
19.44
Maintained/rising edge command
R-W
RO
RO
OFF (0) or On (1)
OFF (0) or On (1)
OFF (0) or On (1)
OFF (0)
-
-
L
19.45 OZ3 (presence in zone 3) RO OFF (0) or On (1) -
19.46
19.47
19.48
RO
RO
RO
OFF (0) or On (1)
OFF (0) or On (1)
OFF (0) or On (1)
-
-
-
M
19.49 O4 (position 4 status) RO OFF (0) or On (1) -
19.50 O5 (position 5 status) RO OFF (0) or On (1) -
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Commissioning
B H5.3.2 - Explanation of parameters

19.01 and 19.02 :Not used
19.10 : Relative position of the mobile
Indicates the actual position of the mobile with respect to the

previous position reached.
19.03
C
: Pursuit error in encoder lines
19.11 : Setting position number
Used to check how well the mobile is following compared This parameter selects the number of the position to be set
with the reference coming from the profile generator. using parameters 19.12 to 19.16.
The position of the mobile can therefore be seen compared
with the reference over one encoder revolution, broken down 19.12 : Setting position value
D into 65536 lines.
19.04 : Position/speed/synchronisation control

After selecting the position in 19.11, enter the distance to
be travelled by the mobile between the origin and the place
where the mobile is to be positioned in absolute mode, or
between the previous position and the place where the mobile
0: Positioning control. is to be positioned in relative mode (depends on 19.13).
E 1: Manual movement or origin cycle with speed control.

19.04 remains at 1 until the origin cycle has been performed.
2: Synchronisation control enabled.
The value of the position is defined by the scaling 20.23 and
20.26.
For rotary positioning defined by an index number (20.34 =
8), configure the index number corresponding to the number
19.05 : Software limit stops A or B threshold status of steps in the movement defined in 20.40.
F Used to determine the situation of the mobile with respect to

software limit stops A (19.27) and B (19.28).
0: The mobile has not gone past software limit stop A or B.
accessed directly from menus 70 and 71.
19.13 : Setting position type

1: The mobile has gone past software limit stop A, and the After selecting the position in 19.11, enter the movement
drive goes into trip state t083 (if 19.34 and bit 3 of 20.15 mode of the mobile for reaching the required position.
G are enabled).
2: The mobile has gone past software limit stop B, and the
drive goes into trip state t083 (if 19.34 and bit 3 of 20.15
are enabled).
OFF (0): Absolute mode; the positions are referenced
On (1): Relative mode; the position is referenced with respect
19.06 : End stop sensors A and B status
H
Indicates the status of end stop sensor A (18.37) or B 19.14 : Setting position speed
(18.38) which generate trip t084. Sets the motor speed for reaching the position selected in
0: The mobile has not activated sensor (or end stop) A or B. 19.11.
1: The mobile is activating end stop A. If 19.18 = 1, the speed set in 19.14 is used for all positions.
I 2: The mobile is activating end stop B.

It is desirable for the mobile to permanently activate the end
stop when it has been passed.
19.15 : Setting position acceleration

19.07 : Active current threshold status
ramp
J Indicates the status of the active current threshold, necessary

in the origin cycle on current threshold procedure.
The current threshold is set in 20.32.
It also indicates the direction of the torque (or direction of the
Sets the acceleration ramp for reaching the position selected
in 19.11.
If 19.18 = 1, the ramp set in 19.15 is used for all positions.
mobile). accessed directly from menus 70 and 71.
K The change of state of this parameter can be delayed (setting

via 20.31).
0: The current limit has not been reached.
1: The current limit has been reached in the forward direction.
19.16 : Setting position deceleration
ramp
Sets the deceleration ramp for reaching the position selected
2: The current limit has been reached in the reverse direction. in 19.11.
If 19.18 = 1, the ramp set in 19.16 is used for all positions.
L 19.08 : Limit stop and threshold management status
When this parameter displays On (1), it indicates:

- That the mobile is current limited (see 19.07), except during
19.17 : Setting position stopping time

the origin cycle with 20.13 = 4, or Setting of the stopping time at the position before moving to
- That the mobile is activating an end stop sensor (see 19.06),
M or
- That software limit stop A or B has been reached (see 19.05).
the following position, when the scan timer is enabled (see
20.34).
19.09 : Brake control current threshold status
Indicates the status of the threshold controlling the

magnetising current of the motor for releasing the brake.
The level of the threshold is determined from the motor
current on the plate (05.07).
When a servo motor is used, the threshold is disabled and
19.09 indicates 1 as a matter of course.
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Commissioning
19.18 : Position common settings
0: The settings for the speed and the acceleration and
deceleration ramps are independent for each position.
19.31 : Ref. OK
OFF (0): The origin cycle procedure has not been performed.
B
1: The settings for the speed and the acceleration Start the procedure again.
and deceleration ramps are identical for all positions.
Example: When 19.18 = 1, configure the speed and ramps
for position P1 (see 19.11 and 19.14 to 19.16) and these
values will be used for all the other positions.
On (1): The origin cycle procedure has taken place correctly.
The system origin is known.
19.32 : Brake control

C
19.19 to 19.24 : Not used
D
This parameter is assigned to relay 1 of the SM-I/O Plus
module (terminals 21 and 22).
19.25 : Machine encoder driving ratio The change of state is timed (on-delay and off-delay) by
20.37.
19.26 : Machine encoder driven ratio 19.32 indicates the status of the brake control logic.
These 2 parameters define the ratio between the speed of
the machine encoder and the speed of the motor encoder.
The reduction ratio thus calculated automatically adjusts the
speed reference coming from the position loop in order to
19.33 : Position Oval reached
OFF (0): The mobile has not reached the requested position.
E
avoid instabilities. On (1): The mobile is in position (the position error is less than
Values to be set: the level set by 20.27).
- 19.25: Enter the speed of the motor encoder (or gearbox
input speed).
- 19.26: Enter the speed of the machine encoder (or gearbox
output speed).
19.34 : Software limit stops A and B enable
When this parameter is at On (1), software limit stops A
(19.27) and B (19.28) are enabled.
F
For this ratio to be active, 18.36 must be = On (1). Note: In rotary mode (20.34 > 4), 19.34 is at OFF (0).
Example: For a gearbox of 1/50, 50 min-1 driving is necessary
for 1 min-1 driven.
19.25 will therefore be set to 50 and 19.26 will be set to 1.
19.35 : Brake in position control mode
When this parameter is at On (1), the output Oval "position
reached" must be enabled in order to control releasing of the
G
19.27 : Software limit stop A brake.
19.28 : Software limit stop B
These are internal safety mechanisms acting as "virtual end
stops". On a defined path, the limit A position will be set in
19.36 : Sensor edge
This relates to the origin cycle sensor.
OFF (0): It is the falling edge of the pulse which identifies
H
19.27 and the limit B position in 19.28, these being the the origin position.
positions the mobile can reach with respect to the origin.
I
On (1): It is the rising edge of the pulse which identifies
When the mobile reaches and goes past this limit stop, the the origin position.
drive goes into t083 trip state (if this is enabled by bit 3 of
20.15). 19.37 : Shift take-up mode
During the origin cycle 18.42 = On (1), software limit stops OFF (0): The mobile does not take up the origin shift (19.29)
A and B are disabled. during the origin cycle.
• The software limit stops do not remove the need
for the "end stop" mechanical limit stops of the
installation, which must act directly on the mechanical
brake mounted on the motor or on the machine.
On (1): The mobile takes up the origin shift (19.29)
during the origin cycle. J
19.38 : Sensor release mode
19.29 : Origin shift
Used to obtain an origin different from the origin cycle sensor,
which avoids mechanical repositioning of the sensor for
example.
The origin cycle sensor must not be activated before enabling
by the input Io (18.42). For this reason, an automatic release
of the mobile is provided.
OFF (0): The mobile sets off in order to release itself and
K
The shift is taken into account as a matter of course when then returns to detect the sensor.
the origin cycle is OK (19.31 = On (1)).
Taking up the shift is also enabled during the origin cycle
when 19.37 = On (1).
On (1): The mobile sets off directly to search for the sensor.
19.39 : Cycle complete/synchronisation OK L

19.30 : Synchronisation window
• If 20.34 = 4 (pos/synchro mode), then:
This parameter sets the trip threshold of the synchro OK
OFF (0): The synchronisation error 18.27 is not situated in
output (19.39) with respect to the measured error in 18.27.
When the error is less than the level set by 19.30, 19.39
goes to On (1).
the window set in 19.30.
On (1): The synchronisation error 18.27 is situated in the
window set in 19.30.
M
• If 20.34 = 1 to 3 (scan timer mode), then:
OFF (0): Position selection by the scan timer is not complete.
On (1): Position selection by the scan timer is complete.
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B 19.40 : Direct/encoded mode

OFF (0): Direct mode is selected; 6 positions are possible
(positions 1 to 6).
19.49 : O4 (Position 4 status)
In direct mode 19.40 = OFF (0), this parameter indicates

On (1): Encoded mode is selected; up to 32 positions are that the mobile has reached position 4 requested by I4.
possible, depending on the parity 19.41. In encoded mode 19.40 = On (1), the states of O1 to O5
C 19.41 : Parity mode selection
This parameter is used to enable encoded mode with parity.
(19.46 to 19.50) give the position reached (the position
error is less than the level set by 20.27).
OFF (0): Parity mode is not enabled; digital inputs I1 to 19.50 : O5 (Position 5 status)
D
I5 are used to obtain 32 positions.
On (1): Parity mode is enabled. The input used as "parity" In direct mode 19.40 = OFF (0), this parameter indicates
(I5) must be enabled when the number of position request that the mobile has reached position 5 requested by I5.
inputs enabled is even. In this way the drive can check that In encoded mode 19.40 = On (1), the states of O1 to O5
the position request commands are consistent with the state (19.46 to 19.50) give the position reached (the position
of the parity bit. 16 positions can therefore be managed. error is less than the level set by 20.27).
E 19.42 : Maintained/rising edge command

OFF (0): The inputs must be maintained for the position
selection to be enabled.
On (1): The position is enabled on the rising edge of the
F inputs.
(Used only in direct mode 19.40 = OFF (0)).
19.43 : OZ1 (presence in zone 1)
G Changes to On (1) when the mobile is in deceleration zone

1 (between terminals 18.13 and 18.14).
H Changes to On (1) when the mobile is in deceleration zone

I
Changes to On (1) when the mobile is in deceleration zone
J that the mobile has reached position 1 requested by I1.

In encoded mode 19.40 = On (1), the states of O1 to O5
K 19.47 : O2 (Position 2 status)

that the mobile has reached position 2 requested by I2.
L error is less than the level set by 20.27).
M that the mobile has reached position 3 requested by I3.

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H5.4 - Menu 20
B
20.01 Return to factory settings and copying of positioning R-W -32768 to 32767 0
20.02
20.03
parameters
Synchronisation maximum speed
Acceleration in synchronisation
R-W 1 to 32767 min -1
R-W 0 to 32767 (1/100 s for 1000 min-1)

1.06
0
C
20.04 Deceleration in synchronisation R-W 0 to 32767 (1/100 s for 1000 min-1) 0
20.05
D
Numerator of the kinematic ratio in synchronisation R-W -32768 to 32767 1
20.06 Denominator of the kinematic ratio in synchronisation R-W -32768 to 32767 1
Position loop proportional gain during
20.07 R-W 0 to 32767 500
synchronisation
20.08 Position loop integral gain during synchronisation R-W 0 to 32767 0
20.09
E
Position loop differential gain during synchronisation R-W 0 to 32767 1000
20.10 Position loop proportional gain R-W 0 to 32767 500
20.11 Position loop integral gain R-W 0 to 32767 0
20.12 Position loop differential gain R-W 0 to 32767 1000
20.13 Origin cycle mode R-W 0 to 5 1
20.14
20.15
20.16
Not used
Trip enabling
Machine encoder location
R-W
R-W
R-A
-32768 to 32767
0 to 32767
0 to 3
0
4095
-
F
20.17 Synchronisation encoder location (master encoder) R-A 0 to 4 -
20.18
20.19
20.20
Additional function enabling
Bus control word mask
Not used
R-W
R-W
R-W
0 to 1111
0 to 32767
-32767 to 32767
0
0
0
G
20.21 High speed reference in manual movement R-W 0 to 1.06 min -1
1500 min-1
20.22
20.23
20.24
Reduced speed reference in manual movement
Scaling numerator
Acceleration ramp in manual movement
R-W
R-W
0 to 1.06 min
-999999 to 9999999
-1
R-W 1 to 32000 (1/100 s for 1000 min-1)

150 min-1
65536
200 (1/100 s for 1000 min-1)
H
20.25 Deceleration ramp in manual movement R-W 1 to 32000 (1/100 s for 1000 min-1) 200 (1/100 s for 1000 min-1)
20.26
20.27
20.28
Scaling denominator
Positioning window
Menu 7x parameter selection
R-W
R-W
R-W
1 to 9999999
1 to 9999999
0 to 9999
10
10
0
I
20.29 Menu 7x parameter value R-A -999999 to +9999999 0
20.30
20.31
20.32
Actual position of the mobile
Current threshold delay
Current threshold reference
RO
R-W
R-W
0 to 9999999 ms
-999999 to 9999999 mA
-
100 ms
2000 mA
J
20.33 Number of positions with scan timer R-W 1 to 32 0
20.34
20.35
20.36
Positioning mode
Speed error threshold
Pursuit error threshold
R-W
R-W
R-W
0 to 9
0 to 9999999 min-1
0
500 min-1
200
K
20.37 Brake control delay R-W 0 to 9999999 ms 0
20.38
20.39
20.40
Magnetising current feedback filter
Threshold for position difference between encoders
Movement for one rotary system revolution
R-W
R-W
R-W
0 to 9999999 ms
1 to 9999999
18 ms
65536
3600
L
M
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B H5.4.2 - Explanation of parameters
20.01 : Return to factory settings and copying of

20.09 : Position loop differential gain during
synchronisation
positioning parameters the position loop during synchronisation taking speed
C
• Return to positioning factory settings transients into consideration.
This parameter intiates an automatic procedure for return to
the factory settings specific to the positioning application. 20.10 : Position loop proportional gain
To enable this return to the positioning factory settings, follow The value contained in this parameter adjusts the regulation
the procedure below: accuracy and the stability of the position loop.
D
Parameter Setting Description Enable
20.11 : Position loop integral gain
1233 European factory settings The value contained in this parameter adjusts the stability of
configuration (50 Hz)
0.00 or or the position loop on load transients.
Press the
USA factory settings Reset key
1244 configuration (60 Hz) 20.12 : Position loop differential gain
E 20.01 2047 Positioning program

initialisation
• Check that the motor is stopped and the safety
the position loop taking speed transients into consideration.
20.13 : Origin cycle mode

of the system is not called into question.
There are 6 possible origin cycle modes:
F • Copying of positioning parameters

This parameter is used to save or load the positioning menu
parameters using the SMARTCARD.
0: The origin is detected by the origin cycle sensor taking the
encoder Top 0 into consideration.
1: The origin is detected by the origin cycle sensor only.
2: The origin is detected on encoder Top 0 only.
Parameter Setting Description 3: The origin cycle is performed when stopped, on change
20.01 Saving of menus 18 to 20, 70, 71, 74 of state of input Io.
G
3333
and 75 in the SMARTCARD 4: The origin cycle is performed on a motor active current
Loading of menus 18 to 20, 70, 71, 74 threshold. When the motor current reaches the current
20.01 6666 and 75 from the SMARTCARD into the threshold laid down, the system origin cycle is initiated.
drive (Threshold set by 20.32).
5: Origin cycle on the fly with no Top 0 (during positioning):
• If 20.34 = 0 or 4 (positioning modes), immediate stop on
H 20.02 : Synchronisation maximum speed
Setting of the maximum speed during synchronisation.
20.03 : Acceleration in synchronisation

the origin on detection of the sensor
• If 20.34 = 1 to 3 (scan timer modes), immediate
incrementing of the scan timer on detection of the sensor
• If 20.34 = 5 to 9 (rotary system modes), on sensor
Setting of the speed acceleration ramp for movements in detection, new origin taken into account at the next position
I
synchronisation. request
This is the time (in 1/100 s) that the motor must take to
accelerate from 0 to 1000 min-1. 20.14 : Not used
20.04 : Deceleration in synchronisation
Setting of the speed deceleration ramp for movements in 20.15 : Trip enabling
J synchronisation.
This is the time (in 1/100 s) that the motor must take to
decelerate from 1000 min-1 to 0.
Using binary conversion, this parameter is used to enable or
disable trips t070, t071 and t080 to t089.
Example:
20.15 = 4095: All trips are enabled.
20.05 : Numerator of the kinematic ratio in 20.15 bit 11 bit 10 bit 9 bit 8 bit 7 bit 6
synchronisation
K
Trips t071 t070 t089 t088 t087 t086
Used to set the product of the driving gears.
Values 2048 1024 512 256 128 64
20.06 : Denominator of the kinematic ratio in
synchronisation 20.15 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0
Used to set the product of the driven gears. Trips t085 t084 t083 t082 t081 t080
L 20.07 : Position loop proportional gain

during synchronisation
The value contained in this parameter adjusts the regulation
Values 32 16 8
20.16 : Machine encoder location

4 2 1
accuracy and the stability of the position loop during The factory setting detects a configuration and assigns
20.16 but it is possible to modify the automatic selection.
M synchronisation.
20.08 : Position loop integral gain during

synchronisation
0: Drive encoder (HD15)
1: Encoder connected to the module in location 1
The value contained in this parameter adjusts the stability of CAUTION:
the position loop during synchronisation on load transients. To enable the modification of 20.16, set
17.19 = On (1) (Reset of the SM-POS module) or power
down the drive and then power it up again.
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20.17 : Synchronisation encoder location (master
encoder)
The factory setting detects a configuration and assigns
20.20
20.21
: Not used
: High speed reference in manual

B
20.17 but it is possible to modify the automatic selection. movement
0: Drive encoder HD15
C
Sets the high speed in manual movement controlled by I+
1: Encoder connected to the module in location 1 (18.43) or I- (18.44).
3: Encoder connected to the module in location 3 20.22 : Reduced speed reference in manual
4: Via CTSYNC (or some other). movement
CAUTION: Sets the reduced speed for:
To enable the modification of 20.17, set 17.19 = On (1)
(Reset of the SM-POS module) or power down the drive
and then power it up again.
20.18 : Additional function enabling
- Manual movement controlled by I+ (18.43) or I- (18.44)
- The origin cycle controlled by Io (18.42).
20.23 : Scaling numerator
D
• If 20.34 = 0 to 4, then 20.23 is the scaling numerator
Digit 0 = 0: Even after a movement using I + or I - , • If 20.34 t 5 (rotary system mode), then 20.23 is the
E
movement in relative position mode is carried out with reduction ratio numerator (reduction ratio between the motor
respect to the last (calculated) position reached. and the rotary system).
Digit 0 = 1: After a movement using I+ or I-, movement in Note: To reverse the direction of movement into position,
relative position mode is carried out with respect to this stop. enter a negative value in the numerator 20.23.
See explanation of 20.26 for automatic scaling.
Digit 1 = 0: Movement in relative position mode is carried
out with respect to the last (calculated) position reached.
Digit 1 = 1: Movement in relative position mode is carried
out with respect to the last encoder position reached.
20.24 : Acceleration ramp in manual
movement
Setting of the acceleration ramp for manual movements using
I+ or I-.
F
Digit 2 = 0: In relative mode, having OVAL = On (1) is
essential for going to a new position. This is the time the motor must take to accelerate from 0 to
1000 min-1.
Digit 2 = 1: In relative mode, having OVAL = On (1) is not
essential for going to a new position.
Digit 3 = 0: In rotary system mode, after a movement

20.25 : Deceleration ramp in manual
movement
G
using I+ or I-, movement in relative position mode is Setting of the speed deceleration ramp for manual
carried out with respect to the last position requested. movements using I+ or I-.
Digit 3 = 1: In rotary system mode, even after a movement
using I+ or I-, movement in relative position mode is carried
out with respect to the last position requested, but the
movement is calculated without taking account of the
This is the time the motor must take to decelerate from 1000
min-1 to 0.
20.26 : Scaling denominator
H
movement carried out in manual mode I+ or I-. • If 20.34 = 0 to 4, then 20.26 is the scaling denominator
• If 20.34 t 5 (rotary system mode), then 20.26 is the
Digit 4 = 0: Enabling of synchronisation in non-rigid
mode.
Digit 4 = 1: Enabling of synchronisation in rigid mode.
reduction ratio denominator (reduction ratio - number of teeth
- between the motor and the rotary system).
For scaling the positioning (20.34 = 0 to 4) there are two
I
Example: 20.18 = 00101 corresponds to digit 0 = 1 possible methods:
and digit 2 = 1. Digit 0 corresponds to the rightmost digit of
J
the display. • Automatic scaling:
Allows users to carry out their scaling very quickly by
20.19 : Bus control word mask movement visually.
- Move the mobile to the required place using I+ or I-.
The mask is used to enable the bits of the control word - Enable the start of the scaling procedure by entering On
(18.29) and therefore to mix control via fieldbus or digital (1) into 18.31.
inputs.
Example:
20.19 = 15 = 0000 0000 0000 1111
Bit 0 = 1: Drive reset
- Move the mobile to another position using I+ or I-.
- Enter into 20.26 the value of the movement in customer
units (e.g. the value 100 to express 100 cm or 100 mm).
- Enter 18.31 = OFF (0) to end the scaling procedure.
K
Bit 1 = 1: Enabling of run command 18.41 by control word The drive then automatically calculates the scaling. 20.23
Bit 2 = 1: Enabling of I+ 18.43 by control word is not used in this procedure.
Bit 3 = 1: Enabling of I- 18.44 by control word
Bit 4 = 0: The origin cycle Io is not controlled by control word
Bit 5 = 0: The input Ival 18.45 is not controlled by control word
etc.
For certain applications, however, the scaling must be very
accurate. It is then necessary to set the exact ratios of the
dynamic characteristics by customer scaling.
L
Use the customer scaling below.
Note: Check that the destination of the digital inputs does not
M
correspond to the bit controlled by fieldbus. • Customer scaling:
Example: Allows accurate values of the dynamic characteristics to be
8.25 = 18.41 (run command) set.
Set 8.25 = 0.00; terminal 28 digital input is no longer used
to control the run command. D = Movement of the
Machine
Motor mobile for 1 slow
R slow shaft
speed shaft turn, expressed
speed
in customer unit
- Set 20.23 according to the formula: 20.23 = 65536 x R.
- Set 20.26 according to the formula: 20.26 = D.
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B 20.27 : Positioning window

This parameter sets the trip threshold of the position reached
output Oval (19.33) with respect to the measured position
20.35 : Speed error threshold
Sets the threshold that generates the "speed difference" trip
t081 (if enabled by 20.15).
error in 18.03. This parameter sets the threshold trip level in comparison
When the position error is less than the level set by 20.27, with the measured speed error in 3.03.
C the selected position has been reached and the output Oval
changes to On (1).
I18.03I < I20.27I = Position reached.
20.36 : Pursuit error threshold
Sets the threshold that generates the "pursuit error" trip t082
(if enabled by 20.15).
20.28 : Menu 7x parameter selection This parameter sets the threshold trip level in comparison
with the measured pursuit error in 18.01.
D 20.29 : Menu 7x parameter value

It is possible to display the parameters of menus 70 to 75 of
the SM-POS module by means of 2 parameters: 20.28
and 20.29.
20.37 : Brake control delay
Used to delay the brake control output 19.32 (on-delay and
off-delay).
20.28 is used to select the parameters to be displayed (e.g.
20.28 = 75.01, menu 75, parameter 01). 20.38 : Magnetising current feedback filter
E 20.29 is used to read and/or modify the value of the
parameter selected in 20.28.
This relates to the current threshold for the brake control.
The current reference calculated from 5.07 x 0.3 is
compared with the magnetising current 4.17 which is filtered.
20.30 : Actual position of the mobile The value of the filter, set by 20.38, allows optimisation of
the brake control.
F Indicates the position of the mobile with respect to the origin,

expressed in customer units.
Same function as 18.02 but over a larger range.
20.39 : Threshold for position difference between
encoders
Sets the threshold that generates the "position difference"
20.31 : Current threshold delay trip t086 (if enabled by 20.15).
Used to delay the switching of the state of the current This parameter sets the trip level of the threshold which
G threshold 19.07, during the origin cycle phase (20.13 = 4).

20.32 : Current threshold reference
Used to set the level of the motor current threshold 4.02
compares the position error in the revolution between
machine encoder and motor encoder.
20.40 : Movement for one rotary system revolution
which will initiate the origin cycle (20.13 = 4) or the "current Parameter valid in rotary system mode 20.34 = 5 to 9.
threshold" trip t085 if Ref OK is enabled (19.31 = On (1)).
H
It is used to define the movement of the mobile, for one
revolution of the rotary system.
20.33 : Number of positions with scan timer Example:
When the automatic scan timer is enabled (20.34 = 1 to 3), If 20.40 = 3600, for one revolution the rotary system will
this parameter sets the number of positions that will be give a position of 3600, which corresponds to a unit in tenths
carried out during the cycle. The starting position will be that of a degree.
I
selected by the inputs I1 to I4/I5.
20.34 : Positioning mode
0: Linear positioning (16 bits)
1: Automatic linear positioning with scan timer and end-of-
cycle stop (with no looping)
J 2: Automatic linear positioning, with scan timer permanently

enabled (with looping)
3: Automatic linear positioning with scan timer and change
of position on command (the cycle increment command must
be sent in 18.35)
4: Linear positioning (32 bits) with synchronisation in position
K on command (using 18.35)

5: Shortest rotary positioning (position counter reset to zero
each revolution)
6: Rotary positioning with origin in the revolution (position
counter reset to zero each revolution)
7: Rotary positioning with a single direction of rotation
L (position counter reset to zero each revolution)

8: Rotary positioning. The movement step is defined by a
number of indexes in the revolution (position counter reset
9: Rotary positioning. Upon a position request, the mobile
starts rotating at the speed defined by that position, and then,
M upon release of the position request, it stops at the angle

defined by the position. (Pin indexing) (position counter reset
Note:
• The positioning modes 20.34 = 1 to 9 can handle values
from 0 to 32 bits according to the customer scale, such as
the zone parameters of menu 75 (see Section H5.7).
• The maximum position reference depends on the customer
scale.
• Refer to Section A4.11 for an explanation of rotary
positioning.
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H5.5 - Menus 70 and 71 (use with fieldbus)
When the user enters information for positions using 19.11 to 19.17, the corresponding parameters of menus 70 and 71 are
automatically updated with these values. However, if the level of accuracy required is greater than 16 bits or if the values are
B
sent via fieldbus or serial link, the parameters of menus 70 and 71 must be set directly.
Note: With a fieldbus, refer to the corresponding fieldbus module manual.

C
To make configuring easier, menus 70 and 71 allow all the positions and their characteristics to be defined directly.
70.00
to
70.31
Positions 1 to 32 R-W
± 31 bits (customer unit)
According to defined scale
0 D
70.32
E
0 (absolute mode)
to Type of positions 1 to 32 R-W 0
1 (relative mode)
70.63
70.64
to Speeds of positions 1 to 32 R-W 1 to (1.06 x 0.9) min-1 -
70.95
70.96
to Acceleration ramp of positions 1 to 32 R-W
0 to 32767
(1/100 s for 1000 min-1)
200 (1/100 s for 1000 min-1)
F
71.27
71.28
to
71.59
Deceleration ramp of positions 1 to 32 R-W
0 to 32767
(1/100 s for 1000 min-1)
200 (1/100 s for 1000 min-1) G
71.60
to
71.91
Stopping times of positions 1 to 32 R-W 0 to 32767 ms 0
H
H5.5.2 - Explanation of parameters
71.28 71.59 : Deceleration ramps for
70.00 to 70.31 : Positions 1 to 32
For each position, enter the distance to be travelled by the
mobile between the origin and the place where the mobile is
to
positions 1 to 32
For each position, set the deceleration ramp for reaching the
position.
I
to be positioned in absolute mode, or between the previous Note: 19.16 is identical but with configuring in 16 bits.
position and the place where the mobile is to be positioned
in relative mode (depends on 70.32 to 70.63).
The value of the position is defined by 20.23 and 20.26.
Note: 19.12 is identical but with configuring in 16 bits.
71.60 to 71.91 : Stopping times for positions
1 to 32
J
For each position, set the time for stopping at the position
70.32 to 70.63 : Types of positions 1 to 32
For each position, enter the movement mode of the mobile
for reaching the required position.
OFF (0): Absolute mode; the positions are referenced
before moving to the following position, when the scan timer
is enabled (see 20.34).
Note: 19.17 is identical but with configuring in 16 bits. K
On (1): Relative mode; the position is referenced with respect
Note: 19.13 is identical but with configuring in 16 bits. L
70.64 to 70.95 : Speeds of positions 1 to 32
For each position, set the motor speed for reaching the
position.
70.96 to 71.27 : Acceleration ramps of

M
positions 1 to 32
For each position, set the acceleration ramp for reaching the
position.
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B H5.6 - Menus 72 and 73

72.00
C to
72.98
72.99
Not used
Reading of encoder position in lines RO ± 31 bits -

73.00
D to
73.98
73.99
Not used
Writing of master encoder position (synchronisation via bus) R-W ± 31 bits 0
E
72.00 to 72.98 : Not used
72.99 : Reading of encoder position in lines
F This parameter can be used via fieldbus (CTNet, Ethernet,

SERCOS, etc.) to determine the actual position of the
encoder in lines.
G 73.00
73.99
to 73.98 : Not used
: Writing of master encoder position

(synchronisation via bus)
This parameter can be used to send the position of the master
H encoder to be synchronised by fieldbus (CTNet, Ethernet,

etc.).
Note: The use of this parameter is not recommended with
certain fieldbuses (slowness of the communication).
I
J
K
L
M
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Commissioning
H5.7 - Menu 75
B
75.00 Additional origin cycle functions R-W ± 31 bits 54
75.01
75.02
75.03
Current threshold at brake release (as a %)
Not used
Destination of input DIGIN1 (SM-POS module)
R-W 0 to 100% (% of motor current 5.07)
R-W 0 to 9999
25%
0
C
75.04 Source of output DIGIOUT0 (SM-POS module) R-W 0 to 9999 0
75.05
75.06
75.07
Source of output DIGIOUT1 (SM-POS module)
Number of rotations (rotary system)
Maximum permitted position
R-W
RO
RO
0 to 9999
± 31 bits
± 31 bits (customer unit)
0
0
-
D
75.08 Value conversion maximum output value as a R-W 0 to 31 bits 1350
E
percentage
75.09 Value conversion source as a percentage R-W 0 to 7599 701
75.10 Value conversion destination as a percentage R-W 0 to 7599 0
75.11
to Not used
75.49
75.50
terminal 1 of zone 1 with configuring in more than 16
bits
R-W
± 31 bits
(according to defined scale)
0
F
terminal 2 of zone 1 with configuring in more than 16 ± 31 bits
75.51 bits R-W (according to defined scale) 0
75.52
75.53
bits
bits
R-W
R-W
± 31 bits
(according to defined
± 31 bits
scale)
scale)
0
0
G
terminal 1 of zone 3 with configuring in more than 16 ± 31 bits
75.54 R-W 0
H
bits (according to defined scale)
75.55 terminal 2 of zone 3 with configuring in more than 16 R-W ± 31 bits 0
bits (according to defined scale)
Software limit stop A with configuring in more than ± 31 bits
75.56 R-W 0
16 bits (according to defined scale)
Software limit stop B with configuring in more than ± 31 bits
75.57 R-W 0
75.58
75.59
16 bits
Origin shift with configuring in more than 16 bits
Not used
R-W
R-W
± 31 bits
± 31 bits
scale)
scale)
scale)
0
0
I
± 31 bits
75.60 Actual absolute position of the mobile (in 32 bits) RO -
J
75.61 Actual relative position of the mobile (in 32 bits) RO ± 31 bits -
75.62 Configuring in 32 bits of the kinematic ratio numerator R-W ± 31 bits 1
in synchronisation (according to defined scale)
Configuring in 32 bits of the kinematic ratio ± 31 bits
75.63 R-W 1
K
denominator in synchronisation (according to defined scale)
75.64 Number of revolutions performed RO ± 31 bits -
75.65 Maximum permitted number of revolutions RO ± 31 bits -
75.66 Position of the master in synchronisation (customer unit) RO ± 31 bits -
75.67 Position of the master in synchronisation RO ± 31 bits -
75.68 Speed of the mobile in 32 bits

RO ± 31 bits -
Bit 4 = 1: Enabling of management of the trip on sensor limit
stop during origin cycle
L
Bit 5 = 1: Enabling of management of the trip on mechanical
M
75.00 : Additional origin cycle functions limit stop during origin cycle
Note: In factory settings, 75.00 = 54, which corresponds to
Used to modify the management of software or mechanical the enabling of bits 1, 2, 4 and 5.
limit stops, and end stop sensors.
Bit 0 = 1: Enabling of reverse of direction on software limit
stop 75.01 : Current threshold at brake release (as a %)
Bit 1 = 1: Enabling of reverse of direction on end stop sensor Factory setting at 25% of I nominal.
limit stop Used to set the current threshold at which the brake will be
Bit 2 = 1: Enabling of reverse of direction on mechanical limit controlled. This current level must ensure sufficient torque at
stop the time the brake is released. It is a percentage of 5.07.
Bit 3 = 1: Enabling of management of the trip on software Note: Parameter not active in servo mode.
limit stop during origin cycle
75.02 : Not used
MisEnServPosLED
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UNIDRIVE SP
Commissioning
B 75.03 : Destination of input DIGIN1 (SM-POS)

This parameter is used to select the destination of the
75.53 : Terminal 2 of zone 2 with configuring
in more than 16 bits
terminal 11 input of the SM-POS module. This setting fixes the position of terminal 2 of zone 2
C 75.04 : Source of output DIGIOUT0 (SM-POS)

This parameter is used to select the source of the terminal
12 output of the SM-POS module.
75.54 :Terminal 1 of zone 3 with configuring

75.05 : Source of output DIGIOUT1 (SM-POS) in more than 16 bits
D This parameter is used to select the source of the terminal

13 output of the SM-POS module.
75.06 : Number of rotations (rotary system) Note: 18.21 is identical but with configuring in 16 bits.
E Number of rotations since the origin cycle with Io.
75.07 : Maximum permitted position

Maximum position reference calculated by the drive Note: 18.22 is identical but with configuring in 16 bits.
F according to the scaling.
75.08 : Value conversion maximum output value as a

75.56 : Software limit stop A with configuring in more
than 16 bits
percentage
Used to set the maximum value at the output when the value 75.57 : Software limit stop B with configuring in more
G of the source 75.09 is 100%. This output value can be a

position, a speed, etc.
75.09 : Value conversion source as a percentage

than 16 bits
These are internal safety mechanisms acting as "virtual end
stops". On a defined path, the limit A position will be set in
75.56 and the limit B position in 75.57, these being the
Used to select the parameter expressed as a percentage, to positions the mobile can reach with respect to the origin.
H be converted into a position or speed value for example.
75.10 : Value conversion destination as a

percentage
When the mobile reaches and goes past this limit stop, the drive
goes into t083 trip state (if this is enabled by bit 3 of 20.15).
During the origin cycle 18.42 = On (1), software limit stops
A and B are disabled.
Used to define the parameter to which the conversion output • The software limit stops do not remove the need
I will be addressed, for example a position or a speed.
75.11 to 75.49 :Not used

for the "end stop" mechanical limit stops of the
installation, which must act directly on the mechanical
brake mounted on the motor or on the machine.
Note: 19.27 and 19.28 are identical but with configuring in
75.50 : Terminal 1 of zone 1 with configuring 16 bits.
J
Zone 1 requires the mobile to pass through at reduced speed. 75.58 : Origin shift with configuring in more than
This setting fixes the position of terminal 1 of zone 1 16 bits
(delimiting of the zone). Used to obtain an origin different from the origin cycle sensor,
Note: 18.13 is identical but with configuring in 16 bits. which avoids mechanical repositioning of the sensor for
K
example.
75.51 : Terminal 2 of zone 1 with configuring The shift is taken into account as a matter of course when
in more than 16 bits the origin cycle is OK (19.31 = On (1)).
Zone 1 requires the mobile to pass through at reduced speed. Taking up the shift is also enabled during the origin cycle
This setting fixes the position of terminal 2 of zone 1 when 19.37 = On (1).
L (delimiting of the zone).


75.59 : Not used

75.60 : Actual absolute position of the mobile (in 32
M Zone 2 requires the mobile to pass through at reduced speed.

bits)
Actual position of the mobile with respect to the origin.
Same information as 20.30 (in 20 bits) and 18.02 (in 16
bits).
75.61 : Actual relative position of the mobile (in 32

bits)
Actual position of the mobile with respect to the last stopping
position.
Same information as 19.10 (in 16 bits).
MisEnServPosLED
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UNIDRIVE SP
Commissioning
75.62 : Configuring in 32 bits of the kinematic

ratio numerator in synchronisation
B
Used to set the product of the driving gears.
75.63 : Configuring in 32 bits of the kinematic

ratio denominator in synchronisation
C
Used to set the product of the driven gears.
75.64 : Number of revolutions performed
Used to display the number of revolutions performed by the

D
position encoder.
75.65 : Maximum permitted number of revolutions E

Used to display the maximum permitted number of
F
revolutions by the position encoder, for retaining an absolute
position.
When the number of revolutions exceeds this value, the drive
goes into trip state t071.
75.66 : Position of the master in synchronisation

(customer unit)
Indicates the position of the master to which it is necessary
to synchronise, expressed in customer units.
G
75.67
H
: Position of the master in synchronisation
Indicates the position of the master to which it is necessary

to synchronise, expressed in encoder lines.
75.68
I
: Speed of the mobile in 32 bits
Indicates the linear or angular speed of the mobile during

positioning.
J
K
L
M
MisEnServPosLED
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UNIDRIVE SP
Commissioning
B Notes
C
D
E
F
G
H
I
J
K
L
M
MisEnServPosLED
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UNIDRIVE SP
Commissioning
H6 - Basic menu diagrams B
The basic menu diagrams in this section have been included in this manual to make commissioning of the drive easier.
The diagrams specific to the Positioning application are included in Section H4, and should be sufficient in the majority of cases.
However, the user may need to refer to the basic drive diagrams for modifying certain parameters of menus 1 to 22.
CAUTION:
C
These basic drive diagrams do not take into account the internal settings generated by the SM-POS module program.
D
E
F
G
H
I
J
K
L
M
MisEnServPosLED
H en e 09/07 59/114
UNIDRIVE SP
Commissioning
B H6.1 - Menu 1: Frequency or speed reference (selections - limitations - or filters)

7 6 5 28
C Menu 7
Analogue Preset
Menu 8
Analogue Run
1.37 reference reference 1.45 1.46 1.47 Preset
reference by Precision
2 selection selection reference keyboard reference
D 1.36
Analogue
reference
1
1
2
3
0
1
0
0
0
1
0
0
0
2
1.41
selection
1.42
selection
1.43
selection
1.44
Cycle 4 1 1 0
E time
1.16
5
6
7
8
0
1
0
1
0
0
1
1
1
1
1
1
1
2
3
4
0
1
0 or 1
0 or 1
0
0
1
0 or 1
0
0
0
1
0
0
0
0
RTZ Preset 5 0 or 1 0 or 1 0 or 1 1
cycle 1 reference
F
8 2 selection 0
1.48 7 3 0
1.50 Indicator of the selected
6 4 1 to 8
5
reference 1 to 5
1 9 1.49
2 Selection
1 1.14
3 reference*
Preset
G 4-5
RP1
1.21
3
4
2 reference
selection
1.15
1 to 3
Before
limitation
5 reference
Reference
H RP2 1.22 4 +
by keyboard 1.17 1.01 A
6
+
7 5
RP3 1.23 Reference
Reference Reference
8 by keyboard adjustment offset
1.51 selection
I
on powering
RP4 1.24 up Ref. x 1.38 1.09
Ref. + 0 1
1.04 Reference
RP5 1.25 100 offset
J RP6 1.26
Precision
reference
storing
0 1.18
1.19
Precision
reference
RP7 1.27 1
K
1.20
Precision
RP8 1.28 reference
validation
L Variation range Factory setting

Parameters
M 1.01
1.04
1.14
±3000.0 Hz
± REF. MAX
± 40000.0 min-1
A1.A2 (0), A1.Pr (1), A2.Pr (2), Pr (3), Pad (4), Prc (5)
-
0
A1.A2 (0)
1.16 0 to 400.0 s 10.0 s
1.17 - 1.18 - 1.36 - 1.37
± REF. MAX 0
1.21 to 1.28
1.19 0 to 0.099 Hz 0 to 0.099 min-1 0
1.38 ± 100.00% 0
1.48 OFF (0) or On (1) OFF (0)
1.51 rESEt (0), LASt (1), PrS1 (2) rESEt (0)
MisEnServPosLED
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UNIDRIVE SP
Commissioning
Menu 1 (continued)
26 27 29
B
Menu 8
C
Menu 6
Run command
Direction
Run/stop
D
1.13 1.12 of rotation 1.11
by pulses inversion command
Maximum
limit*
Minimum
limit*
E
1.06 1.07
Bipolar
mode
selection
1.10
OU
Reverse
1 2
Jumps
3
F
maximum 1.29 1.31 1.33 Jump
reference 1.06
selection
1.08 1.07
1.06
1.30 1.32 1.34 Width
G
0
1 Before Before
H
0 0
A
X(-1) 0 0 1.06 jumps ramp
0 ref. reference
1
1 0 1
1 1 1.06 1.02 1.03 Menu 2
Run by 1
pulses Synchro mode
I
1.05
resulting reference
reference 1.06
1.39
1.07 Jump area
1.35
Menu 13 indicator
1.40
Synchro mode
reference selection
J
* When motor 2 is selected (11.45 = On (1)), these parameters are no longer active and are replaced by the parameters of
menu 21.
K
L
Parameters
1.02 - 1.03
1.05 0 to 400.0 Hz
± REF. MAX
0 to 4000.0 min-1
EUR: 50 Hz
-
0
EUR: 1500.0 min-1
M
1.06 0 to 3000.0 Hz ± LIN N. MAX 3000.0 min-1
USA: 60 Hz USA: 1800.0 min-1
1.07 ±3000.0 Hz ± REF. MAX 0
1.29 - 1.31 - 1.33 0 to 3000.0 Hz 0 to 40000 min-1 0
1.30 - 1.32 - 1.34 0 to 25.0 Hz 0 to 250 min-1 0.5 Hz 5 min-1
1.35 OFF (0) or On (1) -
1.39 ± 3000.0 HZ ± 40000.0 min-1 -
MisEnServPosLED
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UNIDRIVE SP
Commissioning
B H6.2 - Menu 2: Ramps

Ramp selection (bit 0) 2.32
C
Selected
Ramp selection (bit 1) 2.33 preset reference
indicator
Ramp selection (bit 2) 2.34 1.50 Menu 1

1
0 0 0
2
D
0 0 1
3
0 1 0
4
0 1 1
5
1 0 0
6
1 0 1
7
1 1 0
8
E Acc. 1* 2.11
1 1 1
1
0
9
Acceleration ramp
selection
2.10
Acc. 2 2.12
2
F Acc. 3 2.13
3
4
Acc. run Menu 1
Acc. 4 2.14 by pulses
G
5 2.19
6 1 0
Acc. 5 2.15 1.13 A
7
8
Run by pulses
selection
H
Acc. 6 2.16
Rounded
Acc. 7 2.17 ramp in S
2.07
I Acc. 8 2.18 1 0
2.06 Ramp
in S
Acceleration B
Before ramp
J Menu 1
reference
1.03
Forward run
N t
Reverse run
N C
K
L * When motor 2 is selected (11.45 = On (1)), these parameters are no longer active and are replaced by the parameters of
menu 21.
D
M
Parameters
2.07 0 to 300.0 s2/100 Hz 0 to 100.000 s2/1000 min-1 3.1 s2/100 Hz 1.500 s2/1000 min- 0.030 s2/1000 min-1
2.11 to 2.18 0 to 3200.0 s/100 Hz 0 to 3200.000 s/1000 min-1 5.0 s/100 Hz 2.000 s/1000 min-1 0.0200 s/1000 min-1
2.19 0 to 3200.0 s/100 Hz 0 to 3200.000 s/1000 min-1 0.2 s/100 Hz 0
MisEnServPosLED
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UNIDRIVE SP
Commissioning
Menu 2 (continued)
2.37 Ramp selection (bit 2)
B
Indicator of the
Menu 1
selected preset
reference
1.50
2.36
2.35
Ramp selection (bit 1)
Ramp selecton (bit 0)

C
1
0 0 0
2
D
0 0 1
3
0 1 0
4
0 1 1
5
1 0 0
6
1 0 1
7
1 1 0
8
E
9 1 1 1
Deceleration ramp
0 2.21 Dec. 1 *
selection
2.20 1
2.22 Dec. 2
2
Run
by pulses
deceleration 4
3
2.23 Dec. 3
F
2.29 2.24 Dec. 4
5
A
1 0
8
7
6
2.25 Dec. 5
G
2.26 Dec. 6
2.27 Dec. 7
H
2.28 Dec. 8
Menu 4
Current loop (
Inertia
compensation
torque
, )
2.38
I
B Deceleration Torque adjustment ( )
After ramp
C
Forward run
N N
Reverse run
t
+
- d/dt
reference
2.01 Menu 3
J
t Ramp
2.03 integration
K
Deceleration disabling
0 1
2.04 with DC bus
adjustment
DC bus Ramp validation
2.08 adjustment 2.02 ( and )
threshold 1 0
D

L
Parameters
2.01
2.04
FASt (0), Std (1),
Std.hV (2)
± REF. MAX
FASt (0), Std (1)

-
Std (1)
M
TL: 375 V
T: EUR = 750 V / USA = 775 V
2.08 0 to MAX Ucc THRESHOLD (V)
TM: 895 V
TH: 1075 V
2.21 to 2.28 0 to 3200.0 s/100 Hz 0 to 3200.000 s/1000 min-1 10.0 s/100 Hz 2.000 s/1000 min-1 0.0200 s/1000 min-1
2.29 0 to 3200.0 s/100 Hz 0 to 3200.000 s/1000 min-1 0.2 s/100 Hz 0
2.38 - ± 1000.0% -
MisEnServPosLED
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UNIDRIVE SP
Commissioning
B H6.3 - Menu 3: Encoder input and speed loop in open loop

Revolution counter Position Fine position
3.28 3.29 3.30 Return to
C
Encoder
position maximum Encoder
disabling reference reference
3.50 destination
1 0 1 0 1 0 3.43
3.46
Encoder characteristics Encoder Encoder
D
speed Encoder reference 0.00
3.31 Top 0 position Reset feedback reference scaling
3.32 Top 0 Register
0.00
Revolution counter resolution / 3.27 3.45 3.44
3.33 report between the serial link
and the line encoder sinus path
E HD 15 2
1
3
4
3.34 Number of increments
by turn
21.51
Frequency servo-control
selection A
Encoder 3.35 Turn resolution / line Scaling 3.13
5 encoder position resolution
F 6
13
14
3.36
3.37
3.38
Mains supply voltage
Transmission speed
Encoder type
1
2048
3.14 Numerator
3.15 Denominator
1
Final
reference
3.01
1
Adaptation of drive encoder 0
G 3.39
3.40
impedance / selection of
revolving encoder/ serial
link mode
Fault detection mode +
0
Menu 2 2.01
3.41 Auto-configuration After +
H 3.42
3.47
Filter
Return re-initialisation
position
ramp
reference Menu 5
Sliding
compensation
B
Initialised
I
3.48 position return
3.49 Motor plate

transfer
J Parameters
3.01
3.14
Variation range
± 1000.0 Hz
0 to 1.000
Factory setting
-
1.000
3.15 0.001 to 1.000 1.000
3.27 ± 40000.0 min-1 -
K 3.28
3.29
3.30
0 to 65535 revolutions
0 to 65535 (1/216 per revolution)
0 to 65535 (1/232 per revolution)
-
-
-
3.31 - 3.32 - 3.41
OFF (0) or On (1) OFF (0)
L
3.47 - 3.49
3.33 0 to 255 16
3.34 0 to 50000 1024
3.35 0 to 32 bits 0
3.36 5 V (0), 8 V (1), 15 V (2) 5 V (0)
M 3.37
3.38
100 (0), 200 (1), 300 (2), 400 (3), 500 (4), 1000 (5), 1500 (6), 2000 (7) kbaud
Ab (0), Fd (1), Fr (2), Ab.SErvo (3), Fd.SErvo (4), Fr.SErvo (5), SC (6), SC.Hiper (7), EndAt (8),
SC.EndAt (9), SSI (10), SC.SSI (11)
300 (2) kbaud
Ab (0)
3.39 0 to 2 1
3.40 0 to 3 0
3.42 0 to 5 (0 to 16 ms) 0
3.43 0 to 40000 min-1 1500 min-1
3.44 0 to 4.000 1.000
3.45 ± 100.0% -
3.48 OFF (0) or On (1) -
MisEnServPosLED
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UNIDRIVE SP
Commissioning
Menu 3 in open loop (continued)
Frequency output
adaptation
B
3.17
Frequency output
validation
F/D or
A/B output
3.18
HD 15
C
3.16 7
0 8
D
1
9
1 10
0
A 5.01
Menu 10
Overspeed fault " o.SPd "

+
- 1.06 + 20 %
E
Speed lower Zero ou
F
than the Zero frequency
low threshold frequency threshold 1.07 + 20 %
Low alarm
Before ramp
threshold 3.06 + +
reference 3.05
10.05 10.03 -
- 1.07 + 0.5Hz
1.03
Alarm condition
Reached
reference
G
selection
NOR
H
10.06
3.09
1 0
+ 1 0
- Speed higher
B 1.10
than the Frequency
high threshold < F min Polarity
selection
I
+ +
Alarm high 3.07 - 10.07 10.04 -
threshold
J
According to the encoder type, fill in at least the parameters below
Incremental encoder SinCos encoder with Hiperface link SinCos encoder with SSI link
or Sincos without serial link
3.34: ELPR (0 to 50000)
3.36: Voltage
or EndAt or EnDat encoder
3.36: Voltage
3.37: Transmission speed
or SSI encoder
3.33: Number of revolutions
3.34: ELPR
K
3.38: Type (except for an encoder with Hiperface link) (only for a SinCos encoder)
3.38: Type
3.41: Auto-configuration
3.35: Resolution
3.36: Voltage
L
3.38: Type
3.41: SSI format selection
M
Parameters Variation range Factory setting
3.05 0 to 20.0 Hz 1.0 Hz
3.06 - 3.07 0 to 3000.0 Hz 1.0 Hz
3.17 OFF (0) or On (1) On (1)
MisEnServPosLED
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UNIDRIVE SP
Commissioning
B H6.4 - Menu 3: Encoder input and speed loop in closed loop and servo mode
Revolution counter Position Fine position
and
3.28 3.29 3.30
C
Return to Encoder reference
position destination
disabling Encoder
maximum 3.46
3.50
1 0 1 0 1 0 reference Encoder
3.43 Encoder reference 0.00
Encoder characteristics reference scaling
D 3.25
3.31
3.32
Phasing out*
Top 0 position Reset
Top 0 Register
3.45 3.44
0.00
Speed feedback
Revolution counter resolution / Encoder speed 21.51
E 3.33 relation between the serial link selection*

feedback
and the line encoder sinus path 3.26
HD 15 Number of increments
3.34 (drv) 0
by turn 3.27
3.35 Turn resolution / line (Slot 1) 1 Speed
Encoder encoder position resolution feedback
(Slot 2) 2 3.02 A
F
3.36 Mains supply voltage
(Slot 3) 3
3.37 Transmission speed MENUS 15, 16,17
Speed Speed
3.38 Encoder type additional additional
Speed input
Adaptation of drive encoder feedback 15.03 input
impedance / selection of 3.22 selection
3.39 option 1
G
revolving encoder/ serial 3.23
link mode 1 0
3.40 Fault detection mode /
SSI binary format selection Run
Speed command
3.41 Auto-configuration
feedback 16.03 1 0
3.42 Filter option 2 1.11
H 3.47
3.48
Return position
re-initialisation
Initialised
Speed
feedback 17.03
After
ramp
reference
+
Final
reference
-
return to position + +
option 3
Menu 2 2.01 3.01 B
I 3.49 Motor plate

transfer
* When motor 2 is selected (11.45 = On (1)), these parameters are no longer active and are replaced by the parameters of menu 21.
Parameters
J 3.01 - 3.02
3.22
3.25 -
±N MAX
± REF. MAX
0 to 359.9° -
-
0
0
3.27 ± 40000.0 min-1 -
3.28 0 to 65535 revolutions -
K 3.29
3.30
3.31 - 3.32 - 3.41
0 to 65535 (1/216th revolution)
0 to 65535 (1/232nd revolution)
OFF (0) or On (1)
-
-
OFF (0)
3.47 - 3.49
3.33 0 to 255 16
L 3.34
3.35
3.36
0 to 50000
0 to 32 bits
5 V (0), 8 V (1), 15 V (2)
1024
0
5 V (0)
4096
100 (0), 200 (1), 300 (2), 400 (3), 500 (4), 1000 (5),
3.37 300 (2) kbaud
1500 (6), 2000 (7), 4000 (8) kbaud
M 3.38
Ab (0), Fd (1), Fr (2), Ab.SErvo (3), Fd.SErvo (4),
Fr.SErvo (5), SC (6), SC.Hiper (7), EndAt (8), SC.Endat (9),
SSi (10), SC.SSi (11)
Ab (0) Ab.SErvo (3)
3.39 0 to 2 1
3.40 0 to 7 1
3.42 0 to 5 (0 to 16 ms) 0
3.43 0 to 40000 min-1 1500 min-1 3000 min-1
3.44 0 to 4.000 1.000
3.45 ± 100.0% -
3.48 OFF (0) or On (1) -
MisEnServPosLED
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UNIDRIVE SP
Commissioning
Menu 3 in open loop and servo mode (continued)
Menu 10
+
B
Before ramp -
reference Low 3.08 Overspeed
alarm Overspeed fault " o.SPd "
Alarm
condition
selection
1.03
threshold
3.06
+
Speed lower
than the
low threshold
1.06
or
+20 % C
3.09 - 10.05
Reached Zero Zero speed
1
+
-
0
NOR
reference
10.06
speed
10.03
threshold
+ 3.05
- 1
1.07 +5 min-1
0
D
Speed higher
than the 1.10
E
high threshold
Polarity
+ + selection
A Speed
High alarm
Gain threshold 10.07 < F min 10.04 -
-
selection 3.07
3.16
Speed loop
gains
Kd1 * 3.10 Kp1 *
Speed loop gains
3.17 Gain calculation mode
F
Speed
3.12 loop
3.18 Total inertia
G
0 output
3.11 Ki1 * 3.19 Compensation angle
Kd2 1
3.15 3.20 Bandwidth 3.04 Menu 4
3.13 Kp2 3.21 Damping coefficient
B
Speed error
3.03
+
-
0
3.14 Ki2
3.24 Closed loop vector mode
H
1
According to the encoder type, fill in at least the parameters below

Incremental encoder SinCos encoder with Hiperface link SinCos encoder with SSI link
I
or Sincos without serial link or EndAt or EnDat encoder or SSI encoder
3.34: ELPR (0 to 50000) 3.36: Voltage 3.33: Number of revolutions
3.36: Voltage
3.38: Type
(except for an encoder with Hiperface link)
3.38: Type
3.34: ELPR
(only for a SinCos encoder)
3.35: Resolution
J
3.41: Auto-configuration 3.36: Voltage
3.38: Type
3.41: SSI format selection K
Parameters
3.03
3.04
3.05
± N MAX
± I ACTIVE MAX (%)
-
-
L
0 to 200 min-1 5 min-1
3.06 - 3.07 0 to 40000 min-1 5 min-1
3.08
3.10 - 3.13
3.11 - 3.14
0 to 40000 min-1
0 to 6.5535 (1/rads-1)
0 to 655.35 (1/rad)
0
0.0100 (1/rads-1)
1.00 (1/rad)
M
3.12 - 3.15 0 to 0.65535 (s) 0
3.17 0 to 3 0
3.18 0 to 100.0000 kgm2 0
3.19 0 to 359.9° 4.0 °
3.20 0 to 255 Hz 10 Hz
3.21 0 to 10.0 1.0
3.24 0 to 3 - 0 -
MisEnServPosLED
H en e 09/07 67/114
UNIDRIVE SP
Commissioning
B H6.5 - Menu 4: Current loop, torque control in open loop
Before ramp
Selection of torque
adjustment mode
reference 4.11 After ramp
Menu 2
C
reference Frequency
+ 0
Menu 1 1.03 Ramps
Motor
+ 2.01 5.01
characteristics
0 11
D
Torque offset
4.09 Offset Current loop
0 1 selection gains
4.10 P* 4.13
-
E Torque
reference +
Final torque
reference
I* 4.14 + 0 Current measure.
I total
+ Current torque 4.01

4.08 4.03 1
conversion
F Current I active
reference
+ 4.02
% active I
Menu 5 4.04 / rated activeI
-
Motor
G Rated
current
5.07
frequency
5.01
Rated
frequency
5.06
4.20
4.17 magnetising I
Priority
H
current
limitation
I rated 4.24 Scaling
Current limitations
drive
4.05 Motor * 4.18 Percentage
4.26 torque
11.32 4.06 Generator *
I 4.07 Symetrical *
Thermal time
constant *
Mode Low speed thermal
selection protection mode
4.15 4.16 4.25
J Overload detection
Brake
10.08 Rated Active current 10.09 10.39 resistor 10.17 IToverload 4.19 Overload
load limitation overload alarm integration
K
integration
L Parameters
4.01
4.02 - 4.17
Variation range
0 to IMAX DRIVE (A)
± IMAX DRIVE (A)
Factory setting
-
-
4.03 - 4.04 - 4.18 ± IACTIVE MAX (%) -
4.05 - 4.06 - 4.07
M
0 to LIM. IM1 MAX (%) 165.0%
4.08 - 4.09 ± IMAX UTIL. (%) 0
4.13 0 to 30000 20
4.14 0 to 30000 40
4.15 0 to 400.0 s 89.0 s
4.16 - 4.25 OFF (0) or On (1) OFF (0)
4.19 0 to 100.0% -
4.20 ± IMAX UTIL. (%) -
4.24 0 to IACTIVE MAX (%) 165.0%
4.26 ± IMAX UTIL. (%) -
MisEnServPosLED
H en e 09/07 68/114
UNIDRIVE SP
Commissioning
H6.6 - Menu 4: Current loop and torque control in closed loop
Filter 1 - current
loop
Filter - 2 current
loop
B
Speed Torque adjustment
feedback 3.02 mode selection 4.12 4.23
Final reference
-
Speed
loop
output
4.11
Final
Speed loop
gain
selection
3.16
0 1
Current
loop
C
+ 0 torque Current gains
D
Menu 3 3.01 3.04 reference reference
1
Current + P* 4.13
2
4.03 torque 4.04 Filter
+ 3 conversion -
4 I* 4.14
E
Zero Priority +
speed speed
level Menu 5
3.05 Rated
Priority Cos Current measure.
current
speed I active I total
level 5.07 5.10
F
Torque Winding/
reference + Unwinding 4.02 4.01
4.08 Priority
+ I rated current
drive Current limitations limitation
Offset
selection 0
4.10
1
11.32
4.05
4.06
4.07
Motor *
Generator *
Symetrical *
4.18 4.20
% active I/
rated active I
G
Torque
offset 4.09 Thermal time Mode Low speed thermal 4.17 magnetising I
H
constant * selection protection mode
4.15 4.16 4.25
4.24 Scaling
Overload detection
Rated
load
10.08
Active current
limitation
10.09
Brake resistor
overload integration
10.39
IT overload
alarm
10.17
Overload
integration
4.19
I
4.22 Inertia compensation
• When the torque command mode without speed control is validated (4.11 = 1) and on the zero resistant toque, the drive
accelerates up to the overspeed threshold 3.08 (stop). If 3.08 is at 0, the maximum speed reached will be 1.06 + 20 %.
J
• When modes 2 or 3 are selected, the drive does not take into account the stopping mode set and generates a stop
without ramp.
K
Parameters
4.01
4.02 - 4.17
Variation range
0 to IMAX DRIVE (A)
± IMAX DRIVE (A)
Factory setting
-
-
L
4.03 - 4.04 - 4.18 ± I ACTIVE MAX (%) -
M
4.05 - 4.06 - 4.07 0 to LIM. IM1 MAX (%) 175.0%
4.08 - 4.09 ± IMAX UTIL. (%) -
4.12 - 4.23 0 to 25.0 ms 0
4.13 0 to 30000 TL: 75/T: 150/TM: 180/TH: 215
4.14 0 to 30000 TL: 1000/T: 2000/TM: 2400/TH: 3000
4.15 0 to 400.0 s 89.0 s
4.16 - 4.22 - 4.25 OFF (0) or On (1) OFF (0)
4.19 0 to 100% -
4.20 ± IMAX UTIL. (%) -
4.24 ± IACTIVE MAX (%) 175.0%
MisEnServPosLED
H en e 09/07 69/114
UNIDRIVE SP
Commissioning
B H6.7 - Menu 4: Current loop, torque control in servo mode

Filter 1 - current loop Filter - 2 current loop
Speed Torque adjustment 4.12 4.23
3.02
C
feedback mode selection
4.11
Speed Speed loop Current
loop gain selection 0 1 loop
Final reference output 3.16 gains
+ Final
+ 0 torque Current
D Menu 3 3.01 3.04

2
1
3
reference
4.03
+
-
reference
4.04 Filter
+
-
P* 4.13
I* 4.14
+
Zero 4
E
speed Priority
speed +
3.05 level Current measure.
Scaling Active I
Priority
speed
level 4.24 4.02
Torque Winding/
F
reference + Unwinding Priority
4.08 current
I rated limitation
+ drive Current limitations % active I /
Offset 4.20 rated active I
selection 0 1 11.32 4.05 Motor *
G
4.18
4.10 4.06 Generator *
Torque 4.07 Symetrical *
offset 4.09 4.01 total I
Thermal time Mode Low speed thermal
constant * selection protection mode
H Rated
current 5.07 4.15 4.16 4.25
4.17 magnetising I
Overload detection
I
Rated Active current Brake resistor It overload Overload
load limitation overload integration alarm integration
10.08 10.09 10.39 10.17 4.19
4.22 Inertia compensation
J When the torque command mode without speed control is validated (4.11 = 1) and on the zero resistant toque, the drive
accelerates up to the overspeed threshold 3.08 (stop). If 3.08 is at 0, the maximum speed reached will be of 1.06 + 20 %.
• When the modes 2 or 3 are selected, the drive does not take into account the stopping mode set and generates a stop
without ramp.
K
L Parameters
4.01
4.02 - 4.17
Variation range
0 to IMAX DRIVE (A)
± IMAX DRIVE (A)
Factory setting
-
-
4.03 - 4.04 - 4.18 ± IACTIVE MAX (%) -
4.05 - 4.06 - 4.07 175.0%
M
0 to LIM. IM1 MAX (%)
4.08 - 4.09 ± IMAX UTIL. (%) -
4.12 - 4.23 0 to 25.0 ms 0
4.13 0 to 30000 TL: 75/T: 150/TM: 180/TH: 215
4.14 0 to 30000 TL: 1000/T: 2000/TM: 2400/TH: 3000
4.15 0 to 3000.0 s 20.0 s
4.16 - 4.22 - 4.25 OFF (0) or On (1) OFF (0)
4.19 0 to 100% -
4.20 ± IMAX UTIL. (%) -
4.24 ± IACTIVE MAX (%) 175.0%
MisEnServPosLED
H en e 09/07 70/114
UNIDRIVE SP
Commissioning
H6.8 - Menu 5: Open loop motor control
Frequency servo-control
selection
Voltage control
B
Control mode 5.13 Dynamic U/f
3.13 L1 L2 L3
C
Menu 3 5.14
5.15 Boost
Final 5.17 Stator

Auto-tuning resistor * Continuous bus
reference 3.01
5.12 5.23 Voltage
offset *
voltage
1
0
Motor characteristics
5.06 Rated
5.24 Transient
inductance *
Motor voltage
5.05
D
Menu 2 frequency * 5.02 Volt
E
5.07 Rated
current * 5.04 Motor
speed
After + 5.08 Rated
ramp 2.01 speed * Motor
reference 5.09 Rated frequency
+ voltage * Hertz
5.01
5.10 Motor
Sliding
compensation
validation 0 1
5.11 Number of
poles *
5.32 Fine
Absorbed power
VxIxV3
power
5.03
5.18
5.19
Maximum
cutout
frequency
High stability
modulation
F
adjustment of Current measure.
5.27 the rated Quasi-squared
5.20
G
speed active I total I modulation
Voltage
Sliding 5.31 adjustment gain
compensation 4.02 4.01
Thermal
5.33 protection
modulation
5.36 No linear motor

4.20
% active current/
rated active
current
5.35
5.37
Auto frequency
change
invalidation
Cutout
frequency
H
4.17 magnetising I
I
• For certain values of 5.12, the drive drives the revolving motor. Check that this operation U V W
is safe and that the motor is stopped before auto-tuning.
• After modification of the motor parameters, restart auto-tuning.
* When motor 2 is selected (11.45 = On (1)), these parameters are no longer active and are replaced by the parameters of menu 21. J
5.01
5.02
5.03
5.04
± REF. MAX (Hz)
0 to UAC OUT MAX (V)
± P MAX (kW)
± 180000 min-1
-
-
-
-
K
5.05 0 to UDC MAX (V) -
5.06
L
0 to 3000 Hz EUR: 50.0 Hz / USA: 60.0 Hz
5.07 0 to IN MAX (A) INOM DRIVE (11.32)
5.08 0 to 180000 min-1 EUR: 1500 min-1 / USA: 1800 min-1
5.09 0 to UAC MOT. MAX (V) TL: 200 V / T: EUR = 400 V, USA = 480 V / TM: 575 V / TH: 690 V
5.10 0 to 1.000 0.850
5.11 Auto to 120 Poles (0 to 60) Auto (0)
5.12
5.13 - 5.35 - 5.19 - 5.20
5.14
0 to 2
OFF (0) or On (1)
Ur_S (0), Ur (1), Fd (2), Ur_Auto (3), Ur_I (4), SrE (5)
0
OFF (0)
Ur_I (4)
M
5.15 0 to 25.0% of UNOM MOT. 3.0%
5.17 0 to 65.000 : 0
5.18 3 (0), 4 (1), 6 (2), 8 (3), 12 (4), 16 (5) kHz 3 (0) kHz
5.23 0 to 25.0 V 0
5.24 0 to 500.000 mH 0
5.31 0 to 30 1
5.36 0 to 655.35 mm 0
5.37 3 (0), 4 (1), 6 (2), 8 (3), 12 (4), 16 (5), 6 rEd (6), 12 rEd (7) -
MisEnServPosLED
H en e 09/07 71/114
UNIDRIVE SP
Commissioning
B H6.9 - Menu 5: Motor control in closed loop and servo mode
Motor
,
5.01 frequency
C Motor modulation
5.06 Rated
freq. *
D 5.07
5.08
5.09
Rated
Current *
Rated
speed *
Rated
Flow
angle Reference
transformation A
voltage *
Speed Voltage adjustment
Cos ϕ
E
feedback 5.10 *
Return to
position 5.11 Number Menu 4 5.21 Gain reduction B
of poles * Current
3.02 references
5.17 Stator
resistor * Current 5.13 Flow
Transient Flow control optimisation
5.24
F
inductance * amplitude
Stator 5.16 Rated speed
5.25 optimisation
induct. *
5.29 Inflexion Speed
point1 * loop 3.04
Inflexion output
G
5.30 point 2 *
Encoder phasing
3.25 out Current feedback
C
5.36 No line motor
H 5.22 High speed validation
I
J
K Parameters
5.01
Variation range
± 1250.0 Hz
Factory setting
-
5.06 0 to 1250.0 Hz - EUR: 50.0 Hz / USA: 60.0 Hz -
5.07
L
0 to IN MAX (A) INOM DRIVE (11.32)
5.08 EUR: 1450.00 min-1
0 to 40000.00 min-1 3000.00 min-1
USA: 1770.00 min-1
5.09 0 to UAC MOT. MAX (V) TL: 200 V / T: EUR = 400 V, USA = 480 V / TM: 575 V / TH: 690 V
5.10 0 to 1.000 - 0.850 -
5.11 Auto to 120POLE (0 to 60) Auto (0) 6POLE (3)
M 5.13
5.16
5.17
OFF (0) or On (1)
0 to 2
0 to 65.000 :
-
-
OFF (0)
0
0
-
-
5.21 OFF (0) or On (1) OFF (0)

5.22 - OFF (0) or On (1) - OFF (0)
5.24 0 to 500000 mH 0
5.25 0 to 5000.00 mH - 0 -
5.29 0 to 100% of rated flux - 50% -
5.30 0 to 100% of rated flux - 75% -
5.36 0 to 655.35 mm 0
MisEnServPosLED
H en e 09/07 72/114
UNIDRIVE SP
Commissioning
Menu 5 in closed loop and servo mode (continued)
L1 L2 L3
B
Continuous bus
voltage
C
5.05
A
Voltage reference
D
B
5.03
Motor
power 05.02
Motor
voltage E
Maximum
5.18 cutout frequency
5.19
5.20
High stability
modulation
Quasi-squared
modulation
F
Voltage
Absorbed power
(V x 1)
Current measure.
active I total I
5.31
5.35
adjustment
gain
Auto frequency
change
invalidation
G
H
C 4.02 4.01 Cutout
5.37 frequency
used
4.17
I
magnetising I
U V W
5.12 Auto-tuning
5.32 Motor torque by amper Kt
5.14 Validation
5.15
5.26
Boost
Cross-coupling compensation
5.32
5.33
Torque constant, Kt
Voltage constant, Ke *
J
5.28 Compensation in no flow area
• For certain values of 5.12, the drive drives the rotating moto r. Check that this operation is safe and that the motor is
stopped before the auto-tuning.
• After the modification of the motor parameters, renew the auto-tuning. K
Parameters
5.02
5.03
0 to UAC OUT MAX (V)
± P MAX (kW)
-
-
L
5.05 0 to UDC MAX (V) -
5.12
M
0 to 4 0 to 6 0
5.14 - nonE (0), PhEnl (1), PhInit (2) - nonE (0)
5.15 0 to 25.0% UNOM MOT. - 1.0 -
5.18 3 (0), 4 (1), 6 (2), 8 (3), 12 (4), 16 (5) kHz 3 (0) kHz 6 (2) kHz
5.19 - 5.20 - 5.26
OFF (0) or On (1) OFF (0)
5.35
5.28 OFF (0) or On (1) - OFF (0) -
5.31 0 to 30 1
5.32 0 to 500.00 NmA-1 - 1.60 NmA-1
5.33 - 0 to 10000 V - 98 V
5.37 3 (0), 4 (1), 6 (2), 8 (3), 12 (4), 16 (5), 6 rEd (6), 12 rEd (7) -
MisEnServPosLED
H en e 09/07 73/114
UNIDRIVE SP
Commissioning
B H6.10 - Menu 6: Management of logic commands and counters

• Management of logic commands
Validation of the keyboard keys Terminal block automatic configuration
22
Menu 8
C
Run Stop Fwd/Rev 25
Menu 1 1.49 Enabling 8.22 6.29
26
1 0 Fwd Run/Stop 8.23 6.30
Stop
6.12 key Validated
1
D
0 validation Rev Run/Stop 27
OU keyboard 8.24 6.32
reference
Fwd/Rev
1 0 6.13 key
validation 22 Menu 8
ET 1.49 =4
25
Stop 8.22 6.39
E
0
1 26
0 Fwd Run 8.23 6.30
2
LOGIC
COMMAND Control word Rev Run 27
3 8.24 6.32
MANAGEMENT 6.42
1 Logical
F
4
command 6.04
6.43 management
Control word validation 22 Menu 8
Enabling 25
6.01 Stopping mode 8.22 6.29
6.03 Micro-cuts management
G
Run/Stop 26
6.06 Level of braking by DC injection 8.23 6.34
6.07 Braking length by DC injection

Run direction 27
6.08 Stopped toque 8.24 6.33
inversion
6.09 Quick resumption
H 6.15
6.31
6.35
Enabling
Fwd run by pulses
Fwd run stop at the limit
Stop
22
25
26
Menu 8
8.22 6.39
Run/Stop 8.23 6.34

6.36 Rev run stop at the limit
I 6.37
6.40
6.41
Rev run by pulses
Run command auto-maintenance validation
Drive event registers
Run direction
inversion
27
8.24 6.33
6.45 Maximum speed forced ventilation 22 Menu 8

25
J 6.46 Safety mains supply level Deletion/Fault 8.22 10.33
6.47 Mains supply / phase loss detection invalidation

Fwd Run/Stop 26
6.48 Mains supply loss detection level 8.23 6.30
6.49 Fault power module n
storing invalidation 27
Rev Run/Stop
K
8.24 6.32
6.50 Drive serial link status
Setting of terminals 25, 26 and 27
modifiable by the user
•If the stopped torque is validated, voltage presence at the stopped motor terminals.
• If the motor is just a little loaded, the quick resumption validation may cause the rotating of the machine in a non defined
direction, with the motor acceleration. Make sure that there is no danger for persons and goods.
L Parameters
6.01
Variation range
COASt (0), rP (1), rP.dcl (2),

dcl (3), td.dcl (4), disable (5)
COASt (0), rP (1), no.rP (2)
Factory setting
rP (1) no.rP (2)

6.03 diS (0), StoP (1), ridE.th (2) diS (0)
6.06
M
0 to 150.0% - 100.0% -
6.07 0 to 25.0 s - 1.0 s -
6.08 OFF (0) or On (1) OFF (0) On (1)
6.09 0 to 3 0 to 1 0 1
6.12 - 6.13 - 6.30 - 6.31 - 6.32
6.33 - 6.34 - 6.35 - 6.36 - 6.37 OFF (0) or On (1) OFF (0)
6.39 - 6.40 - 6.45 - 6.47 - 6.49
6.15 OFF (0) or On (1) On (1)
6.29 OFF (0) or On (1) -
6.41 0 to 65535 0
6.42 0 to 32767 0
6.46 Size 1: 48 V, sizes 2 and 3: 48 V to 72 V 48 V
6.48 0 to MAX UDC threshold (V) TL: 205 V, T: 410 V, TM: 540 V, TH: 540 V
6.50 Drv (0), Slot (1), Slot 2 (2), Slot 3 (3) -
MisEnServPosLED
H en e 09/07 74/114
UNIDRIVE SP
Commissioning
Menu 6 (continued)
• Timers
B
Length since trip state 0 to 9
Counter
selection 6.28
0 1
C
Run/Stop
D
command
Counter since last
powering up
1.11 Operating length
counter
Hours Years 0 Hours Years
minutes days minute days
E
Powering
up 6.21 6.20
6.23 6.22
1
KWh
Energy counter
MWh Energy
6.17 counter
F
6.25 6.24 Reset
Motor
X 0
G
power
Menu 5 5.03
1
Cost per
H
Cost of KWh X 6.26 operating hour
6.16
6.27 Time remaining before
Maintenance
maintenance alarm
I
alarm meter 6.19 Filter changing
and Return to zero meter
J
6.18
DC bus
voltage 5.05
Power mains supply Safety
management 6.44 mains supply
Ancillary mains supply +48V

K
L
M
Parameters
6.16 0 to 600.0 currency/kWh 0

6.19 - 6.28 OFF (0) or On (1) OFF (0)
6.18 0 to 30000 hrs 0
6.20 - 6.22 0 to 9365 years, days -
6.21 - 6.23 0 to 23.59 hrs, min -
6.24 0 to 999.9 MWh -
6.25 0 to 99.99 kWh -
6.26 ± 32000 currency/hour -
6.27 0 to 30000 hrs -
6.44 OFF (0) or On (1) -
MisEnServPosLED
H en e 09/07 75/114
UNIDRIVE SP
Commissioning
B H6.11 - Menu 7: Configuration of analog I/O

Destination
Automatic Fine offset Offset 7.10
scaling
C 7.07 7.30 0.00

7.25
Analogue Scaling
input 1 1
+ + 7.08 1.36
Analogue 5 + + +
input Diff V-F 7.01
0
D
1 6 –
Sampling 7.09 21.51
window
Polarity
7.26 Signal type inversion
selection Destination
E
7.11 7.14
0-20mA 0 Offset
20-0mA 1 7.31 0.00
4-20mA tr 2 Scaling
Analogue
input 2 1
20-4mA tr 3 7.12 1.37
+
F Analogue
input
2
7 A-D
4-20mA
20-4mA
VOLt
4
5
6
7.02
+
Reference loss -
4-20mA or
0
7.13
21.51
20-4mA Polarity
G Signal type
7.28
inversion
selection
Destination
H 0-20mA
20-0mA
0
1
4-20mA tr 2
7.15
Analogue
Offset
7.32
Scaling
7.18
0.00
input 3 1
20-4mA tr 3 0.00
7.16
I
+
Analogue * 4-20mA 4 +
input 8 A-D 7.03
3 20-4mA 5 0
Reference loss -
VOLt 6 4-20mA or 21.51
7.17
th.SC 7 20-4mA
Polarity
J th
th.diSp
8
9
7.29
inversion
* Terminal 8 is internally connected to pin 15 of the HD-15 connector.
K If the motor probes are connected to pin 15, terminal 8 is no longer available.
L
Parameters
M 7.01
7.02 - 7.03
7.07
± 100.00%
± 100.0%
± 10.000%
-
-
0
7.08 - 7.12 - 7.16 0 to 4.000 1.000
7.25 OFF (0) or On (1) OFF (0)
7.26 0 to 8.0 ms 4.0 ms
7.28 - 7.29 OFF (0) or On (1) -
7.30 ± 100.00% 0
7.31 - 7.32 ± 100.0% 0
MisEnServPosLED
H en e 09/07 76/114
UNIDRIVE SP
Commissioning
Menu 7 (continued)
B
Analogue
C
Source output 1 control
Signal type
7.19 7.33 selection
7.21
5.01
0.00 0 (VOLT)
Scaling
+
7.20
0 to 2
3 (H.SPd)
1 (0-20mA)
2 (4-20mA) 9 Analogue
output 1 D
Voltage output
21.51
3.02
Source
7.22
Signal type
selection
7.24
E
Active 0.00 Scaling 0 (VOLT)
current
4.02
7.23
0 to 2 1 (0-20mA)
2 (4-20mA) 10 Analogue
output 2
F
3 (H.SPd)
Voltage output
21.51
Variable speed drive environment

G
7.04 Temperature1
power stage
7.06 Control card
temperature
H
7.05 Temperature 2 7.34 IGBT
power stage junction temperature
7.35 Drive thermal protection

battery
I
Note:Where the user wishes to obtain the image of the speed on analog output 1, the full-scale value at the output corresponds
to the maximum value of the selected source parameter.
In the factory settings, (7.21 = VOLT (0)):
- In , the selected source is 5.01 "Motor frequency", therefore the analog output will be full scale (9.8 V) when REF MAX
J
is reached (1.06)
, the selected source is 3.02 "Speed feeback", therefore the analog output will be full scale (9.8 V) when N MAX
- In or
is reached (2 x 1.06)
K
L
Parameters
Variation range Factory setting M
7.04 - 7.05 - 7.06 -128 to +127°C -
7.20 - 7.23 0 to 4.000 1.000
7.33 Fr (0), Ld (1), AdV (2) AdV (2)
7.34 ± 200 °C -
7.35 0 to 100.0% -
MisEnServPosLED
H en e 09/07 77/114
UNIDRIVE SP
Commissioning
B H6.12 - Menu 8: Configuration of digital I/O

8.29 Control logic 8.30 Open commutator
Output validation
0 0
Negative + 24V
C 1
Positive
Input/Output
1
open
0.00
10.03
configuration
1
D
8.31 Output
Digital
input Terminal 24 0
or 21.51
I/O status Source or
output 8.21
F1 1 Destination
Logic 0.00
E
24 8.01 8.11 inversion
0 Input 1
F 21.51
0.00
Input/Output
selection
G Digital
input
8.32
Output
1
0 21.51
Terminal 25
or I/O status Source or
H
output Destination 8.22
F2 1
25 8.02 8.12 Logic 0.00
inversion
0 Input 1
10.33
I
0
21.51
6.04 Logic command management
0.00 Terminal Terminal
25 26 6.40
J Input/Output
configuration
8.33
Output
1
0
1
6.29
Enabling
6.39
6.30 0
Fwd (maintained)
Run
6.30 1
Digital 0 21.51 Stop\ Fwd (pulse)
input Run
K or E/S status
output terminal 26 Source or 2 6.29 6.34 0
Destination 8.23
F3 1 Enabling Run (maintained)
26 8.03 8.13 Logic 0.00
0 Input 1
inversion 3 6.39 6.34 1
Stop\ Run (pulse)
L 0
6.30
4
User
settings
(10.33)
User
settings
( 6.30)
User
settings
21.51 Validation 6.04 : Press the
M
Reset key (disabled drive)
CAUTION:
If brake control is enabled by 12.41 = 1 or 2, it will act on terminal 25 (in an overriding manner on 6.04) such that
8.12 = 0 and 8.22 = 10.01 (if 12.41 = 1) or 8.22 = 12.40 (if 12.41 = 2).

Parameters
8.01 - 8.02 - 8.03 OFF (0) or On (1) -
MisEnServPosLED
H en e 09/07 78/114
UNIDRIVE SP
Commissioning
Menu 8 (continued)
8.29
0
Command logic
Destination
B
Negative
8.24 6.04 Logic command management
Digital input
1
Input status
terminal 27
Positive Logical
inversion
8.14 0.00 0
Terminal 27
6.32 Rev Run
6.40
0 (maintained)
C
1 1 6.32 Rev Run 1 (pulse)
F4 27 8.04
6.33 Run direction
D
6.32 2 0 (maintained)
inversion
0
3 6.34 Run direction 1 (pulse)
inversion
21.51
Destination 4 User settings (6.32) User settings
E
Logic Validation 6.04 : Press the Reset
Input status inversion 8.25
terminal 28 key (disabled drive)
8.15 0.00
Digital input
F5 1 8.39 Automatic allocation
28 8.05 invalidation
1.41
0
0
Destination
21.51 1
1.14 Reference selection
8.25 (terminal28) 8.26 (terminal29)

F
Logic 8.26 A1.A2 (0) 1.41 Selection 6.31 Run
Input status inversion of analogue by pulses
G
terminal 29 0.00 reference
Digital input 8.16
1 or 2
F6 1
29 8.06 A1.Pr (1) 1.45 Selection 1.46 Selection
6.31 of preset of preset
reference reference
0 bit 0 bit 1
Enabling
Disabling selection
or external fault
Input status 8.10
terminal 31
1
External
fault
21.51 A2.Pr (2) 1.45 Selection 1.46 Selection
of preset
reference
bit 0
of preset
reference
bit 0
H
input 10.32 Drive Pr (3) 1.45 Selection 1.46 Selection
of preset of preset
I
31 8.09 enabling reference reference
0
6.29 bit 0 bit 0
PAd (4) 1.41 Selection 6.31 Run
Source of analogue by pulses
reference
8.27 1 or 2
Logic
J
0.00 inversion
Relay Prc (5) 1.41 Selection 6.31 Run
8.17 of analogue by pulses
output status reference
10.01 1
1 or 2
8.07
41
K
0
Relay output
21.51 42
Source
8.28 Logic
0.00 inversion
8.18 Output status
0.00 1
terminal 22
8.08 22 Output 24V

8.20 E/S status word
L
0
21.51
CAUTION:
If brake control is enabled by 12.41 = 1, it will act on the relay, such that 8.17 = 0 and 8.27 = 12.40. M
Parameters
8.04 to 8.09 OFF (0) or On (1) -

8.20 0 to 511 -
MisEnServPosLED
H en e 09/07 79/114
UNIDRIVE SP
Commissioning
B Notes
C
D
E
F
G
H
I
J
K
L
M
MisEnServPosLED
H en e 09/07 80/114
UNIDRIVE SP
Commissioning
H6.13 - Menu 9: Logic functions
Source 1
9.04
Logic function 1 B
0.00 Logic inversion
C
9.05
Status 1 0.00 1
Destination
9.10
0
Logic function 0.00
D
Source 2 9.08
status1
9.06 1 Tempo
0.00
Logic inversion &
9.01 0.00
9.07 9.09
0
Status 2 0.00 1
21.51
0
Note : the function is active only if at least one source
is assigned to a parameter.
21.51
E
Source 3 Logic function 2
F
9.14
9.15
Status 3 0.00 1
Destination
21.51
Source 4
9.16
0 Logic inversion
1
9.18 Logic function
status 2
9.20
0.00 G
0.00 Logic inversion & Tempo
0.00
9.17 9.19 9.02
Status 4
0.00 1
0
Note : the function is active only if at least one source

21.51
H
0 is assigned to a parameter.
21.51
9.26 + quick
Function + quick/ – quick
9.21 Automatic RTZ

selection
Bit 0 9.29
Binary/decimal converter function
9.34 Offset
I
Destination
9.25 Bit 1 9.30
+100
0
%
%
t
Reference
Scaling
0.00
Bit 2 9.31
Destination
9.33 J
+100 0.00 Decimal
0 9.03 9.24 output
K
Note : the 0 0 0 0 reading 0.00
function is 0 0 1 1
–100
21.51 active only if 0 1 0 2 +
Polarity
9.22 selection the destination 0 1 1 3 + 0.00
9.32
9.33 is 1 0 0 4
9.23 Ramp Note : the function 1 0 1 5
is active only if the assigned to a
L
Manual 1 1 0 6
parameter
9.27 – quick 9.28 setting to zero destination 9.25 is 1 1 1 7 21.51
assigned to a parameter Binary input
combinations

Parameters
9.01 - 9.02
9.03
OFF (0) or On (1)
± 100.00%
-
-
M
9.09 - 9.19 ± 25.0 s 0
9.21 0 to 3 2
9.23 0 to 250 s 20 s
9.24 0 to 4.000 1.000
9.26 - 9.27 - 9.28 - 9.22 OFF (0) or On (1) OFF (0)
9.32 0 to 255 -
9.34 0 to 248 0
MisEnServPosLED
H en e 09/07 81/114
UNIDRIVE SP
Commissioning
B Notes
C
D
E
F
G
H
I
J
K
L
M
MisEnServPosLED
H en e 09/07 82/114
UNIDRIVE SP
Commissioning
H6.14 - Menu 10: Drive states and diagnostics
Operating state
B
Parameters Description
10.01 Drive healthy OFF (0) or ON (1) - C

10.02 Drive output activated OFF (0) or ON (1) -
D
10.03 Zero frequency or speed OFF (0) or ON (1) -
10.04 Minimum frequency or speed OFF (0) or ON (1) - E

10.05 Frequency or speed below low threshold OFF (0) or ON (1) -
10.06 Reference reached OFF (0) or ON (1) -

F
10.07 Frequency or speed above high threshold OFF (0) or ON (1) -
G
10.08 Rated load OFF (0) or ON (1) -
10.09 Current limiting active OFF (0) or ON (1) -

H
10.13 Reverse rotation requested OFF (0) or ON (1) -
I
10.14 Reverse rotation OFF (0) or ON (1) -
Braking
J
10.10 Dynamic braking OFF (0) or ON (1) -

K
10.11 Braking IGBT active OFF (0) or ON (1) -
L
10.12 Braking resistor alarm OFF (0) or ON (1) -
10.30 Full power braking time 0 to 400.00 s

Sizes 1 and 2 (200 V): 0.04; (400 V): 0.02
For drives of size 3 and above: 0
2.0 s
M
10.31 Full power braking cycle 0 to 1500.0 s For drives of size 3 and above: 0
10.39 Braking energy overload accumulator 0 to 100.0% -
MisEnServPosLED
H en e 09/07 83/114
UNIDRIVE SP
Commissioning
B Menu 10 (continued)
Trips
C 10.15 No mains supply OFF (0) or ON (1) -
10.16 Undervoltage detection OFF (0) or ON (1) -
D 10.17 Overload alarm OFF (0) or ON (1) -
E 10.18 Drive over temperature alarm OFF (0) or ON (1) -
10.19 Drive alarm OFF (0) or ON (1) -
F 10.20 Trip 0 0 to 230 (value via serial link) -
G 10.21 Trip - 1 0 to 230 (value via serial link) -
10.22 Trip - 2 0 to 230 (value via serial link) -
H 10.23 Trip - 3 0 to 230 (value via serial link) -
I 10.24 Trip - 4 0 to 230 (value via serial link) -
J 10.26 Trip - 6 0 to 230 (value via serial link) -
10.27
K
Trip - 7 0 to 230 (value via serial link) -
L 10.29 Trip - 9 0 to 230 (value via serial link) -
10.32 External fault OFF (0) or ON (1) -
M 10.33 Drive reset OFF (0) or ON (1) OFF (0)
10.34 No. of auto-reset attempts 0 to 5 0
Auto reset delay

10.35 0 to 25.0 s 1.0 s
Hold drive healthy status on automatically

10.36 reset trips
OFF (0) or ON (1) OFF (0)
MisEnServPosLED
H en e 09/07 84/114
UNIDRIVE SP
Commissioning
Trips (continued)
B
10.37 Minor faults 0 or 3 0
10.38 User trips 0 to 255 0

C
10.40 Status word 0 to 32767 -
10.41 Time since trip 0 (Year.days) 0 to 9.365 year.day - D

10.42 Time since trip 0 (Hour.minutes)
Trip module number 1,

0 to 23.59 Hr.min -
E
10.43 Time between trip 1 and trip 0
0 to 600.00 Hr.min -
10.44
Time between trip 2 and trip 0
0 to 600.00 Hr.min - F
10.45 0 to 600.00 Hr.min -
10.46

0 to 600.00 Hr.min -
G
10.47
0 to 600.00 Hr.min -
H
10.48 0 to 600.00 Hr.min -
I

0 to 600.00 Hr.min -
10.50

0 to 600.00 Hr.min -
J
0 to 600.00 Hr.min -
K
L
M
MisEnServPosLED
H en e 09/07 85/114
UNIDRIVE SP
Commissioning
B H6.15 - Menu 11: Menu 0 parameter setting - serial link - drive characteristics
Menu 0 configuration
C 11.01
11.02
Configuration of 0.11 of menu 0

1.00 to 21.51
1.00 to 21.51
5.01
4.01
3.29
11.03 Configuration of 0.13 of menu 0 1.00 to 21.51 4.02 7.07
D 11.04
11.05

1.00 to 21.51
1.00 to 21.51
4.11
2.04
E 11.07
11.08

1.00 to 21.51
1.00 to 21.51
8.26
8.29
4.12
11.09 Configuration of 0.19 of menu 0 1.00 to 21.51 7.11
F 11.10
11.11

1.00 to 21.51
1.00 to 21.51
7.14
7.15
G 11.13
11.14

1.00 to 21.51
1.00 to 21.51
1.05
1.21
H 11.16 Configuration of 0.26 of menu 0 1.00 to 21.51 1.23 3.08
I 11.20 Configuration of 0.30 of menu 0 1.00 to 21.51 11.42
J Serial link
11.23 Serial link address 0 to 247 1
K 11.24 Communication type AnSi (0), rtU (1), Lcd (2)
300 (0), 600 (1), 1200 (2), 2400 (3),

rtU (1)
11.25 Serial link transmission speed 4800 (4), 9600 (5), 19200 (6), 38400 (7), 19200 (6)
L 11.26 Serial link minimum comms transmit delay

57600 (8)*, 115200 (9)*
0 to 250 ms 2 ms
* Modbus RTU only.
MisEnServPosLED
H en e 09/07 86/114
UNIDRIVE SP
Commissioning
Menu 11 (continued)
Drive configuration
B
11.21
11.22
Scaling of parameter 0.30
Parameter displayed on power-up

0 to 9.999
0.00 to 0.50
1.000
0.10
C
11.28
11.29
Specific drive
Software version (aa.bb)

0 to 16
1.00 to 99.99
-
-
D
11.30
11.31
User security code
Operating mode selection

0 to 999
OPEn LP (1), CL VECt
0
OPEn LP (1) CL VECt (2) SErVO (3)

E
SErVO (3), rEGEn (4)
11.32 Drive rated current 0 to 9999.99 A -

F
200 (0), 400 (1), 575 (2),
11.33 Drive rated voltage -
G
690 (3)
11.34 Software version (cc) 0 to 99 -
11.35
11.41
Number of power modules
Time for return to the initial display

1 to 8
0 to 250 s
-
240 s
H
11.43
I
Return to factory settings nonE (0), Eur (1), USA (2) nonE (0)
11.44 Level 2 access and security code storing L1 (0), L2 (1), Loc (2) L1 (0)
11.45 Selection of motor 2 OFF (0) or On (1) OFF (0)
11.46
11.47
Factory settings loaded previously
Enabling of internal program

0 to 2000
0 to 2
-
2
J
11.48 Internal program status -128 to +127 -
K
11.49 Internal program events 0 to 65535 s -
11.50 Internal program maximum execution time 0 to 65535 ms - L

11.51
M
First execution of internal program OFF (0) or ON (1) -
Note: • For configuration of 0.31 to 0.59, see menu 22.

• Parameters 11.47 to 11.51 are used during execution of a "Syptlite" program produced using the Syptlite
software available on the CD-ROM supplied with the drive.
MisEnServPosLED
H en e 09/07 87/114
UNIDRIVE SP
Commissioning
Transfer of parameters by SMARTCARD
C 11.36
Last set of parameters transferred by
SMARTCARD
0 to 999 -
11.37 Data block selection 0 to 1002 0
D 11.38
Data type and operating mode
0: FrEE, 1: 1, 2 : 3OpEn.LP, 3: 3CL.VECt,
4: 3SErVO, 5: 3rEGEn, 6: 3Un, 7: 3Un,
8: 3Un, 9: 9, 10 : 4OpEn.LP,
-
11: 4CL.VECt, 12: 4SErVO, 13: 4rEGEn,
14: 4Un, 15: 4Un, 16: 4Un, 17: LAdddEr,
E 11.39 SMARTCARD version number

18: Option
0 to 9999 0
11.40 Block checksum 0 to 65335 -
F 11.42 Parameter copy

nonE (0), rEAd (1), Prog (2), Auto (3),
boot (4) nonE (0)
G
H
I
J
K
L
M
MisEnServPosLED
H en e 09/07 88/114
UNIDRIVE SP
Commissioning
H6.16 - Menu 12: Comparators, transfers of variables
Comparator1
B
Source Hysteresis Logic Destination
Comparator 1 inversion 12.07
C
12.03 Threshold 12.05 output
0.00 12.06 0.00
12.04
1
12.01
0.00 0.00
21.51
Source
Comparator 2
21.51
D
Hysteresis Logic Destination
12.23 12.25 Comparator 2 inversion 12.27
Threshold
E
output
0.00 12.26 0.00
12.24
1
12.02
0.00 0.00
21.51
Source 1
Mode
12.10
Transfer of variable 1
21.51
F
12.08 0 S = E1
G
0.00 Destination
1 S = E2
Scaling 1 12.11
2 S = E1 + E2
0.00 Output -
12.13 E1 3 S = E1 - E2 transfer of 0.00
4 S = (E1 x E2) / 100.0 variable 1
5 S = (E1 x 100,0) / E2
21.51
0.00
Source 2
12.09
Coefficient
12.15 A
6
7
S = E1 / (A + 1)
S = E1 with an A ramp
(A expressed in seconds
to go from 0 to 100 %)
S 12.12
0.00
21.51
H
Scaling 2 8 S = | E1 |
0.00
21.51
12.14 E2 9 • If 12.15 = 0.02 : S = (E1)2/100,0
•If 12.15 = 0.03 : S = (E1)3/(100,0)2
• If 12.15 ≠ 0.02 and ≠ 0.03 : S = E1
10 Section control (see manual ref. 3655)
I
Mode Transfer of variable 2
0.00
Source 1
12.28
12.30
Scaling 1
0
1
S = E1
S = E2
Destination
J
12.31
0.00 2 S = E1 + E2
K
12.33 E1 3 S = E1 - E2 Output -
transfer of 0.00
4 S = (E1 x E2) / 100,0 variable 2
21.51 Coefficient 5 S = (E1 x 100,0) / E2
S 0.00
Source 2 12.35 A 6 S = E1 / (A + 1) 12.32
12.29 7 S = E1 with an A ramp
L
0.00 (A expressed in seconds
to go from 0 to 100 %) 21.51
Scaling 2
8 S = | E1 |
0.00
12.34 E2 9 • If 12.35 = 0.02 : S = (E1)2/100.0
•If 12.35 = 0.03 : S = (E1)3/(100.0)2
• If 12.35 ≠ 0.02 and ≠ 0.03 : S = 1E
21.51
Parameters
10 Section control (see manual ref. 3655)

M
12.01 - 12.02 OFF (0) or On (1) -
12.04 - 12.24 0 to 100.00% 0
12.05 - 12.25 0 to 25.00% 0
12.12 - 12.32 ± 100.00% -
12.13 - 12.14 - 12.33 - 12.34 ± 4.000 1.000
12.15 - 12.35 0 to 100.00 0
MisEnServPosLED
H en e 09/07 89/114
UNIDRIVE SP
Commissioning
• Brake control in open loop mode
Total motor
current Absolute
value
C 4.01 +
- Brake command
validation
High 12.41
D
current 12.42 Enabled
level drive Tempo after Ramp
brake integration
Low release disabling
current 12.43 10.02 12.47 2.03
level
Motor
E frequency Absolute
5.01
value
+
I O
&
0 Released
brake
12.40
(dis)
0
1 (rEL)
Menu 8 41
Relay
output
2 (dIO) 42
- 1 to 3
LAT
F Brake release
frequency threshold
12.44
R
Tempo before
brake
release
12.46 ?
3
(USEr)
Menu 8
User
settings
25
Digital
output
G Braking
frequency threshold
12.45 +
I O
Input Reset Output
0 0 0
-
LAT 0 1 0
H Run/Stop command
1.11
& R
1
1
0
1
1
0
I 5.01 Motor frequency
4.01 Total motor current
J 10.02 Enabled drive
1.11 Run/Stop command
K 12.40 Brake release
2.03 Stopped torque

1 2 3 4 5 6
1 - High current threshold req. (12.42) and brake release frequency threshold req. (12.44)
L 2 - Time delay before brake release (12.46)

3 - Time delay after brake release (12.47)
4 - Braking frequency threshold req.
5 - Zero frequency req.
6 - Time relay corresponding to phase 2 of the stop mode 6.01 (only 1 to 3 modes)
M
12.40 OFF (0) or On (1) -
12.42 0 to 200% 50%
12.43 0 to 200% 10%
12.44 0 to 20.0 Hz 1.0 Hz
12.45 0 to 20.0 Hz 2.0 Hz
12.46 - 12.47 0 to 25.0 s 1.0 s
MisEnServPosLED
H en e 09/07 90/114
UNIDRIVE SP
Commissioning
• Brake control in closed loop and servo mode ,
Tempo after 0 1
13.10 Synchro
mode = 1
B
brake 12.47 Position
Motor flow + Enabled drive release 12.49 loop
C
Ramp validation
7/8 of rated flow - 10.02 2.03 integration
disabling
Total motor
current Absolute I O
value
LAT
4.01 +
D
0 0 Released (dis)
R brake 0 Menu 8 41
- Relay
& 1 (rEL) output
Low current 1 12.40 42
level 1 1 to 3 2 (dIO)
Digital
E
12.43 0 : mode 3 Menu 8 25 output
1 : mode (USEr)
Run/Stop 12.48 Braking ? User
command tempo settings
Stopped
F
1.11 torque
OR 6.08
Speed Brake
feedback Absolute command 12.41
value validation
3.02 +
- I O
Input Reset Output
0 0 0
G
Braking
Braking speed tempo LAT 0 1 0
speed threshold
12.45
12.46 R
1
1
0
1
1
0
H
5.01 Motor frequency
4.01 Total motor current

I
10.02 Enabled drive
1.11 Run/Stop command
12.40 Brake release

J
2.03 Ramp integration disabling
13.10 Synchro mode
6.08 Stopped torque
K
1 2 3 4 5
L
1 - Flowed motor req. ( )
2 - Time delay after brake release (12.47)
3 - Speed threshold req.(12.45)
4 - Braking speed time delay req. (12.46)
5 - Braking time delay (12.48)
M
Parameters
12.40 OFF (0) or On (1) -

12.43 0 to 200% 10%
12.45 0 to 200 min-1 5 min-1
12.46 - 12.47 - 12.48 0 to 25.0 s 1.0 s
MisEnServPosLED
H en e 09/07 91/114
UNIDRIVE SP
Commissioning
B H6.17 - Menu 13: Synchronisation in open loop mode

Relative run by pulse
inversion
13.19
C
reference
0 13.18 Relative run by pulse
validation
Synchro position reference 13.17
Revolution Position Fine 1
Counter position
Drive Synchro reference 1
D encoder 3.28 3.29 3.30 source

13.04
0
Location 1 15.04 15.05 15.06
E Location 2 16.04 16.05 16.06

Position reference
inversion
13.06
A
0 (drv) Synchro
(Slot1) 1 report
F Location 3 17.04 17.05 17.06

2
(Slot2)
3
(Slot3)
position
0
13.07
13.08
+
+
4 1
(LocAL)
G Local
reference 13.20 13.21 13.22
0 1
13.23 Local reference
invalidation
Synchro position feedback Position error

Return to zero +
H
Revolution Position Fine
counter position 13.16 B
Synchro -
Drive feedback source
encoder 3.28 3.29 3.30
13.05
I Location 1 15.04 15.05 15.06

0 (drv)
(Slot1) 1
J
Location 2 16.04 16.05 16.06 2
(Slot2) 3 (Slot3)
Location 3 17.04 17.05 17.06
K
L
M
Parameters Variation range( ) Factory setting( )
13.07 0 to 4.000 1.000
13.08 0 to 1.000 1.000
13.16 OFF (0) or On (1) OFF (0)
13.17 0 to 4000.0 min-1 0
MisEnServPosLED
H en e 09/07 92/114
UNIDRIVE SP
Commissioning
Menu 13 in open loop mode (continued)
Menu 1
B
Before ramp After ramp
Before limitation reference reference
reference
C
0
1.01 Menu 2
1.03 2.01
Ramps
Synchro mode 1
resulting reference
D
Synchro mode
1.39 1.40 resulting reference
selection
Synchro
mode
13.10 13.10 = 1
A
1
2
+ E
Invalidated -
position loop 0
F
Position loop error
counters position Position loop
G
gain
B 13.01 13.02 13.03 13.09
H
13.12 Correction speed
limitation
I
13.11 Absolute mode validation
13.24 Ignored local reference

revolution counter
J
K
L
Parameters
13.01 - 13.02 - 13.03
13.09
13.10
Variation range(
-32768 to +32767
0 to 100.00 rads-1/rad
0 to 2
) Factory setting(
-
25.00 rads-1/rad
0
)
M
13.11 - 13.23 - 13.18 - 13.19 OFF (0) or On (1) OFF (0)
13.12 0 to 250 150
13.15 OFF (0) or On (1) -
13.20 - 13.21 - 13.22 0 to 65535 0
13.24 OFF (0) or On (1) OFF (0)
MisEnServPosLED
H en e 09/07 93/114
UNIDRIVE SP
Commissioning
B H6.18 - Menu 13: Synchronisation and indexing in closed loop and servo mode ,
inversion
13.19
C Synchro position reference

reference
13.17
0
validation
13.18
1
Counters Position Fine 1
D
position
0
Drive Synchro reference
encoder 3.28 3.29 3.30 source
13.04
E Location1 15.04 15.05 15.06

Position reference
inversion
13.06
A
Location 2 16.04 16.05 16.06
F
Synchro
0 (drv) report
(Slot1) 1
13.07
2 position +
(Slot2)
Location 3 17.04 17.05 17.06 +
3 0 13.08 + B
G
(Slot3)
4 (LocAL) -
1
Local
13.20 13.21 13.22
reference 13.23 Local reference
1 invalidation
0
H
Position error
Return to synchro position Return to zero
Revolution Position Fine 13.16
counters position
Synchro
Drive feedback source
encoder 3.28 3.29 3.30
I
13.05
Location1 15.04 15.05 15.06

(drv) 0
J Location 2 16.04 16.05 16.06

(Slot1) 1
(Slot2) 2
3 (Slot3)
Indexing
-
+
C
Limitation
position reference 13.13 – 1/2 turn
K Location 3 17.04 17.05 17.06
L
M
Parameters
13.07 0 to 4.000 1.000

13.08 0 to 1.000 1.000
13.16 OFF (0) or On (1) OFF (0)
13.13 0 to 65535 0
13.17 0 to 4000.0 min-1 0
13.20 - 13.21 - 13.22 0 to 65535 0
MisEnServPosLED
H en e 09/07 94/114
UNIDRIVE SP
Commissioning
Menu 13 in closed loop and servo mode (continued)
Before limitation
reference Before ramp
reference
After ramp
reference
B
0 Final
Menu 1 1.01 Menu 2 reference
C
+
Synchro mode 1.03 Ramps 2.01 3.01
resulting reference
1.39 +
1
Invalidated 0
Synchro
mode
13.10 13.10 = 5 or 6
1.40
Synchro mode
resulting reference
selection
Speed additional
input
D
position selection
loop 1
E
13.10 = 1 or 3 13.10 = 1 to 6 3.23
2 0 1 0
3
A
1 4
5 1 Speed
1 additional
F
6 3.22
input
0 Position loop error
6.08 Stopped
torque 0 Counters Position Fine
B position Position loop
1
gain
1
0
13.01 13.02 13.03 13.09
G
13.12 Correction speed
limitation
Validated
position loop
H
Indexing
window
13.14
I
C
End of indexing
Indexing
13.15
13.11 Absolute mode validation J
13.24 Ignored local reference
revolution counter
K
L
Parameters
13.01 - 13.02 - 13.03

13.09
-32768 to +32767
0 to 100.00 rads-1/rad
-
25.00 rads-1/rad
M
13.10 0 to 6 0
13.11 - 13.18 - 13.19 - 13.23 - 13.24 OFF (0) or On (1) OFF (0)
13.12 0 to 250 150
13.14 0 to 4096 256
13.15 OFF (0) or On (1) -
13.24 OFF (0) or On (1) OFF (0)
MisEnServPosLED
H en e 09/07 95/114
UNIDRIVE SP
Commissioning
B H6.19 - Menu 14: PID

PID reference source PID reference ramp
14.03 14.07
PID error
C
0.00
PID reference 1
+
14.22
0.00 0
14.20 -
14.05
D 21.51
PID feedback source
14.04
Reference polarity
inversion
0.00
E PID feedback 1
0.00 0
14.21
14.06
F 21.51 Feedback polarity

inversion
Validation
PID
14.08 P 14.10
Integration
PID validation disabling
G
source Ready I 14.11
drive 10.01 & 14.17
14.09
0.00 D 14.12
H
0.00
21.51 PID output

Limitations 14.01
(%)
I 14.13 Max limit
14.14 Min limit

Scaling X 14.15
Main referenece
source 14.18 Symetrical max Destination
J 0.00
14.02
Main
reference
and min limits 14.16
0.00
+
+
0.00 0.00
K
14.19
21.51 21.51
Note : The PID function is not activated if the destination 14.16 remains assigned to 0.00.
L
M
Parameters
14.01 - 14.19 - 14.20 - 14.21

± 100.00% -
14.22
14.07 0 to 3200.0 s 0
14.08 - 14.17 - 14.18 OFF (0) or On (1) OFF (0)
14.10 - 14.15 0 to 4.000 1.000
14.11 0 to 4.000 0.500
14.12 0 to 4.000 0
14.13 0 to 100.00% 100.00%
14.14 ± 100.00% 100.00%
MisEnServPosLED
H en e 09/07 96/114
UNIDRIVE SP
Commissioning
H6.20 - Menus 15, 16, 17: SM MODULES
H6.20.1 - Introduction
In certain applications, an additional SM module may be
B
necessary (for example the
SM-Universal-Encoder Plus module that allows management
of a machine encoder).
However, the number of modules must be limited to 3.
C
Each location corresponds to a menu:
- Location 1: menu 15
The menus will be represented by 1x in the diagrams.
D
E
Location 1
Location 2
F
Location 3
22 23
L1 L
2L
3
24 25
26 27
U V
W
28 29
30 31
G
H
I
J
K
L
M
MisEnServPosLED
H en e 09/07 97/114
UNIDRIVE SP
Commissioning
B H6.20.2 - SM-I/O PLUS module
1x.01 :Module type

1x.20 :Digital I/O status word
C 1x.50 :Reading of fault
D • Digital I/O
1x.29
0
Command logic
Negative
0.00
E 1
Positive
Input/output
selection
1
I/O status 1x.31 0

terminal 2 21.51
1 Output
F Digital
input or output F1 2 1x.09
0
1x.11 Logic
inversion
1x.21 Source or destination
0.00
1 0.00
Input
G 0
21.51
0.00
H Input/output
selection
I/O status 1x.32
1
0
terminal 3 21.51
1 Output
I
Digital 1x.12 Logic
input or output F2 3 1x.10 inversion 0.00
0
1 0.00
Input
J 0
21.51
0.00
K terminal 4
Input/output
selection
I/O status 1x.33
Output
0
21.51
1
Digital Logic
L 4 1x.03 1x.13
input or output F3 inversion 0.00
0
1 0.00
Input
M
0
21.51

Parameters
1x.01 0 to 499 -
1x.02 0 to 99.99 -
1x.03 - 1x.09 - 1x.10 OFF (0) or On (1) -
1x.20 0 to 511 -
1x.50 0 to 255 -
1x.51 0 to 99 -
MisEnServPosLED
H en e 09/07 98/114
UNIDRIVE SP
Commissioning
SM-I/O PLUS module (continued)
• Digital inputs
1x.29 Command logic
B
0
Negative
1
Input status
terminal 6
Positive
Logic inversion
1x.14
Destination
1x.24
C
0.00
Digital input 1
D
F4 6 1x.04
0.00
0
21.51
E
Destination
Logic inversion
Input status 1x.25
terminal 7 1x.15
0.00
Digital input 1
F5 7 1x.05
0.00
0
21.51
F
Destination
Logic inversion
G
Input status 1x.26
terminal 8 1x.16
0.00
Digital input 1
F6 8 1x.06
0.00
H
0
21.51
• Relay outputs
0.00
Source
1x.27
Logic inversion
1x.17
I
Relay
output status
0.00 1
21.51
0
1x.07
21 Relay output 1
F7
J
Source
0.00
1x.28
Logic inversion
1x.18 Relay 22
K
output status
0.00 1
21.51
0
1x.08
23 Relay output 2
F8
L
M
Parameters
1x.04 - 1x.05 - 1x.06 - 1x.07

OFF (0) or On (1) -
1x.08
MisEnServPosLED
H en e 09/07 99/114
UNIDRIVE SP
Commissioning
B SM-I/O PLUS module (continued)

• Analog inputs
Polarity
inversion Destination
C Input
level
1
1x.42 1x.43
0.00
10V 0.00
Analogue Scaling
D
A-D 0
input 9 10 bits 1x.40 1x.41
4
21.51
Polarity
inversion Destination
1x.46 1x.47
E 10V
Input
level
Scaling
1
0.00
0.00
Analogue A-D 0
input 10 1x.44 1x.45
F
10 bits
5
21.51
G • Analog output
Source
1x.48
0.00
H 0.00
Scaling
1x.49 12
Analogue
output
3
21.51
I
J
K
L
M
Parameters
1x.40 - 1x.44 ± 100.0% -

1x.41 - 1x.45 - 1x.49 0 to 4.000 1.000
MisEnServPosLED
H en e 09/07 100/114
UNIDRIVE SP
Commissioning
Notes B
C
D
E
F
G
H
I
J
K
L
M
MisEnServPosLED
H en e 09/07 101/114
UNIDRIVE SP
Commissioning
B H6.20.3 - SM-I/O Lite and SM-I/O Timer module
1x.01 :Module type 1x.20 :Digital I/O status word
C 1x.02 :Module software version 1x.50 :Reading of module safeguarding
D 1x.03 :Current loss indication
• Digital inputs
1x.51 :Module software sub-version
Destination
E
Logical inversion
Input state 1x.24
terminal 6 1x.14
0.00
Digital input 1
terminal 5 5 1x.04
0.00
F 0
Destination
21.51
Logical inversion
Input state 1x.25
G
terminal 7 1x.15
0.00
Digital input 1
terminal 6 6 1x.05
0.00
0
H Input state
terminal 8
Logical inversion
1x.16
Destination
1x.26
21.51
0.00
I
Digital input 1
terminal 7 7 1x.06
0.00
0
21.51
J • Relay outputs
Source
1x.27
Logical inversion
0.00
K
1x.17 Relay
output state
0.00 1
1x.07
21
0
21.51
L 22 Relay output
23

Parameters
M 1x.01
1x.02
0 to 599
0.00 to 99.99
-
-
1x.04 to 1x.07 OFF (0) or On (1) -
1x.20 0 to 120 -
1x.50 0 to 255 -
1x.51 0 to 99 -
MisEnServPosLED
H en e 09/07 102/114
UNIDRIVE SP
Commissioning
SM-I/O Lite and SM-I/O Timer module (continued)
• Analog input
Signal type
selection Destination
B
1x.43
0-20mA 0 1x.38 0.00
20-0mA
4-20mA
1
2
Analog
input
1x.41
Scaling
1
0.00
C
Analog 20-4mA 3
input 2 A-D 1x.40
D
terminal 2 4-.20mA 4 Loss of 4-20 mA 0
or 20-4 mA 21.51
20-.4mA 5 reference
1x.42
VOLt 6 Polarity
1x.03
inversion
• Analog output
Source
1x.48
Signal type selection
1x.39
E
0.00 Scaling 0 (0-20 mA)
F
1x.49 1 (20-0 mA)
2 (4-20 mA) Analog
0.00 3
3 (20-4 mA) output
terminal 3
4 (Volt)
21.51
21.51
• Encoder reference
Encoder characteristics Encoder Encoder

Destination
1x.59
G
Number of speed Encoder reference 0.00
1x.52 increments Drive feedback maximum level
H
7 per revolution 1x.54 encoder reference Scaling
8 position 0.00
Encoder Drive 1x.55 1x.56 1x.57 1x.58
9 encoder
1x.53 revolution
10
counter
21.51
• Clock (SM-I/O Timer module only)
Clock
update
mode
Minutes/seconds
1x.34
I
1x.30
Clock Days/hours
0
Normal 0
mode
1x.19
User
1
1x.35
Month/date
J
operation 2 1x.36
Clock
K
1
Time + 1 hour
Year
0 1x.37
1
L
2

Parameters
1x.34 0 to 59.59 00.00

1x.35 1.00 to 7.23 00.00
1x.36
1x.37
1x.40
1x.41
0 to 12.31
2000 to 2099
±100%
0.000 to 4.000
00.00
2000
-
1.000
M
1x.49 0.000 to 4.000 1.000
1x.52 512 (0), 1024 (1), 2048 (2), 4096 (3) 1024 (1)
1x.53 0 to 65535 revolutions -
1x.54 0 to 65535 (1/216th revolution) -
1x.55 ± 32000 min-1 -
1x.56 0 to 32000 min-1 1500 min-1
1x.57 ±100% -
1x.58 0.000 to 4.000 1.000
MisEnServPosLED
H en e 09/07 103/114
UNIDRIVE SP
Commissioning
B H6.20.4 - SM-UNIVERSAL ENCODER PLUS module

Encoder
type
Auto-
tuning
Error
detection End 1x.01 Type of module 1x.02 Module
1x.15 1x.18 1x.17 1x.16 software version
C
(aa.bb)
Motor probe 1x.50 Module fault 1x.51 Module

validation Encoder characteristics status software version (cc)
1x.12 1x.09 Number of turns
Initialised Position
D SK1
Connector
1x.10 Increments by turn
1x.13 Encoder voltage
1x.46 Divisor
encoder
feedback 1x.45 Revolution Position Fine
counter
1x.29 1x.30
position
1x.31
+
A
Serial link -
E 1x.11 Resolution
1x.14 Transmission speed Position Top 0
Position
unvalidation
Top 0
1x.07
1x.42 Transmission register counter position
0
F 1x.43 Reception register

1x.44 Position verification Register
Top 0
1x.32 1x.33 1x.34
1
TOP 0 1x.08
G Quick input
selection/TOP 0
SM-Applications, main drive position
Main position
capture
Quick input
1x.38 1x.40 1x.35 Revolution counter

0 1
H
Output TOP 0 (Z, Z\)
0
1
1 24V quick input 0 Quick input
Terminal 8 register 1x.36 Position
block 9 RS 485 quick input
PL2 2 1 1x.39
3
24V +RS 485 quick inputs
I 1x.41
Quick input inversion
1x.37 Fine position
J Parameters
1X.01
Variation range
0 to 499
Factory setting
-
1x.02 0 to 99.99 -
K 1x.08 - 1x12 - 1x.18 - 1x.39 -

1x.09
1x.10
1x.11
OFF (0) or On (1)
0 to 255 bits
0 to 50000
0 to 32 bits
OFF (0)
16 bits
4096
0
1x.13 5 V (0), 8 V (1), 15 V (2) 5 V (0)
L 1X.14
1x.15
100 (0), 200 (1), 300 (2), 400(3), 500 (4), 1000 (5),
1500 (6), 2000 (7)
Ab (0), Fd (1), Fr (2), Ab.SErvo (3), Fd.SErvo (4),
Fr.SErvo (5), SC (6), SC.HiPEr (7), EndAt (8),
300 (2)
Ab (0)
SC.EndAt (9), SSI (10), SC.SSI (11), SC.UVW (12)
M 1x.16
1x.17
1x.29 - 1x.32 - 1x.35
1x.30 - 1x.33 - 1x.36
0 to 2
0 to 7
1
1
-
-
0 to 65535 (1/216th revolution)
1x.31 - 1x.34 - 1x.37 0 to 65535 (1/232nd revolution) -
1x.42 - 1x.43 0 to 65535 revolutions 0
1x.45 OFF (0) or On (1) -
1x.46 0 to 1024 1
1x.50 0 to 255 -
1x.51 0 to 99 -
MisEnServPosLED
H en e 09/07 104/114
UNIDRIVE SP
Commissioning
SM-UNIVERSAL ENCODER PLUS module (continued)
Speed
B
feedback 3.26 Menu 3
selection
Menu 13 Speed
feedback 21.21
selection
motor 2
Menu 21
Feedback reference
C
destination
Position information
1x.23
A
1
counter
1x.04 1x.05
position
1x.06
Filter
1x.19 1x.03
Feedback
maximum
reference
1x.20
Reference
1x.21
Scaling
1x.22
0.00
0.00
D
0
1x.49
Return to position
disabling
Speed
Quick input
21.51
E
selection/TOP 0
1x.38
0
1
Output TOP 0 (Z, Z\)
24V quick input
F
2
RS 485 quick input
G
3
24V +RS 485 quick inputs
Encoder 3
Encoder simulation mode
simulation source Ab 4
0
1x.28
H
5 Terminal
1x.24 Fd 6 block
1
8 PL2
Simulated SSI.Gray
0.00 4-5 encoder 2 9
0 - 1 1x.25 Numerator resolution
SSI.Bin
1x.27 3
0.00 4
I
1x.26 Denominator Ab.L
SK1
2-3 5 connector
Fd.L (pins
21.51 6 7 to10)
1x.47 Number of turns - SSI output H.drv
7
1x.48 Resolution - SSI output H.Int
J
K
Parameters
1x.03
Variation range
± 40000.0 min-1
Factory setting
-
L
1x.04 0 to 65535 revolutions -
1x.05 0 to 65535 (1/216 th revolution) -
1x.06
1x.19
1x.20
0 to 65535 (1/232 nd revolution)
0 (0), 1 (1), 2 (2), 4 (3), 8 (4), 16 (5) ms
0 to 40000.0 min-1
-
0
1500.0 min-1
M
1x.21 ± 100.0% -
1x.22 0 to 4.000 1.000
1x.25 0 to 3.0000 0.25
1x.26 0 to 3.0000 1.0000
1x.27 OFF (0) or On (1) OFF (0)
1x.47 0 to 16 bits 16 bits
1x.48 0 to 32 bits 0
MisEnServPosLED
H en e 09/07 105/114
UNIDRIVE SP
Commissioning
B H6.20.5 - SM-ENCODER PLUS module

Return to position
disabling
1x.49 Menu 13
C End
Initialised
return to position
Position
Revolution Position
Position information
Revolution Position
1x.16 counter counter Feedback Speed
1x.45
D
+ filter
1x.29 1x.30 1x.04 1x.05 1x.19 1x.03
-
1 Encoder
2
E PL1
3
Terminal 4
block
5
6
1x.15 Type
1x.10 Points
by turn
Position Top 0
Revolution Position
Menu 3
7 counter
F
0
1x.32 1x.33
G
Register
Top 0 1x.08 1x.07
Top 0 1x.01 Type of module
position
Invalidation
Revolution counter Position Register
SM-Applications Quick input Quick input Quick input
H
module
1x.50 Fault reading
1x.35 1x.36 1x.39
Quick input
I
J
K
L Parameters
1x.01 0 to 499 -
1x.03 ± 40000.0 min-1 -
M 1x.04 - 1x.29 - 1x.32 - 1x.35

1x.05 - 1x.30 - 1x.33 - 1x.36
1x.08 - 1x.39 - 1x.49
0 to 65535 (1/216 th revolution)
OFF (0) or On (1)
-
-
OFF (0)
1x.10 0 to 50000 4096
1x.15 Ab (0), Fd (1), Fr (2) Ab (0)
1x.16 0 to 2 1
1x.19 - 0 to 5 (0 to 16 ms) - 0
1x.45 OFF (0) or On (1) -
1x.50 0 to 255 -
MisEnServPosLED
H en e 09/07 106/114
UNIDRIVE SP
Commissioning
H6.20.6 - SM-RESOLVER module
Initialised
return to position
B
SM-Resolver module terminal block
1x.45 Menu 13
Position
C
9 SINLOW Revolution Position
D
Resolver counter
10 SINHIGH Feedback
11 COSLOW 1x.10 Resolution filter Speed
12 COSHIGH 1x.04 1x.05 1x.19 1x.03
13 REF HIGH (excitation) 1x.13 Excitation
14 REF LOW (excitation)
1x.15 Poles
E
15
16 0V
17 Fault Menu 3
detection level Revolution
1x.17 counter Position
without Top 0 without Top 0
1x.01 Type of module
1x.50 Fault reading

1x.29 1x.30
F
Position Scaling
Encoder simulation source
0.00
1x.24 G
SM-Resolver module terminal block
1x.05 1x.25
H
1 Aout
2 Aout\
SM-Universal 3 0V
Encoder Plus or Quick
SM-Applications input 0.00 4 Bout
module Quick input position Position 5 Bout\
register
Quick input
1x.39 1x.36 Drive
encoder 3.29
21.51
6
7
8
0V
Zout
Zout\
I
J
K
Parameters
1x.01
1x.03
1x.04 - 1x.29
0 to 499
± 40000.0 min-1
-
-
-
L
1x.05 - 1x.30 - 1x.36 0 to 65535 (1/216 th revolution) -
1x.10
M
0 to 50000 4096
1x.13 3:1 (0), 2:1 (1 or 2) 3:1 (0)
1x.15 2 POLE (0), 4 POLE (1), 6 POLE (2), 8 POLE (3 to 11) 2 POLE (0)
1x.17 0 to 7 1
1x.19 - 0 to 5 (0 to 16 ms) - 0
1x.25 0 to 3.0000 0.2500
1x.39 OFF (0) or On (1) OFF (0)
1x.45 OFF (0) or On (1) -
1x.50 0 to 255 -
MisEnServPosLED
H en e 09/07 107/114
UNIDRIVE SP
Commissioning
B H6.20.7 - SM-Fieldbus module

C 1x.01 Module type 0 to 599 -
1x.02 Module software version 0 to 99.99 -
D 1x.03
1x.04
Station address
Transmission speed
65535
-128 to +127
65535
+127
1x.05 Mode 65535 4
E 1x.06
1x.07
Diagnostics
Tripping delay
±9999
0 to 3000
-
200
1x.08 "Little endianism" selection OFF (0) or On (1) OFF (0)
F 1x.09
1x.10
Register control OFF (0) or On (1) OFF (0)
to Input words IN 0 to 9 -32768 to +32767 -
G 1x.19
1x.20
to Output words OUT 0 to 9 -32768 to +32767 -
1x.29
H 1x.30
1x.31
Return to factory settings of the SM module
Storing of module parameters

OFF (0) or On (1)
OFF (0) or On (1)

OFF (0)
OFF (0)
1x.32
I
SM module reset OFF (0) or On (1) OFF (0)
1x.33 Transfer of module memory OFF (0) or On (1) OFF (0)
1x.34 Compression OFF (0) or On (1) OFF (0)
J 1x.35
1x.36
Serial number -2147 483648 to 2147 483647 -
and Specific to the bus OFF (0) or On (1) OFF (0)
K 1x.37
1x.38 Selection of mode specific to the bus 0 to 255 0
1x.39 Number of IN cyclic words 0 to 255 0
L 1x.40
1x.41
Number of OUT cyclic words 0 to 255 0
to Specific to the bus 0 to 255 0
M 1x.48
1x.49 Data assignment error 0 to 255 0
MisEnServPosLED
H en e 09/07 108/114
UNIDRIVE SP
Commissioning
H6.20.8 - SM-Applications module
B
1x.01 Module type 0 to 599 -
C
1x.02 Module software version (xx.yy) 0 to 99.99 -
1x.03 Sypt program status None (0), Stop (1), Run (2), Trip (3) - D
1x.04
1x.05
System resource available
RS485 address
0 to 100
0 to 255
-
11
E
1x.06 RS485 mode 0 to 255 1
1x.07 RS485 transmission speed

300 (0), 600 (1), 1200 (2), 2400 (3),
4800 (4), 9600 (5), 19200 (6), 38400
(7), 57600 (8), 115200 (9) baud
300 (0) baud F
1x.08 RS485 scan time 0 to 255 ms 2 ms
1x.09
1x.10
RS485 Tx validation time
DPL Print transmission path

0 to 1 ms
SYPT: OFF (0) or RS485: On (1)

0
SYPT: OFF (0)

G
1x.11 Clock task polling time 0 to 200 ms 0
1x.12
1x.13
Pos task polling time
Operation enabling
DISAbLEd(0); 0.25 ms(1); 0.5 ms(2);
1 ms (3); 2 ms(4); 4 ms(5); 8 ms(6)
OFF (0) or On (1)
DISAbLEd(0)
On (1)
H
1x.14
I
Module trip enabling OFF (0) or On (1) OFF (0)
1x.15 No module Reset on drive reset OFF (0) or On (1) OFF (0)
1x.16 Encoder data update 0 to 3 0
1x.17
J
Over-limit trip enable OFF (0) or On (1) OFF (0)
1x.18 Watchdog enable OFF (0) or On (1) OFF (0)
1x.19 Immediate saving of parameters OFF (0) or On (1) OFF (0)
1x.20
K
Saving at power-down OFF (0) or On (1) OFF (0)
1x.21 Enabling of saving and restoration of menu 20 OFF (0) or On (1) OFF (0)
1x.22 Address of CTNet token ring 0 to 255 0
1x.23
1x.24
CTNet address
CTNet network speed

0 to 255
5.000(0); 2.500(1); 1.250(2); 0.625(3)

0
2.500(1) L
1x.25 Configuration of CTNet Sync exchanges 0 to 9999 0
1x.26
1x.27
Destination of 1st CTNet easy mode cyclic word
Source of 1st CTNet easy mode cyclic word

0 to 25503
0 to 9999
0
0 M
1x.28 Destination of 2nd CTNet easy mode cyclic word 0 to 25503 0
1x.29 Source of 2nd CTNet easy mode cyclic word 0 to 9999 0
1x.30 Destination of 3rd CTNet easy mode cyclic word 0 to 25503 0
MisEnServPosLED
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UNIDRIVE SP
Commissioning
B SM-Applications module (continued)

1x.31 Source of 3rd CTNet easy mode cyclic word 0 to 9999 0
C 1x.32
1x.33
Slot 1 destination transfer
Slot 2 destination transfer

0 to 9999
0 to 9999
0
1x.34
D
Slot 3 destination transfer 0 to 9999 0
Disable (0), Event (1), Event1 (2),
1x.35 Synchronisation of Event tasks Disable (0)
Event2 (3), Event3 (4)
1x.36 CTNet bus status -3 to 0 -
E 1x.37 Loading authorisation rejection OFF (0) or On (1) OFF (0)
1x.38 No tripping on APC error OFF (0) or On (1) OFF (0)
F 1x.39
1x.40
Sync master status
Data transfer mode

0 to 3
0 to 10
0
1x.41 Reserved
G 1x.42
1x.43
Main Pos. saved
Position saving inversion

OFF (0) or On (1)
OFF (0) or On (1)

OFF (0)
OFF (0)
1x.44 Task priority level 0 to 255 0
H 1x.45
1x.46
Reserved
Reserved
1x.47 Reserved
I 1x.48 Faulty program line 0 to 2,147,483,647 -
1x.49 User parameter ± 32767 -
J 1x.50 Reading of fault
K 1x.51 Software version (zz)
L
M
MisEnServPosLED
H en e 09/07 110/114
UNIDRIVE SP
Commissioning
H6.21 - Menu 18: Application parameters
B
Application parameter
18.01 -32768 to +32767 0
18.02
(stored at power-down)
C
to Application parameters -32768 to +32767 0
18.10 D
18.11
E
18.30
18.31
to Application parameters OFF (0) or On (1) OFF (0)
18.50

F
Parameters
19.01
Description
Application parameter
(stored at power-down)
Variation range
-32768 to +32767
Factory setting
0
G
19.02

H
19.10
19.11
I
19.30
19.31
to Application parameters OFF (0) or On (1) OFF (0) J
19.50

K
20.01
to
20.20
Application parameters -32768 to +32767 0 L
20.21
to
20.40
Application parameters -231 to (231-1) 0
M
Note: These application parameters are used mainly with SM-Applications or SM-Applications Lite modules, or to produce a
"Syptlite" program (execution of a program internal to the drive using Syptlite software, available on the CD-ROM supplied with the
drive).
MisEnServPosLED
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UNIDRIVE SP
Commissioning
B H6.24 - Menu 21: Operating parameters for a second motor

EUR: 50.0 Hz EUR: 1500 min-1
C 21.01 Maximum limit 0 to 3000.0 Hz 0 to LIM N MAX 3000.0 min-1

USA: 60.0 Hz USA: 1800.0 min-1
FWD/REV
21.02 minimum limit
± 3000.0 Hz ± LIM N MAX 0
Reference
21.03 selection A1.A2 (0), A1.Pr (1), A2.Pr (2), Pr (3), Pad (4), Prc (5) A1.A2 (0)
D 21.04
21.05
Acceleration ramp
Deceleration
ramp
0 to 3200.0 s/
100 Hz
0 to 3200.0 s/
100 Hz
0 to 3200.000 s/1000 min-1
0 to 3200.000 s/1000 min-1

5.0 s/100 Hz
10.0 s/100 Hz
2.000 s/1000 min-1 0.200 s/1000 min-1
2.000 s/1000 min-1 0.200 s/1000 min-1
21.06 Rated frequency 0 to 3000.0 Hz 0 to 1250.0 Hz - EUR: 50.0 Hz / USA: 60.0 Hz -
E 21.07 Rated current 0 to IN MAX (A)
EUR: 1500 min-1

INOM DRIVE (11.32)
EUR:
1450.00 min-1
21.08
-1 -1
Rated speed 0 to 180000 min 0 to 40000.00 min 3000.00 min-1
USA:
USA: 1800 min-1
F 21.09 Rated voltage
Cos M
0 to UAC MOT MAX (V)
1770.00 min-1
TL: 230 V / T: EUR = 400 V, USA = 460 V / TM: 575 V / TH: 690 V
21.10 0 to 1.000 - 0 to 0.850 -

Number of motor
G 21.11
21.12
poles
Stator resistance
Auto to 120 poles (0 to 60)
Sizes 1 to 5: 0.000 to 65.000 :

Size 6: 0.000 to 65.000 x 10 m:
Auto (0)
0
6 POLE (3)
21.13 Voltage offset 0 to 25.0 V - 0 -
H 21.14
21.15
Transient
inductance
Motor 2
0 to 500.000 mH
OFF (0) or On (1)

0
-
parameters active
I 21.16
21.17
Thermal time
constant
Speed loop Kp
gain
-
0 to 3000.0 s
0 to 6.5535 (1/rads-1) -
89.0 s
0.0100 (1/rads-1)
20.0 s
Speed loop Ki
21.18 - 0 to 655.35 (1/rad) - 1.00 (1/rad)
J
gain
Speed loop Kd
21.19 gain
- 0 to 0.65535 (s) - 0
Encoder phase
21.20 angle
- 0 to 359.9° - 0
K Speed feedback drv (0), SLot 1 (1), SLot 2 (2),

21.21 selection
-
SLot 3 (3)
- drv (0)
Current loop Kp
21.22 gain 0 to 30000 20 TL: 75, T: 150, TM: 180, TH: 215
Current loop Ki
21.23 0 to 30000 40 TL: 1000, T: 2000, TM: 2400, TH: 3000
L
gain
21.24 Stator inductance - 0 to 5000.00 mH - - 0 -

0 to 100% of
21.25 Inflection point 1 -
rated flux
- - 50% -
0 to 100% of
21.26
M
Inflection point 2 - rated flux - - 75% -
Active current limit

21.27 in motor mode
0 to LIM. IM1 MAX (%) 165.0% 175.0%
Active current limit

21.28 in generator mode
0 to LIM. IM1 MAX (%) 165.0% 175.0%
Active current limit in

21.29 symmetrical mode 0 to LIM. IM1 MAX (%) 165.0% 175.0%
Motor voltage for
21.30 1000 min-1 Ke
- - 0 to 10000 V - - 98 V
21.31 Linear motor step 0 to 655.35 mm 0
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UNIDRIVE SP
Commissioning
H6.25 - Menu 22: Menu 0 parameter setting (continued)
Menu 0 configuration
B
22.01
22.02

1.00 to 21.51
1.00 to 21.51
11.33
11.32 C
22.03 1.00 to 21.51 6.09 5.16 0.00
22.04 Configuration of 0.34 of menu 0
D
1.00 to 21.51 11.30
22.08
and Not used - -
E
22.09
22.10
22.11

1.00 to 21.51
1.00 to 21.51
5.12
5.18
F
22.12
G
to Not used - -
22.17
22.19 Not used - -
22.20
22.21

1.00 to 21.51
1.00 to 21.51
11.29
0.00
H
22.23
22.24

1.00 to 21.51
1.00 to 21.51
0.00
0.00
I
22.26
22.27

1.00 to 21.51
1.00 to 21.51
0.00
0.00
J
22.29 Configuration of 0.59 of menu 0
Note: For configuration of 0.11 to 0.30, see menu 11.

1.00 to 21.51 0.00
K
L
M
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UNIDRIVE SP
Commissioning
B Notes
C
D
E
F
G
H
I
J
K
L
M
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H en e 09/07 114/114
UNIDRIVE SP
Communication
Contents B
I1 - Serial link............................................................................................................................... 3
I1.1 - Localisation and connection ....................................................................................................................... 3
I1.2 - Isolation ...................................................................................................................................................... 3
I1.3 - Protocoles ................................................................................................................................................... 3
C
I1.4 - Setting......................................................................................................................................................... 3
I1.5 - Connection to mains supply........................................................................................................................ 3
I2 - Setting by PC ........................................................................................................................ 3 D
I3 - Control word and status word............................................................................................. 4
I4 - MODBUS RTU, 0.35 = rtU (1) .............................................................................................. 4

I4.1 - General information .................................................................................................................................... 4
E
I4.2 - Exchange description ................................................................................................................................. 4
I4.3 - Global addressing ....................................................................................................................................... 5
I4.4 - Parameter assignment................................................................................................................................ 5
I4.5 - Data encoding............................................................................................................................................. 5
I4.6 - "Function" codes ......................................................................................................................................... 5
F
I4.6.1 - Function code 3 : reading................................................................................................................................. 5
I4.6.2 - Function code 16 : writing ................................................................................................................................. 6
I4.6.3 - Function code 23 : reading/writing .................................................................................................................... 6
I4.6.4 - Example ............................................................................................................................................................ 6
G
I4.7 - Waiting period ............................................................................................................................................. 7
I4.8 - Types of large data ..................................................................................................................................... 7
I4.8.1 - 32-bit registers .................................................................................................................................................. 7
I4.8.2 - Reading of a parameter type which is different from the selected one ............................................................ 7
I4.8.3 - Writing of a parameter type which is different from the selected one ............................................................... 8
H
I4.9 - Exceptions .................................................................................................................................................. 8
I4.10 - CRC .......................................................................................................................................................... 8
I
J
K
L
M
N
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UNIDRIVE SP
Communication
B Notes
C
D
E
F
G
H
I
J
K
L
M
ComGenerale
I en c 06/07 2/8
UNIDRIVE SP
Communication
I1 - Serial link B
In standard version UNIDRIVE SP integrates a serial link port I1.3 - Protocols
RS485 / 2 wires accessible by a RJ45 connector. The drive manages the protocols (selected by parameter-
I1.1 - Localisation and connection

setting) :
- Modbus RTU (factory settings),
- CT ANSI.
C
I1.4 - Parameter-setting
s
ss
Depending on the application, the following parameters must
be changed.
0.35 : Type of communication
D
s 0.36 : Serial link transmission speed
0.37 : Serial link address
S
To validate the end resistor, connect pin 8 to pin 1.
For details regarding these parameters, see section H2.1.
I1.5 - Connection to mains supply

E
The UNIDRIVE SP serial port allows the drive to
F
I1.2 - Isolation communicate to the RS 485 2 wire mains supply.
The drive serial link port has a double isolation. It complies • The mains supply must be then a " chain " connection (and
with the SELV safety requirements of the EN50178 standard. not a star connection).
The drive serial link is isolated from the power stage and • The terminals 2, 3, 7 and the shielding must be connected
from the control terminals. at minimum.
• The terminals 4 of all mains supply drives may be connected
• In order to comply with the SELV safety require-
ments of the IEC60950 standard regarding the IT
conditions, the element connected to the serial link must
altogether, but the maximum power available will be the same
as for a single drive (the terminals 4 may be thus separately
supplied with power).
G
be connected to earth. In case of a portable PC or of • For a drive located at the chain end in a mains supply,
validate the end resistor by connecting the terminals 1 and 8.
another similar equipment for which the earthing is not
possible, an additional isolation must be inserted into
the cable.
• CT Comms cable may be used on the mains supply, but
only occasionally, for diagnosis or setting, and with
UNIDRIVE SP drives only.
H
The CT Comms cable option is used to directly connect a In this case, the terminals 6 of each drive must be connected,
and terminal 4 must be connected to a single drive (1 single
I
PC to l’UNIDRIVE SP. This cable, with a SUB-D 9 connector
at one end and RJ45 at the other end, integrates an isolated CT Comms cable may be used on the mains supply).
RS232/RS485 converter.
I2 - Setting by PC
J
K
The LS SOFT parameter-setting allows a user-friendly com- To connect the PC to UNIDRIVE SP, use the CT Comms
missioning of UNIDRIVE SP from a PC. cable option described above or use a RS232/RS485 2 wire
converter (example : Amplicon 485 FI).
- Interactive setting: the setting of the drive is made automat- For the PC fitted with USB ports, contact your usual LEROY-
ically starting with answers to a questionnaire concerning the SOMER correspondent.
L
installation.
- Supervision during the commissioning: LS SOFT is used to During the use of a converter with Unidrive SP, it is recom-
supervise on a single and same screen different information mended not to connect the end resistor to the mains supply.
regarding the operation. It may be necessary to disconnect the end resistor depending
- File storing: LS SOFT is used to save the parameter files on the type used.
allowing thus to duplicate very quickly an already existing
setting.
M
N
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UNIDRIVE SP
Communication
B I3 - Control word and status word

The UNIDRIVE SP control commands may be managed by a 10.40 : Status word
single parameter 6.42, named " control word ".
C In fact, the value of 6.42 corresponds to a word within which

each bit is associated with a command. The command is
validated when the bit is set to 1, and it is invalidated when
Bits of
status
word
10.40
0
Corresponding
parameters
10.01 Drive ready

Drive status
the bit is set to 0.

To validate the commands by control word, set 6.43 = 1 (the 1 10.02 Activated drive output
D control commands by terminal block are no longer active).
The parameter 10.40 named status word is used to regroup

2
3
4
10.03
10.04
10.05
Zero speed or frequency
Minimum speed or frequency
Frequency or speed lower than
the low threshold
the information on the variable speed drive. The value of
5 10.06 Reached reference
10.40 corresponds to a 15-bit word, and each bit is
E
Frequency or speed higher than
associated with a drive status parameter. 6 10.07 the high threshold
7 10.08 Rated load
6.42 : Control word 8 10.09 Active current limitation
Bits of 9 10.10 Dynamic braking
control word
Corresponding
Functions 10 10.11 Braking on resistor
F
parameters
6.42 11 10.12 Overload alarm, braking resistor
0 6.15 Drive enabling 12 10.13 Required reverse rotation
1 6.30 Fwd run 13 10.14 Reverse rotation
2 6.31 Run by pulses 14 10.15 Mains supply absence
3 6.32 REV run
G 4
5
6
7
6.33
6.34
6.39
-
Fwd/rev
Run
Stop\
Automatic/Manual
Analogue reference - preset
8 1.42
H 9
10
11
6.37
-
-
reference
Rev run by pulses
reserved
reserved
12 - Drive trip state
I 13
14
10.33
-
Drive trip state reset / Reset
Keyboard wizard
I4 - MODBUS RTU, 0.35 = rtU (1)

J I4.1 - General information
The MODBUS RTU protocol is a master - slave type protocol.
I4.2 - Description of exchanges
The exchanges are made on the initiative of the master,
(a single master by mains supply). which imposes its demands: if the related slave comprised
it, it sends its answer. Each frame (question or response)
K Description
Normal physical layer for
multi-points operation
Chain of bits
Characteristics
RS485 2 wires
Standard UART asynchronous

contains four types of information :
- the address of the related slave receiving the question frame
(master demands) or the address of the slave sending the
response frame (encoded on a byte),
symbols with No Return to
- the function code that selects a command (reading or writing
L
Zero (NRZ)
of words, of bits...) for the question and response frames
Symbol Each symbol is made of:
(encoded on a byte),
1 bit start
- the information field containing the command-related
8 bits of data (last significant
bit sent first) parameters (encoded on "n" bytes),
- the CRC of the frame, calculated on sixteen bits which is
M
2 bits stop
used to detect the transmission errors.
Transmission speed 300, 600, 1200, 2400, 4800,
9600, 19200, 38400, 57600, The frame is terminated by a minimum silence period,
115200 bauds equivalent to the transmission time for 3.5 characters (by
instance, at 19200 bauds, the silence period must be at least
of 1/19200 x 11 bits x 3.5, that is 2 ms). This silence period
indicates the message end, and the slave may begin to
process the information sent.
All the information is encoded in hexadecimal.
Slave Function CRC Silence
Message data
address code 16 bits interval
ComGenerale
I en c 06/07 4/8
UNIDRIVE SP
Communication
All the master demands, excepting the general diffusion demands, will generate the response of a single slave. The slave will
respond within the maximum time assigned for it (the minimum response time will be never shorter than the silence period).
After a general demand, the master may send a new demand after a period equivalent to the maximum response time of the slave.
B
Minimum silence period Minimum silence period
Master demand
Frame detection
Process of the frame
by slave
Slave response Master request
C
Slave response
time
D
I4.3 - Global addressing I4.6.1 - Function code 3 : reading
E
When the master sends a message with the zero address, Reading of a register adjacent area. The slave imposes a
this message is sent to all the slaves of the mains supply. high limit on the number of registers that may be read. If the
The slave knots do not send response messages for general limit is exceeded, the slave will produce a code 2 exception.
demands.
Frame sent by the master:
I4.4 - Parameter assignment Bytes Description
The UNIDRIVE SP drives are parameter-set by using a
menu.parameter notation.
The indices "menu" and "parameter" may have the values 0
0
1
2
Slave address (1 to 247)
Function code 0x03
High weight of the first word address
F
- 99. Le menu.parameter is assigned to a MODBUS RTU 3 Low weight of the first word address
register menu x 100 + parameter. 4 High weight of the number of word to read
To correctly assign the parameters, the slave increments
by (+1) the address of the register received.
Example : X = menu ; Y = parameter
5
6
7
Low weight of the number of word to read
Low weight of CRC
High weight of CRC
G
Register address n° slave
Drive parameter
X.Y
1.02
Examples :
(protocol level)
(X x 100) + (Y – 1)
101
1 hexadecimal
byte
Order (03)
1st word address
2 hexadecimal
Number of words
CRC
H
1.00
bytes
99
0.01 Frame sent by the slave:
I
0
70.00 6999 Bytes Description
0 Slave address
I4.5 - Data encoding 1 Function code 0x03
MODBUS RTU uses a "big-endian" representation for data 2 Number of bytes to read
information and addresses (save for CRC which is "little- 3 High weight of word 0
endian"). That is, when a digital quality, "larger" than a byte
is sent, the most significant byte is sent first.
By instance:
4
5
6
Low weight of word 0
High weight of word 1
J
1st 2nd … ... …
16 – bits 0x1234 must be: 0x12 0x34 n Low weight of CRC
32 – bits 0x12345678L must be:
I4.6 - "Function" codes

0x12 0x34 0x56 0x78
The function code determines the data context and format of

n+1 High weight of CRC
n° slave
K
Order (03)
the message. Bit 7 of the function code is used in the slave No. of bytes
L
response to indicate an exception. Word number 0
1 hexadecimal
Code Description
byte Word number 1
function …
CRC
3 Multiple reading of 16-bit registers 2 hexadecimal
bytes
16 Multiple writing of 16-bit registers
M
23 Multiple reading and writing of 16-bit registers
CMP " capsulated " protocol
64
Non standard function code
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UNIDRIVE SP
Communication
B I4.6.2 - Function code 16 : writing

Writing a register adjacent area. The slave imposes a high
limit on the number of registers that may be written. If the
Frame sent by the master:
Bytes Description
0 Slave address (1 to 247)
limit is exceeded, the slave will abandon the demand and the
1 Function code 0x17
C
master will not respond ("timeout").
2 High weight of the first word address to read
Frame sent by the master: 3 Low weight of the first word address to read
4 High weight of the number of word to read
Bytes Description 5 Low weight of the number of word to read
0 Slave address (1 to 247) 6 High weight of the first word address to write
D
7 Low weight of the first word address to write
2 High weight of the first word address 8 Low weight of the first word address to write
3 Low weight of the first word address 9 Low weight of the number of words to write
4 High weight of the number of word to write 10 Number of bytes to write
5 Low weight of the number of word to write 11 High weight of word 0
6 Number of bytes to write 12 Low weight of word 0
E 10
7
8
9
High weight of word 0 to write
Low weight of word 0 to write
High weight of word 1 to write
Low weight of word 1 to write
13
14
...
n
High weight of word 1
…
Low weight of CRC
... … n + 1 High weight of CRC
F n Low weight of CRC

n + 1 High weight of CRC
n° slave
Frame sent by the slave:
Bytes Description
Order (10h)
0 Slave address (1 to 247)
G
1st word address
1 hexadecimal Number of words 2 Number of bytes to read
byte
No. of bytes 3 High weight of word 0
2 hexadecimal Word number 0 4 Low weight of word 0
bytes
1 hexadecimal Word number 1 5 High weight of word 1
byte … 6 Low weight of word 1
H
2 hexadecimal CRC
bytes ... …
n Low weight of CRC
Frame sent by the slave: n + 1 High weight of CRC
Bytes Description I4.6.4 - Example
0 Slave address (1 to 247) Drive address = 11.
I 1
2
3
4
Function code 0x03
High weight of the first word address
Low weight of the first word address
High weight of the number of written bytes
Reading of 3 parameters starting with 1.08.
0108 becomes 0107 which is equal to 006B in hexadecimal
(modbus address = parameter address - 1).
5 Low weight of the number of written bytes
• Request
J
6 Low weight of CRC
7 High weight of CRC Example (hexa) RTU (binary)
Slave address B 0000 1011
Function 03 0000 0011
n° slave 1st word address (strong) 00 0000 0000
Order (10h)
1st word address (weak) 6B 0110 1011
K
1st word address
1 hexadecimal
Number of words
Number of words (strong) 00 0000 0000
byte
CRC
Number of words (weak) 03 0000 0011
2 hexadecimal Check-up CRC (16 bits)
bytes
Total bytes: 8
I4.6.3 - Function code 23 : reading/writing
• Response
L
Writing and reading of two adjacent register areas. The slave
imposes a high limit on the number of registers that may be Example (hexa) RTU (binary)
written. If the limit is exceeded, the slave will abandon the Slave address B 0000 1011
demand and the master will not respond ("timeout"). Function 03 0000 0011
Number of bytes 06 0000 0110
Word 0 (strong) 02 0000 0010
M Word 0 (weak)
Word 1 (strong)
Word 1 (weak)
Word 2 (strong)
2B
00
00
00
0010 1011
0000 0000
0000 0000
0000 0000
Word 2 (weak) 63 0110 0011
Check-up CRC (16 bits)
Total of bytes : 11
ComGenerale
I en c 06/07 6/8
UNIDRIVE SP
Communication
I4.7 - Waiting delay
In MODBUS RTU, when the master sends a message to a
slave, it needs a waiting delay between the end of its demand
Example:
Slave address: 08
Reading from 20.01 to 20.04 32-bit parameters, by using
B
and the beginning of the slave response, this allowing to the function code 03.
detect a possible outstanding response.
I4.8 - Types of large data

I4.8.1 - 32 bit registers
• Master Request
Bytes
0
Value
0x08 Slave address
Description
C
The standard MODBUS RTU registers have 16 bits, and a 1 0x03 Multiple reading, function code 03
single parameter X.Y is assigned to a single register
MODBUS RTU. To manage 32 bits data (entire or floating),
we may use multiple MODBUS RTU readings and writings
to transfer a 32-bit register adjacent area.
2
3
4
0x40
0xC8
0x00
Address of initial register 20.01
(0x4000 +201 – 1) = 16584 = 0x40C8
Number of 16-bit registers to read:
20.01 to 20.04 correspond to
D
5 0x08
4 32-bit registers = 8 16-bit registers
E
Generally, the slaves contain 16-bit registers and 32-bit Low weight
6 -
registers. In order to allow the master to select 16 or 32 bits, of CRC
the 2 bits of the highest weight of the register address are High weight
7 -
used to indicate the type of data selected. of CRC
Note : the value 0x4000 corresponds to the INT32 type
Note : The selection applies to all the units.
Bit 15
TYP1
Bit 14
TYP0 Bits 0 - 13
(bit15 = 0, bit 14 = 1).
• Slave response:
Bytes Value Description
F
0 0x08 Slave address
Type selection Address of parameter X x 100 + Y - 1 1 0x03 Multiple reading, function code 03
Bits 14 and 15 select the data type according to the table
below:
Bits 15-14 Type of data Comment
2
3-6
7-10
0x10
Data length (bytes) =
4 32-bit registers = 16 bytes
20.01
20.02
G
selected 11-14 20.03
20.04
H
00 INT16 Standard type - 16 bits 15-18
01 INT32 Specific type - 32 bits Low weight
IEEE794 standard not 19 -
10 Float32 of CRC
managed by all equipment
High weight
11 Reserved 20 -
of CRC
If a 32-bit data type is selected, then the slave uses 2
MODBUS RTU registers of 16 consecutive bits (in "big
endian"). The master must also correctly adjust the "number
I
of 16-bit registers".
I4.8.2 - Reading of a type of parameter different from the selected one

The slave will send the last significant word of a 32-bit parameter if this parameter is read as a 16-bit parameter.
J
The slave will sign the last significant word of a 16-bit parameter if this parameter is read as a 32-bit parameter. The number
of 16-bit registers must be even during a 32-bit reading.
Example :
If :
K
- 20.01 is a 32-bit parameter with a value of 0x12345678,
- 20.02 is a 16-bit parameter with a value of 0xABCD (negative value),
- 20.03 is a 16-bit parameter with a value of 0x0123 (positive value).
Reading
Register beginning
address
Number of 16-bit
registers
Response Comments
L
Standard 16-bit reading of a 32-bit register will return a 16-bit
20.01 200 1 0x5678
M
word ( "truncated" data)
20.01 16584 2 0x12345678 Correct 32-bit reading
20.01 16584 1 Exception 2 The number of registers must be even for a 32-bit reading
Standard 16-bit reading of a 16-bit register will return a 16-bit
20.02 201 1 0xABCD
word
20.02
N
16585 2 0xFFFFABCD
32-bit reading of a 16-bit register will return a 32-bit signed word
20.03 16586 2 0x00000123
20.01 0x5678, Standard 16-bit reading of a 32-bit register will return a 16-bit
200 2
20.02 0xABCD word ( "truncated" data)
20.01 0x12345678,
16584 4 Complete 32-bit reading
20.02 0xFFFFABCD
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UNIDRIVE SP
Communication
B I4.8.3 - Writing of a type of parameter different from the selected one

The slave will allow the writing of a 32-bit value in a 16-bit parameter, if the 32-bit value does not exceed the normal range of
a 16-bit parameter.
The slave will allow the writing of a 16-bit value in a 32-bit parameter. The slave will sign the written value, so the range of this
C type of writing will be ± 32767.
Example :
If for :
- 20.01 the variation range is of + 100000,
- 20.02 the variation range is of + 10000.
D Writing
Register beginning
address
Number of 16-bit
registers
Response Comments
Standard 16-bit writing in a 32-bit register.
20.01 200 1 0x1234
Written value: 0x00001234 (4660)
E 20.01
20.01
20.02
200
16584
201
1
2
1
0xABCD
0x00001234
0x0123
Standard 16-bit writing in a 32-bit register.
Written value: 0xFFFFABCD (-11213)
20.02 16585 2 0x00000123 Written value: 0x00000123 (291)
F I4.9 - Exceptions
If an error is detected in the master demand, the slave will
I4.10 - CRC
This control word is used for the detection of the transmission
respond will an exception response. If the message is errors. It is calculated on 16 bits starting with all the question
inadequate and the frame is not received, or if CRC stops, and response frame bytes.
G then the slave will produce no exception, and in this case the
master will not receive the slave response ("timeout"). If a
writing demand (function code 16 or 23) exceeds the
Algorithm:
START
CRC = 0xFFFF;
maximum size accepted by the slave, the slave will reject the Number of processed bytes = 0 ;
message. No exception will be sent and the master will not Following byte = first byte;
H respond.
Format of an exception message:

REPEAT{
Byte to be processed = following byte ;
CRC = CRC or exclusive byte to be processed;
Bytes Description REPEAT eight times
I 0 Slave address IF (CRC odd)

1 Initial function code with bit 7 to 1 THEN CRC = CRC or exclusive 0xA001 ;
2 Exception code Number of processed bytes = Number of processed bytes +
3 Low weight of CRC 1;
4 High weight of CRC }WHILE (number of processed bytes < Number of bytes to
J
be processed)
Exception codes: END.
Code Description
1 Not managed function code
Register address beyond the range or too
2 important reading demand (too many registers)
K Parameters beyond the range during a writing function

(function code 16)
The slave processes the writing unit in the order in which the
L
data are received. If a writing fails due to a value beyond the
range, the writing unit is ended.
The slave will not produce exception response, but it will
signal to the master the number of actually performed writing.
M Parameters beyond the range during the reading/writing

(function code 23)
There is no indication when the value is beyond the range,
during a CF23 access.
ComGenerale
I en c 06/07 8/8
UNIDRIVE SP
SMARTCARD
Contents B
J1 - Functionality and installation............................................................................................. 3
J2 - Saving a set of parameters................................................................................................. 3

J2.1 - Manual saving.......................................................................................................................................... 3
C
J2.2 - Automatic saving...................................................................................................................................... 3
J2.3 - Saving for automatic transfer to another drive ........................................................................................ 3
J2.4 - Write protection........................................................................................................................................ 3
J2.5 - Reset........................................................................................................................................................ 3 D
J3 - Loading a set of parameters............................................................................................... 4
J3.1 - Manual loading......................................................................................................................................... 4
J3.2 - Automatic loading .................................................................................................................................... 4 E
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UNIDRIVE SP
SMARTCARD
B Notes
C
D
E
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UNIDRIVE SP
SMARTCARD
J1 - Functionalities and installation B
SMARTCARD is supplied in the standard version with • SMARTCARD Slot
UNIDRIVE SP.
It is used to simply configure the drive:
- saving the drive parameters in order to duplicate them in
other drives,
- loading parameters by means of SMARTCARD.
C
D
A single SMARTCARD may be inserted in the drive, but the
user may have several different programming cards.
E
J2 - Saving a set of parameters
To transfer the drive parameters and to store them in
SMARTCARD, various solutions may be considered :
J2.2 - Automatic saving
CAUTION:
F
- manual and selectiv e saving of parameters on If the SMARTCARD contains already parameters, they
SMARTCARD, will be " deleted and reset " by this procedure.
- automatic saving of parameters and of their modifications
on SMARTCARD,
- saving the drive parameters on a SMARTCARD in order to
automatically transfer them to another drive, only by inserting
Parameter
0.00
Setting
1000
Description
Storing of all drive
parameters
Validation
Press the Reset
key.
G
the card. All drive parameters
Press the Reset
are stored on the
H
key.
SMARTCARD.
J2.1 - Manual saving 0.30 Auto (3) Then, only the
CAUTION: Let the
• If the SMARTCARD already contains parameters, they modifications of menu SMARTCARD in
0 will be automatically its place in the
will be "deleted and overwritten" by this procedure.
stored on the card. drive.
• The drive must not be in the "inh" state before carrying
Storing of the
out configuring.
Parameter
0.00
Setting
1000
Description
parameters
Validation
Press the Reset
key.
0.00 1000 modification of other
menus on the
SMARTCARD
Press the Reset
key.
Subsequently, on each powering up, all drive parameters are

I
Press the Reset stored on the SMARTCARD. During the transfer, the display
Storing of all drive key. indicates " cArd ".
0.30 Prog (2) parameters in
SMARTCARD

After the transfer,
0.30 returns to 0
(none). J
LEROY-SOMER
application program
0.29 3333 parameters on a
SMARTCARD (menus
18 to 20, 70, 71, 74
and 75)
Press M .
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UNIDRIVE SP
SMARTCARD
B J2.3 - Saving for automatic transfer to another drive

CAUTION:
If SMARTCARD contains already parameters, they will
J2.4 - Writing Protection
Parameter Setting Description Validation
Memory block in
be " deleted and reset " by this procedure. SMARTCARD. No
C Parameter
0.00
Setting
1000
Description
parameters
All drive parameters
Validation
Press the Reset
key.
Press the Reset
0.00 9888
parameter saving may
be transferred to the
SMARTCARD.
Only the
Press the Reset
key.
0.30 boot (4) are stored on the key. SMARTCARD loading
SMARTCARD. Remove the card into a drive is
D Consequently, insert the SMARTCARD into another drive powered

down. When powering up, all the SMARTCARD parameters are
automatically transferred to the drive. During the transfer, the
display indicates " boot ". Remove the card.
Parameter Setting
authorised.
To unblock the memory in the card:
Description
The SMARCARD
Validation
Press the Reset
0.00 9777
memory is unblocked key.
E J2.5 - Reset
Parameter Setting Description
Reset of all parameters
Validation
Press the Reset
0.00 9999 previously stored on
key.
F the SMARTCARD.
G
H J3 - Loading a set of parameters
To load a set of parameters from the SMARTCARD into the
drive, proceed as follows : Parameter Setting Description Validation
I - manual loading of the parameters stored on the

SMARTCARD to the drive,
- the parameters contained on the SMARTCARD have been
stored so that they are automatically loaded once the
0.30 REAd (1)
Loading of the
SMARTCARD
parameters into the
Press the Reset
key.
After the transfer,
0.30 returns to 0
drive.
SMARTCARD is inserted into the drive. (none).
CAUTION: Loading of all drive
J • If the drive rating is different from the one stored on

SMARTCARD, the drive sets to " C.rtg " and the
parameters related to the drive rating are no longer 0.29 6666
LEROY-SOMER
application program
parameters on the
SMARTCARD (menus
Press M .
transferred. 18 to 20, 70, 71, 74
• The 0.43 encoder phase angle is also saved on the
K
and 75)
SMARTCARD. During the transfer from the card to the
drive, the then stored phase angle may be different from
the one of the encoder installed. In order to avoid any J3.2 - Automatic loading
problem, proceed to a self-rating after transfer, or apply CAUTION :
manually 0.43. • When powering up, The operating mode - Open loop
L
( ), the vector mode - Closed loop ( ) or Servo ( )
J3.1 - Manual loading of the drive and that contained on the SMARTCARD
CAUTION: during the transfer, must be identical. Otherwise, the
• The operating mode, open loop ( ), closed loop flux drive sets to " C.typ " and the drive mode is not modified.
vector control mode ( ) or servo ( ) of the drive and
that contained in the SMARTCARD at the time of transfer Previously, the saving of parameters on the SMARTCARD
M must be identical. Otherwise, the mode of the drive will

be changed by the SMARTCARD.
• The drive must not be in the "inh" state before carrying
must be performed by the procedure described at section
J2.3 (0.30 = boot (4)).
- Insert the card.
out configuring. - All SMARTCARD parameters are automatically transferred
to the drive. During the transfer, the display indicates " boot ".
N - Remove the SMARTCARD
O J en
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UNIDRIVE SP
Diagnostics
Contents B
K1 - Introduction ........................................................................................................................ 3
K2 - Operational indicators....................................................................................................... 3
K3 - Operating alarms ............................................................................................................... 3

C
K4 - Fault tripping ...................................................................................................................... 3
K4.1 - Faults table ........................................................................................................................................... 4
K4.2 - Faults related to an option module ....................................................................................................... 12
D
K4.2.1 - Faults table............................................................................................................................................... 12
K4.2.2 - Error codes related to the " SLX.Er " fault................................................................................................ 13
K4.3 - Faults codes by serial link .................................................................................................................... 15 E
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UNIDRIVE SP
Diagnostics
B Notes
C
D
E
F
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UNIDRIVE SP
Diagnostics
K1 - Introduction B
UNIDRIVE SP supplies diagnostic information. In addition, the faults type may be recovered by serial link
This information is split into 3 categories : as codes.
- indications concerning the operation,
- operating alarms,
- fault trips.
• The user must neither try to repair the drive by
himself, nor give a diagnosis other than the ones
listed in this chapter. In case of drive failure, it must be
returned to LEROY-SOMER through the agency of your
C
normal contact.
K2 - Operational indicators D
The lower display of the Unidrive SP displays the status of
Output
the stopped or operating variable speed drive.
Comment
Output
status
inh
Comment
- The drive is disabled, and it will not

start the motor
status
Inactive
E
ACt The drive is in regenerative mode, and it is - Freewheel stop
F
synchronised with the mains supply loAding The drive transfers information to an option
-
ACUU Loss of the mains supply: the drive trys to keep module
the voltage on the DC bus, by decelerating the Active POS The drive positions the motor shaft Active
motor rdY - The drive is enabled, and waits for a
Auto/tunE Auto-tuning phase in process command Inactive
boot Automatic transfer of parameters from -The motor is ready to turn
-
cArd
dc
SMARTCARD to the drive (After power up)
Automatic transfer of the drive parameters to
SMARTCARD (After power up)
Braking phase by injection of continuous
-
Active
run
StoP
The motor is controlled by the drive
SCAn In the Open loop mode (
resumption on microcut
), motor quick
The drive keeps the motor torque at zero

Active
Active
Active
G
current speed
dEC Deceleration after a stop command Active triP The drive is stopped, and it does not control Inactive
the motor. The fault code is displayed on the
lower display
H
K3 - Operating alarms
Alarms may appear during the drive operation.
These alarms are for preventative action only, to alert the Comment
I
user: the drive continues to operate but there is a risk for
stopping. br.rs Overheat from the braking resistor (the braking thermal
OVLd
battery reached 75% of the value at which the drive
stops)
Motor overheat I2t (the motor thermal reserve has
reached 75% of the value at which the drive stops)
J
hot Heater or control card overheating
K4 - Fault tripping K
If the drive stops, the drive output bridge is inactive, and the After consulting the fault table, follow the procedure below:
drive does not control the motor.
If a LED display is used, the upper display indi-
cates "triP" and the lower display indicates the
fault type.
- make the necessary checks in order to remove the cause
of the fault,
- make sure that the drive is disabled (open terminal 31),
- press the key : if the drive is not stopped anymore, the
L
All the faults indicated by the display are listed display indicates " inh ".
in the table below in alphabetical order. • The opening then the closing of the enabling ter-
If the drive has no display, a LED indicates the

drive status.
If it is stable, the operation is normal, and if it
minal may cancel the fault. If, when the fault is
cancelled, the terminal Run forward or Run reverse is
closed, the motor will immediately start.
M
flashes, the drive is stopped. The fault type may Note : In the table, the faults related to the UNIDRIVE SP
then be known by consulting the value of the
parameter 10.20 by serial link. The value of
10.20 indicates then a fault code (1 to 230), and the corre-
spondence of each code is to be found in the table of section
options contain the letter X, representing the module location
having detected the fault.
N
K4.3.
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UNIDRIVE SP
Diagnostics
B K4.1 - Faults table

Mnemonic
Fault reason Solution
Display
C.Acc Communication problem with • Insert SMARTCARD
C (185) SMARTCARD • Check SMARTCARD to be correctly inserted

• The fault can be cleared only after 1 second
• Make sure that 11.42 is correctly set to auto (3) or boot (4), then
SMARTCARD: It has not been
press Reset . Attempt to modify the menu 0 parameter again
possible to store the modification
D
C.boot
of a menu 0 parameter in the
(177)
SMARTCARD since the card is
not configured correctly
SMARTCARD: The • Wait until the Solutions module finishes with the SMARTCARD and relaunch
E C.bUSY
(178)
SMARTCARD cannot carry out
the requested command since it
is being used by a Solutions
the desired command
module
C.Chg The unit selected in the • Erase the unit parameters before attempting a new transfer
F (179) SMARTCARD already contains

parameters
to SMARTCARD
• Select another unit not used in SMARTCARD
C.Cpr The drive parameters are not • In order to cancel the fault, press the Reset key
G
(188) identical to the parameters of the • The fault can be cleared only after 1 second
unit selected in SMARTCARD
C.dat The unit selected in • Check the unit number
(183) SMARTCARD has no parameter • The fault can be cleared only after 1 second
C.Err SMARTCARD : incorrect data • Insert SMARTCARD
H (182)
C.Full SMARTCARD is full

• Check SMARTCARD to be correctly inserted
• Erase the parameters and proceed again to the transfer
• Erase an unit before realising again a transfer
(184) • Insert a new SMARTCARD
I cL2
(28)
Current reference loss on the
analogue input 2, terminal 7
• Check the current reference to be > to 3mA
• If 10.37 = 1 or 3, the motor stops before the drive stops
(0.19 = 4-20 or 20-4)
cL3 Current reference loss on the
J (29)
CL.bit
analogue input 3, terminal 8
(0.21 = 4-20 or 20-4)
Stop starting from a control word • Devalidate the control word (6.43 = 0)
(35) 6.42 • Check the setting of 6.42
• Make sure that the power modules are correctly connected and
K ConF.P
(111)
The number of power modules
does not correspond to the value
stored in 11.35
supplied with power
• Make sure that the value in 11.35 does correspond to the number of
power modules connected
C.Optn The drive module(s) is (are) • Check the location and the type of module(s) mounted on the drive,
L
(180) different from that (those) of the there must be no difference from the configuration stored in the
SMARTCARD SMARTCARD
• Check the options to be correctly inserted in the drive
• Press the Reset key
M C.Prod
(175)
SMARTCARD: The
SMARTCARD data blocks are
not compatible with this product
• Erase all the SMARTCARD data by setting xx.00 to
9999, followed by the Reset key
• Replace the SMARTCARD
N
O K en
DefPOS
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UNIDRIVE SP
Diagnostics
Mnemonic
Display
C.rdo
Fault reason
The storage in SMARTCARD is • Set XX.00 = 9777 + Reset
Solution
to store a parameters set

B
(181) disabled in SMARTCARD
• Check the selected unit is not protected
(units n°500 to 999)
C
C.rtg The drive rating does not • Press Reset
(186) correspond to the one stored in • SMARTCARD has transfered all parameters excepting those related to the
the SMARTCARD drive rating that resume their factory settings:
Parameters
2.08
Function
DC bus voltage threshold
D
4.05 to 4.07
Current limitation
21.27 to 21.29
4.24
5.07 and 21.07
5.09 and 21.09
User max. current scaling
Motor rated current
Motor rated voltage
E
5.10 and 21.10 Rated power factor cos M
5.17 and 21.12
F
Stator resistance
5.18 Carrier frequency
5.23 and 21.13 Voltage offset
5.24 and 21.14 Transient inductance
5.25 and 21.24 Stator inductance
6.06
G
Level of the brake by DC injection
6.48 Mains loss detection level
•The fault can be cleared only after 1 second
C.Typ The unit selected in • Press the Reset key
(187) SMARTCARD is not compatible • Check the type of drive to be identical to the one contained in the
H
with the drive SMARTCARD unit
dESt Conflict : 2 parameters or more • Set XX.00 = 12001 : the drive displays all the destination parameters,
(199) have the same destination enabling error detection
parameter • The fault can be cleared only after 1 second
EEF
(31)
EEPROM fault • The operating mode becomes the open loop mode, and if a display
is connected to the serial link, this one will be automatically
invalidated
I
• Proceed to a factory settings return, and store the parameters
(XX.00 = 1000 + Reset ), then cut the power supply and power it up
Enc1
(189)
• Fault will not clear without returning to factory settings
Encoder power supply overload • Check the encoder power supply current to be lower to the maximum
admissible current (200mA at 15V or 300mA at 8V and 5V)
J
K
Enc2 Encoder connection breaking • Check the connections and the encoder voltage
(190) • Replace the encoder
• If the detection of the encoder cable breaking is not necessary on the drive
encoder, set 3.40 = 0 in order to invalidate the Enc2 fault (ex : return of
Enc3
(191)
the encoder connected to a SM-Resolver module)
Encoder : Offset of the incorrect • Check the encoder signals are being received
UVW stage during the operation • Perform again the offset measurement procedure
L
• Check the encoder mechanical mounting
Enc4
(192)
Difficulty to connect with the
encoder
• Check the transmission speed and the power supply
• Check the encoder signals not to be disrupted
• Replace the encoder
M
Encoder : CRC error or control • Check the encoder signals are being received
N
Enc5
(193) sum • With the EnDat encoders, check the link resolution and/or proceed
to the automatic configuration 3.41
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UNIDRIVE SP
Diagnostics
B Mnemonic
Display
Enc6
Fault reason
Encoder error
Solution
• For a SSI encoder, check the power supply setting as
(194) well as the cabling
C Enc7 Encoder initialisation problem

• Press Reset
(195) • Check the type of encoder, its cabling and its power supply to be
correctly set in 3.38 and 3.36
D • Proceed to the automatic configuration by 3.41

Enc8 The automatic configuration at • Check the resolution of the serial link
• Set 3.41 to 0, and enter manually the number of encoder turns
E
(196) the power up could not be
realised 3.33 and the number of increments by turn 3.34
Enc9 The information concerning the • Check the settings of 3.26 (or of 21.21 if a second motor is
(197) module position return is not used)
F Enc10
(198)
accessible starting from the
selected location
The encoder stage angle (3.25
or 21.20) is incorrect
• Check the encoder connection

• Proceed to an auto-tuning or enter the value of the encoder phasing out
manually in 3.25 or 21.20
G • In the case of untimely Enc10 faults related to certain applications, the

fault may be reset by setting a value higher that 0 in
3.08 (caution, a too high value may invalidate the detection of an
encoder fault).
Enc11 Fault generated in case of • Check the shielding of the encoder cable
H (161) difference between the sinus/

cosinus signals and the position
measured permanently by the
• Check the sinus and cosinus signals are not disconnected
serial link. This fault is generally

due to a spike in the sinus-
I Enc12
(162)
cosinus path
Hiperface encoder problem : the • Check the type of encoder to be recognised by the autoconfiguration
encoder may not be identified by procedure
the auto-configuration procedure • Check the encoder cabling
• Enter the encoder characteristics manually
J Enc13
(163)
EndAt encoder problem: the
number of encoder turns read
during the auto-configuration
stage do not correspond to a
• Select another type of encoder
power of 2
K Enc14
(164)
EndAt encoder problem : during • Select another type of encoder
the auto-configuration stage,the • The encoder is damaged
number of bits that define the
encoder position in a turn is
important
L Enc15
(165)
Encoder problem : the number of • The number of points by turn or the non polarity of a linear motor is
periods calculated by turn during incorrect, for ex. 5.36 = 0 or 21.31 = 0
the auto-configuration stage is •The encoder is damaged
lower than 2 or higher than
50 000
M Enc16
(166)
EndAt encoder problem: the
number of serial link bits by
period for a linear motor is
• Select another type of encoder
• The encoder is damaged
higher than 255

Enc17 Revolving sincos encoder • Select another type of encoder
N (167) problem : the periods obtained by •The encoder is damaged

turn during the auto-configuration
stage is not a power of 2
O K en
DefPOS
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UNIDRIVE SP
Diagnostics
Mnemonic
Display
EnP.Er
Fault reason
Data error in the encoder • Replace the encoder
Solution B
(176) electronic range • The fault can be cleared only after 1 second
Et
(6)
External fault on terminal input
31
• Check terminal 31 to be connected to 24V (in positive logic)
• Check 10.32. Enter 12001 in 0.00, and check the parameter that controls
the value of 10.32
C
• Make sure that 10.32 or 10.38(=6) are not controlled by the serial link
HF01 to HF13 Internal error
and
HF17 to HF32
• Power down and power up again
• Contact your ordinary interlocutor LEROY-SOMER if the fault persists
• The Reset key may not cancel these faults
D
(217 to 232)
It.AC Motor overload I2t • Read the battery value in 4.19
(20) • Check the motor is not overloaded
• Adjust the rated speed ( )
• Check that the motor rated current is correctly set (0.46)
E
• Speed return: check the connecting up, and check the signal not to be
F
disrupted
• Check the parameter number of motor poles 0.42
It.br Overload of the braking resistor • Read the value of the battery in 10.39
(19) • Increase the resistance value
• Check 10.30 and 10.31 to be correctly set (too many braking cycles).
For setting see the manual
available on the CDRom (ref. 3655)
G
• Check the cabling and the resistor
• Check the integrated transistor
L.SYnC
(39)
Synchronisation failure of the
drive in Regen mode
• Please consult LEROY-SOMER H
O.CtL Overheating of the control card •Check that the fans turn, the cooling vents are not
I
(23) blocked, the ambient temperature does not exceed 50°C, and the space
around the drive is sufficient
• Diminish the carrier frequency 0.41
O.ht1 Thermal simulation of the power • Diminish the motor load, the cycle, the carrier frequency, and the
(21)
O.ht2
components in function of I2t
Heater overheating
acceleration and deceleration ramps
• Check the IN motor
•Check that the fans turn, the cooling vents are not
J
(22) blocked, the ambient temperature does not exceed 50°C, and the space
• Diminish the motor load, the cycle, the carrier frequency, and the
K
• Increase the ventilation flow
O.ht2.P
(105)
Heater overheating of a power
module
blocked, the ambient temperature does not exceed 50°C, and the space
L
O.ht3 Drive thermal simulation

M
(27) blocked
• Diminish the motor load, the cycle, and the acceleration and deceleration
ramps
N
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UNIDRIVE SP
Diagnostics
B Mnemonic
Display
O.ht4.P
Fault reason
Rectifier overheating of a power
Solution
(102) module blocked, the ambient temperature does not exceed 50°C, and the space
C around the drive is sufficient

D OI.AC
(3)
• Check that there is no stage inbalance
• Overcurrent at the drive output •Check the insulation and the motor coupling
(output current point • Increase the acceleration and deceleration ramps
> 225 %) • Check the cabling, the coupling out and the speed return
E
• Boost too high during the signals (perturbation)
auto-tuning stage • Check that the motor cable lengths are not too long
• Diminish the gains of the speed loop (0.07, 0.08 and 0.09) and
• If it has not already been made, proceed to an auto-tuning 0.40 = 2
• Diminish the gains of the current loop (0.38 and 0.39) and
F OI.AC.P
(104)
Overcurrent detected by a power • Increase the acceleration and deceleration ramps
module • If it occurs during an auto-tuning, reduce the Boost value in 5.15
• Check that there is no short-circuit at the drive output
•Check the motor insulation
G • Check the cabling, the connecting and the speed return signals
(perturbation)
• Check that the motor cable lengths are not too long
• Diminish the gains of the speed loop 0.07, 0.08 and 0.09 ( and )
• If it has not already been made, proceed to an auto-tuning 0.40 =2 .
H OI.br Overcurrent of the braking

• Diminish the current loop gains 0.38 and 0.39 (
• Check the resistor insulation
and )
(4) resistor • Remove the resistor output short-circuit
I OIbr.P
(103)
Overcurrent of the braking
resistor detected by a power
• Set a higher resistance value
• Check the cabling and the braking resistor insulation
• Check that the braking resistor value is higher than the drive minimum
module resistance value
J OIdc.P
(109)
O.Ld1
Overcurrent detected by a power • IGBT Vce protection detected
module
Overload of the power supply
• Check the motor and cables insulation
• Check the total current used by +24V (terminal 22) and the digital outputs
(26) +24V or of the digital outputs of terminals 24 to 26 or of SM modules terminals
(it must be < 200mA)
K O.SPd Overspeed
• The speed is 1,2 times higher than the value of 0.02 ( )

(7) • Check the load is being driven
L • Make sure of the adequate set of the overspeed threshold in 3.08 (

• Speed loop gains adjustment ( and
• Set a higher deceleration time in 0.04
)
and )
0V Overvoltage of continuous bus : • Provide a braking resistor (option). When a resistor is already connected,
M (2) • TL : > 410V DC perm., 415V diminish its value (in the authorised limit).
peak • Check that the mains supply is not disrupted (overvoltage)
• T : > 815V DC perm., 830V • Check the motor insulation
peak • Set a higher deceleration time in 0.04
• TM : > 970V DC perm., 990V • Check the deceleration mode in 0.15
N peak • The fault can be cleared only after 1 second

• TH : > 1175V DC perm., 1190V • In "backup power supply" mode, the fault trip level corresponds
peak to 1.45 x 6.46 (V)
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UNIDRIVE SP
Diagnostics
Mnemonic
Display
0V.P
Fault reason
Overvoltage of a power module
Solution
• Provide a braking resistor (option). When a resistor
B
(106) is already connected, diminish its value (in the authorised limit).
• Check that the mains supply is not disrupted (overvoltage)
• Check the motor insulation
• Set a higher deceleration time in 0.04
C
• Check the deceleration mode in 0.15
PAd
(34)
The drive waits a reference from
the keyboard and this one has
been removed
•Replace the keyboard and press Reset
• Select another speed reference
D
Ph • Loss of a power supply • Check the mains supply (3 existing and well-balanced stages)
(32) stage • Check the level of the power supply voltage (with full load)
• Important stage inbalance Note :
• A stage loss may be detected only if the active current is located
between 50 % and 100 % of the rated value.
E
• The drive trys to stop the motor before the fault tripping " Ph ".
F
Ph.P • Loss of a power module stage • Check the mains supply (3 existing and well-balanced stages)
(107) • Check the power supply voltage level (with full load)
PS Internal power supply fault • If there are application modules, remove them and press Reset
(5) • Check the band status connecting the power card to the control card
(sizes 4, 5, 6)
• "Hard" fault: consult LEROY-SOMER
G
PS.10V Overcurrent on the internal • Check the cabling and the terminal 4 load
(8) analogue source +10V (>10mA) • The fault can be cleared only after 1 second
PS.24V
(9)
Power supply overload +24V • If there are application modules, remove them and press Reset
• Validate the internal adaptation impedances in 3.24 and/or 16.09
H
• Reduce the output load (check the digital outputs and encoders
consumption)
PS.P Power supply fault of a power

• Supply an external power supply 24V (> 50W)
• If there are application modules, remove them and press Reset
I
(108) module • Check the band status connecting the power card to the control card
J
(sizes 4, 5, 6)
• "Hard" fault: consult LEROY-SOMER
PSAVE.Er The parameters saved at power- • Indicates a problem during storing of the parameters saved at power-down
(37) down contained in the EEPROM • The drive will use the parameters recorded successfully at the previous
are corrupted power-down
• Carry out a store operation (xx.00 at 1000 or 1001 then Reset of the drive
) in order to make sure that this problem will not happen again at the next
power-down
K
rS Fault during the stator resistance • Adapt the drive power to that of the motor
(33)
SAVE.Er
measurement during an auto-
tuning or when 5.14 = 0 or 3
The user parameters contained
• Check the connection of motor cables
• The drive was powered down during storing of the user parameters
L
(36) in the EEPROM are corrupted • The drive will use the parameters recorded successfully at the previous
power-down
• Carry out a store operation (xx.00 at 1000 or 1001 then Reset of the drive
) in order to make sure that this problem will not happen again at the next
power-down
M
SCL Communication loss by serial • Replace the keyboard or the cable
N
(30) link • Check the connectors between the keyboard and the drive
• Check the cable not to be damaged
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UNIDRIVE SP
Diagnostics
B Mnemonic
Display
SL.rtd
Fault reason
The operating mode of the drive • Press the Reset key
Solution
(215) has changed and the module • If the fault persists, consult LEROY-SOMER
C
data no longer correspond • The trip can be cancelled only after one second
t010 Reserved
(10)
t038 Reserved
(38)
D t040 to t069
(40 to 69)
t070
Reserved
Position reference greater than

the maximum reference set in
• Give a position reference smaller than 75.07 or between 19.27 and 19.28
(70)
75.07 or outside the software
E
limit stops
t071 Absolute encoder overflow • Check the operating range of the absolute encoder in relation to the
(71) movement of the mobile
t072 to t079 Reserved
(72 to 79)
F t080
(80)
t081
Load back driving
Speed difference
• Motor setting problem, or mechanical problem, the load is driving the
motor
• To disable the trip, refer to 20.15
• Speed error greater than the value in 20.35 (speed error reference)
(81) • Gain setting problem, or parameter 20.35 with too low a threshold
G • To disable the trip, refer to 20.15

Note: For a dynamic movement with short acceleration and deceleration
ramps, it is preferable to disable the trip
t082 Pursuit error • Position or speed loop gain incorrectly set or pursuit error threshold
(82) 20.36 with too low a threshold
H t083
(83)
t084
Software limit stop reached or
exceeded
End stop sensor reached
Position of the mobile outside the limit stops configured in 19.27 or 19.28
End stop sensor activated (see parameter 18.37 or 18.38)
(84)
I t085
(85)
Current threshold reached • Motor current greater than threshold 20.32
• Motor stopped mechanically, mechanical "stiffness" or threshold too low (20.32)
t086 Difference in position between Slip between motor encoder and machine encoder:
(86) the motor encoder and the - Mechanical problem due to play or torsional rigidity
J t087
machine encoder - Threshold 20.39 too low
CTSYNC trip (no communication) • Check the wiring
(87) • Remove requirement for synchronisation with CTSYNC mode (20.17 = 4)
K t088
(88)
t089
(89)
Magnetising current trip
Motor phase missing

• Check the motor rated current setting (0.46)
• Check the magnetising threshold setting (75.01)
• Check motor U, V, W wiring
t099 Reserved
L (99)
t101
(101)
Reserved

(112 to 119)
M t120
(120)
t121
Additional module location fault
External sensor fault

• Check the locations of the additional modules
• Check the connection of the external sensors and the shape of their signals,
(121) and that no sensor edges are missing between the master and slave
according to 19.23
N t122 to t124 Reserved

(122 to 124)
t125 Radius calculation fault or • The product is broken or not held correctly by the tractor (slip)
(125) product breakage • Check the condition of the product or the setting relating to the catch band
device 20.27
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UNIDRIVE SP
Diagnostics
Mnemonic
Display
t126 Reserved
Fault reason Solution B
(126)
t127
(127)
• Fault on RS485 link
for Modbus RTU
• A problem occurred on signal
reception
• Check the wiring
• Check the drive configuration, transmission speed, addressing,
etc.
C
t128 & t129 Reserved
(128 & 129)
t130
(130)
Error: speed > threshold set
In 19.26 percentage of Vmax
• Check the motor load level and the setting of the brake control
• Fault disabling: refer to parameter 0.58 (= 20.40)
D
in and
Torque > threshold set in 18.14
t131
(131)
in
Direction of rotation in and • Check the motor load level and the setting of the brake control
E
t132 Phase missing • Check the motor connection
F
(132)
t133 Brake feedback • Check the correct operation of the brake or relay
(133) • Fault disabling: refer to parameter 0.58 (= 20.40)
t134 Transmission break only if the • Check the correct operation and wiring of the slow shaft encoder
(134) following present: • Fault disabling: refer to parameter 0.58 (= 20.40)
SM-ENCODER Plus or
SM-UNIVERSAL ENCODER
Plus
G
(168 to 174)
t216
(216)
th
Reserved
Motor thermal sensor has tripped • Check the motor load

H
(24) • Reduce the overload level
• Check the motor ventilation and the ambient temperature
• Check the sensor wiring (pin 15 of connector HD-15 or terminal
8 of the control terminal block)
• The trip can be cancelled only after one second
I
thS Motor thermal probe in short- • Check the resistance value of the motor probe
J
(25) circuit • The fault can be cleared only after 1 second
tunE Auto-tuning stop before the end • Drive stop during the auto-tuning stage
(18) of the procedure • The Stop key has been activated
• Terminal 31 has been opened during the auto-tuning stage
tunE1
(11)
• The information concerning the • Check the encoder cabling
position has not changed during • Make sure that the motor rotation takes place normally
the auto-tuning
•Problem during the inertia • The fault can be cleared only after 1 second
K
measurement procedure (see 5.12)
tunE2
(12)
tunE3
(13)
Incorrect direction of rotation • For the closed loop, reverse 2 motor stages or 2 encoder paths
during the auto-tuning
Incorrect connection of the
encoder commutation paths
• Check the motor cabling and the encoder commutation paths
L
detected during the auto-tuning
tunE4
(14)
(see 5.12)
Encoder : Failure of the U
commutation signal during the
auto-tuning (see 5.12)
• Check the encoder connection (encoder U path )
M
tunE5 Encoder : Failure of the V • Check the encoder connection (encoder V path)
(15) commutation signal during the
N
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UNIDRIVE SP
Diagnostics
B Mnemonic
Display
tunE6
Fault reason
Encoder : Failure of the W
Solution
• Check the encoder connection (encoder W path)
(16) commutation signal during the • Replace the encoder
C tunE7
(17)
Setting of the incorrect motor
poles number
• Check the number of increments by encoder turn
• Check the setting of 5.11 number of poles
Unid.P Unknown fault of a power • Check all cablings between the power modules
D (110)
UP.ACC
(98)
module • Check the cables to be sent in areas without perturbations
Impossible to access "Syptlite" • The driver must be enabled
program • A task is already in the process of being realised, try again when the task is over
UP.diVO The program tries to divide by 0 • Check the program
E (90)
UP.Ofl
(95)
(Syptlite program) • The fault can be cleared only after 1 second
The program variables and the • Check the program
function units used appeal to a • The fault can be cleared only after 1 second
RAM memory higher than the
allowed one.
F UP.ovr
(94)
The program tries to write a value • Check the program
outside the parameter range
(Syptlite program)
UP.PAr The program searches a • Check the program

(91) parameter that does not exist • The fault can be cleared only after 1 second
G UP.ro
(92)
(Syptlite program)
The program tries to write in a
LS parameter (only reading)
• Check the program
(Syptlite program)
UP.so The program tries to read a • Check the program
H (93)
UP.udf
(97)
writing parameter (Syptlite
program)
Fault not defined in the program • Check the program

(Syptlite program) • The fault can be cleared only after 1 second
UP.uSEr The program waits a fault • Check the program
I (96)
UU
(1)
(Syptlite program)
Continuous bus powered up :
TL: <175Vdc
• Check the mains supply (mains supply powering up)
• Fault removal when the mains supply voltage increases again
T : <350Vdc in relation to the threshold
TM: <435Vdc
J K4.2 - Faults related to an option module

K4.2.1 - Faults table
In the table, the faults contain the letter X that represents the location of the module responsible of the fault.
Mnemonic
Fault reason Solution
K Display
SLX.df
(204, 209, 214)
SLX.Er
The option inserted in the X
location has changed
The option inserted in the X
• Store and press Reset
• Read the value of the parameters 15.50, 16.50 or 17.50. Then see the table
(202, 207, location has detected a fault of the section K4.2.2 that lists the faults for the speed return modules,
L 212) Application or Inputs/Outputs

• When an application is used (positioning, synchronisation...), check the type
of data exchanged in 1x.34 (send 1x.34 to 1)
SLX.HF Hardware fault of the module •Check the module to be correctly inserted
M (200, 205, 210) inserted in the X location
SLX.nF The module has been removed

• Replace the module (contact your ordinary interlocutor LEROY-SOMER)
• The Reset key may not cancel these faults
•Check the module to be correctly inserted
(203, 208, • Save the parameters and press the Reset key
213) • The fault can be cleared only after 1 second
N SLX.tO
(201, 206, 211)
Out of date wizard module • Press the Reset key
• If the fault persists, consult LEROY-SOMER
O K en
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UNIDRIVE SP
Diagnostics
K4.2.2 - Error codes related to the " SLX.Er " fault
• Error codes for a speed return module:
Value Problem Solution
B
0 No fault -
C
1 Overload of the encoder power supply See Enc1 fault
See Enc2 fault
For a SM-Universal Encoder Plus module, this fault may be
2 Encoder connection break devalidated by 1x.17 = 0 (ex. when the module is used only to give
the image of the main encoder)
Encoder : incorrect stage U, V, W offset during See Enc3 fault
D
3 the operation
4 Problem of connection with the encoder See Enc4 fault
5 Encoder : control sum or CRC error See Enc5 fault
6 Encoder error Replace the encoder
7 Encoder initialisation problem •Check the type of encoder set in15.15, 16.15 or 17.15
8
Automatic configuration when power up could
•Check the cabling and the encoder power supply
•Replace the encoder
Modify the parameter setting of 15.18, 16.18 or 17.18 and enter
manually the number of encoder turns in 15.09, 16.09 or 17.09 and
E
not be realised
the number of increments by turn in 15.10, 16.10 or 17.10
F
9 - Motor probes fault
10 - Motor probes short-circuit
Resolver : the number of poles does not Check the parameter setting of the poles number in 15.15, 16.15 or
11
correspond to the motor 17.15
•Check that it is possible to configure the encoder type automatically
Identification of encoder type impossible during
G
12 •Check the encoder wiring
automatic configuration
•Enter the parameters manually
The number of encoder revolutions read during Select another encoder type
13 automatic configuration is not a power of 2
The number of communication bits defining the •Select another encoder type
14 encoder position in a revolution during automatic •Faulty encoder
15
configuration is too large
The number of periods per revolution calculated
from the automatic configuration is either < 2 or
•The "linear motor step/encoder ppr (pulses per revolution)" parameter
setting is incorrect or outside the adjustment range (5.36 = 0 or
H
21.31 = 0)
> 50,000
•Faulty encoder
16
74
The number of communication bits per period for •Select another encoder type
a linear encoder exceeds 255
The module has overheated
•Faulty encoder I
• Error encoder for an application module :
Value
39 User level exceeded
Problem
Value
63
64
Problem
The CTNet ID node already used
Digital output overload
J
40 Unknown error 65 Parameters of the invalid function unit
41 Non-existent parameter 66 The user demand is too important
42
43
44
45
Reading parameter only
Writing parameter
Parameter value outside the range
Invalid synchronisation modes
67
68
69
Non-existent file
Non-associated file
Problem related to the access to the Flash version
during the loading
K
46 Not used 70 Transfer of the user program when the drive is
enabled
L
47 Synchronisation lost together with the Master
48 RS485 is not in the user mode 71 The modification of the drive mode has failed
49 Invalid RS485 configuration 72 Invalid CTNet register operation
50 Mathematical error 73 Failure of the parameter quick initialisation
51 Pointer outside the limits 74 Modules overload
52 Fault of the user control word 76 Identification of the module impossible
53
54
55
56
DPL program incompatible with the target
Microprocessor overload / exceeded task
Invalid encoder configuration
Configuration of the invalid time unit
77
78
Internal communication error with the optional
module connected to location 1
Internal communication error with the optional
M
57 Function unit not processed by the system 79 Internal communication error with the optional
N
58 Damaged non-volatile flash memory
59 Impossible to consider the Application module as 80 Internal communication error with the optional
synchronisation reference module connected to an unknown location
60 CTNet Hardware error 81 APC internal error
61 Invalid CTNet configuration 82 Communication error with the drive
62 The CTNet transmission speed does not correspond
to the mains supply
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UNIDRIVE SP
Diagnostics
B • Error code for Inputs/Outputs module

Value
0
Bus Type
All No error
Problem
• Error code for a field Bus module :
Value
0 All
Bus Type
No fault
Problem
1 All Digital output short-circuit 52 All excepting DPLCAN User control word fault
2 SM-I/O Lite, Analog input 1 current too 61 All Invalid configuration
C SM-I/O Timer
SM-I/O PELV,
SM-I/O 24V
high (> 22 mA) or too low
(< 3 mA)
Digital input overload
64 SM-DeviceNet
parameters
Delay in the transmission of
expected packets
65 All excepting DPLCAN Field bus mains supply loss
Protected
D 3 SM-I/O PELV,
SM-I/O 24V
Protected
SM-I/O 24V
Analog input 1 current too low
(< 3 mA)
Communication error
66
69
Devicenet, CANopen
and DPLCAN
DPLCAN
The "Bus-Off" node detects
too many transmission errors
A node sends a frame and no
other node detects the
Protected reception of this frame
E
4 SM-I/O PELV User power supply missing 70 All No valid field Bus menu is
5 SM-I/O Timer Communication error with the available in the module for
real time clock
transfer in the drive ; it is
74 All Module overheating
possible that the user did not
stored the data, or the storage
F 74
75
76
All
SM-Ethernet
SM-Ethernet
did not work correctly
Module overheating
No response from the drive
Modbus connection time
delay
G 80
81
Profibus
All
The communication time is
exceeded. The fault cause is
unknown.
Communication error with
(except SM-SERCOS) location 1
H
82 All Communication error with
83 All Communication error with
84 SM-Ethernet Memory allocation error
85 SM-Ethernet File system error
I 86
87
SM-Ethernet
SM-Ethernet
Error relating to the
configuration file
Error relating to the language
file
98 All The module basic task is not
J 99 All
finished
Software fault
K
L
M
N
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Diagnostics
K4.3 - Faults codes by serial link

A fault may be read by the serial link, with the help of the parameter 10.20 that indicates a code.
The table below gives the correspondence of these codes with the faults detected by the drive or by the options.
B
No.
1
2
3
Fault
UV
OV
OI.AC
No.
40 to 89
90
91
Fault
t040 to t089
UP div0
UP PAr
No.
182
183
184
Fault
C.Err
C.dAt
C.FULL
C
4 OI.br 92 UP ro 185 C.Acc
5 PS 93 UP So 186 C.rtg
6
7
8
9
Et
O.SPd
PS.10V
PS.24V
94
95
96
97
UP ovr
UP OFL
UP uSEr
UP udF
187
188
189
190
C.TyP
C.cPr
EnC1
EnC2
D
10 t010 98 UP ACC 191 EnC3
99 t099 192 EnC4
E
11 tunE1
12 tunE2 100 - 193 EnC5
13 tunE3 101 t101 194 EnC6
14 tunE4 102 Oht4.P 195 EnC7
15 tunE5 103 OIbr.P 196 EnC8
16 tunE6 104 OIAC.P 197 EnC9
F
17 tunE7 105 Oht2.P 198 EnC10
18 tunE 106 OV.P 199 DESt
19 It.br 107 PH.P 200 SL1.HF
20 It.AC 108 PS.P 201 SL1.tO
21 O.ht1 109 OIdC.P 202 SL1.Er
22 O.ht2 110 Unid.P 203 SL1.nF
G
23 O.CtL 111 ConF.P 204 SL1.dF
24 th 112 to 160 t112 to t160 205 SL2.HF
25 thS 161 Enc11 206 SL2.tO
26 O.Ld1 162 Enc12 207 SL2.Er
27 O.ht3 163 Enc13 208 SL2.nF
28 cL2 164 Enc14 209 SL2.dF
29
30
31
32
cL3
SCL
EEF
PH
165
166
167
168 to 174
Enc15
Enc16
Enc17
t168 to t174
210
211
212
213
SL3.HF
SL3.tO
SL3.Er
SL3.nF
H
33 rS 175 C.Prod 214 SL3.dF
34 PAd 176 EnP.Er 215 SL.rtd
35
36
37
38
CL.bit
SAVE.Er
PSAVE.Er
t038
177
178
179
180
C.boot
C.bUSY
C.Chg
C.OPtn
216
217
218
219
t216
HF17
HF18
HF19
I
39 L.SYnC 181 C.RdO 220 to 232 HF20 to HF32
J
K
L
M
N
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UNIDRIVE SP
Diagnostics
B Notes
C
D
E
F
G
H
I
J
K
L
M
N
O K en
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UNIDRIVE SP
Options
Contents B
L1 - Introduction ......................................................................................................................... 3
L2 - SM modules ......................................................................................................................... 4
L2.1 - General information ................................................................................................................................. 4
L2.2 - SM modules summary ............................................................................................................................. 4
C
L2.3 - SM-I/O Plus module................................................................................................................................. 5
D
L2.3.1 - General information ..................................................................................................................................... 5
L2.3.2 - Connection .................................................................................................................................................. 5
L2.3.3 - Characteristics............................................................................................................................................. 5
L2.4 - SM-I/O Lite and SM-I/O Timer module .................................................................................................... 6
L2.4.1 - General........................................................................................................................................................ 6
L2.4.2 - Connection .................................................................................................................................................. 6
L2.4.3 - Characteristics............................................................................................................................................. 6
L2.4.4 - Module/drive refresh.................................................................................................................................... 6
L2.5 - SM-PROFIBUS DP module ..................................................................................................................... 7
E
L2.5.2 - Connection .................................................................................................................................................. 7
L2.6 - SM-DeviceNet module ............................................................................................................................. 7
L2.6.2 - Connection ................................................................................................................................................. 7
L2.7 - SM-CANopen module.............................................................................................................................. 7
F
L2.7.2 - Connection ................................................................................................................................................. 7
L2.8 - SM-INTERBUS module ........................................................................................................................... 7
L2.8.2 - Connection ................................................................................................................................................. 8
G
L2.9 - SM-Universal Encoder Plus module ........................................................................................................ 8
L2.9.2 - Connection .................................................................................................................................................. 8
L2.9.3 - Connector characteristics SK1 .................................................................................................................... 9
L2.9.4 - Characteristics of PL2 terminal block .......................................................................................................... 9
H
L2.10 - SM-Encoder Plus module .................................................................................................................... 10
L2.10.1 - General information ................................................................................................................................. 10
L2.10.2 - Connection .............................................................................................................................................. 10
L2.10.3 - Characteristics......................................................................................................................................... 10
L2.11 - SM-Resolver module ........................................................................................................................... 11
I
L2.11.2 - Connection .............................................................................................................................................. 11
L2.12 - SM-Applications module ...................................................................................................................... 12
L2.12.2 - Connection ............................................................................................................................................. 12 J
L3 - External RFI filters............................................................................................................. 13
L3.1 - General information ............................................................................................................................... 13
L3.2 - Characteristics ....................................................................................................................................... 13
L4 - Ferrites ............................................................................................................................... 15
K
L5 - MC choke coils .................................................................................................................. 16 L

L5.2 - Connection and characteristics.............................................................................................................. 16
L6 - FP choke coils ................................................................................................................... 16

M
L7 - Line choke coils ................................................................................................................ 17

L7.2 - Electrical characteristics ........................................................................................................................ 17
N
L7.3 - Mechanical characteristics..................................................................................................................... 17
L en
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B Contents
L8 - Brake Resistor ................................................................................................................... 18
C L8.2 - Connection............................................................................................................................................. 18
L8.3 - Electric characteristics ........................................................................................................................... 18
L8.3.1 - Minimum resistor compatible with the drive............................................................................................... 18
L8.3.2 - Heater integrable brake resistors .............................................................................................................. 19
L8.3.3 - External brake resistors............................................................................................................................ 19
D L8.4 - Mechanical characteristics..................................................................................................................... 20

L8.4.1 - Heater integrable brake resistors .............................................................................................................. 20
L8.4.2 - External brake resistors............................................................................................................................. 20
L9 - Cables................................................................................................................................. 21
E L9.1 - CT-COMMS cable (réf. 4500-0087)....................................................................................................... 21

L9.2 - Power cables and encoder .................................................................................................................... 21
L9.2.1 - Introduction................................................................................................................................................ 21
L9.2.2 - Power cables (for Unimotor exclusively) ................................................................................................... 21
L9.2.3 - Encoder cables.......................................................................................................................................... 22
F L10 - Intercod 15 ...................................................................................................................... 24

L10.1 - General information ............................................................................................................................. 24
L10.2 - Connection........................................................................................................................................... 24
L10.3 - Characteristics ..................................................................................................................................... 24
G
H
I
J
K
L
M
N
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L1 - Introduction B
• UNIDRIVE SP and its options
External brake resistor

C
Displays
D
Integrable
brake
resistor
(sizes 1 and 2
BV
-DC
+D
C
BR
LCD display
SM-Keypad Plus
LED display
SM-Keypad
E
only)
Integrable modules
F
CT COMMS cable
for 22 23
24 25
26 27
U V
W
28 29
30 31
Encoders
• SM-Encoder
Inputs/Outputs
• SM-I/O
Application
• SM- •
Field bus
SM-PROFIBUS DP
G
L3
1 L2
serial link L
Plus Plus Applications • SM-DeviceNet
• SM-Universal • SM-I/O • SM- • SM-INTERBUS
External
CEM
Encoder Plus
• SM-Resolver
Lite
• SM-I/O
time
Applications
Lite
•
•
SM-CANopen
SM-SERCOS
H
filter
Power cable
I
J
Encoder cable
K
MC choke coils Ferrites
FP choke coils Line choke coils

L
M
N
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B L2 - SM modules
L2.1 - General information • Check the adequate status of the SM module : a
• Sizes damaged module must not be installed into the
C The SM modules may be integrated into any UNIDRIVE SP

range, without any tool and without modifying the general
sizes.
drive.
• Before installing a SM module, power down the
drive (including thr power supply +48V and +24V), and
3 locations are provided for the module installation: locations wait for 10 minutes. Otherwise, the module may be
damaged.
D
1, 2 and 3.
• Settings
For setting the parameters of the module-related functions:
- location 1 corresponds to menu 15,
E - location 2 corresponds to menu 16,

- location 3 corresponds to menu 17.
The diagrams of SM options may be consulted at section H6.20.
F L2.2 - SM modules summary

Type Colour Designation Details
Additional input/output module :
G
• 3 digital inputs
• 3 digital inputs or outputs
Yellow SM-I/O Plus
• 2 voltage analogue inputs
• 1 voltage analogue output
• 2 relays
Additional I/O module:
H Additional inputs/outputs Deep yellow SM-I/O Lite

• 1 analog input
• 1 analog output
• 1 relay
Additional I/O module with real-time clock:
I
• 1 analog input
Dark red SM-I/O Timer
• 1 analog output
• 1 relay
• 1 clock
Violet SM-PROFIBUS DP Option for communication in Profibus DP.
J Field bus
Medium grey
Dark grey
Light grey
Beige
SM-DeviceNet
SM-INTERBUS
SM-CANopen
SM-Ethernet
Option for communication in Devicenet.
Option for communication in Interbus.
Option for communication in CANOpen.
Option for communication in Ethernet
Red SM-SERCOS SERCOS option
Speed feedback module which may manage the encoder
K Light green
SM-Universal-
Encoder Plus
signals :
• Incremental
• SinCos
• SSI
• EnDat
Speed feedback
L Brown SM-Encoder Plus

It is used to simulate SSI or incremental encoder,
and integrates a quick input.
Speed feedback module to manage the incremental encoder
signals.
Resolver feedback module.
Light blue SM-Resolver
It is used to simulate an incremental encoder (A/B).
M Applications
Dark green SM-Applications
Module with a 2nd micro-processor for the conception and the
execution of applicative programs, with communication by
CTNet.
Module with a 2nd micro-processor for the conception and the
White SM-Applications Lite execution of applicative programs, without communication by
N CTNet.
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L2.3 - SM-I/O Plus module
L2.3.1 - General information
SM-I/O Plus module is used to increase the number of inputs
L2.3.3 - Characteristics
• PL2 terminal block
B
1 Common 0V (logic)
and outputs of the drive. This option is totally configurable. 2 Digital input or output (F1)
Additional functions :
- 3 digital inputs,
3
4
5
Digital input or output (F2)
Digital input or output (F3)
Common 0V (logic)
C
- 3 digital inputs or outputs, 6 Digital input (F4)
- 2 voltage analogue inputs, 7 Digital input (F5)
- 1 voltage analogue output,
- 2 assigning relays.
PL1 (terminals 21 to 23) and PL2 (terminals 1 to 12) terminal
8 Digital input (F6)
Command logic Positive, according to
IEC61131 standard (for digital
inputs only : negative logic
D
blocks may be released. accessible by settings of
1x.29)
L2.3.2 - Connection
PL1
Isolation
Input
Not isolated from the control
electronics E
PL2 Absolute max. voltage ± 30V
2122 23
1 2 3 4 5 6 7 8 9 10 11 12 Load > 2mA at +15Vdc
Thresholds
Output
Max. current
10V ± 0.8V
250 mA
F
9 Analogue input 4
10 Analogue input 5
+24V 11 Common 0V (analogue)
Characteristics
Bipolar analogue voltage
± 9.8 V
G
+ 0V + 0V 0V + Source
Absolute max. voltage ± 36 V in relation to 0V
Input impedance
Resolution
Isolation
>20 k:
10 bits plus sign
electronics
H
12 Analogue output 3
Characteristics
Max. current
Bipolar analogue voltage
± 10 V
± 20 mA protected against
I
short-circuits
Load resistor
Resolution
Isolation
1 k: at f
10 bits plus sign
electronics
J
Note : If the total consumption exceeds 240mA at 24V, it is
then necessary to use an external power supply of +24V,
available on terminals 1 and 2 of the drive control terminal
block. K
• PL1 terminal block
21 Relay 1 (F7)
22 Relay - common
23 Relay 2 (F8)
Contact voltage 240 Vca
L
Maximum contact current 2 Aac 240V/4Adc 30V resistive
load
Minimum level of contact
recommended
Configuration
12V, 100 mA
Normally open contact

M
• Sampling
Sampling interval for inputs, outputs ans relays (parameter
update) :
8 ms for 1 SM-I/O Plus option,
N
16 ms for 2 SM-I/O Plus options,
24 ms for 3 SM-I/O Plus options.
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B L2.4 - SM-I/O Lite and SM-I/O Timer module

L2.4.1 - General
The SM-I/O Lite and SM-I/O Timer modules are used to
3 Voltage or current analog output
Factory setting
Voltage/current
0 to 10 V
0 to 10 V/mA according to the signal
increase the number of drive inputs and outputs. These type (see 1x.39)
options are fully configurable.
C
Signal type 0-20, 20-0, 4-20, 20-4, 4-.20, 20-.4, VoLt
Additional functions of the SM-I/O Lite module: Scaling 0 V represents value 0 of the parameter
- 1 analog input
- 1 analog output 10 V represents the maximum of the
- 3 digital inputs parameter
D - 1 assignable relay
Additional functions of the SM-I/O Timer module:

Resolution
Accuracy
5 mA
13 bits
±2%
- 1 analog input
- 1 analog output Protection Tolerates continuous short-circuit to 0 V
E - 3 digital inputs
- 1 assignable relay
- 1 internal clock
4 24 V output
Maximum output current 100 mA
- year, month, day, hours, minutes, seconds backup mode Accuracy ±15%
Terminal blocks PL1 (terminals 1 to 12) and PL2 (terminals
F 21 to 23) are removable.
Note: The speed reference encoder input available from

Protection
5
6
Digital input 1
Digital input 2
Tolerates continuous short-circuit to 0 V
these modules is not compatible with 7 Digital input 3

the UNIDRIVE SP.
G
Control logic Positive logic only
Variation range 0 to 24 V
Input impedance 6 k:
L2.4.2 - Connection
Nominal voltage threshold +10 V
Maximum voltage range -18 V to +35 V with respect to the
H PL2 common 0 V
PL1 2122 23
1 2 3 4 5 6 7 8 9 10 11 12 8 Channel B\ or channel D
9 Channel A or channel F
10 Channel A\
Not used
I 11
12
Common 0 V
+5 V encoder power supply

Not used
J 0V + 0V +
Terminal block PL2
21 Relay
22 Not connected Normally open contact
L2.4.3 - Characteristics 23 Relay
K Terminal block PL1
2
1 Common 0 V
Voltage or current analog input

Rated voltage
Rated current
Contact isolation
240 V AC / 30 V DC
2 A / 6 A (resistive)
1.5 kV AC (overvoltage, category 2)
Factory setting ±10 V bipolar input • Provide a fuse or overcurrent protection in the
relay circuit.
L Voltage/current
Signal type
Scaling
±10 V/mA bipolar input according to the
signal type (see 1x.38)
0-20, 20-0, 4-20, 20-4, 4-.20, 20-.4, VoLt
Automatic scaling according to the
L2.4.4 - Module/drive refresh
Use Refresh (ms)
minimum and maximum of the Background task (mandatory) 1
parameter
M
Data input (terminal 5) 0.5
Input impedance 200 : (current) / 100 k: (positive Data input (terminal 6) 0.5
voltage input), 18 k: (negative voltage
input) Data input (terminal 7) 0.5
Resolution 11 bits + sign Relay output 0.5
Accuracy 2% for positive voltage or current input Analog input 0.5/2*
N Maximum voltage range

4% for negative voltage input
-18 V to +35 V with respect to the
common 0 V
Analog output 0.5
* When the analog input is assigned to the accuracy
reference parameters 1.18 and 1.19, the maximum refresh
time is 4 x 0.5 = 2 ms.
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L2.5 - SM-PROFIBUS DP module

Terminal
block 5
SUB-D 9
B
pins
SM-PROFIBUS DP is used to communicate with a terminals
PROFIBUS DP mains supply.
It integrates a 16-bit micro-processor, and its transmission
speed may reach 12 Mbit/s.
Unidrive SP feeds the module internally.
1
2
3
4
6
2
3.5
7
0V
CAN-L
0V of the external power supply
Negative data line
Blindage Cable shielding connection
CAN-H Positive data line
C
5 9 +24V External power supply
L2.5.2 - Connection
5 1
CAUTION :
It is recommended to use the terminal block with screw
instead of the SUB-D connector for the connection to the
Devicenet mains supply, because the SUB-D connectors
D
are not recognised for the DeviceNet conformity.
9 6
L2.7 - SM-CANopen module
The SM-CANopen module is used to communicate with a
E
CANopen mains supply. It integrates a 16-bit micro-
Pins
SUB-D
1
3
Functions
Shielding
RxD/TxD-P
Description
Connection for the cable shielding
Positive data line (B)
processor and its transmission speed may reach 1 Mbit/s.
Unidrive SP feeds the module internally. Due to the drive
safety power supply (terminal 2, see section E2.2), the drive
F
and its module electronics is maintained, this allowing the
4 CNTR-P RTS line CANopen mains supply to continue communicate with the
5
6
8
0V ISO
+5V ISO
Isolated 0V, used only for the end resistors
isolated 5V power supply, used only for the
end resistors
RxD/TxD-N Negative data line (A)
drive despite the mains supply loss.
L2.7.2 - Connection
G
It is strongly recommended to use Profibus certified
H
1 5 1 2 3 4 5
connectors.
These connectors accept 2 Profibus cables and they have a
4 screw-terminal block, one for each data connection. They 6 9
have also a shielding connection support, this providing the
shielding continuity for an adequate immunity to Profibus
mains supply interference.
L2.6 - SM-DeviceNet module

Terminal
block 5
SUB-D 9
I
L2.6.1 - General information pins
terminals
The SM-DeviceNet module is used to communicate with the
J
1 6 0V 0V of the external power supply
DeviceNet mains supply. 2 2 CAN-L Negative data line
It integrates a 16-bit micro-processor, and its transmission 3 3.5 Shielding Cable shielding connection
speed may reach 500 Kbit/s. 4 7 CAN-H Positive data line
The module must be fed by the DeviceNet mains supply. Due 5 9 +24V External power supply
to the drive safety power supply (terminal 2, see section
E2.2), the drive and its module electronics is maintained,
allowing the DeviceNetmains supply to continue to
communicate with the drive despite the mains supply loss.
L2.8 - SM-INTERBUS module
The SM-INTERBUS module is used to communicate with
an INTERBUS mains supply. It integrates a 16-bit micro-
K
L2.6.2 - Connection processor, and its transmission speed may reach 500 Kbit/s.
1 5 1 2 3 4 5
Unidrive SP feeds the module internally. GDue to the drive
safety power supply (terminal 2, see section E2.2), the drive
and its module electronics is maintained, allowing the
L
INTERBUS mains supply to continue to communicate with
the drive despite the mains supply loss.
M
6 9
N
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B L2.8.2 - Connection
Pins
IN1
Functions
DO1
Description
Positive data IN line
IN6 /DO1 Negative data IN line
IN2 DI1 Positive data OUT line
C IN7
IN3
Blindage IN
OUT1
/DI1
0V ISO IN
Blindage
DO2
Negative data OUT line
isolated 0V for IN bus
IN bus cable shielding
Positive data IN line
BUS IN BUS OUT OUT6 /DO2 Negative data IN line
OUT2 DI2 Positive data OUT line
D OUT7
OUT3
OUT5
OUT9
/DI2
0V ISO OUT
+5V ISO OUT
RBST
Negative data OUT line
Isolated 0V for OUT bus
Isolated +5V for OUT bus
OUT bus validation
OUT shield Shielding IN bus cable validation
E
Earth Earth
L2.9 - SM-Universal Encoder Plus module PL2 pins Functions

L2.9.1 - General information 1 Quick input +24V
F The SM-Universal Encoder Plus module is used to exploit the

signal of a second encoder (reference signal, synchronisation…),
and to deliver the simulation of an incremental encoder
(quadrature, frequency/direction) or SSI.
2
3
0V
Path output Aout ( AB encoder) or Fout (FD encoder) or
Dataout (SSI encoder)
Path output Aout\ (AB encoder) or Fout\ (FD encoder) or
4
This module is compatible with many types of encoders: Dataout\ (SSI encoder)
G - incremental quadrature with or without commutation paths Path output Bout (AB encoder) or Dout (FD encoder) or
5
- incremental frequency/direction with or without commutation Clockin\ (SSI encoder)
Path output Bout\ (AB encoder) or Dout\ (FD encoder) or
paths 6
Clockin (SSI encoder)
- incremental forward/reverse with or without commutation 7 0V
paths 8 RS 485 quick input or Top 0out or Zout output
H - SinCos without serial link, with Hiperface or EnDat protocol

- EnDat
- SSI
9 RS 485\ quick input or Top 0out\ or Zout\ output
Sampling interval for inputs, outputs and relays (parameter

L2.9.2 - Connection update) :
8 ms for 1SM-Universal Encoder Plus module
I 5
10
SK1
1
6
PL2
1 2 3 4 5 6 7 8 9
16 ms for 2 SM-Universal Encoder Plus modules
24 ms for 3 SM-Universal Encoder Plus modules
15 11
J
K Encoders
SK1 Incremental (quadrature, SinCos with SinCos with En SinCos with
SinCos EnDat SSI
L Pins frequency/direction,Fwd/Rev) hiperface link Dat or SSI link U, V, W paths

and and and and and and
1 - B or F A or F - Cos - Cos - Cos - - - - - Cos
2 - B\ or F\ A\ or F\ - CosRef - CosRef - CosRef - - - - - CosRef
3 - A or D or R B or D or R - Sin - Sin - Sin - - - - - Sin
M
4 - A\ or D\ or R\ B\ or D\ or R\ - SinRef - SinRef - SinRef - - - - - SinRef
5 - C or O or Z - - - Data - Data - Data - Data - Z
6 - C\ or O\ or Z\ - - - Data\ - Data\ - Data\ - Data\ - Z\
7 Aout or Fout or Dataout U Aout or Fout or Dataout U
8 Aout\ or Fout\ or Dataout\ U\ Aout\ or Fout\ or Dataout\ U\
9 Bout or Dout or Clockin (SSI)\ V Bout or Dout or Clockin (SSI)\ V
N
10 Bout\ or Dout\ or Clockin (SSI) V\ Bout\ or Dout\ or Clockin (SSI) V\
11 - - W - - - - - Clockout - Clockout - Clockout - W
12 - - W\ - - - - - Clockout \ - Clockout \ - Clockout \ - W\
13 +5V or +8V or +15V
14 0V
15 Motor thermal probe
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L2.9.3 - Connector characteristics SK1
Incremental encoders (quadrature, frequency/direction,
Fwd/Rev)
SinCos encoders with U, V, W paths
7 U path
8 U\ path
B
1 B or F path ( ) ; A or F path ( ) 9 V path
2 B\ or F\ path ( ) ; A\ or F\ path ( )
3 A, D or R path ( ) ; B, D or R path ( )
4 A\, D\ or R\ path ( ) ; B\, D\ or R\ path ( )
10 V\ path
11 W path
12 W\ path
C
5 Z or 0 or C path ( , ) Maximum input 600 kHz
6 Z\ or 0\ or C\ path ( ,
7 U path ( )
8 U\ path ( )
) frequency
Line load
Input impedance
Operating range
1 drive
120 :
-7 to +12V
D
9 V path ( ) Maximum voltage ± 14V / 0V
10 V\ path ( )
11 W path ( )
12 W\ path ( )
Absolute maximum
± 14V
Simulation of incremental encoders or SSI

E
7 Path output Aout or Fout or Dataout (Data for SSI)
Characteristics RS485 differential voltage
8 Path output Aout\ or Fout\ or Dataout\ (Data\ for SSI)
F
Maximum input 600 kHz
frequency 9 Path output Bout or Dout or Clockin\ (Clock\ for SSI)
Line load < 2 drives for terminals 10 Path output Bout\ or Dout\ or Clockin (Clock for SSI)
1 to 4 Characteristics RS 485 differential voltage
32 drives for terminals 5 and 6 Maximum output 500 kHz
1 drive for terminals 7 to 12 frequency
Input impedance
Operating range
120 :
-7 to +12V
Absolute maximum voltage ± 14V / 0V
Line load
End
Operating range
Maximum voltage
1 drive
120 :
-7 to +12V
± 14V / 0V
G
Absolute maximum ± 14V
differential voltage Absolute maximum ± 14V
SinCos, absolute SinCos encoders with Hiperface or
EnDat or SSI link and SinCos encoder with U, V, W paths
1 Cos path
Note : The simulation of the SK1 terminal block encoder
(pins 7 to 10) is identical to that of PL2 terminal block
(terminals 3 to 6)
H
2 Cosref path
13 Encoder power supply
I
3 Sin path
4 Sinref path Power supply voltage 5V, 8V or 15V
Characteristics Differential voltage Maximum output current 300 mA for 5V and 8V
Maximum signal 1.25V peak to peak 200 mA for 15V
Maximum input 115 KHZ 14 Common 0V
frequency
Absolute maximum
± 1.5V
Absolute SinCos encoders with Hyperface, EnDat or SSI

15 Motor thermal probe input
Short-circuit detection
level
< 50 :± 30% J
link, EnDat and SSI encoders "Hot" alarm detection level < 3.3 K:± 10%
5 Data
6 Data\
Characteristics
Maximum input
2 MHz
Return to zero level > 3.3 K:
L2.9.4 - Characteristics of PL2 terminal block

• Incremental encoders in quadrature, frequency/direction,
K
frequency
Fwd/Rev and SinCos encoders without serial link or with
Line load 32 drives hiperface or EnDat or SSI serial link or U, V, W. paths.
Operating range
Absolute maximum
-7 to +12V
Absolute maximum voltage ± 14V/0V
± 14V
1 Quick input +24V
8
9
Quick input RS 485
L
Absolute SinCos encoders with EnDat or SSI link and
M
Maximum input 600 kHz
EnDat and SSI encoders frequency
11 Clockout Line load < 2 drives for terminal 1
12 Clockout\ 1 drive for terminals 8 and 9
Characteristics RS 485 differential voltage Input impedance 120 :
Maximum input 2 MHz Operating range -7 to +12V
frequency
Line load
Operating range
1 drive
-7 to +12V
Absolute maximum
± 14V N
Maximum voltage ± 14V/0V Note : The quick input is not active with the EnDat or SSI
Absolute maximum ± 14V encoders.
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B • Simulation of incremental encoder

3 Path output Aout or Fout or Dataout (Data for SSI)
4 Path output Aout\ or Fout\ or Dataout\ (Data\ for SSI)
The module sampling time SM-Encoder Plus (parameter
update) is of 4 ms. However, this time is increased in the
following cases :
5 Path output Bout or Dout or Clockin\ (Clock\ for SSI) - if a SM-I/O Plus module is integrated to the drive, add 8
C 6 Path output Bout\ or Dout\ or Clockout (Clock for SSI)

8 Path output Zout or Top 0out
9 Path output Zout\ or Top 0out\
ms to the sampling time,
- if another SM-Encoder Plus module is integrated to the
drive, add 4 ms to the sampling time,
- if a SM-Resolver module is integrated to the drive, add 4
Maximum input 500 kHz ms to the sampling time.
D frequency
Line load < 2 drives for terminals
3 and 4
32 drives for terminals 5 and 6
L2.10.3 - Characteristics
1 B or F path
1 drive for terminals 8 and 9 2 B\ or F\ path
E Input impedance 120 : 3 A or D or R path

Operating range -7 to +12V 4 A\ or D\ or R\ path
Absolute maximum ± 14V 5 Z or 0 or C path
differential voltage 6 Z\ or 0\ or C\
F L2.10 - SM-Encoder Plus module

The SM-Encoder Plus module is used to exploit the signal
of a second incremental encoder (reference signal,
Maximum input
frequency
Line load
600 kHz
< 2 drives for terminals

1 to 4
synchronisation…). 32 drives for terminals 5 and 6
G This module is compatible with many types of encoders:

- incremental in quadrature,
- incremental frequency/direction,
- incremental fwd/rev.
Input impedance
Operating range
Maximum voltage
Absolute maximum
120 :
-7 to +12V
± 14V / 0V
± 14V
H L2.10.2 - Connection
PL1
7 Common 0V
8 External power supply

1 2 3 4 5 6 7 8 Maximum power supply ± 50 Vdc
I voltage
J Terminals
PL1
1 B
Functions
Quadrature Frequency/Direction
F
Fwd/Rev
F
2 B\ F\ F\
3 A D R
K 4
5
6
A\ D\
Z or O or C
Z\ or O\ or C\
R\
7 0V
8 External power supply
L Note : The SM-Encoder Plus module is supplied directly by

the drive. However, the maximum output current is limited to
300 mA (5V power supply) or 200 mA (8V or 15V power
supply), including the consumption of the encoder connected
M to the drive.
If the drive power supply is overloaded, use an external power
supply connected to terminals 7 and 8 of the module.
N
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L2.11 - SM-Resolver module
The SM-Resolver module is used to exploit the signal of a
9 SIN LOW resolver input
10 SIN HIGH resolver input
B
resolver, used as a position or speed information feedback, 11 COS LOW resolver input
and to simulate an incremental encoder signal in quadrature
(image of the drive main encoder or of the encoder connected
to the SM-Resolver option).
12 COS HIGH resolver input
Characteristics
Operating frequency
Sinusoidal signal of 2Vrms
(maximum)
6 kHz
C
Note :
The SM-resolver module cannot be used in open loop. Absolute maximum DC ± 2.5V/0V
L2.11.2 - Connection
voltage (SIN LOW or COS
LOW)
Absolute maximum DC
voltage (SIN HIGH or COS
± 12V/0V
D
HIGH)
E
1 2 3 4 5 6 7 8 9 10 1112 13 14 15 16 17 Protection Serial resistors and diodes
13 REF HIGH resolver excitation

14 REF LOW resolver excitation
COS HIGH
REF HIGH
COS LOW
REF LOW
SIN HIGH
SIN LOW
F
Characteristics Sinusoidal signal of 6 kHz
synchronised with the drive
Aout\
Bout\
Zout\
Aout
Bout
Zout
control loops
0V
0V
Maximum load (minimum 85 :

quadrature
excitation
0V
simulation
Resolver
Resolver
outputs
Encoder
impedance)
outputs
inputs
in
G
Rated voltage • 6Vrms (transformation
ratio = 3:1)
• 4Vrms (transformation
ratio = 2:1)
• Characteristics
Absolute maximum DC ± 36V/0V
H
1 Path output Aout encoder simulation voltage (REF HIGH)
2 Path output Aout\ encoder simulation Absolute maximum current 200 mA
Characteristics RS 485 differential voltage (REF LOW)
Maximum frequency 500 kHz Protection Overcurrent protection
Protection
3 0V
Current limitation with ther-
mal protection
15
16 0V
17
I
Total current for all module 0V 200 mA Total current for all module 0V 200 mA
J
terminals terminals
4 Path output Bout encoder simulation 15

2 Path output Bout\ encoder simulation 16 0V
Characteristics
Maximum frequency
Absolute maximum voltage
Protection
500 kHz
± 14V / 0V
17
Total current for all module 0V 200 mA
terminals
K
mal protection
6 0V
Total current for all module 0V 200 mA
L
terminals
7 Top 0out output or Zout path encoder simulation

8 Top 0out\ output or Zout\ path encoder simulation
M
Maximum frequency 500 kHz
Absolute maximum voltage
Protection
± 14V / 0V
mal protection
N
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UNIDRIVE SP
Options
B L2.12 - SM-Applications module

The SM-Applications module is used to extend the Unidrive
SP functions.
C This module integrates a second micro-processor which is

used by the user to access functions pre-set in factory or to
write an application-specific program. This module is also
used for the communication between several drives (or
another equipment), this representing a complete solution for
D a complex application.
Unidrive SP feeds the module internally.
L2.12.2 - Connection
E PL2
1 2 3 4 5
PL3
6 7 8
PL4
9 10 11 1213
F
Terminals Functions Description
G
1 0V SC 0V connection for the RS485 port
2 RX\ RS485 negative reception line (input)
3 RX RS485 positive reception line (input)
RS 485 negative transmission line
4 TX\
(output)
RS485 positive transmission line
H 5
6
7
TX
CTNet-
CTNet
(output)
CTNet data line (negative)
Shielding connection for CTNet
Shielding
8 CTNet+ CTNet data line (positive)
I 9
10
0V
DI0
0V connection for digital inputs/
outputs
Digital input 0
11 DI1 Digital input 1
12 DO0 Digital output 0
J 13 DO1 Digital output 1
K
L
M
N
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L3 - External RFI filters B
L3.1 - General information CAUTION :
The mains supply filters are used to reduce the drive electro- Use an external mains supply RFI filter for each drive.
magnetic emissions, and to meet thus the CEM emission
norms. C
L3.2 - Characteristics
• Electric characteristics
UNIDRIVE SP
Filter reference
(Schaffner)
Voltage
(V)
Rated current
40°C
(A)
50°C
Maximum
leakage
current
(mA)
Joule
losses
(W)
D
1.5TL, 2TL, 1.5T, 2T, 2.5T, 3.5T FS6008-10-07 240/480 10 10 29.4 6.9
2.5TL, 3.5TL, 4.5T, 5.5T FS6008-16-07 240/480 16 16 38.8 9.2
4.5TL, 5.5TL, 8TL, 8T, 11T, 16T
22T, 27T, 33T
40T to 60T
11TL, 16TL
FS6008-32-07
FS6008-62-07
FS6008-101-35
FS6008-75-07
240/480
480
240/480
240
32
62
101
75
28.2
56.6
68.5
38
66
73
24
11
23
24.5
29
E
22TL to 33TL FS6008-101-35 240/480 101 73 24.5
3.5TM, 4.5TM, 5.5TM, 8TM. 11TM, 16TM, 22TM FS6008-30-07 575 30 102 15
22TH to 60TH
75T and 100T
75TH and 100TH
120T and 150T
FS6008-58-53
FS6008-164-40
FN3359HV-400-99
690
480
690
58
164
400
150
Consult LEROY-SOMER
400
66
6
30
50
F
120TH and 150TH FN3359HV-250-99 690 250 250 6 57
Maximum overload current: 150% of the rated current during 1minute for 1-hour period.
Voltage between phases : 480V,
Phase voltage/Earth : 275V.
Maximum
G
Rated current Joule
Filter reference Voltage (A) leakage
UNIDRIVE SP current losses
H
(Epcos)
(V) 40°C 50°C (mA) (W)
1.5TL, 2TL. 1.5T, 2T, 2.5T, 3.5T B84143-A10-R207 200/400 10 9.1 <30 4.2
2.5TL, 3.5TL, 4.5T, 5.5T B84143-A16-R207 200/400 16 14.6 <30 10.8
4.5TL, 5.5TL, 8TL, 8T, 11T, 16T B84143-A32-R207 200/400 32 29.1 <30 17.8
22T, 27T, 33T B84143-A75-R207 200/400 75 68.3 <30 19.4
40T to 60T B84143-A0101-R207 200/400 101 75 <30 30
11TL, 16TL
22TL to 33TL
B84143-A75-R207
B84143-A0101-R207
3.5TM, 4.5TM, 5.5TM, 8TM, 11TM, 16TM, 22TM B84143-A0030-R207
22TH to 60TH
200/400
200/400
380/660
75
101
30
68.3
75
22.5
Consult LEROY-SOMER
<30
<30
<35
19.4
30
17.6 I
75T and 100T B84143-A165-R207 380/480 165
75TH and 100TH
120T and 150T
120TH and 150TH
• Mechanical characteristics
Consult LEROY-SOMER
J
- Protection : IP20.
- Installation for drives sizes 1 to 3 : the filter may be mounted backward or it may be installed on the drive side.
K
L
M
N
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UNIDRIVE SP
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B FS6008-10-07, FS6008-16-07,
B84143-A10-R207, B84143-A16-R207
FS6008-32-07, FS6008-62-07, FS6008-75-07
B84143-A32-R207, B84143-A75-R207, B84143-A0030-
R207
L P L P
C L1
L1 L2 L3
Ø6.5mm
L1
L1
Ø6.5mm L2
P1
L3
M6
D M6
E
H H1 H2 H H1 H2
F
6.5mm
G 6.5mm
L3'
L1'
L2'
FS6008-58-53, FS6008-101-35, FS6008-164-40 B84143-A0101-R207
H L
L1
6.5 P1
P
L
L1
6,5 P1
P
L1
L3 18,8
I
L2
L2
18,8
L1 L3
LINE LINE
H1
H H2 H1 H2
H
J LOAD
L3
L2
L1
L3
L2
L1
LOAD
L1'
L2'
L3'
M10
K FN3359HV-250-99
FN3359HV-400-99
M10
29
L L
L L1 P L1 P
M H
H1
H
H1
H1
N
H1
1mm 1mm
O
M
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Options
Width Height Depth

Output cable
Weight Terminal Terminals L1, L2, L3
B
Filter reference section Braking Maximum cable Braking
(mm) (mm) (mm)
C
(kg) Ø torque section torque
L L1 H H1 H2 P P1 mm2 AWG (Nm) (mm2) AWG (Nm)
FS6008-10-07 100 74 440 423 390 45 - 2.5 14 1.4 M5 3.5 4 12 0.8
FS6008-16-07 100 74 440 423 390 45 - 2.5 14 1.4 M5 3.5 4 12 0.8
FS6008-30-07 250 210 414 396 361 60 30 16 6 3.5 M6 3.9 10 8 2.2
FS6008-32-07 155 125 428.5 404.5 371.5 55 30 4 10 2 M5 3.5 16 6 2
FS6008-58-53
FS6008-62-07
FS6008-75-07
FS6008-101-35
100
250
250
100
65
210
210
65
300
414
414
300
275
396
396
275
260
361
361
260
208
60
60
225
171.5
30
30
170
16
16
-
6
6
-
3.8
3.5
3.5
4
M6
M6
M10
3.9
3.9
25
16
16
6
6
2.2
2.2
8
D
FS6008-164-40 120 85 300 275 260 249 171.5 6.8 M10 25 95 4/0 20
B84143-A10-R207 100 74 450 423 390 45 - 2.5 14 2.1 M5 3 4 12 0.6
B84143-A16-R207
B84143-A32-R207
B84143-A75-R207
B84143-A0030-R207
100
155
250
250
74
125
210
210
450
425
425
423
396
396
390
431.5 404.5 371.5
365
365
45
55
60
60
-
30
30
30
2.5
4
16
4
14
10
6
10
2.1
3.3
5.1
5.1
M5
M5
M6
M6
3
3
5.1
5.1
4
10
16
10
12
8
6
8
0.6
1.3
2.2
1.3
E
B84143-A0101-R207 90 65 300 275 260 205 150 - - 7.8 M10 10 50 1 6.8
B84143-A165-R207
FN3359HV-250-99
FN3359HV-400-99
230
260
205
235
300
386
120
120
-
-
125
115
-
-
150
150
6/0
6/0
7
10.5
M10
M12
30
30
150
150
6/0
6/0
30
30
F
G
L4 - Ferrites
H
L4.1 - General information
The ferrites contribute to the decrease of the emissions
conducted by the drive, for compliance with the EN61800-3
standard.
• Characteristics of the optionally delivered ferrite
ØD I
Place the ferrite at the drive output and run the U, V, W cables
through the ferrite (if possible, make a turn).
Note : Do not run the shielding through the ferrite.
L4.2 - Characteristics
H1
H
J
• Characteristics of the ferrites delivered in standard
version (drives size 2 and 3)
L K
L1
P
L
ØF
Sizes (mm) Ø inside Ø outside Height
B64290-L48 (Epcos)
B64290-L40 (Epcos)
20.5 ± 0.5
40.8 ± 0.8
34.0 ± 0.7
58.3 ± 1.0
12.5 ± 0.3
17.6 ± 0.4
Sizes (mm)
RU1261 (Schaffner)
H
62
H1
5
L
105
L1
90
P
24
ØF
5
ØD
28 M
N
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B L5 - MC choke coils
L5.1 - General information CAUTION :
The MC choke coils are three-phase choke coils that diminish The MC choke coils are delivered with cables having a
C the HF earth leakage currents, as well as the interference

produced.
length of 30 cm.
• Characteristics
L5.2 - Connection and characteristics Sizes Weight
• Connection Choke
D
UNIDRIVE Current (mm)
The MC choke coils are cabled directly to the drive output Coil
SP (A) Hole (kg)
(terminal U, V, W), as close as possible to the drive, in reference Diam. Height
diam.
compliance with the diagram below. 1.5T to 2.5T
MC 3.5T 5.6 80 50 5.1 0.5
Their form is cylindrical and they are flange mounted. 1.5TL
3.5T to 8T
E red black 2TL to 4.5TL

11T to 22T
5.5TL and 8TL
27T to 40T
MC 11T
MC 27T
16
38
80
125
50
55
5.1
6.2
0.75
W MC 50T 76 125 65 6.2 3

11TL to 22TL
F UNIDRIVE SP V
U
blue
red
black W
V
to the
motor
50T, 60T
27TL, 33TL
MC 75T
75T, 100T MC 120T
110
180
145
220
90
120
8.3
10 x 25
4.5
8
U Note: The selections correspond to a "low overcharge" drive

blue
current.
G Note : For the rating in 575V (TM) or 690V (TH), consult your
usual LEROY-SOMER contact.
H L6 - FP choke coils
I L6.1 - General information

The FP loss slow choke coils filter the HF earth leakage
currents, but also the differential currents (circulating currents
between phases).
• 0.15mH/90A
L
P2
This choke coil is mainly used at the output of a drive that
J feeds several motors, reducing the differential HF leakage

currents that disturb the operation of the motor protection
thermal relay.
Provide a FP choke coil for maximum 5 motors (efficient for
H
up to 200 m of motor cable).

L1 P1
K L6.2 - Characteristics
• 2mH/6A, 0.6mH/16A, 0.3mH/38A
P
L P2 Sizes Weight
UNIDRIVE Choke Coil
L
(mm)
SP reference (kg)
L L1 H P P1 P2
1.5T to 2.5T FP3.5T
104 60 95 55 45 80 1
H 1.5TL 2mH/6A
3.5T to 8T FP11T
125 75 115 70 60 95 1.8
2TL to 4.5TL 0.6mH/16A
M L1 P1
P
11T to 22T
27T and 33T

FP27T
5.5TL and 8TL 0.25mH/38A
FP60T
0.15mH/90A
162 100 150 92
263 175 180 108 92 128

80 110 3.5
10
N Note : • For higher rating and mains supply of

575V (TM) or 690V (TH), consult your
LEROY-SOMER contact.
• The selections correspond to a "low overload"
drive current.
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Options
L7 - Line choke coils B
L7.1 - General information L7.3 - Mechanical characteristics
The line choke coils are used to reduce the drive damaging They are give for information only and may vary depending
risk due to a phase imbalance or to high interference on the
mains supply.
The line choke coil recommended reactance must be of 2%,
on the supplier.
C
allowing a phase imbalance of 5%. An additional value may
be used, but this generates a drive output loss (High speed
torque drop) due to a voltage drop.
The line choke coils are particularly recommended for the

H D
rating of 1.5T(L) to 3.5T(L) in case of high interference as
follows:
- cos M lifting condenser battery connected to the mains
supply,
- high power thyristor drives fed by the same mains supply
E
(especially if they must not be fitted by line choke coils),
- direct start asynchronous motors connected to the mains
L
supply generating transient voltage drops higher than 20%,
- drives connected to a high capacity mains supply (power
of the mains supply transformer higher than 175 kVA).
P
F
The other ratings have an internally mounted DC choke coil
and in consequence they do not need the addition of line
choke coil, excepting the cases of high phase imbalance or
in extreme conditions.
Protection : IP00IP00
Choke Coil Sizes (mm) Weight
G
reference L H P (kg)
Provide a line choke coil for each drive, connected upstream
H
5.5 ST 4.2 125 130 75 2.5
from the drive. 11 ST 2.6 125 130 75 2.5
21 ST 1.4 155 150 95 5.4
L7.2 - Electrical characteristics 29 ST 1 155 150 95 5.4
46 ST 0.64 190 200 120 11
Choke Coil Current Inductance Losses
Rating 75 ST 0.39 210 225 160 15
I
reference (A) (mH) (W)
105 ST 0.23 260 285 210 15
1.5T 5.5 ST 4.2 5.5 4.2 36
150 ST 0.155 260 285 210 15
2T to 4.5T 11 ST 2.6 11 2,6 37
1.5TL and 2TL 185 ST 0.13 260 285 220 20
21 ST 1.4 21 1.4 66 220 ST 0.11 260 285 225 22.5
5.5T and 8T
2.5TL, 292 ST 0.08 260 265 260 30
11T and 16T
3.5TL to 5.5TL
22T and 27T
29 ST 1
46 ST 0.64
29
46
1
0.64
69
99 J
8TL
75 ST 0.39 75 0.39 135
33T and 40T
11TL and 16TL
50T and 60T
22TL and 27TL
75T
105 ST 0.23
150 ST 0.155
105
150
0.23
0.155
170
190
K
33TL
185 ST 0.13 185 0.130 200
100T
120T
150T
220 ST 0.11
292 ST 0.08
220
292
0.110
0.08
230
280
L
Note : For the other ratings and mains supply of 575V (TM)
and 690V (TH), consult your usual LEROY-SOMER contact.
M
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B L8 - Brake Resistor
L8.1 - General information • Size 4
• The brake resistor must be installed so as to
C avoid the damage of the close components by its

calorific dissipation.
• Particular attention must be paid to each handling
next to the resistor, because of the presence of a high
+DC BRAKE UNIDRIVE SP
(Lower terminal block)
voltage and of the heat emission (resistor temperature
D higher than 70°C).

• The brake resistor (the resistor integrable into
the heater is not concerned) must be serially cabled to
a thermal relay rated to a resistor efficient current in
Optional
Resistor
Note : For the protection of the external brake resistors,

order to avoid the fire risks that may be generated by a
provide a thermal relay.
E
disfunction of the brake transistor or by a short-circuit.
• If a brake resistor must be externally mounted,
check that it is integrated into a ventilated metallic • Check that the brake resistors are adequately
terminal box, in order to avoid any direct contact with connected, as indicated before. Otherwise, the
the resistor. resistor may be permanently powered up, without any
possible control by the drive. It will result an excessive
F The braking occurs when the drive decelerates the motor or

when the drive opposes to a motor speed increase, due to
the mechanical environment (driving load, for instance).
During the braking, the energy is sent back to the drive that
overheating of the resistor that may lead to burns or fire
risks.
may absorb only an energy equivalent to its own losses. L8.3 - Electric characteristics
G
When the energy to be dissipated is higher, the DC bus L8.3.1 - Minimum resistor compatible with the drive
voltage increases. In factory settings, the drive increases UNIDRIVE SP Minimum ohmic value (:)
automatically the deceleration time in order to avoid the DC 1.5TL to 2.5TL 43
bus overvoltage stop. 3.5TL 29
If the drive must decelerate rapidly or it if must retain a load, 4.5TL to 8TL 18
it is necessary to connect a brake resistor.
H
11TL to 33TL 5
1.5T to 3.5T 74
For ratings 1.5TL to 8TL and 1.5T to 16T, integrable brake 4.5T and 5.5T 58
resistors may be mounted into the heater slots. 8T to 16T 19
22T to 33T 18
• If a brake resistor is connected, it is necessary 40T and 50T 11
I to set 0.15 to "FASt".

• The heater integrable resistors benefit from the
drive overload protection. To validate the external
resistor protection, the maximum braking length (10.30)
60T
75T and 100T
120T and 150T
3.5TM to 22TM
9
7
5
18
and the minimum time between 2 braking cycles (10.31)
22TH to 60TH 13
must be set.
J L8.2 - Connection
• Size 1
75TH and 100TH
120TH and 150TH
Tolerance of the ohmic value : ± 10 %.
10
Optional In most of the applications, the braking occurs occasionally,

Resistor
K UNIDRIVE SP
allowing a permanent rated power of the resistor lower than
that of the drive. However, it is necessary that the peak power
of the resistor be sufficient for the extreme cases encountered
in the braking cycle.
48V -DC +DC BR (Upper terminal block)
L • Sizes 2 and 3
Optional
Note : For "continuous" braking or high inertia applications
the permanent power dissipated in the brake resistor must
be equivalent to the rated power of the drive. The total energy
Resistor dissipated by the resistor is independent of the quantity of
energy.
M UNIDRIVE SP
Select a resistor value equal or higher than the minimum
resistor value indicated for each drive rating. A higher value
DC1 DC2 BR (Upper terminal block)
resistor provides an increased safety in case of occurrence
N
of a braking system-related problem, but the drive may stop
if the chosen resistor value is too high.
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Options
L8.3.2 - Heater integrable brake resistors
Type of Ohmic Reated resistor peak power Average power Factory settings Factory settings
Associated
B
integrable value during 1 ms during 60 sec. 10.30 10.31
drive
resistor (:) (kW) (W) TL T TL T
1220-2756
1220-2758
75
37.5
8
16
50
100
0.09
0.09
0.02
0.02
2
2
1.5TL to 3.5TL
1.5T to 5.5T
4.5TL to 8TL
8T to 16T
C
Note : if the integrable brake resistor must be used with a power higher than its average power/2, validate the high speed
ventilation par 6.45 = On (1).
L8.3.3 - External brake resistors

D
Ohmic Thermal Peak power Efficient
Possibility of association with UNIDRIVE SP
E
value power (W) current
RF Resistor type 1.5TL 11TL 40T 120T
3.5T 4.5TL 1.5T to 8T to 60T to
(:) (W) 230V 400V (A)* to and and and
L to 8TL 5.5T 33T 100T
2.5TL 33TL 50T 150T
RF-SIR-600-100 100 100 1406 5184 1.1 x x x x x x x x x
RF-SIR-1100-100 100 600 1406 5184 2.7 x x x x x x x x x
RF-MD-2000-75
RF-SIR-1100-50
RF-MD-5500-40
75
50
40
2000
600
5500
1870
2813
3500
6912
10368
12960
5.7
3.8
12.9
x
x
x
x
x
x
x
x
x
x
x
x x
x
x
x
x
x
x
x
x
x
x
x
F
RF-SIR-1100-25 25 600 5625 20736 5.4 x x x x x x
RF-MD-3000-25 25 3000 5625 20736 12 x x x x x x
RF-MD-11000-25
RF-MD-11000-15
RF-MD-3000-12
RF-MD-7500-10
25
15
12
10
11000
11000
3000
7500
5625
9325
11700
14063
20736
34560
43200
51840
23
29.5
17.5
30
x x
x
x
x
x x
x
x
x
x
x
x
x
x
x
x
G
RF-MD-19500-10 10 19500 14063 51840 48.6 x x x
RF-MD-7500-5
RF-MD-11000-5
5
5
7500
11000
28125
28125
103680
103680
* Adjustment current of the serial thermal relay in the resistor.
42
51.6
x
x
H
Resistors depending on the application
SP
rating
Pword
(W)
Horizontal movements to
Pc/
Pmot
CN/2
Resistor
Horizontal movements to CN
10.30/ Pc/
10.31 Pmot
Resistor
10.30/ Pc/
10.31 Pmot
Vertical movements
reverse d 20 sec.
Resistor
10.30/ Pc/
10.31 Pmot
Vertical movements
reverse < 120 sec.
Resistor
10.30/
10.31
I
1.5TL 750 1.88 RF-SIR-600-100 10/20 1.88 RF-SIR-600-100 5.3/20 3.75 RF-SIR-1100-50 16/20 3.75 RF-SIR-1100-50 60/120
2TL 1100 1.28 RF-SIR-600-100 7.2/20 1.28 RF-SIR-600-100 3.6/20 2.56 RF-SIR-1100-50 10.9/20 2.56 RF-SIR-1100-50 40/120
2.5TL 1500
3.5TL 2200
4.5TL 3000
5.5TL 4000
0.94
0.64
1.88
1.41
RF-SIR-600-100
RF-SIR-600-100
RF-SIR-1100-25
RF-SIR-1100-25
5.3/20
3.6/20
16/20
12/20
1.88
1.28
1.88
1.41
RF-SIR-1100-50 16/20
RF-SIR-1100-50 10/20
RF-SIR-1100-25 8/20
RF-SIR-1100-25 6/20
1.88
1.28
1.88
1.41
RF-SIR-1100-50 8/20
RF-SIR-1100-50 5.5/20
RF-MD-3000-25 20/20
RF-MD-3000-25 15/20
1.25
1.60
1.88
1.41
RF-MD-2000-75 120/120
RF-MD-5500-40 120/120
RF-MD-3000-25 120/120
RF-MD-3000-25 80/120
J
8TL 5500 1.02 RF-SIR-1100-25 8/20 1.02 RF-SIR-1100-25 4/20 1.02 RF-MD-3000-25 10.9/20 1.02 RF-MD-3000-25 52/120
11TL 7500 0.75 RF-SIR-1100-25 6/20 1.56 RF-MD-3000-12 16/20 1.56 RF-MD-3000-12 8/20 1.56 RF-MD-3000-12 27/120
16TL 11000
22TL 15000
27TL 18500
33TL 22000
1.07
0.85
1.64
1.38
RF-MD-3000-12
RF-MD-3000-12
RF-MD-7500-5
RF-MD-7500-5
20/20
12/20
20/20
20/20
1.07
2.03
1.64
1.38
RF-MD-3000-12 10/20
RF-MD-7500-5 20/20
RF-MD-7500-5 10/20
RF-MD-7500-5 8.6/20
1.07
2.03
1.64
1.38
RF-MD-3000-12 5.5/20
RF-MD-7500-5 10/20
RF-MD-7500-5 5/20
RF-MD-7500-5 4.3/20
1.28
2.03
1.64
1.38
RF-MD-7500-10 63/120
RF-MD-7500-5 16/120
RF-MD-7500-5 25/120
RF-MD-11000-5 26/120
K
1.5T 750 6.91 RF-SIR-600-100 10/20 6.91 RF-SIR-1100-100 20/20 6.91 RF-SIR-1100-100 16/20 6.91 RF-SIR-1100-100 60/120
2T 1100 4.71 RF-SIR-600-100 7.2/20 4.71 RF-SIR-1100-100 20/20 4.71 RF-SIR-1100-100 10.9/20 4.71 RF-SIR-1100-100 40/120
2.5T
3.5T
4.5T
5.5T
1500
2200
3000
4000
3.46
2.36
1.73
1.30
RF-SIR-600-100
RF-SIR-1100-100
RF-SIR-1100-100
RF-SIR-1100-100
5.3/20
20/20
16/20
12/20
3.46
2.36
1.73
1.30
RF-SIR-1100-100 16/20
RF-SIR-1100-100 10.9/20
RF-SIR-1100-100 8/20
RF-SIR-1100-100 6/20
3.46
2.36
1.73
1.30
RF-SIR-1100-100 8/20
RF-SIR-1100-100 5.5/20
RF-SIR-1100-100 4/20
RF-SIR-1100-100 3/20
3.46
3.14
2.30
1.73
RF-SIR-1100-100 30/120
RF-MD-2000-75 98/120
RF-MD-2000-75 55/120
RF-MD-2000-75 36/120
L
8T 5500 3.77 RF-SIR-1100-25 8/20 3.77 RF-SIR-1100-25 4.4/20 2.36 RF-MD-5500-40 20/20 2.36 RF-MD-5500-40 120/120
M
11T 7500 2.76 RF-SIR-1100-25 6.4/20 2.76 RF-SIR-1100-25 3.2/20 1.73 RF-MD-5500-40 14/20 1.73 RF-MD-5500-40 34/120
16T 11000 1.89 RF-SIR-1100-25 4.4/20 1.89 RF-MD-3000-25 10/20 1.89 RF-MD-3000-25 5.5/20 1.18 RF-MD-5500-40 22/120
22T 15000 1.38 RF-SIR-1100-25 3.2/20 1.38 RF-MD-3000-25 8/20 1.38 RF-MD-3000-25 4/20 1.38 RF-MD-11000-25 65/120
27T 18500 1.12 RF-SIR-1100-25 2.6/20 1.12 RF-MD-3000-25 6.5/20 1.12 RF-MD-3000-25 3.2/20 1.12 RF-MD-11000-25 50/120
33T 22000 0.94 RF-SIR-1100-25 2.2/20 0.94 RF-MD-3000-25 5.5/20 0.94 RF-MD-3000-25 2.7/20 0.94 RF-MD-11000-25 40/120
40T 30000 1.69 RF-MD-3000-12 6.6/20 1.35 RF-MD-11000-15 11/20 1.35 RF-MD-11000-15 5.5/20 1.35 RF-MD-11000-15 27/120
N
50T 37000 1.37 RF-MD-3000-12 5/20 1.09 RF-MD-11000-15 8/20 1.09 RF-MD-11000-15 4/20 1.05 RF-MD-11000-15 21/120
60T 45000 1.12 RF-MD-3000-12 2.2/20 1.35 RF-MD-7500-10 5.3/20 1.35 RF-MD-19500-10 6/20 1.35 RF-MD-19500-10 30/120
75T 55000 2.2 RF-MD-7500-10 9/20 1.1 RF-MD-7500-10 5/20 1.1 RF-MD-19500-10 7/20 1.1 RF-MD-19500-10 28/120
100T 75000 1.6 RF-MD-7500-10 6/20
120T 90000 Consult LEROY-SOMER Consult LEROY-SOMER Consult LEROY-SOMER
Consult LEROY-SOMER
150T 110000
For any additional information, contact your usual LEROY-SOMER interlocutor.
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UNIDRIVE SP
Options
B L8.4 - Mechanical characteristics

L8.4.1 - Heater integrable brake resistors
• The brake resistor must be found outside the
• RF-MD-2000-75, RF-MD-3000-25, RF-MD-3000-12
L
cabinet. For this, it is necessary to provide the P A
C running of the resistor cables from the back of the drive

to the front of the drive, and an additional switching must
be provided. See section C5.4.
B
• However, if the application involves the installa-
tion of the heater inside the cabinet, the resistor losses
D must be added to the global losses in the cabinet listed

in the table of section C4.2. In addition, provide a non-
inflammable base plate.
H
IP40 protection, maximum altitude : 2000 m.

For information concerning the mechanical installation, see
E the technical manual supplied with the resistor.
L8.4.2 - External brake resistors

• RF - SIR 600 - 100
F 2.5mm2 Protection : IP20

Ø 4.8
L1
Mounting (mm)
Sizes (mm) Weight
Type Ø 11
L P H A B (kg)
H1 H RF-MD-2000-75 182 140 450 160 310 5
G L2 L
RF-MD3000-25
RF-MD-3000-12
227
227
140
140
450
450
205
205
310
310
6
6
P • RF-MD-5500-40, RF-MD-7500-10, RF-MD-7500-5,

Weight : < 1 Kg / Protection : IP33 RF-MD-11000-25, RF-MD-11000-15, RF-MD-11000-5,
H Type
RF-SIR 600-100
L
102
L1
81
Sizes (mm)
L2
300
H
68
H1
57
P
13
RF-MD-19500-10
P + 60
L1
I • RF-SIR-1100-100, RF-SIR-1100-50, RF-SIR-1100-25

Ø 6.2 L2 L P
H
P - 80
J H1 H2 H
L - 28
L
P
Mounting holes Ø13
Protection : IP13
K Weight : 1.3 kg / Protection : IP55

L1
Type
RF-MD-5500-40
RF-MD-7500-10
L
420
500
Sizes (mm)
L1
450
530
P
480
480
H
440
440
Weight
(kg)
21
25
RF-MD-7500-5 500 530 480 440 25
Sizes (mm)
L
Type RF-MD-11000-25 670 690 480 440 32
L L1 L2 H H1 H2 P
RF-MD-11000-15 670 690 480 440 32
RF-SIR-1100-xx 320 240 300 95 82 ±2 71 30
RF-MD-11000-5 670 690 480 440 32
RF-MD-19500-10 960 990 540 440 52
M
N
O L en
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UNIDRIVE SP
Options
L9 - Cables B
L9.1 - CT-COMMS cable (ref. 4500-0087) The cable is made of a 9-point SUB-D plug of the RS 232
The CT-COMMS cable is used to connect directly a PC type for connection to PC, and of a RJ45 plug of the RS 485
RS232 with serial port to Unidrive SP.
Beside the RS232/RS485 converter, this option integrates
the additional isolation required in case of IT condition
type for connection to UNIDRIVE SP (cable length : 2 m).
C
installation.
CAUTION :
Do not connect the end resistor to the mains supply.
D
E
L9.2 - Power cables and encoder
F
L.9.2.1 - Introduction
The cables are important components of the motor-drive unit for which a certain number of essential points must be processed
with caution :
- covering depending on the environment aggressiveness,
- quality of shielding for the conformity with the CEM directive,
G
- mechanical resistance to stresses and rates for mounted motors,
- high density connectors requiring particular attention.
For these reasons, Leroy-Somer proposes optionally cables ready for use.
L9.2.2 - Power cables (for Unimotor exclusively)

• Presentation
Speed drive finish
H
for SP sizes 1 and 2
I
115.0 ±10
Shielding
brake at 360° Nameplate
Motor connector
U
V
W
Earth
J
Cable length from 1m to 100m
135.0 ±10 Tolerance + 0.01 / + 50mm
• Designation
K
PB A A A 005
Power cable
PB : with brake
PS : without brake*
Insulator
B : PUR
Cable section
A : 4 x 2.5 mm 2
B : 4 x 4.0 mm 2
Motor side finish
U : connector
+ finish for
010
Length
: 10m
001 to100 : 1 to 100m
L
G : 4 x 1.5 mm2 Unidrive SP
* Available with section of 1.5 mm2 or 2.5 mm2 only.
M
N
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UNIDRIVE SP
Options
B • Characteristics
Isolated cable comprising 4 power conductors
Description
and 1 shielded twisted pair for the brake (option)
C
Power conductors 4 x 1.5 mm2 4 x 2.5 mm2 4 x 4 mm2
Brake conductors (option) 2 x 1 mm2
external gain PUR
Insulator
conductors TPE TPE Polyethylene
Class 6 according to VDE 0295
external gain Orange RAL 2003
D Colour
Shielding
power conductor
brake conductor
Without brake conductors

Black ref. U / V / W + green/yellow
9.5 mm
White and black ref. + and -
Steel braid
11.9 mm 13.5 mm
External diameter
With brake conductors 11.1 mm 14.1 mm 15.6 mm
E
Curve ray 10 x diameter 10 x diameter 12 x diameter
Maximum acceleration 4 m / s2 4 m / s2 7 m / s2
Maximum speed 120 m / mn 120 m / mn 180 m / mn
Static 50 N / mm2
Resistance to stretch
Dynamic 20 N / mm2
Maximum number of cycles 5 000 000 5 000 000 10 000 000
F Temperature of use
Without brake
conductors
power
Phase-phase
Phase-shielding
Phase-phase
- 20°C to + 80°C - 20°C to + 80°C - 40°C to + 90°C
40 pf / m
200 pf / m
50 pf / m
35 pf / m
190 pf / m
50 pf / m
40 pf / m
220 pf / m
50 pf / m
Leakage capacity
conductor Phase-shielding 220 pf / m 220 pf / m 240 pf / m
With brake conductors
G
brake Phase-phase 45 pf / m 45 pf / m 45 pf / m
conductor Phase-shielding 480 pf / m 380 pf / m 350 pf / m
Voltage 1000 V
Dielectric resistor 3000 V
Isolation resistor > 10 Mohms/km
Without brake conductors 143 kg / km 219 kg / km 299 kg / km
H
Weight
With brake conductors 212 kg / km 279 kg / km 360 kg / km
Certification - UL / CSA Yes Yes No
L9.2.3 - Encoder cables

• Presentation
I Finishes with
SUB-D 15 HD connector
compatible with
UNIDRIVE SP or
stripped over 25mm
with nozzles
J Nameplate Motor
connector
K • Designation
Cable length from 1m to 100m
Tolerance + 0.01 / + 50mm
L
SinCos encoder -
Encoder type Incremental encoder SinCos encoder - Hiperface link Resolver
EndAt link
Motor type Asynchronous Servo Asynchronous Servo Servo Asynchronous
Nozzles * SCBACxxx Consult Consult SSBBCxxx SRBBCxxx Consult
Designation
Connectors * SCBADxxx SIBBAxxx SABADxxx SSBBDxxx Not available SEBAAxxx
M * Unidrive SP side finishing
Note : In the designation, xxx defines the cable length. This length may be comprised between 1 and 100m. However, the
length of 10 m was standardised in order to favour the short periods.
Example :
N - Unimotor servo-motor,
- Cable for SinCos encoder,
- Dive side finish: HD 15 connector
- Length : 10 m,
Designation : SSBBD010.
O L en
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UNIDRIVE SP
Options
• Characteristics
Incremental encoder SinCos - EndAt
B
(asyn.) or resolver (servo) Incremental encoder link (asyn.) or
Description
C
or SinCos - Hiperface link (servo) SinCos - Hiperface
(asyn.) link (servo)
external gain PUR
Insulator
conductors TPE
Class 6 according to VDE 0295
Signal conductors 3 x (2 x 0.14 mm2) 6 x (2 x 0.34 mm2) 3 x (2 x 0.38 mm2)
Cable composition
Colour
Power supply conductors
Thermal probe conductors
External gain
2 x 0.5 mm2
x
2 x 1 mm2
2 x 0.34 mm2
Green RAL 6018
2 x 0.5 mm2
2 x 0.38 mm2 D
Conductors DIN 47100
Shielding Covering by braids > 80 %
External diameter
Curve ray
Maximum acceleration
Maximum speed
8.6 mm 11 mm
10 x diameter
4 m / s2
120 m / min
9 mm
E
Maximum number of cycles 5 000 000 6 000 000 5 000 000
Temperature of use
Leakage capacity
Between signal conductors
Signal conductors - shielding
Between power supply conductors
45 pf / m
225 pf / m
255 pf / m
- 20°C to + 80°C
70 pf / m
120 pf / m
85 pf / m
130
220
150
pf
pf
pf
/
/
/
m
m
m
F
Power supply conductors - shielding 465 pf / m 145 pf / m 255 pf / m
G
Between conductors 2000 V
Dielectric resistor
Shielding conductors 1000 V
Weight 113 kg / km 116 kg / km 76 kg / km
Certification - UL / CSA Yes
H
I
J
K
L
M
N
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UNIDRIVE SP
Options
B L10 - Intercod 15
L10.1 - General information
Intercod 15 is used to convert the 15-point HD encoder plug
C of UNIDRIVE SP into 15 flexible blade terminals.
L10.2 - Connection
D 48V
48V -DC +DC BR

E 1
1 2 3 4 5 6 7 8
3
F 9 10 11 12 13 14 15
G Encoder
H L10.3 - Characteristics
• Composition
The INTERCOD 15 interface is made of a connection cord
and of an interface module.
I Type
Drive side
plug
15 shielded conductors of 0,22 mm2
High density 15-point HD screw
plug with shielding connected to
pin 14
Cord
Standard 15-point HD screw
Interface side
J
socket with shielding connected to
socket
terminal box.
Length 1.5m
Mounting On rail TS 35
Flexible blade terminals numbered
from1 to 15 for a wire of 0.08 to
K
Terminals
Interface
2.5 mm2
module
Green terminal connected to the
Shielding
terminal box of HD-15 plug for the
continuity
connection of the use shielding.
L • Sizes
46
M 75 1 2 3 4 5 6 7 8
N
9 10 11 12 13 14 15
40
O L en
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UNIDRIVE SP
Maintenance
Contents B
M1 - Introduction and warning .................................................................................................. 3
M2 - Servicing - Measurements - Tests .................................................................................... 3

M2.1 - Servicing ................................................................................................................................................. 3
C
M2.2 - Voltage, current and power measurements............................................................................................ 3
M2.3 - Power stage tests ................................................................................................................................... 4
M3 - Repairing - Spare parts ...................................................................................................... 4 D

E
F
G
H
I
J
K
L
M
N
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Maintenance
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UNIDRIVE SP
Maintenance
B Notes
C
D
E
F
G
H
I
J
K
L
M
N
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Maintenance
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UNIDRIVE SP
Maintenance
M1 - Introduction and warning B
• All works related to installation , commissioning The drive maintenance and fixing operations to be carried
and maintenance must be carr ied out by out by the user are significantly reduced. Hereinafter are
experienced, qualified personnel.
• When a fault detected by the drive causes its
powering down, fatal residual voltages are present on
presented the current servicing operations as well as the
simple methods destined to the check-up of the drive
operation.
C
the output terminals and in the drive.
• Before carrying out any work, disconnect and
lock the drive power supply and wait 10 min before
unloading the capacitors.
• Check that the continuous bus voltage is below
D
40V, before carrying out any work.
• During the maintenance operations on the
powered up drive, the operator must stay on an insulated
surface, not connected to earth.
• During the works on a motor or on its power
supply cables, check that the drive power supply is
E
disconnected and locked.
• During the tests, all the protective covers must
be left in place. F
M2 - Servicing - Measurements - Tests
M2.1 - Servicing
All drives may encounter problems as result of the exposure
M2.2 - Voltage, current and power measurements
• Voltage measurement on drive output
G
to a too high temperature, to humidity, oil, dust or after any The harmonics due to the drive make impossible a correct
intrusion of foreign bodies.
The built-in circuits and their components usually do not need
any maintenance. Contact your vendor or the closest certified
repairer in case of damage.
measurement of the voltage on the motor input, by means
of a classic voltmeter. However, you can obtain a value close
to the efficient voltage of the fundamental wave (the one
influencing the torque) by using a classic voltmeter and the
H
mounting described in the figure below.
I
DO NOT DISMANTLE THE BUILT-IN CIRCUITS DURING
THE WARRANTY. IT BECOMES IMMEDIATELY INVALID.
L1 U
Do not touch the built-in circuits or the micro-processor with Unidrive MOTOR
the fingers or with loaded or powered up materials. Connect L2 SP V 3
yourself to earth and connect also the bench or the iron to
be welded for any intervention on circuits.
If the drive storage exceeds 12 months, the drive must be

powered up for 24 hours, then this operation must be
L3 W
C
R
C : capacitor 0.1F
400 VAC (1000V peak).
R : resistor 1 k Ω , 5W.
J
V V : alternative voltmeter
repeated all 6 months. impedance > 1000 Ω /V.
Periodical check-ups:
Ambient
temperature
Check that the temperature inside the cabinet
is correct.
• Motor current measurement
K
Dust Check that the heater and the drive fan are not The current consumed by the motor and the drive input
current may be measured similarly due to classic mobile
L
obstructed by dust.
The drive length of life will be reduced if it frame ampermeter.
operates in dusty environments.
Humidity Check that there is no condensation inside the • Drive input and output power measurement
cabinet. The drive input and output powers may be measured by using
Cabinet door Check that the air flows normally through the an electrodynamic device.
filters
Tightening
Crimped
filters.
Check that all terminals remain correctly
screwed.
Check that crimping does not change the
M
terminals colour; this may indicate an abnormal
N
overheating.
Cables Check that the cables are not damaged.
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Maintenance
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UNIDRIVE SP
Maintenance
B M2.3 - Power stage tests

• Preliminary remarks :
The tests presented below are destined to make a qualitative
• Test by means of the terminal block
This test is quite brief. A positive response does not
necessarily mean that the power stages are correct.
test of the power stage status. Use a multimeter in diode test However, a negative response generally shows that these
C and make the measurements after having powered down the

drive and after having waited for full unload of the filtering
capacitor (about 10 min). Each measurement must last at
least 10 seconds in order to avoid the false readings due to
are damaged.
Use terminals L1, L2, L3 and U, V, W and terminals -DC,
+DC (size 1) or DC1, DC2 (sizes 2 and 3) of the power
terminal blocks.
the loads that may be still present in the drive circuits. In CAUTION :
D case of doubt regarding the power stages, visually check the

status of the basic command modules that may have been
damaged due to the above-mentioned.
For sizes 2 and 3 do not make measurements on the
current terminal block, make +DC, -DC.
The continuous power bus may be found on the terminal
block DC1, DC2, BR.
The figure below shows the diagram of the general principle
E of the drive undulating device with transistors. L1 L2 L3 -DC +DC L1 L2 L3 -DC +DC
or or or or
DC1 DC2 DC1 DC2
+
Test of the rectifier bridge
+ (Test on L1, L2, L3) +
T1 T2 T3 - -
F L1
L2
L3
+
-
U
V
W
• Sizes 1 to 3 : reading • Sizes 1 and 2:reading 0.3V to 0.6V
• Size 3 : reading L2, L1
reading L3 0.3V to 06V
T4 T5 T6 L1 L2 L3 L1 L2 L3
-DC +DC -DC +DC
G
or or or or
DC1 DC2 DC1 DC2
-
+ +
- Test of the rectifier bridge -
(Test on L1, L2, L3)
H • Sizes 1 to 3 : reading
U V W -DC +DC
• Sizes 1 to 3 : reading 0.3V to 0.6V
U V W -DC +DC
or or or or
DC1 DC2 DC1 DC2
I +
-
Test of T1, T2, T3
(Test on U, V, W) +
-
• Sizes 1 to 3 : reading • Sizes 1 to 3 : reading 0.3V to 0.6V
J U V W -DC +DC
or or
DC1 DC2
U V W -DC +DC
or or
DC1 DC2
K +
-
Test of T4, T5, T6
(Test on U, V, W)
• Sizes 1 to 3 : reading
+
-
• Sizes 1 to 3 : reading
L M3 - Repairing - Spare parts
M • List of spare parts

Consult LEROY-SOMER
• Change of products
CAUTION :
The products must be returned in their original package
or, if impossible, in a similar package, in order to avoid
their damaging. Otherwise, the guarantee can be
N refused.
O M en
Maintenance
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338 567 258 RCS ANGOULÊME
S.A. au capital de 62 779 000 €
www.leroy-somer.com

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Operation RFI filters - Line choke Control

Manual corresponding to the software versions higher or equal to 1.07.01

SAFETY AND OPERATING INSTRUCTIONS RELATED TO SPEED DRIVES

A3 - Control principle ................................................................................................................. 4

A4 - Operating principle ............................................................................................................. 5

I Maximum overload I Reduced overload

loop Elaboration P Power

A4.1 - Absolute positioning

A4.2 - Relative positioning

A4.3 - Origin cycle A4.3.1 - When stopped

B A4.3.2 - On reference sensor and Top 0

C The mobile moves up to the sensor, then the drive automat-

J which has been set.

K A4.5 - Zones of passage at reduced speed

L generated when the mobile passes.

Terminal Terminal Terminal Terminal Terminal Terminal

B A4.11 - Rotary positioning

C In this mode, the dynamic characteristics must be defined:

D • The distance travelled for 1 revolution of the system.

A4.11.1 - Shortest rotary positioning

When an absolute position in the revolution is requested, the

P1 = 60° absolute P2 = 2 = rotation/2 = 360/2 =180°

F P2 = 270° absolute 2 A4.11.5 - Rotary positioning with pin indexing function

G A4.11.2 - Rotary positioning with origin in the revolution

To reach the requested position, the origin used corresponds

J Movement = origin, P1 then P2

N Movement = origin, P1 then P2

B4 - Electromagnetic compatibility (CEM) ............................................................................... 7

I/P 380 - 480V 50-60Hz 3ph 4.8A Input

D Rating T : T1 = 35A, T2 = 24A, T3= 14A, T4 (40T) = 37A,

E Frequency range / output speed

B3.2 - Electric characteristics at 40°C and 3 kHz

380V to 480V ± 10% three-phase mains supply

H 200V to 240V ± 10% three-phase mains supply

500V to 690V ± 10% three-phase mains supply

K 33TL 4203 22 80 30 104 (kW) (A) (kW) (A)

D 3 8TM 3504 40°C 9.5 x x 11 x x

Three-phase permanent output current below

575V/690V at a switching frequency t 3 kHz

I 120TH 6601 40°C 100 x x x 125 x x x

IEC 61000-4-5 Supply cables between phase Level 4

int. filter, int. filter and

d 100 m ext. filter ext. filter ext. filter

d 100 m ext. filter, ext. filter,

B • The second environment comprises with

C drive whose immunity level is not compatible with the

D B4.2 - Internal RFI filter

E - when the leakage current must be below 28mA AC at

- from a 3 to 6 size drive connected to a mains supply.

F used, it is not necessary to remove the internal RFI filter.

G 3 Let the cover

2 Remove the cover

• Motor overload protection • Overspeed protection

C2 - Checks upon receipt........................................................................................................... 3

C3 - Mounting types ................................................................................................................... 3

C5 - Heater mounting outside the cabinet................................................................................ 8

C2 - Checks upon receipt

-the name plate corresponds to the mains supply.

B C4 - Heater mounting inside the cabinet

C Front view Profile view Drilling schema

() () 48V -DC +DC

() () 48V -DC +DC

() () 48V -DC +DC