ALTER PWM3D-000 User manual

Alter ELETTRONICA s.r.l.
15033 Casale Monferrato (AL) – ITALY
PWM3D-000
PWM3D-010
Drive 4 quadrants series PWM Digital
for asynchronous motors with transducer
Instructions
Instructions manual manual: : 91/104 91/104 - Version - Version 9.2 9.2 - Date: - Date: 26/05/2021 26/05/2021
Compatible wit Firmware V
Compatible wit Firmware V9.x 9.x
Combined wit t e drive:
Type No.: ___ / ___ ___ ___ Serial No.: ___ ___ ___ ___ ___

Instruct on manual 91/104 V9.2
General Index
1 Safety nformat on................................................................................................................................................3
1.1 Danger.........................................................................................................................................................3
1.2 Attent on.....................................................................................................................................................3
1.3 Warn ngs.....................................................................................................................................................4
1.4 D rect ves, trademarks and standards.........................................................................................................4
2 Ident f cat on of the product.................................................................................................................................5
2.1 CE mark ng and dent f cat on plate...........................................................................................................5
2.2 Declarat on of conform ty...........................................................................................................................5
2.3 Manufacturer’s declarat on.........................................................................................................................5
2.4 Model encod ng..........................................................................................................................................6
3 Techn cal character st cs.......................................................................................................................................7
3.1 General ty...................................................................................................................................................7
3.2 Techn cal data.............................................................................................................................................7
4 Installat on..........................................................................................................................................................11
4.1 Prel m nary operat ons..............................................................................................................................12
4.2 Motor w r ng.............................................................................................................................................13
4.3 Power connect ons....................................................................................................................................13
4.4 S gnal connect ons....................................................................................................................................14
4.5 Commands start ng sequence...................................................................................................................20
4.6 Commands shutdown sequence................................................................................................................20
4.7 Restart ng after an alarm...........................................................................................................................20
5 Comm ss on ng...................................................................................................................................................21
5.1 Menu structure..........................................................................................................................................21
5.2 Nav gat on n the menus...........................................................................................................................34
5.3 Descr pt on of funct ons n the menus......................................................................................................35
5.4 Cal brat on and adjustments.....................................................................................................................57
5.5 Opt onal transducers.................................................................................................................................59
5.6 Spec al funct ons.......................................................................................................................................65
6 D agnost cs.........................................................................................................................................................76
6.1 Yellow LEDs – Commands.......................................................................................................................76
6.2 Green LEDs – Internal states and outputs................................................................................................76
6.3 Red LEDs – Alarms..................................................................................................................................77
6.4 Alarm messages........................................................................................................................................77
6.5 Report ng messages..................................................................................................................................81
6.6 D agnost c menu.......................................................................................................................................83
7 Annexes..............................................................................................................................................................84
7.1 Led Summary Table..................................................................................................................................84
8 Mechan cal character st cs..................................................................................................................................85
8.1 S ze 1........................................................................................................................................................85
8.2 S ze 2........................................................................................................................................................86
8.3 S ze 3........................................................................................................................................................87
2 Alter Elettron ca s.r.l.

Instruct on manual 91/104 V9.2 Safety nformat on
1 Safety information
Read th s manual carefully before us ng the dr ves PWM3D-000.
Keep the manual carefully and n a place of easy access n order to consult t later n case of need.
Make sure th s manual s del vered to the end user.
The safety symbols used n th s manual are descr bed below:
DA GER:
Th s symbol nd cates the poss b l ty of even ser ous njur es to people, due to electr cal or mechan cal shocks.
ATTE TIO :
Th s symbol nd cates the poss b l ty of damage to property or to the dr ve tself.
WAR I GS:
Add t onal nformat on for proper use of the dr ve
1.1 Danger
•Never feed the dr ve w thout the l d and never remove the l d wh le the power supply s present.
•Do not perform man pulat ons on the dr ve w th wet hands. There s a danger of electr cal shocks.
•Ma nta n a suff c ent safety d stance from the motor and the mach ne when the network s act vated and never touch the
rotat ng parts of the motor when t s n operat on. There’s a danger of gett ng hurt.
•When resett ng alarms make sure the dr v ng s gnal s d sabled to avo d unexpected motor departures. Set up a separate
emergency stop dev ce. There’s a danger of gett ng hurt.
•Before start ng w r ng make sure that there s no power supply and that the motor s st ll.
•All power sources must be d sconnected before any ma ntenance s carr ed out.
•Before start ng nspect on, please wa t at least 2 m nutes after sw tch ng off voltage, make sure the LEDs and LCD d splay
are sw tched off
•Ma ntenance, nspect on and replacement shall be carr ed out by a des gnated person. Remove all metal accessor es such as
watches, bracelets etc before start ng work.
•Make sure that the power supply voltage of the dr ve matches the l cense plate data.
1.2 Attention
•To comply w th the regulat ons on electr cal safety, make mass connect ons accord ng to the standards of the country where
the dr ve s nstalled.
•The nstallat on must be carr ed out by qual f ed techn cal personnel.
•Always f x the dr ve before w r ng.
•Install a protect ve c rcu t (fuse or magnet c sw tch) on the dr ve power supply.
•Do not connect a power source to term nals A, B, C.
•Make sure that the power supply voltage of the dr ve matches the l cense plate data.
•Attach the clamp screws w th an appropr ate t ghten ng torque.
•Properly connect w res A, B, C. The motor may not start or rotate abnormally and damage the mach ne.
•If there s no power supply to the dr ve, do not connect the motor cable f t s n rotat on. There s a danger of damag ng the
car.
•Do not occlude the dr ve vent lat on slots.
•Ensure the motor’s funct onal ty as a s ngle un t before mechan cally attach ng t to the mach ne and ver fy that the
max mum motor speeds are tolerated by the mach ne. There s a danger of njury and damage to the car.
•Never change the dr ve.
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Safety nformat on Instruct on manual 91/104 V9.2
•Clean the dr ve w th a vacuum cleaner. Do not use organ c solvents. There s a danger of damag ng the dr ve.
•It s essent al for your safety that any rev s on of the dr ve s carr ed out by our company.
•In case of d sposal, the dr ve must be cons dered an ndustr al waste, therefore comply w th the rules mposed by the laws n
force n the country n wh ch t s nstalled.
1.3 Warnings
•Ma ntenance shall be carr ed out by qual f ed techn cal personnel.
•The ground connect on and nstallat on of the dr ve must be carr ed out n accordance w th the secur ty rules mposed by the
laws n force n the country where the dr ve s nstalled.
•Appropr ate preparat on must be g ven to operators and mach ne operators.
•The dr ve can cause rad o frequency nterference f t lacks the appropr ate network f lter.
•Follow the spec f cat ons of the dr ve and follow the nstruct ons n th s manual.
•Ensure that adequate vent lat on and clean ng of the dr ve s ma nta ned.
•Avo d penetrat on of water or other flu ds ns de the dr ve.
•For w r ng use appropr ate cables, poss bly sh elded.
1.4 Directives, trademarks and standards
The dr ve PWM3D-000 compl es w th the follow ng ndustr al standards:
Standard/Marking Description
CEI E 60204-1 Low voltage safety d rect ve, 73/23/EEC.
CEI E 61800-3 Product standard related to EMC D rect ve 89/336/EEC.
CEI E 60529 Degree of protect on IP20.
CE CE mark ng.
4 Alter Elettron ca s.r.l.

Instruct on manual 91/104 V9.2 Ident f cat on of the product
2 Identification of t e product
2.1 CE marking and identification plate
The CE mark ng shall attest to the conform ty of the apparatus w th the essent al health and safety requ rements la d down n the
European D rect ves set out n the EC declarat on of conform ty. It cons sts of a s lver polyester adhes ve label w th a black pr nt, of
the follow ng d mens ons: L= 95 mm – H= 50 mm (F gure 1).
It s appl ed externally at the bottom (cons der ng vert cal panel mount ng).
The follow ng data are nd cated n a leg ble and ndel ble way on the plate:
1) Techn cal data supply serv ces.
2) Frequency range three-phase/mono-phase nput voltage.
3) Three-phase/mono-phase nput supply voltage.
4) Max mum current requ red (peak) from the three-phase
nput.
5) Dr ve type.
6) Dr ve model (see encod ng table on page 6).
7) Ser al number (un versal for each type of dr ve).
8) F rmware vers on of the product.
9) Max mum voltage output dr ve.
10) Max mum current (peak) d spensable from the dr ve.
2.2 Declaration of conformity
The ALTER Elettronica S.r.l. declares that, n the cond t ons spec f ed n th s document, the dr ves (CDM) model " PWM3D-000“, are
n conform ty w th the Commun ty d rect ves EMC, nclud ng the latest amendments, w th the relat ve Ital an transpos t on leg slat on
and the Commun ty d rect ves Low Voltage, nclud ng the latest amendments, w th the relevant Ital an transpos t on leg slat on.
Therefore, the CE mark ng, aff xed to dr ves (CDM) model "PWM3D-000“, cert f es compl ance w th both the EMC D rect ve and
the Low Voltage D rect ve.
2.3 Manufacturer’s declaration
The ALTER Elettronica S.r.l. for the purposes of the Mach nery D rect ve (DM) 89/392 and subsequent amendments, w th the relevant
Ital an leg slat on transpos ng D.P.R. 459 of 1996-07-24, declares that the model dr ves "PWM3D-000“ must be nstalled accord ng to
the nstruct ons conta ned n th s manual and shall not be put nto operat on unt l the mach nes n wh ch they are ncorporated have
been declared to comply w th the DM D rect ve ment oned here n.
Alter Elettron ca s.r.l. 5
Figure 1: Identification plate

Ident f cat on of the product Instruct on manual 91/104 V9.2
2.4 Model encoding
The follow ng tables nd cate the encod ng method for order ng a model dr ve: PWM3D-000
Drive model Options Maximum voltage
output
Current service
continuous output
PWM3D- x x x xxx xxx
010= 10Arms
016=16Arms
021= 21Arms
026=26Arms
036= 36Arms
044= 44Arms
056= 56Arms
070= 70Arms
087=87Arms
095= 95Arms
111= 111Arms
130= 130Arms
200 = 200Arms
440 = 440Vac
480 = 480Vac
000 = General asynchronous motor control.
010 = General asynchronous motor control (supply only by DC-BUS nput).
PWM3D = PWM dr ve, 3rd ser es, D g tal
Table 1: model encod ng
NOTE: the maximum output voltage is attaina le as long as you have at least the same input voltage value on the terminals L1,
L2, L3 or the voltage on the DC BUS = 1.41 x output voltage.
6 Alter Elettron ca s.r.l.

Instruct on manual 91/104 V9.2 Techn cal character st cs
3 Tec nical c aracteristics
3.1 Generality
These dr ves are des gned to power and control the operat on of asynchronous motors w th transducer.
The IGBT br dge s nserted ns de the case.
Energy recovery takes place on nternally (or externally) mounted clamp res stance.
All control and control c rcu ts are d g tal and completely nsulated from power.
D g tal nputs and outputs are stat c and opto- solated.
W th an external control t s poss ble to nsert an accelerat on and decelerat on ramp on the speed reference.
Accelerat on and decelerat on t mes are adjustable.
The current l m t s set nternally n a f xed way.
The I/O connectors are mounted on a fully access ble board to fac l tate connect ons.
These dr ves are su table for the control of the motors used n mach ne tools, graph cs, belt movement, etc. and n all those appl ca -
t ons where t needs great flex b l ty of operat on.
3.2 Tec nical data
Use the follow ng table to know the techn cal character st cs of the var ous models identified by the continuous service output cur-
rent; See the encod ng table n Chapter 2.4 on page 6 to match the current w th the order code.
DRIVE ACCESSORIES CO ECTIO S
OUTPUT
CURRE T (Arms)
SIZE
POWER
RESIST.
I TER AL
CLAMP
(W)
CODE
EXTER AL CLAMP
RESISTOR
THREE-PHASE
FILTER
THREE-PHASE
I DUCTA CE
FUSES O
L1-L2-L3 or
DC+ DC-
MAXIMUM SECTIO OF
CABLES
[mm²]
[1] [4]
CO T.
OM.
PEAK
Inom
(A)
Max.
I2tat10ms
(A2s)
L1 L2 L3
A B C
Rest+
R-
X3 X6 X7
X9 X10
X11 X12
[2] [3]
10 6 12 1 150 RES32R1KW5 23/020 17/001 16 684 2,5 2,5 1,5
16 10 20 1 150 RES32R1KW5 23/020 17/001 25 684 4 2,5 1,5
21 13 26 1 150 RES20R900W10 23/003 17/001 32 684 6 2,5 1,5
26 17 34 1 150 RES20R900W10 23/003 17/003 40 2400 6 2,5 1,5
36 22 44 2 300 RES8R4KW5 23/003 17/003 50 8000 10 10 1,5
44 26 52 2 300 RES8R4KW5 23/004 17/003 63 8000 16 10 1,5
56 32 64 2 300 RES8R4KW5 23/004 17/003 100 8000 16 10 1,5
70 43 86 2 300 RES8R4KW5 23/005 17/004 100 18000 25 10 1,5
87 53 106 2 300 RES8R4KW5 23/005 17/005 160 18000 25 10 1,5
95 64 128 2 - RES3R38KW10 23/007 17/007 160 18000 50 10 1,5
111 75 150 2 - RES3R38KW10 23/007 17/007 200 51000 50 10 1,5
130 90 180 2 - RES3R38KW10 23/007 17/008 250 125000 50 10 1,5
200 200 200 3 - RES3R38KW10 23/008 17/008 250 125000 50 10 1,5
Table 2: Data for the s z ng of dr ves
OTES:
[1] W th temperature ns de the panel where the dr ve from 0 to 40 °C s mounted. Current reduct on of 4 % for each °C above
40 °C. Mean ng of the output current:
•Continuous service: The dr ve can d spense th s current w th nf n te t me, but the ava lab l ty of the peak s not
guaranteed, depend ng on the temperature of the heat s nk.
•Rated: The dr ve can d spense th s current w th nf n te t me also hav ng the peak current ava lable n case of need.
•Peak: The dr ve can d spense th s current for a t me that depends on the temperature of the heat s nk, so also the n-
com ng a r, but t s at least 30 seconds.
[2] D mens ons and masses on page 63 and page 68.
[3] The f lter shall be mounted when the PWM3D dr ves are used n F rst Amb ent, to meet the EMC compat b l ty requ re-
ments.
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Techn cal character st cs Instruct on manual 91/104 V9.2
[4] Only ultra-fast protect ve fuses (for semiconductor protection) are essential for three -phase or DC BUS nputs. Other
fuses do not prov de a suff c ent degree of protect on and therefore, n case of fa lure, the dr ve can be severely damaged.
3.2.1 Apparent power and absorbed current
To s ze the transformer/self-transformer, nductance and EMC f lter, t s necessary to calculate the apparent power requ red by the
dr ves connected to the supply l ne by follow ng these po nts:
1. Calculate power from motor to load:
Pm=C⋅
Pm= motor power [W]
C = Torque dispensed [Nm]
Ω = Maximum using speed [rad/sec]
If you do not know the usage data, cons der the plate data of the motor.
The follow ng convers on formulas must be used w th other Un ts of measure:
C[Nm]=C[Kgm]⋅9,81
ω[rad /sec]= n[giri /min]
9,55
2. Calculate the power requ red by each dr ve:
Pc=Pm ⋅1,5
Pm= motor power [W]
Pc= Power a sor ed y the drive [VA]
and calculate the total power as the sum of the power absorbed by the nd v dual dr ves:
Pt=Pc1Pc2Pc3....
Pc= Power a sor ed y a drive [VA]
Pt= Total power a sor ed y drives [VA]
3. The apparent power and total current requ red shall be calculated us ng the follow ng formulae:
Pa=Pt⋅1,73

d2
Pa= Apparent power delivered y the transformer/autotransformer [VA].
Pt= Total power drives [VA].
d = Total num er of drives connected to the same power supply.
Iu= Current to e used to size the line inductor and the filter EMC [A].
Va= Power supply voltage of the drives [V].
Iu=Pa
1,73⋅Va
The apparent power and current value thus calculated are val d only f the motors always work under the cond t ons cons dered n the
calculat ons. dur ng normal operat on there are var at ons n torque and speed lead ng to s gn f cant reduct ons n the average values of
apparent power and current. To have more exact values t s necessary to know the actual cond t ons of use of all motors.
Contact the ALTER Techn cal Off ce to exam ne spec al cases.
3.2.2 Current absorbed wit DC-BUS power supply
To s ze the power supply supply supply voltage to the DC-BUS t s necessary to calculate the total current requ red by the dr ves con-
nected to the power supply tself w th the follow ng formula:
It=Pt
Vdc
Pt= Total power drives [VA]
Vdc= DC-BUS power supply voltage [V]
It= Total current required y drives [A]
The total power of the dr ves can be calculated us ng the formulas of paragraph above “Apparent power and absorbed current”. The
power supply voltage on the DC-BUS depends on the power supply used, but when us ng the PSR3 model th s value s 650Vcc.
3.2.3 General tec nical c aracteristics
–Execut on for f x ng on panel. Degree of protect on IP20.
–Amb ent operat ng temperature: from 0 °C to +40 °C.
–Storage temperature: from -10 °C to +70 °C
–Relat ve hum d ty max.: 95 % w thout condensat on.
–Max mum alt tude: 1000 m. a.s.l.
–S ngle-phase serv ce supply: 230Va.c. ±10 % – 500mA max (protect on w th external retarded fuses 250V – 1A).
–Power supply: from a m n mum of 60V to a max mum nd cated on the dr ve plate. (protect w th external fuses as show n
table 7 at page 7.
–Frequency of supply: 50/60Hz.
–Output current: As from table 2 at page 7.
8 Alter Elettron ca s.r.l.

Instruct on manual 91/104 V9.2 Techn cal character st cs
–Max. d ss pated power: 10 x Output Current.
–Thermal t me constant: 15’
–Cont nuous power d ss pated by nternal clamp res stance: As from table 2 at page 7.
–Res stance of nternal or external clamps (ava lable separately).
–Connect ng term nals to the D.C. BUS.
–Galvan c solat on between power and control electron cs.
–Over-voltage protect on on:
–S gnal nputs and outputs.
–Serv ce and power suppl es.
–Frequency of "sw tch ng“: 16KHz.
–M n mum value of the electr c t me constant of the motor: 1 msec. To calculate th s value, see the formula n paragraph
"Motor w r ng“ on page 13.
–Connect ons:
–Power on connectors (S ze 1) or term nal block (S ze 2).
–Serv ce and s gnals on connectors.
–Use w th asynchronous motors equ pped w th one of the follow ng dev ces:
–Incremental encoder (5V l ne dr ver).
–Resolver [opt onal card].
–S nuso dal encoder (S n-Cos outputs l ne dr ver 5V) [opt onal card].
–Phon c wheel [opt onal card].
–EnDat encoder [opt onal card].
–Any other transducers upon request [opt onal card].
–Emulated encoder output.
–Ramp on the speed s gnal adjustable between 0.1Sec and 650 sec ( nsert w th log cal control).
–Opto- solated log cal nputs (command from 15 to 30Vcc – 10mA max):
–Enable dr ve.
–Speed ramp rat ng.
–Alarm reset command.
–4 programmable nputs.
–Opto- solated log c outputs (24Vc. – 100mA max) protected aga nst overload and short c rcu t:
–Report no alarms.
–Converter ready.
–No. 4 programmable outputs.
–Analog nputs (max mum d fferent al voltage and common mode 10V).
–N°1 d fferent al nput w th resolut on of 15 b t + s gn, nput res stance: 10KW, programmable.
–N°3 nputs w th resolut on of 11 b t + s gn, nput res stance: 70KW, programmable.
–Analog outputs (±10V max. – output res stance 1KW):
–No. 4 programmable outputs.
–Power outputs:
–+24V ±20 % – 100mA max.
–+10V ±5 % – 5mA max.
–-10V ±5 % – 5mA max.
–Input for the thermal probe (PTC or N.C. contact) mounted n the motor.
–Input for the thermal probe (PTC or N.C. contact) mounted on the external brak ng res stance group.
–LED d splay of operat on status.
–16-character LCD d splay on 2 l nes for parameter sett ng and d agnost cs.
–Automat c lock ng of the dr ve for:
–Internal power supply s m ss ng or nsuff c ent.
–Insuff c ent or excess ve power supply (three-phase or DC-Bus).
–motor not connected or ncorrectly connected.
–Over-temperature of the dr ve.
–Over-temperature of capac tors on the DC-BUS.
–Over-temperature of the motor.
–Converter overload.
–Over-current n the dr ve.
–Transducer fa lure mounted on the motor.
–Fa lure or overload n the recovery c rcu t on res stance.
–Fa lure n the dr ve.
–Overload or short c rcu t of d g tal outputs.
–Wrong sett ngs.
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Techn cal character st cs Instruct on manual 91/104 V9.2
3.2.4 Power supplies
3.2.4.1 NOTE
Any d fferent al sw tches placed to protect dr ves shall have type B ntervent on character st cs ( n accordance w th the second amend-
ment to IEC 755).
3.2.4.2 SERVICES
Power supply: s ngle-phase 230Va.c. ±10 % – 500mA max. (term nals: 230V)
M n mum sect on of connect ng cables: 1,5 mm²
Protect the supply w th no.2 delayed fuses w th a rated current 1A.
3.2.4.3 POWER
The power supply of the PWM3D-000 drive can be suppl ed n the follow ng ways:
•A three-phase ground neutral network w th a cha ned voltage w th n the l m ts nd cated on the dr ve plate (see
"Ident f cat on plate on page 5. Insert between the three-phase network and the dr ve a three-phase nductance of at least 100
uH s zed for the current absorbed by the dr ve and hav ng a saturat on current equal to at least tw ce the rated current (see
Draw ng 1 on page 11.
•From a transformer w th connect ons / and centre star on the ground or a self-transformer (/) to adapt the ma ns
voltage.
•From a D.C. l ne (see Draw ng 2 to page 12.
•Only for the dr ve S ze 1 : From a s ngle-phase network w th voltage w th n the l m ts nd cated on the dr ve plate (see
"Ident f cat on plate“ on page 5). Insert between the s ngle-phase network and the dr ve an nductance of at least 100 uH
s zed for the current absorbed by the dr ve and hav ng a saturat on current of at least tw ce the rated current (see Draw ng 1
on page 11).
The power supply of the PWM3D-010 drive can only be suppl ed n the follow ng way:
•From a D.C. l ne (see Draw ng 2 to page 12).
Always protect your feed ng w th ultra-fast fuses as shown n table 2 on page 7.
10 Alter Elettron ca s.r.l.

Instruct on manual 91/104 V9.2 Installat on
4 Installation
Drawing 1
Connection to a three-phase power line (PWM3D-000 only)
Alter Elettron ca s.r.l. 11

Installat on Instruct on manual 91/104 V9.2
Drawing 2
Connection from a DC power line
4.1 Preliminary operations
•Check that the dr ve has suffered no damage n the transport.
•Mount the dr ve vert cally away from heat sources and so that there s suff c ent free space above and below for good cool ng
a r c rculat on.
•Use unpa nted sheet f x ng panels connected to the ground.
•Connect to a good ground the ground term nal placed on the r ght s de of the dr ve term nal.
•Follow the l nk patterns n the manual carefully.
•Use sh elded cables for s gnal and power connect ons.
•Connect to the ground on the carpentry or on the term nals arranged on the two ends of the sh elds.
•Do not use term nal blocks but only sh elded connectors for s gnal and power sh elded cable junct ons.
•Mount ng no se suppressors (off for a.c./d odes for D.C.) parallel to the co ls of all contactors, relays, soleno d valves, s ngle-
phase motors, three-phase motors, etc.
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Instruct on manual 91/104 V9.2 Installat on
4.2 Motor wiring
Only use sh elded cable w th 3 conductors + earth for power ng the motor and tw sted sh elded cable n pa rs for the transducer ( AL -
TER model CAV16PSCH-SP1 ).
The sect on of the conductors of power cables s shown n draw ng 2 on page 7.
Connect the sh elds of the power and s gnal cables to the case of the dr ve and motor.
The connect on of the sh eld to the case shall be as short as poss ble (max mum length 100 mm). The uncovered part of the cable shall
not exceed 50 mm.
It s recommended to use sh elded cables w thout jo nts. If th s s mposs ble, use:
•For s gnals: sh elded connectors that do not nterrupt the sh eld
•For power: sh elded connectors or term nal blocks.
If a term nal block s used, the uncovered (unsh elded) part of the cable must be m n m sed and the sh elds of the two cables must be
connected to a (non- nsulated) ground term nal.
Us ng the follow ng formula, calculate the value of the “electr c t me constant " of the motor; If the result s less than 10msec, an n-
ductance between the motor and the dr ve shall be mounted. In case of doubt or for further nformat on, please contact the ALTER
Techn cal Off ce.
Te=Lmot
Rmot
Te = Electric time constant [msec].
Lmot = Inductance of the motor (see motor technical specifications) [mH].
Rmot = Resistance of the motor (see technical specifications of the motor).
For the s z ng of the components drawn n Draw ng 1 on page 11 and n Draw ng 2 on page 12, see 2 on page 7.
Connect the thermal probe as nd cated n Draw ng 1 on page 11 or Draw ng 2 on page 12 only f the s gnal s not ava lable on the
transducer connector.
4.3 Power connections
To dent fy the locat on of the connectors on the dr ve, see Draw ng 29 on page 85 and Draw ng Draw ng 30 on page 86.
4.3.1 T ree-p ase or single-p ase network (only for PWM3D-000)
The three-phase power supply network shall be connected to the L1, L2, L3 term nals available on the X1 connector n the case of a
s ze 1 dr ve or on a screw term nal n the case of a dr ve of s ze 2.
Only for drives in size 1 t s poss ble to supply them w th single-phase voltage: In th s case, use only the L1 and L2 term nals.
NOTE: The contacts of the contactor mounted on the power supply line (as indicated in Drawing 1 on page 11) can e closed only
if the DOK output is active at +24V; in the event that the DOK output go to 0V (in case of alarm for example) the switch must e
opened immediately.
The d agram next to t llustrates the correct connect on of the
contactor co l control that d ssects the power supply to the dr ve.
The d g tal output “DOK” of the dr ve controls the co l of a
24Vcc relay (RL1) and the same s gnal goes to the PLC or CNC
to s gnal f the dr ve goes to FAULT.
The aux l ary contact of the RL1 relay s ser al sed to the co l of
the power contactor (K1) wh ch s controlled by the CNC or PLC
whenever t w shes.
In the case that the dr ve goes nto alarm or n case of lack of
power to the aux l ary serv ces, thus mak ng the contactor off and
the power supply on the L1, L2, L3 s removed even f the CNC
tr es to dr ve the K1 contactor.
Th s ensures the correct management log c of the contactor.
4.3.2 Motor
The motor must be connected to term nals A, B, C. In the case of a dr ve s ze 1 th s connect on s on the X2 connector; nstead, w th a
dr ve s ze 2 you have to use the spec al screw term nals.
Alter Elettron ca s.r.l. 13
Drawing 3

Installat on Instruct on manual 91/104 V9.2
4.3.3 Clamp resistor
The rated power of th s res stance (or res stor battery) shall be equal to the average power d ss pated dur ng the motor shutdown phase
and shall be calculated us ng the follow ng formula:
P=0,2⋅J⋅2 ⋅F
P = Power dissipated y resistance [W]
J = Total moment of inertia on the motor shaft [Kg·m² (rotor + load)
ω = Maximum angular speed of the motor [rad/sec
F = Repeat frequency of the work cycle [cycles/sec
If the speed s expressed n “RPM” the follow ng convers on formula must be used:
ω [rad /sec]= n[RPM ]
9,55
If you use the res stance of the nternal clamp to the dr ve, you must leave the br dge w red between the R- and Rint+ term nals and
between the PTC-RES- and PTC-RES+ of X3.
If the power of the nternal res stance s not suff c ent and an external clamp res stance s used, then the w re br dge between the R-
and Rint+ term nals and between PTC-RES- and PTC-RES+ of X3 must be removed: connect the res stance between the Rest+ and
R- term nals and the PTC temperature probe between the term nals PTC-RES- and PTC-RES+ of X3. If the external res stance
group s not equ pped w th a temperature probe, the flush br dge between PTC-RES- and PTC-RES+ of X3 shall be left connected:
n th s case, overload protect on on external res stors cannot work.
In the case of a dr ve s ze 1, the connect on of Rest+ and R- s on the X2 connector; nstead, w th a dr ve s ze 2 you have to use the
spec al screw TERMINALS.
4.3.4 DC-Bus
DC+ and DC- TERMINALS can be used for d fferent purposes:
1. Balanc ng clamp energy : hav ng mult ple dr ves nstalled n the same electr cal cab net, all DC+ and DC- term nals of the
var ous dr ves are connected n parallel, wh le ma nta n ng the three-phase power supply for each of them. In th s case the
energy recovered from the dr ve work ng as a brake s used part ally or totally by the other dr ves operat ng from the motor.
Th s leads to a part al or total reduct on of the energy d scarded n heat by the clamp res stance of the dr ves. W th th s con-
nect on the total recoverable energy s equal to the sum of the energy recoverable from the nd v dual dr ves and somet mes
makes the use of external clamp res stors unnecessary. W th th s connect on, the three-phase power supply (locks L1,L2,L3)
must be the same for all dr ves and must be suppl ed and removed s multaneously us ng a s ngle contactor or mult ple con-
trolled contactors at the same t me.
2. Add t onal battery of capac tors on the dc-bus : n order to store more recovered energy, then reduce the energy d scarded n
heat n the clamp res stance, t s also poss ble to use an add t onal battery of capac tors appropr ately s zed and connected to
the DC BUS.
3. D.C. Power supply : In th s case t s necessary to use an external power supply capable of prov d ng the necessary current for
the operat on of all the dr ves connected to t. Th s power supply must:
1. Power the DC BUS w th a voltage that slowly r ses from zero to the f nal value (to avo d current peaks wh le charg ng
capac tors mounted on the DC BUS).
2. Prov de an end-of-charge s gnal to enable the dr ve.
3. Be able to send back nto the power l ne or d ss pate on res stance all the energy recovered from the dr ves connected to
t. If the power supply s des gned to d ss pate on res stance the recovered energy t s poss ble to use an add t onal capa-
c tors battery appropr ately s zed and connected to the DC BUS to reduce the energy d scarded n heat n the res stance
(ALTER module 13/007).
NOTE: The power supply shall only supply the voltage on the DC-BUS if the DOK output is active at +24V; in the event
that the DOK output goes to 0V (in case of alarm for example) the power supply must immediately discharge the voltage to
the DC-BUS.
It s adv sable to protect the DC-BUS supply w th two fuses (see Table 2: Data for the s z ng of dr ves on page 7) and use bra ded
cables (tw states) and sh elded cables.
For the s z ng of the var ous elements descr bed n th s paragraph t s adv sable to contact the ALTER techn cal serv ce.
In the case of dr ve s ze 1 th s connect on s on the X2 connector; nstead, w th a dr ve s ze 2 you have to use the spec al screw term n-
als.
4.4 Signal connections
To dent fy the locat on of the connectors on the dr ve, see Draw ng 29 on page 85 and Draw ng 30 on page 86.
4.4.1 Connector X3
Connect on of the motor-mounted therm stor (max mum res stance at room temperature = 1KΩ) and the protect on therm stor for ex-
ternal brak ng res stances. In case the term nals of the therm stor are on the connect on cable to the transducer, the spec al PINs can be
used on the X4 connector.
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Instruct on manual 91/104 V9.2 Installat on
1PTC-RES- Connect the therm stor mounted to the res stors of external clamps, otherw se leave the br dge connected (only
for PWM3D-000).
2PTC-RES+
3PTC-MOT- Connect the therm stor mounted n the motor.
NOTE: th s contact s also ava lable n the X4 connector.
4PTC-MOT+
4.4.2 Connector X4
Connect on of the transducer “Encoder TTL” mounted n the motor. The connect on cable must be sh elded and the sh eld must be
grounded on both ends. If a transducer connected to the X14 connector s used, then th s connector must rema n free and unused.
Ass gn ng connector PINs:
Drive (Connector X4) CO ECTIO motor
SIG AL . PI . PI SIG AL
+5V (pos t ve feed ng encoder) 1
0V (Power supply 0V encoder) 2
Channel “A " encoder 3
Channel "A“ encoder 4
0V (sh eld pa r A + A) 5
Channel “B " encoder 6
Channel "B“ encoder 7
0V (sh eld pa r B + B) 8
PTC probe n the motor (s gnal) 13 ──────────
0V (pa r Z + Z) 16
Channel “Z " encoder 17
Channel "Z“ encoder 18
PTC probe n the motor (0V) 25 ──────────
0V (cable sh eld) – Connector box
V ew of the Fly ng connector type “D " 25 poles female on the solder ng s de.
4.4.3 Connector X5
On th s connector are ava lable channels A, A, B, B, Z, Z of the TTL encoder connected to the X4 connector or a s mulated encoder f
you use a transducer connected to the X14 connector and n th s case you can select the s mulated encoder type (see paragraph
"Emulated encoder“ on page 56).
The connect on cable must be sh elded and the sh eld must be grounded on both ends.
Ass gn ng connector PINs:
1
5
6
9
. PI SIG AL
1 Channel “A” encoder
2 Channel ”A“ encoder
3 Channel “B” encoder
4 Channel ”B“ encoder
5 Channel “Z” encoder
6 Channel ”Z“ encoder
9 0V
V ew of the Fly ng connector type “D " 9 poles male on the solder ng s de.
4.4.4 Connector X6
Connect on analog outputs. Voltage ±10V max or 0-10Vcc max. – Output res stance 1K. More nformat on can be found n para-
graph ”Analog Output X“ on page 42.
Always use good qual ty sh elded cables and connect the two ends of the sh eld to the ground . On the dr ve case, near the connectors,
anchorages are ava lable for screens (see Mechan cal character st cs page 85).
S gnal allocat on to PINs:
1A0V 0V analog. The analog 0V s connected to the dr ve case.
2AO1 Analog output 1 programmable.
It s normally used to prov de a voltage s gnal proport onal to the load on the motor.
3AO2 Analog output 2 programmable.
It s normally used to prov de a voltage s gnal proport onal to the speed of the motor.
4AO3 Analog output 3 programmable.
It s normally used to prov de a voltage s gnal proport onal to the motor torque.
5AO4 Analog output 4 programmable.
Normally t s not used.
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Installat on Instruct on manual 91/104 V9.2
6A0V 0V analog. The analog 0V s connected to the dr ve case.
Below are some sample draw ngs for a correct use of the var ous s gnals on X6.
Analog output connect on (±10Vcc) to a speed
indicator tool.
Analog output connect on (±10Vcc) to CNC analog
input (or a PLC) to detect motor speed.
4.4.5 Connector X7
Connector prepared for connect on between two dr ves n "ant backlash" mode (see sect on ”Ant -backlash system“ from page 71).
S gnal allocat on to PINs:
1T1 Res stance Bus term nat on value 110 Ω.
2T2
3LConnect ng cable “L” pole
4HConnect ng cable “H” pole
4.4.6 Connector X8
Connector for opt onal commun cat on cards.
4.4.7 Connector X9
Connect d g tal outputs.
Power supply voltage from l8Vcc to 30Vcc (nom nal 24Vc.c.)
States of ex ts:
Off = Float ng
On = Connected to +24V power supply (D24) (marked by the l ght ng of the correspond ng led)
Max mum current for each output 100 mA, voltage drop ns de the max mum current 2V.
W thout serv ce power all outputs are OFF.
In case of overload or short c rcu t on one or more outputs, all outputs are permanently forced nto the OFF state.
For connect ons please refer to Draw ng 6 and Draw ng 7 from page 17.
S gnal allocat on to PINs:
1DOK D g tal output ”Dr ve OK”. It nd cates that there are no alarms that prevent the dr ve from work ng and that t has f n-
shed the per pheral n t al sat on phase.
Further nformat on can be found n paragraph ”Alarm messages“ on page 77.
2RDY “Ready“ d g tal output. It s gnals that the dr ve s ready for operat on and s therefore able to perform the commands.
See also paragraph ”RDY (Ready)“on page 76.
16 Alter Elettron ca s.r.l.
Drawing 4
Drawing 5

Instruct on manual 91/104 V9.2 Installat on
3DO1 D g tal output 1 programmable.
It s normally used to s gnal ”Zero Speed“ .e. that the motor s stat onary.
4DO2 D g tal output 2 programmable.
It s normally used to s gnal the ach evement of a speed threshold.
5DO3 D g tal output 3 programmable.
Normally t s used to report that the motor load s more than 90 % (see page 66)
6DO4 D g tal output 4 programmable.
It s normally used to report that the motor pos t on has been reached (see page 74)
7D24 Common to connect to +24Vcc for d g tal outputs.
8+24V Output +24Vcc ±20 % – 100mA max.
Below are some draw ngs to expla n the correct connect ons to the X9 connector:
Relay connect on to rece ve s gnals from the d g tal outputs of the
dr ve.
It s necessary to connect the D24 to a power supply +24Vcc and
the D0V to 0V.
Connect on of a PLC to rece ve s gnals from the dr ve.
The d g tal nputs of the PLC must rece ve a voltage of 24Vcc.
It s necessary to connect the PLC +24V power supply w th the
D24 of the dr ve and the 0V of the PLC w th the D0V of the
dr ve.
The 24Vcc power supply can be suppl ed by the dr ve tself ( f the total current absorbed by the loads connected to the outputs does
not exceed 100mA): connect D24 w th clamp +24V (X9) and D0V w th A0V clamp (X12).
If the nternal power supply cannot be used, an external power supply must be used.
4.4.8 Connector X10
Power connect on aux l ary serv ces 230Vac 500mA (Max). Mount protect ve fuses w th 1 retarded amperes. The power supply of the
serv ces MUST be present before the power supply and must not be removed before the power supply.
4.4.9 Connector X11
Connect on reference voltages and analog nputs.
Always use good qual ty sh elded cables and connect the two ends of the sh eld to the ground. On the dr ve case, near the connectors,
anchorages are ava lable for sh elds (see Mechan cal character st cs page 85).
S gnal allocat on to PINs:
1+24V Output +24Vcc ±20 % – 100mA max.
2+10V Output +10Vcc ±5 % – 5mA max.
3-10V Output -10Vcc ±5 % – 5mA max.
4AI1+ Ma n analog nput hot pole 1 (resolut on 15 b t + s gn) programmable wh ch s normally used for speed reference.
Tens ons between: AI1+ and A0V, AI1- and A0V, AI1+ and AI1- = ±10V max. 10KΩ nput res stance.
5AI1- Cold pole of the analog nput 1.
6A0V 0V analog. The analog 0V s connected to the dr ve case.
7AI2 Analog nput 2 (resolut on 11 b t + s gn) programmable. Voltage between AI2 and A0V = ±10Vcc max.
Alter Elettron ca s.r.l. 17
Drawing 6
Drawing 7

Installat on Instruct on manual 91/104 V9.2
8AI3 Analog nput 3 (resolut on 11 b t + s gn) programmable. Voltage between AI3 and A0V = ±10Vcc max.
9AI4 Analog nput 4 (resolut on 11 b t + s gn) programmable. Voltage between AI4 and A0V = ±10Vcc max.
10 A0V 0V analog.
To connect analog I/Os to other electron c equ pment (CNC, PLC, etc.), t s essent al to use good qual ty sh elded cables and connect
the ends of the sh eld to reduce no se.
Below are some sample draw ngs for a correct use of the var ous s gnals on X11.
Drawing 8
Connect on of a potentiometer to prov de the speed ref-
erence.
Drawing 9
Connect on of a numer cal control (or a PLC) w th an
unbalanced output to prov de the speed reference.
Drawing 10
Connect on of a numer cal control (or a PLC) w th bal-
anced output to prov de the speed reference.
Drawing 11
Connect ng a potentiometer to a gener c analog nput
to prov de a reference.
18 Alter Elettron ca s.r.l.

Instruct on manual 91/104 V9.2 Installat on
Drawing 12
Connect on of a numer cal control (or PLC) w th unbal-
anced output to a gener c analogue nput to prov de a
reference.
4.4.10 Connector X12
Connect d g tal nputs.
Power supply voltage from 18Vcc to 30Vcc (nom nal 24Vcc). Current absorbed 10mA. The status of each d g tal nput s d splayed
by the correspond ng LED wh ch nd cates that the command s val d (see paragraph ”Yellow LEDs – Commands“ from page 76).
In the presence of severe d sturbances t s recommended to use good qual ty sh elded cables and connect the two ends of the screen to
ground. On the dr ve case, near the connectors, anchorages are ava lable for screens (see Mechan cal character st cs page 85).
S gnal allocat on to PINs:
1DE Enable nput of the dr ve. If th s command s m ss ng, the motor s free.
2RE “Ramp Enable“ nput. Enable the speed ramp.
OTE: If the dr ve s controlled by a CNC, only the speed ramp on the CNC and not that of the dr ve must be used.
3RTD “Reset“ nput. It allows you to ex t the alarm state and restore the dr ve’s operat on after remov ng the cause that gen-
erated t.
•Alarm reset s only poss ble f the dr ve s d sabled (led DEN off).
•Alarm reset s only poss ble f the cause that generated t has been el m nated.
4DI1 D g tal nput 1 programmable.
It s normally used to control the “Motor d rect on nvers on".
5DI2 D g tal nput 2 programmable.
It s normally used to enable “JOG " operat on of the motor (see page 71).
6DI3 D g tal nput 3 programmable.
Normally t s used to select the ga n for the analog nput AI1 (see page 39)
7DI4 D g tal nput 4 programmable.
It s normally used to enable motor pos t on ng on the selected pos t on (see page 74)
8D0V 0V d g tal nputs.
9A0V 0V analog.
10 +24V Output +24Vcc ±20 % – 100mA max.
11 -Not used
12 -Not used
Below are some draw ngs to expla n the correct connect ons to the X12 connector:
Drawing 13
Connect on of contacts to send commands to the d g tal nputs of
the dr ve.
It s necessary to connect the D0V to 0V.
Alter Elettron ca s.r.l. 19

Installat on Instruct on manual 91/104 V9.2
Drawing 14
Connect ng a PLC to send commands to the d g tal nputs of the
dr ve.
The d g tal outputs of the PLC must prov de a voltage of 24Vcc.
It s necessary to connect the 0V of the PLC w th the D0V of the
dr ve.
The 24Vcc power supply can be suppl ed by the dr ve tself ( f the total current absorbed by the loads connected to the outputs does
not exceed 100mA): connect D24 w th clamp +24V (X9) and D0V w th A0V clamp (X12).
If the nternal power supply cannot be used, an external power supply must be used.
4.4.11 Connector X14
Transducer connect on to the opt onal "Transducer Board“ card. P n ass gnment s var able depend ng on the type of card used and
therefore reference s made to the paragraph relat ng to the mounted card (see "Opt onal transducers“ from page 59.
4.5 Commands starting sequence
Please refer to the connectors Connector X9 on page 16 and Connector X12 page 19.
1. G ve 230Vca serv ce power supply on the X10 connector.
2. In the case of model PWM3D-000 when the DOK output sw tches to ON status and the green LED DOK turns on, you can
g ve the three-phase/monofase power supply on the term nals L1, L2, L3 or D.C. power supply on the DC-BUS f th s mode
has been selected (see Draw ng 2 on page 12 and menu "Power supply from“ on page 57).
In the case of model PWM3D-010 when the DOK output sw tches to ON status and the green LED DOK turns on, you can
enable the DC-BUS power supply to generate the DC voltage at DC+ and DC- term nals.
After the charge of the capac tors on the DC-BUS, the RDY output sw tches to ON status. If all the necessary parameters
have been nserted and the autotune has been completed, the green RDY LED l ghts up . From th s po nt the dr ve s ready to
be enabled for operat on.
3. When the RDY output sw tches to ON status, you can enable the dr ve w th the DEN command.
4. When the dr ve s enabled and works regularly, the green RUN LED s sw tched on and the DOK and RDY outputs rema n n
the ON state and t s poss ble to g ve the speed reference result ng n motor rotat on.
4.6 Commands s utdown sequence
Please refer to the connectors Connector X9 on page 16 and Connector X12 page 19.
1. Br ng the speed reference to 0V and wa t unt l the motor s stat onary or alternat vely you can use the "DEN" command to
stop the motor f the "Dr ve Stop/Run“ funct on has been act vated (see page 67). When the motor s stat onary t s s gnalled
on the selected output (normally t s the DO1 output) lead ng to the ON state and turn ng on the assoc ated green led.
2. Deact vate the dr ve (DEN command = OFF). The green RUN LED goes off.
3. Remove the three-phase/monophase power supply (L1, L2, L3) or the D.C. power supply on the DC-BUS. The RDY output
s brought nto the state of OFF and the green LED RDY turns off.
4. Remove the 230Vac serv ce power supply ( f necessary).
OTE: Dur ng normal motor gear-stop operat on, t s recommended to act only on the speed reference (or on the “Stop motor " con-
trol) and on the enable command (DEN) to avo d unnecessary wa t ng t mes due to the charge of capac tors on the DC-BUS. Remove
power supply only when you want to stop the motor safely.
4.7 Restarting after an alarm
When the dr ve enters alarm status (DOK output = OFF and flash ng of the red led FLT) t behaves as f suddenly lacked the enable
command (DEN = OFF), then the motor of the motor becomes free and s dragged by the load. It s therefore adv sable to prov de for
a mechan cal brak ng system f th s s tuat on could cause danger. If you have an alarm when the dr ve s enabled regularly, the DOK
output goes to the OFF state, flashes the red FLT LED and the alarm message appears on the LCD d splay. When the control system
(PLC or CNC) detects th s alarm state, the follow ng sequence shall be performed:
1. Immed ately remove power supply (on L1, L2, L3 or DC+, DC-) and dr ve enable command (DEN = OFF).
2. Detect and whether t s poss ble to el m nate the cause that generated the alarm.
3. Reset the alarm w th the d g tal nput (RST = ON) or by press ng one of the buttons on the front.
4. Repeat the sequence of start ng commands (page 20).
20 Alter Elettron ca s.r.l.