Control Techniques M'Ax Assembly instructions

www.controltechniques.com
EF
Advanced User Guide
M’Ax
*
**
*
Compact, high-performance, single-axis servo
amplifier for brushless AC servo motors
Part Number: 0453-0017-04
Issue Number: 4

General information
The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent
or incorrect installation or adjustment of the optional operating parameters of the equipment or from
mismatching the drive with the motor.
The contents of this guide are believed to be correct at the time of printing. In the interests of a
commitment to a policy of continuous development and improvement, the manufacturer reserves the
right to change the specification of the product or its performance, or the contents of the Advanced
User Guide, without notice.
All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any
means, electrical or mechanical including photocopying, recording or by any information-storage or
retrieval system, without permission in writing from the publisher.
Important...
Servo-amplifier software version
This product is supplied with the latest version of user-interface and machine-control software. If this
product is to be used with other Control Techniques servo amplifiers in an existing system, there may
be some differences between their software and the software in this product. These differences may
cause a difference in functions. This may also apply to servo amplifiers returned from a Control
Techniques Service Centre.
If there is any doubt, contact a Control Techniques Drive Centre.
Copyright © January 2003 Control Techniques Drives Ltd
Issue Code: 4

M’Ax Advanced User Guide
Issue Number: 4
Contents
1 Advanced parameters: General information .............................................1
2 Menu 0 Parameters ......................................................................................2
3 Menu 1 Parameters - Speed reference selection ......................................5
4 Menu 2 Parameters - Ramp Selection ......................................................12
5 Menu 3 Parameters - Speed Loop PID gains ...........................................19
6 Menu 4 Parameters - Torque Control .......................................................28
7 Menu 5 Parameters - Motor Control .........................................................34
8 Menu 6 Parameters - Sequencer Functions, AC Supply Loss Modes ...38
9 Menu 7 Parameters - Analog Input Output Settings, Temperature
Monitoring ...................................................................................................42
10 Menu 8 Parameters - Digital Input / Output Settings and Indications ...49
11 Menu 10 Parameters - Status and Diagnostic Information, Trip log,
Braking control ...........................................................................................56
12 Menu 11 Parameters - Scale factor, Initial displayed parameter, Serial
communications, Drive information .........................................................63
13 Menu 13 Parameters - Pulse Reference Selection & Scaling .................69

*
1M’Ax Advanced User Guide
www.controltechniques.com Issue Number: 4
1 Advanced parameters: General information
In some cases, the function or range of a parameter are affected by the setting of another parameter; the information in these lists
relate to the default condition of such parameters.
Key
Parameter Information example:
RW Read-write parameter
Read-write (RW) parameter whose default
value is defined by the motor via the SLM
RO
Read-only parameter
Read-only parameter whose value is defined by
themotorviatheSLM
{...} Related Menu 0 parameter
[...] Value of a parameter
ô
range of values
ð
default values
~ indicates range of values
Uni Unipolar variable parameter
Positive values only
Bi Bipolar variable parameter
Positive and negative values
Txt Text variable parameter
Alphanumeric code is displayed
Bit Bit parameter
Two digital states only
RParameters must be copied to the EEPROM (saved) or copied to the flash memory (stored) for a new value to take
effect
S
A new value is normally copied to the EEPROM (saved) or
copied to the flash memory (stored) at power-down (see
parameter 0.50 Parameter transfer function selector in
Chapter 8 Menu 0 Parameters)
PProtected The parameter cannot be controlled by an external signal
(cannot be a destination parameter)
nMAX Maximum speed of the motor
(defined by the motor via the SLM)
[SLM] Value defined by the motor via the SLM
NOTE
1.17 Keypad reference
ô ±Pr1.06 ð 0rpmROBiSP0.34
Range Default value Units Read only /
Read write
Unipolar /
Bipolar /
Bit / Txt
R / S / P Equivalent Menu
0 parameter
(where
appropriate)
Parameter
number Parameter
description / title

*
M’Ax Advanced User Guide 2
Issue Number: 4 www.controltechniques.com
2 Menu 0 Parameters
[ ] = value of a parameter [SLM] = value defined by the motor via SLM
Parameter Range(
ô )Default( ð )Type
0.00 Parameter XX.00 0 ~ 3001 RW Uni R S P
0.01 Hardware enable indicator 0~1 RO Bit P
0.02 Reference selected indicator 1~5 RO Uni P
0.03 Value of selected reference + value of [1.06]RO Bi P
0.04 Final speed reference + value of [1.06]RO Bi P
0.05 Speed feedback + value of [1.06]RO Bi P
0.06 Reference offset + value of [1.06]0RWUni
0.07 Motor current magnitude 0 ~ Max. overload current of drive RO Uni P
0.08 Maximum reference clamp 0 ~ 7500 RW Uni
0.09 Stiffness angle 0.0 ~ 30.0o6.0 RW Uni
0.10 Load inertia 0.01~600.00kgcm2or
0.00001~0.06kgm2JLRW Uni
0.11 Inertia units selected 0~1(0=kgm
2,1=kgcm 2)[SLM] RO Bit
0.12 Speed-loop PID gains selector 0~3 1 RW Uni
0.13 Speed-loop proportional gain Kp1 0.000 ~ 0.3000 [SLM] RW Uni
0.14 Speed-loop integral gain Ki1 0.000 ~ 20.000 [SLM] RW Uni
0.15 Speed-loop derivative gain Kd1 0.0000 ~ 0.1000 [SLM] RW Uni
0.16 Current-demand filter 1 cut-off frequency 0 ~ 1200 500Hz RW Uni
0.17 SLM on-line enable 0~1 0 RW Bit
0.18 Symmetrical current limit 0 ~ 300 200% continuous
motor current RW Uni
0.19 Motor-rated current 0 ~ Full load current [SLM] RO Uni
0.20 Drive rated current (FLC) 00.00 ~ 99.99 RO Uni P
0.22 Torque mode selector 0 ~ 2 0 RW Bit P
0.23 Torque reference +200.00 0~Drive current limit RW Bi
0.24 Ramp enable 0~1 0 RW Bit
0.25 Acceleration rate 0 ~ 32.000 0.200s/1000rpm RW Uni
0.26 Deceleration rate 0 ~ 32.000 0.200s/1000rpm RW Uni
0.27 Fast ramp select 0~1 0 RW Bit
0.28 Feedback-encoder revolution counter 0 ~ 65535 RO Uni
0.29 Feedback-encoder position 0 ~ 65535 RO Uni
0.30 Reference selector 0~5 1 RW Uni
0.31 Jog selected indicator 0~1 RO Bit P
0.32 Jog reference 0 ~ 500 50rpm RW Uni
0.33 Preset reference + value of [1.06]1rpmRWBi
0.34 Keypad reference + value of [1.06]RO Bi
0.35 User security code 0 ~ 255 149 RW Uni S P
0.36 Serial comms. baud rate 300, 600, 1200, 2400, 4800, 9600,
19200 9600BAUD RW Txt S P
0.37 Serial comms. address 0.0 ~ 24.7 1.1 RW Uni P
0.38 Initial parameter displayed selector 00.00 ~21.51 0.05 RW Uni P
0.39 Motor [I2t] overload trip indicator 0~1 RO Bit P
0.40 Motor [I2t] accumulator 0.0 ~ 100.0 RO Uni
0.41 Drive overload accumulator 0.0 ~ 100.0 RO Uni P
0.42 Internal braking-resistor overload
accumulator 0.0 ~ 100.0 RO Uni P
0.43 DC-bus voltage 0 ~ 1000 RO Uni P
0.44 Last trip RO Txt S P
0.45 SLM communications integrity 0.0 ~ 100.0 RO Uni
0.46 Programmable parameter 00.00 ~21.51 RW
0.47 SLM software version 00.00 ~ 99.99 RO Uni P
0.48 Drive software version 00.00 ~ 99.99 RO Uni P
0.49 Security status indicator 000 ~ 111 RO Uni
0.50 Parameter transfer selector 0~4 _AN =0,_SL =4 RW Txt

*
3M’Ax Advanced User Guide
www.controltechniques.com Issue Number: 4
Default settings
Use parameter 0.50 to initiate the transfer of parameter values between the RAM, EEPROM (when an option module is fitted), and the flash
memory in the drive (see Appendix H Storage and Transfer of Parameter Values in the M’Ax User Guide). After changing the setting of
parameter 0.50, perform either of the following, as appropriate:
• While the display is in Edit mode, press at the same time:
•Set10.38 at 100 via serial communications.
Terminology
Notes
At the time of selecting no,boot1 or boot2, all parameter values (including the S-parameters) are copied to the flash memory (store).
All parameters can be stored at any time by setting 11.67 Flash update enable at 1. The drive must not be powered-down within 15 seconds.
When S-parameters are not copied, the related values at the destination remain unchanged.
Main parameters can be saved irrespective of the setting of parameter 0.50 (i.e. by setting parameter XX.00 at 1000 and executing the
operation).
0.50 Parameter transfer selector
ô
See below
ð
RW Txt
Version Setting
AN no
SL boot2
Save Copy main-parameter values in the RAM to the EEPROM (when an option module is fitted)
Retrieve Copy all parameter values from the EEPROM to the RAM (when an option module is fitted)
Store Copy parameter values from the RAM to the flash memory in the drive
Restore Copy parameter values from the flash memory to the RAM
Main parameters All parameters other than those that are normally saved or stored at power-down
S-parameters Parameters that are normally saved at power-down (version _AN only)
Setting Function Usage
no 0
At power-down: S-parameter values
are copied from the RAM to the
EEPROM (save).
At power up: All parameter values are
copied from the EEPROM to the RAM
(retrieve).
Used only when an option
module is fitted (normally, in
version _AN)
rEAd 1The main-parameter values in the flash memory are immediately copied to the
RAM (restore).
Normally used in version _SL,
but can also be used in version
_AN
Prog 2The main-parameter values in the RAM are immediately copied to the flash
memory (store).
boot1 3
At power-up: The main-parameter
values in the flash memory are copied
to the RAM (restore). The values of
the S-parameters are ignored.
boot2 4
At power-up: All parameter values
(including the S-parameters) in the
flash memory are copied to the RAM
(restore).
and

*
M’Ax Advanced User Guide 4
Issue Number: 4 www.controltechniques.com
S
S
S
S
S
S
S
S
S
Parameter
set at (2)
Prog0.50
Parameter
set at (1)
rEAd
0.50
Parameter set at 0.50
no , boot1 or boot2
(0) (3) (4)
Parameter
preset at (3)
0.50
boot1
Parameter
preset at (0)
0.50
boot2
Parameter
preset at (4)
0.50
boot2
Parameter
preset at (0)
no
0.50
Parameter
preset at (0)
no
0.50
Parameter
preset at (save)
1000
XX.00
Parameter values are immediately
copied in the indicated direction
Parameter values are copied in the
indicated direction at the next
power-up
Parameter values are copied in the
indicated direction at power-down
Main parameter values are copied,
(excluding the S-parameter values)
S
All parameter values are copied,
including the S-parameter values
S
Only S-parameter values are copied
S
K
ey
Flash memory RAM EEPROM
Control and
monitoring
C
ontrol circuits

*
5M’Ax Advanced User Guide
www.controltechniques.com Issue Number: 4
3 Menu 1 Parameters - Speed reference selection
Parameter Range(
ô )Default( ð )Type
1.01 {0.03} Value of selected reference +[1.06] rpm RO Bi P
1.03 Pre-ramp reference +[1.06] rpm RO Bi P
1.04 {0.06} Reference offset +[1.06] rpm 0 RW Bi
1.05 {0.32} Jog reference 0 ~ 500 rpm 50 RW Uni
1.06 {0.08} Maximum reference clamp 0~n
MAX rpm [SLM] RW Uni
1.11 Reference enabled indicator 0~1 RO Bit P
1.12 Reverse selected indicator 0~1 RO Bit P
1.13 {0.31} Jog selected indicator 0~1 RO Bit P
1.14 {0.30} Reference selector 0 ~ 5 1 RW Uni P
1.15 Preset reference selector 0 ~ 4 0 RW Uni P
1.17 {0.34} Keypad reference +[1.06] rpm RO Bi S P
1.21 {0.33} Preset reference 1 +[1.06] rpm 1 RW Bi
1.22 Preset reference 2 +[1.06] rpm 10 RW Bi
1.23 Preset reference 3 +[1.06] rpm 100 RW Bi
1.24 Preset reference 4 +[1.06] rpm 1000 RW Bi
1.36 Analog reference +[1.06] rpm RO Bi
1.42 Preset references selected indicator 0~1 RO Bit
1.43 Keypad reference selected indicator 0~1 RO Bit
1.44 Pulse reference selected indicator 0~1 RO Bit
1.45 Preset reference select bit-0 indicator 0~1 RO Bit
1.46 Preset reference select bit-1 indicator 0~1 RO Bit
1.49 {0.02} Reference selected indicator 1~5 RO Uni P
1.50 Preset reference selected indicator 1~4 RO Uni P

*
M’Ax Advanced User Guide 6
Issue Number: 4 www.controltechniques.com

*
7M’Ax Advanced User Guide
www.controltechniques.com Issue Number: 4
Figure 3-1 Menu 1 software diagram
1.36
Analog reference
Keypad
reference
1.42
P
reset-references
selected indicator
1.43
Keypad-reference
selected indicator
1.49
Reference
selected
indicator
R
eference
selector
1
.14
1.01
Value of selected
reference
Reference offset
1
.04
Menu 7
1
.44
1
.43
1
.42
0
0
0
0
1
1
1
1
0
0
1
1
0
0
1
1
0
1
0
1
0
1
0
1
Reference
selected
Analog
Preset
Keypad
Keypad
Pulse
Pulse
Pulse
Pulse
1
.17
1
.44
P
ulse-reference
selected indicator
Pulse reference
13.01
1.21 Preset reference 1
1.22 Preset reference 2
Preset reference 3
Preset reference 4
1.46
Preset-reference
select bit-1 indicator
1.45
Preset-reference
select bit-0 indicator
1.23
1.24
0101
0011
1234
Preset
reference
Preset reference
selector
1.15
1.50
Preset-reference
selected indicator
Menu 7
1
3
4
4
5
5
5
5
1.49

*
M’Ax Advanced User Guide 8
Issue Number: 4 www.controltechniques.com
1.13
Jog selected
indicator
1
.12
Reverse
s
elected
indicator
1
.11
R
eference
enabled
i
ndicator
x(-1)
Jog reference
1.05
Maximum
reference clamp
1
.06
1.03
Pre-ramp
reference
Menu 2
Sequencer
(Menu 6)
Menu 8
DIGITAL I/O
13.11
Orientation
enable
13.14
Orientation
Orientation
acceptance
window
13.15
Orientation
complete
L
imited
by
13.12
3
.29
F
eedback
encoder
p
osition
1
3.13
O
rientation
position
reference
_

*
9M’Ax Advanced User Guide
www.controltechniques.com Issue Number: 4
Indication of the reference being used by the drive is given for systems set-up and fault finding. The value indicated by this parameter is the
sum of input reference and reference offset [1.04].
When the drive is operating from a pulse reference input and the speed is below 100rpm, use the speed feedback parameter [3.02]
for control purposes as parameter 1.01 will display some instability due to the sampling rate at lower speeds.
Indication of the final reference being used by the drive is given for systems set-up and fault finding. The value indicated by this parameter is
after passing through sequencer control.(Refer to Menu 6)
The range of this parameter is restricted by the value set in parameter 1.06 Maximum reference clamp.
This reference is added to the selected reference. It can be used as a trim to finely adjust the main reference being selected.
Adjustment resolution = 1rpm
Speed reference used for jogging.
The speed is restricted by the value set in parameter 1.06 Maximum reference clamp.
Adjustment resolution = 1rpm
Defines drive absolute maximum speed reference.
The range of this parameter is restricted by the mechanical speed limit of the motor (Set by motor manufacturer).
These indicators are controlled by the drive sequencer defined in Menu 6. They indicate the appropriate reference as commanded by the
drive logic.
0 = Reference disabled
1 = Reference enabled
This indicator is controlled by the drive sequencer defined in Menu 6. This indicates the appropriate reference as commanded by the drive
logic.
0 = Jog not selected
1=Jogselected
Parameter [1.14] selects the speed reference as follows:-
0 = Reference selection by terminal input
1 = Analog reference.
2 = Analog reference.
3 = Preset reference selected.
4 = Keypad reference selected.
5=Pulsereferenceselected
1.01 Value of selected reference
ô
±Pr1.06
ð
rpm RO Bi P 0.03
1.03 Pre-ramp reference
ô ±Pr1.06 ð rpm RO Bi P
1.04 Reference offset
ô ±Pr1.06 ð 0rpmRWBi 0.06
1.05 Jog reference
ô
0~500
ð
50 rpm RW Uni 0.32
1.06 Maximum reference clamp
ô
0~n
max
ð
SLM rpm RW Uni 0.08
1.11 Reference enabled indicator
1.12 Reference selected indicator
ô
0~1
ð
RO Bit P
1.13 Jog selected indicator
ô
0~1
ð
RO Bit P 0.31
1.14 Reference selector
ô
0~5
ð
1RW Uni P 0.30
NOTE

*
M’Ax Advanced User Guide 10
Issue Number: 4 www.controltechniques.com
0: Reference selection by terminal input
The reference selected depends on the state of bit parameter [1.42]to[1.44]. These bits are for control by digital inputs such that reference
can be selected by external control. If any of the bits are set, the appropriate reference is selected (indicated by parameter [1.49]).Ifmore
than one bit is set the highest numbered will have priority.
X = 0 or 1 (don't care condition)
1 or 2: Analog Reference
The speed reference is selected from the standard (SL)orhighprecision(AN) analog voltage input.
3: Preset reference selected
The reference is one of the four preset speeds, refer to parameters [1.15]and[1.21]to[1.24] for further details.
4: Keypad reference selected
The drive is controlled via keypad (Parameter [1.17]or[0.34])
5: Pulse reference selected
F&D/quadrature reference selected.
Parameter [1.15] selects a preset speed reference as follows:
0 = Preset select by terminal input
1 = Preset 1 selected [1.21]
2 = Preset 2 selected [1.22]
3 = Preset 3 selected [1.23]
4 = Preset 4 selected [1.24]
0: Preset selection by terminal input
The preset selected depends on the state of bit parameter [1.45]to[1.46]. These bits are for control by digital inputs such that presets can be
selected by external control. The preset selected depends on the binary code generated by these bitsas follows:
Version _AN -[0.34]or[1.17] indicates the value of the speed reference set by use of the keypad.
Version _SL -[0.34]or[1.17] is not used.
If this parameter is selected as the frequency reference (i.e. [1.49]=4),itisadjustedbythe'Up'and'Down'keysonlywhenthedisplayisin
the Status Mode.Whenthe drive isnotenabled view the keypad reference bylookingat parameter[0.34]or[1.17] to ensure the correct value
is set before enabling the drive.
The value is saved on power down such that the keypad frequency reference does not have to be set up again on power up.
1.42 Preset-
reference
selected indicator
1.43 Keypad-
reference
selected indicator
1.44 Pulse-
reference
selected indicator
Reference
selected 1.49 Indication parameter
000Analog1
100Preset3
x 1 0 Keypad 4
xx1Pulse5
1.15 Preset reference selector
ô
0~4
ð
0RW Uni P
Parameter [1.45] Parameter [1.46] Preset selected [1.50]
00 1
10 2
01 3
11 4
1.17 Keypad reference
ô
±Pr1.06
ð
rpm RO Bi S P 0.34
1.21 Preset reference 1
ô ±Pr1.06 ð 1rpmRWBi 0.33
1.22 Preset reference 2
ô
±Pr1.06
ð
10 rpm RW Bi
1.23 Preset reference 3
ô ±Pr1.06 ð 100 rpm RW Bi

*
11 M’Ax Advanced User Guide
www.controltechniques.com Issue Number: 4
Parameter 1.21 defines the speed reference for preset speed 1.
Parameter 1.22 defines the speed reference for preset speed 2.
Parameter 1.23 defines the speed reference for preset speed 3.
Parameter 1.24 defines the speed reference for preset speed 4.
Although most parameters can be controlled from analog inputs this parameter is a special case, as, if selected as a speed reference, the
scan rate will be 250µsec.
The range of this parameter is restricted by parameter [1.06].
These bits are provided for control by logic inputs (e.g. digital inputs) for external reference selection. (See parameter 1.14.)
0 = Reference not selected
1 = Reference selected
These bits are provided for control by logic input (e.g. digital inputs) for external preset reference selection. (See parameter 1.15.)
Indicates the reference currently being selected by parameter 1.14. See parameter 1.14 Reference selector description for further details
1 = Analog reference.
2 = Analog reference.
3 = Preset reference selected.
4 = Keypad reference selected.
5=Pulsereferenceselected.
Indicates the preset speed reference currently being selected by parameter 1.15. See parameter 1.15 Preset reference selector description
for further details.
1.24 Preset reference 4
ô ±Pr1.06 ð 1000 rpm RW Bi
1.36 Analog reference
ô ±Pr1.06 ð rpm RO Bi
1.42 Preset references selected indicator
1.43 Keypad reference selected indicator
1.44 Pulse reference selected indicator
ô
0~1
ð
RO Bit
1.45 Preset reference select bit 0 indicator
1.46 Preset reference select bit 1 indicator
ô
0~1
ð
RO Bit
Preset 1.45 1.46
100
210
301
411
1.49 Reference selected indicator
ô
1~5
ð
RO Bit P 0.02
1.50 Preset reference selected indicator
ô
0~5
ð
RO Uni P

*
M’Ax Advanced User Guide 12
Issue Number: 4 www.controltechniques.com
4 Menu 2 Parameters - Ramp Selection
Parameter Range(
ô ) Default( ð )Type
2.01 Post-ramp reference ±[1.06] RO Bi P
2.02 {0.24} Ramp enable 0~1 0 RW Bit
2.03 Ramp hold enable 0 ~ 1 0 RW Bit
2.04 {0.27} Fast ramp select 0~1 0 RW Bit
2.05 Limit switch ramp enable 0 ~ 1 0 RW Bit
2.06 S-ramp enable 0 ~ 1 0 RW Bit
2.07 S-ramp acceleration limit 0 ~ 300.000 s2/1000rpm 0.031 RW Uni
2.10 Acceleration rate selector 0~5 0 RW Uni
2.11 {0.25} Acceleration rate 1 0 ~ 32.000 s/1000rpm 0.200 RW Uni
2.12 Acceleration rate 2 0 ~ 32.000 s/1000rpm 0.200 RW Uni
2.13 Acceleration rate 3 0 ~ 32.000 s/1000rpm 0.200 RW Uni
2.14 Acceleration rate 4 0 ~ 32.000 s/1000rpm 0.200 RW Uni
2.19 Jog acceleration rate 0 ~ 32.000 s/1000rpm 0.200 RW Uni
2.20 Deceleration rate selector 0~5 0 RW Uni
2.21 {0.26} Deceleration rate 1 0 ~ 32.000 s/1000rpm 0.200 RW Uni
2.22 Deceleration rate 2 0 ~ 32.000 s/1000rpm 0.200 RW Uni
2.23 Deceleration rate 3 0 ~ 32.000 s/1000rpm 0.200 RW Uni
2.24 Deceleration rate 4 0 ~ 32.000 s/1000rpm 0.200 RW Uni
2.25 Forward limit switch deceleration rate 0 ~ 32.000 s/1000rpm 0.200 RW Uni
2.26 Reverse limit switch deceleration rate 0 ~ 32.000 s/1000rpm 0.200 RW Uni
2.29 Jog deceleration rate 0 ~ 32.000 s/1000rpm 0.200 RW Uni
2.32 Acceleration-rate select bit-0 indicator 0~1 0 RO Bit
2.33 Acceleration-rate select bit-1 indicator 0~1 0 RO Bit
2.35 Deceleration-rate select bit-0 indicator 0~1 0 RO Bit
2.36 Deceleration-rate select bit-1 indicator 0~1 0 RO Bit
2.46 Stop-control proportional-gain 1 ~ 200 1 RW Uni
2.47 Stop-control integral-gain 1 ~ 200 10 RW Uni
2.48 Braking-control proportional gain 1 ~ 200 50 RW Uni
2.49 Braking-control integral gain 1 ~ 200 10 RW Uni

*
13 M’Ax Advanced User Guide
www.controltechniques.com Issue Number: 4
Figure 4-1 Menu 2 software diagram
2.11 Acceleration rate 1
2.12
Jog
acceleration
rate
J
og selected
i
ndicator
Acceleration rate 2
Acceleration rate 3
Acceleration rate 4
1.13
2.33
Acceleration-rate
select bit-1 indicator
2.32
Acceleration-rate
select bit-0 indicator
2.13
2.14
2.19
Acceleration
rate selector
1.50
Preset-reference
selected indicator
2.10
0101
0011
1234
Acceleration
rate
2.21 Deceleration rate 1
2.22
Jog
d
eceleration
rate
J
og selected
i
ndicator
Deceleration rate 2
Deceleration rate 3
Deceleration rate 4
1
.13
2.36
Deceleration-rate
select bit-1 indicator
2.35
Deceleration-rate
select bit-0 indicator
2.23
2.24
2
.29
D
eceleration
rate selector
1
.50
P
reset-reference
selected indicator
2.20
0101
0011
1234
Deceleration
rate
S
equencer
(Menu 6)
Menu 8
D
igital input 3
8
DIGITAL I/O
Forward limit switch
deceleration rate
Reverse limit switch
deceleration rate
2.25
2.26
6
.35
Forward
limit switch
6
.36
Reverse
limit switch
2.05
Limit switch
ramp enable

*
M’Ax Advanced User Guide 14
Issue Number: 4 www.controltechniques.com
F
ast ramp
s
elect
2.04
S
top-control
proportional-gain
2.46
Stop-control
integral-gain
2.47
Ramp controller
DC-bus level 6.48
Controlled-
stop enable
indicator
6.49
DC-bus voltage 5.05
Internal
braking-resistor
overload alarm
10.12
Internal
braking-resistor
overload
accumulator
10.39
Sequencer
(Menu 6)
1.03
Pre-ramp speed
reference
2.01
Post-ramp
reference
R
amp
e
nable
2
.02
Menu 1 Menu 3
R
amp enable
over-ride
Ramp hold
enable
2.03
S
-ramp
S-ramp
enable
2
.06
S
-ramp
a
cceleration
limit
2
.07
Sequencer
(Menu 6)
R
amp control
B
raking-control
proportional gain
2
.48
B
raking-control
integral gain
2
.49
2.05
Limit switch
ramp enable
6.36
Reverse limit
switch
6.35
Forward limit
switch

*
15 M’Ax Advanced User Guide
www.controltechniques.com Issue Number: 4
This is the speed reference after the ramps.
The range of this parameter is restricted by the value set in parameter 1.06 Maximum reference clamp.
Set to enable ramps.
0 = Ramp disable
1 = Ramp enable
If this bit is set the ramp will be held. If S-ramp is enabled the acceleration will ramp towards zero causing the ramp output to curve towards a
constant speed.
0 = Ramp hold disabled
1 = Ramp hold enabled
This parameter does not affect the acceleration ramp, and the ramp output always rises at the programmed acceleration rate subject to the
current limits.
0 = Fast ramp
When fast ramps are selected the output of the ramp will fall at the programmed deceleration rate (subject to the current limits programmed in
the drive).
1 = Prevention of Braking resistor overload trip
During deceleration, the braking resistor overload alarm being set will cause a controller to operate, the output of which changes the ramp
rate. As the controller regulates the DC link voltage, the motor deceleration increases and when the motor deceleration rate reaches the
programmed deceleration rate the controller ceases to operate and the drive continues to decelerate at the programmed rate. Controller
gains can be adjusted using parameters 2.48 &2.49.
Setting this parameter enables the limit switch ramps.
Setting this parameter enables the S-ramp function. S-ramp is disabled during deceleration using standard ramp. When the motor is
accelerated again after decelerating in standard ramp the acceleration ramp used by the S-ramp function is reset to zero.
0 = S-ramp disable
1 = S-ramp enabled
2.01 Post-ramp reference
ô
±Pr1.06
ð
rpm RO Bi P
2.02 Ramp enable
ô
0~1
ð
0RW Bit 0.24
2.03 Ramp hold enable
ô
0~1
ð
0RW Bit
2.04 Fast ramp select
ô
0~1
ð
0RW Bit 0.27
2.05 Limit switch ramp enable
ô 0~1 ð 0RW Bit
2.06 S-ramp enable
ô
0~1
ð
0RW Bit
DC Link Voltage
Motor Speed
Programmed
deceleration
rate
t
Controller
operational

*
M’Ax Advanced User Guide 16
Issue Number: 4 www.controltechniques.com
This parameter defines the maximum rate of change of acceleration/deceleration. The default values have been chosen such that for the
default ramps and maximum speed, the curved parts of the S will be 25% of the original ramp if S-ramp is enabled.
Sincetheramprateisdefinedinsecond
2/1000rpm and the S-ramp parameter is defined in second2/1000rpm, the time Tfor the 'curved' part
of the S can be determined from:
T=S-ramp rate of change /Ramp rate
Enabling S-ramp increases the total ramp time by the period Tsince an additional T/2 isaddedtoeachendoftherampinproducingtheS.
The acceleration rate is selected as follows.
0 Ramp rate selection by terminal input
1 ~ 4 Ramp rate defined by parameter number, i.e. 1 = 2.11,2=2.12
5 Ramp rate selection by parameter 1.50
When parameter 2.10 is set to 0 the acceleration ramp rate selected depends on the state of bit parameters 2.32 to 2.33. These bits are for
control by digital inputs such that ramp rates can be selected by external control. The ramp rate selected depends on the binary code
generated by these bits as follows:
When parameter 2.10 is set to 5 the appropriate acceleration rate isautomatically selected depending on the value of parameter 1.50,andso
an acceleration rate can be programmed to operate with each preset reference. Since the new ramp rate is selected with the new reference,
the acceleration applies towards the selected preset if the motor needs to accelerate to reach the preset.
Refer to parameter 2.10.
2.07 S-ramp acceleration limit
ô
0.000 ~ 32.000
ð
0.031 s2/1000rpm RW Uni
2.10 Acceleration rate selector
ô
0~5
ð
0RW Uni
2.33 2.32 Ramp
defined by
002.11
012.12
102.13
112.14
2.11 Acceleration rate 1
ô
0.000 ~ 32.000
ð
0.200 s/1000rpm RW Uni 0.25
2.12 Acceleration rate 2
2.13 Acceleration rate 3
2.14 Acceleration rate 4
ô 0.000 ~ 32.000 ð 0.200 s/1000rpm RW Uni
Programmed
ramp rate
S-ramp
acceleration
ramp
Demand Speed
Acceleration
Actual Speed

*
17 M’Ax Advanced User Guide
www.controltechniques.com Issue Number: 4
The jog acceleration rate is only used when the drive starts from the inhibit or ready states, or has reached the jog reference from another
state and the speed is changing because the jog reference is changed. This prevents the fast ramps normally used with jog from being used
when changing between running and jogging.
The deceleration rate is selected as follows.
0 Ramp rate selection by terminal input
1~ 4 Ramp rate defined by parameter number, i.e. 1 = 2.21,2=2.22.
5 Ramp rate selection by parameter 1.50
When parameter 2.10 is set to 0 the deceleration ramp rate selected depends on the state of bit parameters 2.35 to 2.37. These bits are for
control by digital inputs such that ramp rates can be selected by external control. The ramp rate selected depends on the binary code
generated by these bits as follows:
When parameter 2.20 is set to 5 the appropriate deceleration rate isautomatically selected depending on the value of parameter 1.50,andso
a deceleration rate can be programmed to operate with each preset reference. Since the new ramp rate is selected with the new reference,
the deceleration applies towards the selected preset if the motor needs to decelerate to reach the preset.
Refer to parameter 2.20.
Refer to parameters 6.35 and 6.36 respectively.
The jog deceleration rate is only used when the drive is changing speed because the jog reference has changed or to stop from the jog
reference. It is not used to go from the jog to the run state. This prevents the fast ramps normally used with jog from being used when
changing between running and jogging.
2.19 Jog acceleration rate
ô 0.000 ~ 32.000 ð 0.200 s/1000rpm RW Uni
2.20 Deceleration rate selector
ô
0~5
ð
0RW Uni
2.36 2.35 Ramp defined by
00 2.21
01 2.22
10 2.23
11 2.24
2.21 Deceleration rate 1
ô
0.000 ~ 32.000
ð
0.200 s/1000rpm RW Uni 0.26
2.22 Deceleration rate 2
2.23 Deceleration rate 3
2.24 Deceleration rate 4
ô
0.000 ~ 32.000
ð
0.200 s/1000rpm RW Uni
2.25 Forward limit switch deceleration rate
2.26 Reverse limit switch deceleration rate
ô
0.000 ~ 32.000
ð
0.200 s/1000rpm RW Uni
2.29 Jog deceleration rate
ô
0.000 ~ 32.000
ð
0.200 s/1000rpm RW Uni