Emerson unidrive m200 User manual

ParameterReferenceGuide
Unidrive M200
Open-loopMode
Issue: 01.05.00.10

About Parameter Reference Guide
The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect installation or adjustment of the optional
operating parameters of the equipment or from mismatching the variable speed drive 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 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 an information storage or retrieval system, without permission in writing from the publisher.
Copyright © April 2017 Control Techniques Ltd
Issue Number: 01.05.00.10
Unidrive M200 Firmware Version: V01.05.00.10
Unidrive M200 Project Last Modified: 11-Apr-2017 13:17:53
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2Unidrive M200 Parameter Reference Guide
Issue: 01.05.00.10

Parameter mm.000
Parametermm.000(mm.000) is one parameter that can be accessed from every drive menu so that the user can initiate various actions by setting a
value in this parameter and then performing a drive reset. If the action is completed successfully parameter mm.000 is cleared when the action is
complete. If the action is not started because the value does not correspond to an action, or because the action is not allowed (i.e. an attempt is made
to load defaults and the drive is enabled), parameter mm.000 is not cleared. If the action is started and then fails a trip is produced and parameter
mm.000 is not cleared.
There could be some conflict between the actions of Parametermm.000(mm.000) and ParameterCloning (11.042) when the drive is reset. If
ParameterCloning (11.042) has a value of 1 or 2 and a valid action is required from the value of parameter mm.000 then only the action required by
parameter mm.000 is performed, but on successful completion of the action both parameters are cleared. If ParameterCloning (11.042) has any other
value it is not affected.
The table below shows the possible actions that can be initiated with Parametermm.000(mm.000).
Parameter
mm.000
(mm.000)
value
Action Possible failures
1000 Save drive user save parameters to non-volatile memory. Power- down save parameters are saved when the drive enters the under
voltage state.
No action if the drive is in the
under voltage state
1001 Save drive parameters to non-volatile memory. It should be noted that power-down save parameters are also saved which will result
in one background task scan being extended to 200ms.
1070 Reset all option modules
1233 Load 50Hz defaults No action if the drive is enabled
1234 Load 50Hz defaults to all menus except option module menus (i.e
15 to 20 and 24 to 28) No action if the drive is enabled
1244 Load 60Hz defaults No action if the drive is enabled
1245 Load 60Hz defaults to all menus except option module menus (i.e
15 to 20 and 24 to 28) No action if the drive is enabled
1299 Reset StoredHF trip.
2001 Create a boot file on a non-volatile media card based on the
present drive parameters including all Menu 20 parameters Non-volatile media card trips
4xxx NV media card: Transfer the drive parameters to parameter file
xxx Non-volatile media card trips
5xxx NV media card: Transfer the onboard user program to onboard
user program file xxx Non-volatile media card trips
6xxx NV media card: Load the drive parameters from parameter file xxx
or the onboard user program from onboard user program file xxx No action if the drive is enabled Non-volatile media card trips
7xxx NV media card: Erase file xxx Non-volatile media card trips
8xxx NV Media card: Compare the data in the drive with file xxx Non-volatile media card trips
9555 NV media card: Clear the warning suppression flag Non-volatile media card trips
9666 NV media card: Set the warning suppression flag Non-volatile media card trips
9777 NV media card: Clear the read-only flag Non-volatile media card trips
9888 NV media card: Set the read-only flag Non-volatile media card trips
12000 Only display parameters that are different from their default value.
This action does not require a drive reset.
12001 Only display parameters that are used to set-up destinations (i.e.
DE format bit is 1). This action does not require a drive reset.
59999
Deletes an onboard user program if a program is present.
Note: Any parameter changes that have not been saved will be
lost during this action.
No action if the drive is
enabled.
No action if there is no program
present.
No action if the user program is
enabled (i.e.
OnboardUserProgram:Enable
(11.047) = 1)
Parametermm.000(mm.000) values from 1 to 14 are equivalent to other values as shown in the table below to allow easy access to some commonly
used functions. For 0 and each of these values the keypad provides a string as shown.
Unidrive M200 Parameter Reference Guide
Issue: 01.05.00.10 3

Value String Equivalent
value Action
0[No Action] 0
1[Save
parameters] 1001 Save drive parameters to non-volatile memory
2 [Load file 1] 6001 Load the data from file 1 on a non-volatile media card into the drive
provided it is a parameter file
3 [Save to file 1] 4001 Store the drive parameters in file 1 on a non-volatile media card
4 [Load file 2] 6002 Load the data from file 2 on a non-volatile media card into the drive
provided it is a parameter file
5 [Save to file 2] 4002 Store the drive parameters in file 2 on a non-volatile media card
6 [Load file 3] 6003 Load the data from file 3 on a non-volatile media card into the drive
provided it is a parameter file
7 [Save to file 3] 4003 Store the drive parameters in file 3 on a non-volatile media card
8[Show non-
default] 12000 Only display parameters that are different from their default value
9[Destinations] 12001 Only display parameters that are used to set-up destinations
10 [Reset 50Hz
defs] 1233 Load 50Hz defaults
11 [Reset 60Hz
defs] 1244 Load 60Hz defaults
12 [Reset
modules] 1070 Reset all option modules
Saving drive parameters
User-save and power-down save drive parameters are stored in non-volatile memory within the drive. Any values that have changed are copied to this
memory under the following conditions.
Parameter type Conditions for copy to non-volatile memory
User-save parameter not visible in
menu 0
Drive reset with 1000 in Parametermm.000 (mm.000) if the drive is not in the under voltage state.
OR
A drive reset with 1001 in Parametermm.000 (mm.000).
OR
After parameters are transferred from a non-volatile media card.
OR
After the drive mode is changed.
OR
After default parameters are loaded.
OR
After parameters are transferred from an electronic nameplate.
User save parameter visible in
menu 0
Under the conditions given above for user save parameters not visible in Menu 0.
OR
If the keypad is in edit mode for a user-save parameter in Menu 0, the parameter is saved when the keypad mode
is changed from edit mode.
Power-down save parameter
A drive reset with 1001 in Parametermm.000 (mm.000).
OR
On the transition into the under voltage state.
OR
After the drive mode is changed.
OR
After parameters are transferred from a non-volatile media card which results in the drive mode changing.
It can take some time for parameter data to be copied to non-volatile memory, especially if there are a large number of differences between the
parameter values in the drive and the values stored in the memory. Saving Power-down save parameters takes a maximum of 300ms, but saving user-
save parameters can take several seconds. If the drive is powered from a 24V control supply, or from a low voltage supply, the power down time of the
control system can be very short and there is a risk that either the stored values of the power-down save or user-save parameters could be corrupted.
This would result in an EEPROMFail trip at the next power-up. To reduce this risk, the power-down save and user-save parameters are each stored in
two banks. The banks are alternated each time a save is performed and the bank pointer is only updated once the save is complete. If the new bank is
corrupted a UserSave or PowerDownSave is initiated at the next power-up indicating an error in the user-save or power-down save data respectively,
and the data from the old bank is used. The following points should be noted:
1. If a UserSave or PowerDownSave trip occurs at power-up then parameter changes made before power down will be lost. To clear these trips
a parameter save must be performed. If both the user-save and power-down save data is corrupted then a PowerDownSave trip is produced.
2. When a Menu 0 parameter is changed its value is saved immediately to the active bank and the bank pointer is not changed. Therefore
changes made via Menu 0 are not lost if a UserSave trip occurs at power-up.
3. When the drive mode changes all the data in both banks in the non-volatile memory is cleared and the default parameters are saved in both
banks. Therefore there is an extended parameter saving period immediately after a drive mode change.
4Unidrive M200 Parameter Reference Guide
Issue: 01.05.00.10

4. Two banks are not provided in non-volatile media cards therefore the card could be corrupted if the power is removed when the drive is writing
data to the card.
Loading defaults
A drive reset with 1233 in Parametermm.000 (mm.000) loads the defaults defined for each parameter. If defaults are loaded with 1244 in Parameter
mm.000 (mm.000) then the parameters in the table below have different defaults that are intended for the 60Hz regions.
Parameter Default Drive modes Drive voltage rating
Maximumreferenceclamp (01.006) 60.00Hz All All
StandardRampVoltage (02.008) 775V All 400V
MotorRatedFrequency (05.006) 60.00Hz All All
MotorRatedLoadrpm (05.008) 1800rpm All All
Motor RatedVoltage (05.009) 460V All 400V
M2MaximumReferenceClamp (21.001) 60.00Hz All All
M2MotorRatedFrequency (21.006) 60.00Hz All All
M2MotorRatedLoadrpm (21.008) 1800rpm All All
M2MotorRatedVoltage (21.009) 460V All All
Non-volatile media card data transfer
Details of the data that can be stored on a non-volatile media card and the methods to transfer/access this data are given in Menu 11.
Unidrive M200 Parameter Reference Guide
Issue: 01.05.00.10 5

Current Ratings
The tables below give the maximum output current ratings, peak current ratings and power ratings for all drive sizes and voltage ratings.
110V Rated Drives
Model
Heavy Duty Normal Duty
Kc
Rated
Current Motor Shaft Power
Peak
Current
Open Loop
Peak
Current RFC
Rated
Current Motor Shaft Power Peak Current
A kW hp A A A kW hp A A
01100017 1.7 0.25 0.33 2.55 3.1 1.7 3.74
01100024 2.4 0.37 0.5 3.6 4.3 2.4 5.28
02100042 4.2 0.75 1 6.3 7.6 4.2 9.24
02100056 5.6 1.1 1.5 8.4 10.1 5.6 12.32
200V Rated Drives
Model
Heavy Duty Normal Duty
Kc
Rated
Current Motor Shaft Power
Peak
Current
Open Loop
Peak
Current RFC
Rated
Current Motor Shaft Power Peak Current
A kW hp A A A kW hp A A
01200017 1.7 0.25 0.33 2.55 3.1 1.7 3.74
01200024 2.4 0.37 0.5 3.6 4.3 2.4 5.28
01200033 3.3 0.55 0.75 4.8 5.9 3.3 7.26
01200042 4.2 0.75 1 6.3 7.6 4.2 9.24
02200024 2.4 0.37 0.5 3.6 4.3 2.4 5.28
02200033 3.3 0.55 0.75 4.8 5.9 3.3 7.26
02200042 4.2 0.75 1 6.3 7.6 4.2 9.24
02200056 5.6 1.1 1.5 8.4 10.1 5.6 12.32
02200075 7.5 1.5 2 11.25 13.5 7.5 16.5
03200100 10 2.2 3 15 18 10 22
04200133 13.3 3 3 19.95 23.9 13.3 29.26
04200176 17.6 4 5 26.4 31.7 17.6 38.72
05200250 25 5.5 7.5 37.5 50 30 7.5 10 33 55.556
06200330 33 7.5 10 49.5 66 50 11 15 55 73.333
06200440 44 11 15 66 88 58 15 20 63.8 97.778
07200610 61 15 20 91.5 122 75 18.5 25 82.5 135.556
07200750 75 18.5 25 112.5 150 94 22 30 103.4 166.667
07200830 83 22 30 124.5 166 117 30 40 128.7 184.444
08201160 116 30 40 174 232 149 37 50 163.9 257.778
08201320 132 37 50 198 264 180 45 60 198 293.333
09201760 176 45 60 264 308 216 55 75 237.6 342.222
09202190 219 55 75 328.5 383.25 266 75 100 292.6 425.833
400V Rated Drives
6Unidrive M200 Parameter Reference Guide
Issue: 01.05.00.10

Model
Heavy Duty Normal Duty
Kc
Rated
Current Motor Shaft Power
Peak
Current
Open Loop
Peak
Current RFC
Rated
Current Motor Shaft Power Peak Current
A kW hp A A A kW hp A A
02400013 1.3 0.37 0.5 1.95 2.3 1.3 2.86
02400018 1.8 0.55 0.75 2.7 3.2 1.8 3.96
02400023 2.3 0.75 1 3.45 4.1 2.3 5.06
02400032 3.2 1.1 1.5 4.8 5.8 3.2 7.04
02400041 4.1 1.5 2 6.15 7.4 4.1 9.02
03400056 5.6 2.2 3 8.4 10.1 5.6 12.32
03400073 7.3 3 3 10.95 13.1 7.3 16.06
03400094 9.4 4 5 14.1 16.9 9.4 20.68
04400135 13.5 5.5 7.5 20.25 24.3 13.5 29.7
04400170 17 7.5 10 25.5 30.6 17 37.4
05400270 27 11 20 40.5 54 30 15 20 33 60
05400300 30 15 20 45 60 31 15 20 34.1 66.667
06400350 35 15 25 52.5 70 38 18.5 25 41.8 77.778
06400420 42 18.5 30 63 84 48 22 30 52.8 93.333
06400470 47 22 30 70.5 94 63 30 40 69.3 104.444
07400660 66 30 50 99 132 79 37 50 86.9 146.667
07400770 77 37 60 115.5 154 94 45 60 103.4 171.111
07401000 100 45 75 150 200 112 55 75 123.2 222.222
08401340 134 55 100 201 268 155 75 100 170.5 297.778
08401570 157 75 125 235.5 314 184 90 125 202.4 348.889
09402000 200 90 150 300 350 221 110 150 243.1 388.889
09402240 224 110 150 336 392 266 132 200 292.6 435.556
575V Rated Drives
Model
Heavy Duty Normal Duty
Kc
Rated
Current Motor Shaft Power
Peak
Current
Open Loop
Peak
Current RFC
Rated
Current Motor Shaft Power Peak Current
A kW hp A A A kW hp A A
05500030 3 1.5 2 4.5 6 3.9 2.2 3 4.29 6.667
05500040 4 2.2 3 6 8 6.1 4 5 6.71 8.889
05500069 6.9 4 5 10.35 13.8 10 5.5 7.5 11 15.333
06500100 10 5.5 7.5 15 20 12 7.5 10 13.2 22.222
06500150 15 7.5 10 22.5 30 17 11 15 18.7 33.333
06500190 19 11 15 28.5 38 22 15 20 24.2 42.222
06500230 23 15 20 34.5 46 27 18.5 25 29.7 51.111
06500290 29 18.5 25 43.5 58 34 22 30 37.4 64.444
06500350 35 22 30 52.5 70 43 30 40 47.3 77.778
07500440 44 30 40 66 88 53 45 50 58.3 97.778
07500550 55 37 50 82.5 110 73 55 60 80.3 122.222
08500630 63 45 60 94.5 126 86 75 75 94.6 140
08500860 86 55 75 129 172 108 90 100 118.8 191.111
09501040 104 75 100 156 182 125 110 125 137.5 202.222
09501310 131 90 125 196.5 229.25 150 110 150 165 254.722
690V Rated Drives
Unidrive M200 Parameter Reference Guide
Issue: 01.05.00.10 7

Model
Heavy Duty Normal Duty
Kc
Rated
Current Motor Shaft Power
Peak
Current
Open Loop
Peak
Current RFC
Rated
Current Motor Shaft Power Peak Current
A kW hp A A A kW hp A A
07600190 19 15 20 28.5 38 23 18.5 25 25.3 42.222
07600240 24 18.5 25 36 48 30 22 30 33 53.333
07600290 29 22 30 43.5 58 36 30 40 39.6 64.444
07600380 38 30 40 57 76 46 37 50 50.6 84.444
07600440 44 37 50 66 88 52 45 60 57.2 97.778
07600540 54 45 60 81 108 73 55 75 80.3 120
08600630 63 55 75 94.5 126 86 75 100 94.6 140
08600860 86 75 100 129 172 108 90 125 118.8 191.111
09601040 104 90 125 156 182 125 110 150 137.5 202.222
09601310 131 110 150 196.5 229.25 155 132 175 170.5 254.722
8Unidrive M200 Parameter Reference Guide
Issue: 01.05.00.10

Variable Minimum / Maximum Pairs
The descriptions below define the variable minimum/maximum pairs that can be used with parameters when the VM format bit is set. The variable
minimum and maximum themselves can be dependent on other parameters, or the drive rating or other conditions as defined. The variable minimum
and the variable maximum have a limited range and this is defined for each minimum/maximum pair.
Identifier VM_AC_VOLTAGE
Description Range applied to parameters showing a.c. voltage
Units V
Range of [MIN] 0
Range of [MAX] 0 to 930
VM_AC_VOLTAGE[MAX] in drive voltage rating dependent. See the table below.
Voltage level 200V 400V 575V (1) 690V (2)
VM_AC_VOLTAGE[MAX] 325 650 780 930
(1) Unidrive M frame size 5 and above only
(2) Unidrive M frame size 7 and above only
VM_AC_VOLTAGE[MIN] = 0
Identifier VM_AC_VOLTAGE_SET
Description Range applied to a.c. voltage set-up parameters
Units V
Range of [MIN] 0
Range of [MAX] 0 to 765
VM_AC_VOLTAGE_SET[MAX] is drive voltage rating dependent. See the table below.
Voltage level 200V 400V 575V 690V
VM_AC_VOLTAGE_SET[MAX] frame size 1 to 4 240 480 N/A N/A
VM_AC_VOLTAGE_SET[MAX] frame size 5 to 6 265 530 635 N/A
VM_AC_VOLTAGE_SET[MAX] frame size 7 to 9 265 530 635 765
VM_AC_VOLTAGE_SET[MAX] Commander ID 240 480 N/A N/A
VM_AC_VOLTAGE_SET[MIN] = 0
Identifier VM_ACCEL_RATE
Description Maximum applied to the ramp rate parameters
Units s/100Hz, s/MaxFrequency
Range of [MIN] 0.0
Range of [MAX] 0.0 to 32000.0
A maximum needs to be applied to the ramp rate parameters because the units are a time for a change of speed from zero to a defined level or to
maximum speed. If the change of speed is to the maximum speed then changing the maximum speed changes the actual ramp rate for a given ramp
rate parameter value. The variable maximum calculation ensures that longest ramp rate (parameter at its maximum value) is not slower than the rate
with the defined level, i.e. 32000.0 s/100Hz.
The maximum frequency is taken from MaximumReferenceClamp (01.006) if SelectMotor2Parameters (11.045) = 0, or M2MaximumReference
Clamp (21.001) if SelectMotor2Parameters (11.045) = 1.
VM_ACCEL_RATE[MIN] = 0.0
If RampRateUnits (02.039) = 0:
VM_ACCEL_RATE[MAX] = 32000.0
Otherwise:
VM_ACCEL_RATE[MAX] = 32000.0 x Maximum frequency / 100.00
Note - Parameter 11.045 is not available on M100/M101 and so only the Motor 1 parameters are relevant.
Identifier VM_DC_VOLTAGE
Description Range applied to d.c. voltage parameters
Units V
Range of [MIN] 0
Range of [MAX] 0 to 1190
VM_DC_VOLTAGE[MAX] is the full scale d.c. link voltage feedback for the drive. This level is drive voltage rating dependent. See the table below.
Unidrive M200 Parameter Reference Guide
Issue: 01.05.00.10 9

Voltage level 200V 400V 575V 690V
VM_DC_VOLTAGE[MAX]
frame size 1 to 4 510 870 N/A N/A
VM_DC_VOLTAGE[MAX]
frame size 5 to 6 415 830 990 N/A
VM_DC_VOLTAGE[MAX]
frame size 7 to 9 415 830 990 1190
VM_DC_VOLTAGE[MAX]
Commander ID 415 900 N/A N/A
VM_DC_VOLTAGE[MIN] = 0
Identifier VM_DC_VOLTAGE_SET
Description Range applied to d.c. voltage reference parameters
Units V
Range of [MIN] 0
Range of [MAX] 0 to 1150
VM_DC_VOLTAGE_SET[MAX] is drive voltage rating dependent. All values are shown in the table below.
Uni
M
Uni
M
Uni
M
Uni
M
Commander
ID
Commander
ID
Voltage level 200V 400V 575V
(1)
690V
(2) 200V 400V
VM_DC_VOLTAGE_SET[MAX] 400 800 955 1150 440V 990V
(1) Frame size 5 and above only
(2) Frame size 7 and above only
VM_DC_VOLTAGE_SET[MIN] = 0
Identifier VM_DRIVE_CURRENT
Description Range applied to parameters showing current in A
Units A
Range of [MIN] -9999.99 to 0.00
Range of [MAX] 0.00 to 9999.99
VM_DRIVE_CURRENT[MAX] is equivalent to the full scale (over current trip level) for the drive and is given by FullScaleCurrentKc (11.061).
VM_DRIVE_CURRENT[MIN] = - VM_DRIVE_CURRENT[MAX]
Identifier VM_FREQ
Description Range applied to parameters showing frequency
Units Hz
Range of [MIN] -1100.00
Range of [MAX] 1100.00
This variable minimum/maximum defines the range of speed monitoring parameters. To allow headroom for overshoot the range is set to twice the
range of the speed references.
VM_FREQ[MIN] = 2 x VM_SPEED_FREQ_REF[MIN]
VM_FREQ[MAX] = 2 x VM_SPEED_FREQ_REF[MAX]
Identifier VM_MAX_SWITCHING_FREQUENCY
Description Range applied to the maximum switching frequency parameters
Units User units
Range of [MIN] OpenLoop: 0 (0.667kHz), RFC-A: 2 (2kHz)
Range of [MAX] 8 (16kHz)
VM_SWITCHING_FREQUENCY[MAX] = Power stage dependent
VM_SWITCHING_FREQUENCY[MIN] = 0
Note that RFCA modes are not available on Unidrive M 100/101 and Commander ID drives and so these settings are not applicable on these drives.
10 Unidrive M200 Parameter Reference Guide
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Identifier VM_MOTOR1_CURRENT_LIMIT
Description Range applied to current limit parameters (motor 1)
Units %
Range of [MIN] 0.0
Range of [MAX] 0.0 to 1000.0
VM_MOTOR1_CURRENT_LIMIT[MIN] = 0.0
VM_MOTOR1_CURRENT_LIMIT[MAX] = (ITlimit / ITrated) x 100 %
Where:
ITlimit = Imax x cos(sin-1(IMrated / Imax))
IMrated = Pr 05.007 sin f
ITrated = Pr 05.007 x cos f
cos f= Pr 05.010
Imax is (Overload x Pr 11.061 / 2.2) when the motor rated current set in Pr 05.007 is less than or equal to Pr 11.032
(i.e. Heavy duty), otherwise it is the lower of (Overload x Pr 11.061 / 2.2) or 1.1 x Pr 11.060 (i.e. Normal Duty).
Overload = 1.75 for Open Loop mode and 1.8 for RFCA mode (not available on M100.M101, ID300, or ID302).
Identifier VM_MOTOR2_CURRENT_LIMIT
Description Range applied to current limit parameters (motor 2)
Units %
Range of [MIN] 0.0
Range of [MAX] 0.0 to 1000.0
VM_MOTOR2_CURRENT_LIMIT[MAX] is dependent on the drive rating and motor set-up parameters.
VM_MOTOR2_CURRENT_LIMIT[MIN] = 0.0
Refer to VM_MOTOR1_CURRENT_LIMIT for description.
Note - Parameter 11.045 is not available on M100/M101 and so this is not used on these drives.
Identifier VM_NEGATIVE_REF_CLAMP1
Description Limits applied to the negative frequency clamp (motor 1)
Units Hz
Range of [MIN] -550.00 to 0.00
Range of [MAX] 0.00 to 550.00
This variable maximum/minimum defines the range of the negative frequency clamp associated with motor map 1 (MinimumReferenceClamp
(01.007)). The minimum and maximum are affected by the settings of the NegativeReferenceClampEnable (01.008), BipolarReferenceEnable
(01.010) and MaximumReferenceClamp (01.006) as shown in the table below.
Negative
Reference
Clamp Enable
(01.008)
Bipolar
Reference
Enable
(01.010)
VM_NEGATIVE_REF_CLAMP1[MIN] VM_NEGATIVE_REF_CLAMP1[MAX]
0 0 0.00 Pr 01.006
0 1 0.00 0.00
1 X -VM_POSITIVE_REF_CLAMP[MAX] 0.00
Identifier VM_NEGATIVE_REF_CLAMP2
Description Limits applied to the negative frequency clamp (motor 2)
Units Hz
Range of [MIN] -550.00 to 0.00
Range of [MAX] 0.00 to 550.00
This variable maximum/minimum defines the range of the negative frequency clamp associated with motor map 2 (M2MinimumReferenceClamp
(21.002)). It is defined in the same way as VM_NEGATIVE_REF_CLAMP1 except that the M2MaximumReferenceClamp (21.001) is used instead of
MaximumReferenceClamp (01.006).
Note - Parameter 11.045 is not available on M100/M101 and so this is not used on these drives.
Unidrive M200 Parameter Reference Guide
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Identifier VM_POSITIVE_REF_CLAMP
Description Limits applied to the positive frequency reference clamp
Units Hz
Range of [MIN] 0.00
Range of [MAX] 550.00
VM_POSITIVE_REF_CLAMP[MAX] defines the range of the positive reference clamps, MaximumReferenceClamp (01.006) and M2Maximum
ReferenceClamp (21.001) , which in turn limits the references.
Note - Parameter 11.045 is not available on M100/M101 and so only the Motor 1 parameter is relevant.
This values are model dependent. See the table below.
Models Clamp level
M100 - M400 550.00
Commander ID 150.00
Identifier VM_POWER
Description Range applied to parameters that either set or display power
Units kW
Range of [MIN] -9999.99 to 0.00
Range of [MAX] 0.00 to 9999.99
VM_POWER[MAX] is rating dependent and is chosen to allow for the maximum power that can be output by the drive with maximum a.c. output
voltage, at maximum controlled current and unity power factor.
VM_POWER[MAX] = √3 x VM_AC_VOLTAGE[MAX] x VM_DRIVE_CURRENT[MAX] / 1000
VM_POWER[MIN] = -VM_POWER[MAX]
Identifier VM_RATED_CURRENT
Description Range applied to rated current parameters
Units A
Range of [MIN] 0.00
Range of [MAX] 0.00 to 9999.99
VM_RATED_CURRENT [MAX] = MaximumRatedCurrent (11.060) and is dependent on the drive rating.
VM_RATED_CURRENT [MIN] = 0.00
Identifier VM_SPEED_FREQ_REF
Description Range applied to the frequency reference parameters
Units Hz
Range of [MIN] -550.00 to 0.00
Range of [MAX] 0.00 to 550.00
This variable minimum/maximum is applied throughout the frequency and speed reference system so that the references can vary in the range from the
minimum to maximum clamps.
Negative
Reference Clamp
Enable (01.008)
VM_SPEED_FREQ_REF[MAX] if Select
Motor 2 Parameters (11.045) = 0
VM_SPEED_FREQ_REF[MAX] if Select
Motor 2 Parameters (11.045) = 1
0MaximumReferenceClamp (01.006) M2MaximumReferenceClamp (21.001)
1MaximumReferenceClamp (01.006) or |MinimumReferenceClamp (01.007)|
whichever the larger
M2MaximumReferenceClamp (21.001) or
|M2 MinimumReferenceClamp (21.002)|
whichever the larger
VM_SPEED_FREQ_REF[MIN] = -VM_SPEED_FREQ_REF[MAX].
Note - Parameter 11.045 is not available on M100/M101 and so only the Motor 1 parameters are relevant.
Identifier VM_SPEED_FREQ_REF_UNIPOLAR
Description Unipolar version of VM_SPEED_FREQ_REF
Units Hz
Range of [MIN] 0.00
Range of [MAX] 0.00 to 550.00
VM_SPEED_FREQ_REF_UNIPOLAR[MAX] = VM_SPEED_FREQ_REF[MAX]
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VM_SPEED_FREQ_REF_UNIPOLAR[MIN] = 0.00
Identifier VM_SPEED_FREQ_USER_REFS
Description Range applied to analogue reference parameters
Units Hz
Range of [MIN] -550.00 to 550.00
Range of [MAX] 0.00 to 550.00
This variable maximum is applied to AnalogueReference1 (01.036), AnalogueReference2 (01.037) and KeypadReference (01.017).
The maximum applied to these parameters is the same as other frequency reference parameters.
VM_SPEED_FREQ_USER_REFS [MAX] = VM_SPEED_FREQ_REF[MAX]
However the minimum is dependent on NegativeReferenceClampEnable (01.008) and BipolarReferenceEnable (01.010).
Negative Reference
Clamp Enable
(01.008)
Bipolar
Reference
Enable (01.010)
VM_SPEED_FREQ_USER_REFS[MIN]
0 0 If SelectMotor2Parameters (11.045) = 0 MinimumReference
Clamp (01.007), otherwise M2MinimumReferenceClamp (21.002)
0 1 -VM_SPEED_FREQ_REF[MAX]
1 0 0.00
1 1 -VM_SPEED_FREQ_REF[MAX]
Note - Parameter 11.045 is not available on M100/M101 and so only the Motor 1 parameters are relevant.
Identifier VM_SUPPLY_LOSS_LEVEL
Description Range applied to the supply loss threshold
Units V
Range of [MIN] 0 to 1150
Range of [MAX] 0 to 1150
VM_SUPPLY_LOSS_LEVEL[MAX] = VM_DC_VOLTAGE_SET[MAX]
VM_SUPPLY_LOSS_LEVEL[MIN] is drive voltage rating dependent. See the table below.
Voltage level 200V 400V 575V (1) 690V (2)
VM_SUPPLY_LOSS_LEVEL[MIN] 205 410 540 540
(1) Unidrive M frame size 5 and above only
(2) Unidribe M frame size 7 and above only
Identifier VM_TORQUE_CURRENT
Description Range applied to torque and torque producing current parameters.
Units %
Range of [MIN] -1000.0 to 0.0
Range of [MAX] 0.0 to 1000.0
Select Motor 2 Parameters
(11.045) VM_TORQUE_CURRENT[MAX]
0 VM_MOTOR1_CURRENT_LIMIT[MAX]
1 VM_MOTOR2_CURRENT_LIMIT[MAX]
VM_TORQUE_CURRENT[MIN] = -VM_TORQUE_CURRENT[MAX]
Identifier VM_TORQUE_CURRENT_UNIPOLAR
Description Unipolar version of VM_TORQUE_CURRENT
Units %
Range of [MIN] 0.0
Range of [MAX] 0.0 to 1000.0
VM_TORQUE_CURRENT_UNIPOLAR[MAX] = VM_TORQUE_CURRENT[MAX]
VM_TORQUE_CURRENT_UNIPOLAR[MIN] =0.0
Unidrive M200 Parameter Reference Guide
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Identifier VM_USER_CURRENT
Description Range applied to torque reference and percentage load parameters
Units %
Range of [MIN] -1000.0 to 0.0
Range of [MAX] 0.0 to 1000.0
VM_USER_CURRENT[MAX] = UserCurrentMaximumScaling (04.024)
VM_USER_CURRENT[MIN] = -VM_USER_CURRENT[MAX]
14 Unidrive M200 Parameter Reference Guide
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Menu 1 Single Line Descriptions − Frequency References
Mode: Open‑loop
Parameter Range Default Type
01.001 Reference Selected ±VM_SPEED_FREQ_REF Hz RO Num ND NC PT
01.002 Pre‑skip Filter Reference ±VM_SPEED_FREQ_REF Hz RO Num ND NC PT
01.003 Pre‑ramp Reference ±VM_SPEED_FREQ_REF Hz RO Num ND NC PT
01.004 Reference Offset ±VM_SPEED_FREQ_REF Hz 0.00 Hz RW Num US
01.005 Jog Reference 0.00 to 300.00 Hz 1.50 Hz RW Num US
01.006 Maximum Speed ±VM_POSITIVE_REF_CLAMP Hz 50Hz: 50.00 Hz
60Hz: 60.00 Hz RW Num US
01.007 Minimum Speed ±VM_NEGATIVE_REF_CLAMP1 Hz 0.00 Hz RW Num US
01.008 Negative Reference Clamp Enable Off (0) or On (1) Off (0) RW Bit US
01.009 Reference Offset Select 0 to 2 0 RW Num US
01.010 Bipolar Reference Enable Off (0) or On (1) Off (0) RW Bit US
01.011 Reference On Off (0) or On (1) RO Bit ND NC PT
01.012 Reverse Select Off (0) or On (1) RO Bit ND NC PT
01.013 Jog Select Off (0) or On (1) RO Bit ND NC PT
01.014 Reference Selector A1.A2 (0), A1.Pr (1), A2.Pr (2), Preset (3), Pad (4), Res (5),
Pad.Ref (6) A1.A2 (0) RW Txt US
01.015 Preset Selector 0 to 9 0 RW Num US
01.016 Preset Selector Timer 0.0 to 400.0 s 10.0 s RW Num US
01.017 Keypad Control Mode Reference ±VM_SPEED_FREQ_USER_REFS Hz 0.00 Hz RO Num NC PT PS
01.021 Preset Reference 1 ±VM_SPEED_FREQ_REF Hz 0.00 Hz RW Num US
01.022 Preset Reference 2 ±VM_SPEED_FREQ_REF Hz 0.00 Hz RW Num US
01.023 Preset Reference 3 ±VM_SPEED_FREQ_REF Hz 0.00 Hz RW Num US
01.024 Preset Reference 4 ±VM_SPEED_FREQ_REF Hz 0.00 Hz RW Num US
01.025 Preset Reference 5 ±VM_SPEED_FREQ_REF Hz 0.00 Hz RW Num US
01.026 Preset Reference 6 ±VM_SPEED_FREQ_REF Hz 0.00 Hz RW Num US
01.027 Preset Reference 7 ±VM_SPEED_FREQ_REF Hz 0.00 Hz RW Num US
01.028 Preset Reference 8 ±VM_SPEED_FREQ_REF Hz 0.00 Hz RW Num US
01.029 Skip Reference 1 0.00 to 550.00 Hz 0.00 Hz RW Num US
01.030 Skip Reference Band 1 0.00 to 25.00 Hz 0.50 Hz RW Num US
01.031 Skip Reference 2 0.00 to 550.00 Hz 0.00 Hz RW Num US
01.032 Skip Reference Band 2 0.00 to 25.00 Hz 0.50 Hz RW Num US
01.033 Skip Reference 3 0.00 to 550.00 Hz 0.00 Hz RW Num US
01.034 Skip Reference Band 3 0.00 to 25.00 Hz 0.50 Hz RW Num US
01.035 Reference In Rejection Zone Off (0) or On (1) RO Bit ND NC PT
01.036 Analog Reference 1 ±VM_SPEED_FREQ_USER_REFS Hz 0.00 Hz RO Num NC
01.037 Analog Reference 2 ±VM_SPEED_FREQ_USER_REFS Hz 0.00 Hz RO Num NC
01.038 Percentage Trim ±100.00 % 0.00 % RW Num NC
01.041 Reference Select Flag 1 Off (0) or On (1) Off (0) RW Bit NC
01.042 Reference Select Flag 2 Off (0) or On (1) Off (0) RW Bit NC
01.043 Reference Select Flag 3 Off (0) or On (1) Off (0) RW Bit NC
01.045 Preset Select Flag 1 Off (0) or On (1) Off (0) RW Bit NC
01.046 Preset Select Flag 2 Off (0) or On (1) Off (0) RW Bit NC
01.047 Preset Select Flag 3 Off (0) or On (1) Off (0) RW Bit NC
01.048 Preset Selector Timer Reset Off (0) or On (1) Off (0) RW Bit NC
01.049 Reference Selected Indicator 1 to 6 RO Num ND NC PT
01.050 Preset Selected Indicator 1 to 8 RO Num ND NC PT
01.051 Power‑up Keypad Control Mode Reference Reset (0), Last (1), Preset (2) Reset (0) RW Txt US
01.057 Force Reference Direction None (0), For (1), Rev (2) None (0) RW Txt
01.069 Reference in rpm ±33000 rpm RO Num ND NC PT
01.070 Clamped Reference ±VM_SPEED_FREQ_REF Hz RO Num ND NC PT
01.071 Alternative Reference ±VM_SPEED_FREQ_REF Hz 0.00 Hz RO Num NC
01.072 Alternative Reference Enable Off (0) or On (1) RO Bit ND NC PT
RW Read / Write RO Read-only Bit Bit parameter Txt Text string Date Date parameter Time Time parameter
Chr Character parameter Bin Binary parameter IP IP address Mac MAC address Ver Version number SMP Slot, menu, parameter
Num Number parameter DE Destination ND No
default value RA Rating dependent NC Non-copyable PT Protected
FI Filtered US User save PS Power-
down save
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Menu 1 − Frequency References
Mode: Open‑loop
References
16 Unidrive M200 Parameter Reference Guide
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Parameter 01.001 Reference Selected
Short description Displays the basic reference selected from the available sources
Mode Open‑loop
Minimum −VM_SPEED_FREQ_REF Maximum VM_SPEED_FREQ_REF
Default Units Hz
Type 32 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 2
Coding RO, VM, ND, NC, PT
ReferenceSelected (01.001) is the basic reference selected from the available sources including the effect of the reference offset. See Fig.1.1.
Parameter 01.002 Pre-skip Filter Reference
Short description Displays the level of the reference after the reference clamps
Mode Open‑loop
Minimum −VM_SPEED_FREQ_REF Maximum VM_SPEED_FREQ_REF
Default Units Hz
Type 32 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 2
Coding RO, VM, ND, NC, PT
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Pre-skipFilterReference (01.002) is the reference before the skip filtering as indicated in Fig. 1.2.
Parameter 01.003 Pre-ramp Reference
Short description Displays the final output from the reference system
Mode Open‑loop
Minimum −VM_SPEED_FREQ_REF Maximum VM_SPEED_FREQ_REF
Default Units Hz
Type 32 Bit Volatile Update Rate 4ms write
Display Format Standard Decimal Places 2
Coding RO, VM, ND, NC, PT
Fig.1.3 shows the process from the Pre-skipFilterReference (01.002) to the Pre-rampReference (01.003). The Pre-rampReference (01.003) is the final output
from the Menu 01 reference system that is fed into the Menu 02 ramp system.
Parameter 01.004 Reference Offset
Short description Defines the the offset applied to the reference
Mode Open‑loop
Minimum −VM_SPEED_FREQ_REF Maximum VM_SPEED_FREQ_REF
Default 0.00 Units Hz
Type 32 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW, VM
If ReferenceOffsetSelect (01.009) = 0 then ReferenceSelected (01.001) is the selected reference multiplied by [1 + PercentageTrim (01.038) / 100.00)].
If ReferenceOffsetSelect (01.009) = 1 then the ReferenceOffset (01.004) is added to the selected reference to give ReferenceSelected (01.001).
If ReferenceOffsetSelect (01.009) = 2 then ReferenceSelected (01.001) is the selected reference plus the Maximumreferencefrequency multiplied by
(PercentageTrim (01.038) / 100.00). Maximumreferencefrequency is normally the value of MaximumSpeed (01.006) but refer to Variable
Maximum VM_SPEED_FREQ_REF for a full definition.
Parameter 01.005 Jog Reference
Short description Defines the reference when jog is enabled
Mode Open‑loop
Minimum 0.00 Maximum 300.00
Default 1.50 Units Hz
Type 16 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 2
Coding RW, BU
Parameter 01.006 Maximum Speed
Short description Defines the maximum value for the reference
Mode Open‑loop
Minimum −VM_POSITIVE_REF_CLAMP Maximum VM_POSITIVE_REF_CLAMP
Default See exceptions below Units Hz
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW, VM
Region Default Value
50Hz 50.00
60Hz 60.00
MaximumSpeed (01.006) provides a limit on the maximum speed demand. (If SelectMotor2Parameters (11.045) = 1 then M2MaximumSpeed (21.001) is
used instead.)
Parameter 01.007 Minimum Speed
Short description Defines the minimum value for the reference
Mode Open‑loop
Minimum −VM_NEGATIVE_REF_CLAMP1 Maximum VM_NEGATIVE_REF_CLAMP1
Default 0.00 Units Hz
Type 32 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 2
Coding RW, VM
If NegativeReferenceClampEnable (01.008) = 1 then MinimumSpeed (01.007) is forced to be a negative value and is applied to the final reference as the
negative limit. If NegativeReferenceClampEnable (01.008) = 0 then - MaximumSpeed (01.006) is applied to the final reference as the negative limit. (If
SelectMotor2Parameters (11.045) = 1 then M2MinimumSpeed (21.002) is used instead.)
The minimum speed is also used to provide the minimum speed limit for uni-polar mode (i.e. BipolarReferenceEnable (01.010) = 0) after
the ReferenceSelected (01.001) as shown in Fig.1.2.
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Parameter 01.008 Negative Reference Clamp Enable
Short description Set to 1 to allow the minimum reference clamp value to be negative
Mode Open‑loop
Minimum 0Maximum 1
Default 0Units
Type 1 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW
See MinimumSpeed (01.007).
Parameter 01.009 Reference Offset Select
Short description Enables the use of the reference offset
Mode Open‑loop
Minimum 0Maximum 2
Default 0Units
Type 8 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW
See ReferenceOffset (01.004).
Parameter 01.010 Bipolar Reference Enable
Short description Enables the minimum value of the reference to be negative
Mode Open‑loop
Minimum 0Maximum 1
Default 0Units
Type 1 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW
See MinimumSpeed (01.007).
Parameter 01.011 Reference On
Short description Indicates that the reference from the reference system is active
Mode Open‑loop
Minimum 0Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 2ms write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT
ReferenceOn (01.011), which is controlled by the drive sequencer (see Menu 06) indicates that the reference from the reference system is active. Note that
ReferenceOn (01.011) is also used to enable and disable the HardFrequencyReference (03.022).
Parameter 01.012 Reverse Select
Short description Indicates when the reverse function is active
Mode Open‑loop
Minimum 0Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 2ms write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT
ReverseSelect (01.012), which is controlled by the drive sequencer (see Menu 06), is used to invert ReferenceSelected (01.001) or the JogReference (01.005).
Parameter 01.013 Jog Select
Short description Indicates when the jog function is active
Mode Open‑loop
Minimum 0Maximum 1
Default Units
Type 1 Bit Volatile Update Rate 2ms write
Display Format Standard Decimal Places 0
Coding RO, ND, NC, PT
JogSelect (01.013) which is controlled by the drive sequencer (see Menu 06), is used to select the JogReference (01.005).
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Parameter 01.014 Reference Selector
Short description Defines the source for the reference
Mode Open‑loop
Minimum 0Maximum 6
Default 0Units
Type 8 Bit User Save Update Rate 4ms read
Display Format Standard Decimal Places 0
Coding RW, TE
Value Text Description
0 A1.A2 Analogue reference 1 or 2 selected by terminal input
1 A1.Pr Analogue reference 1 or Presets selected by terminal input
2 A2.Pr Analogue reference 2 or Presets selected by terminal input
3Preset Preset reference selected by terminal
4 Pad Keypad reference selected
5Res Reserved
6Pad.Ref Keypad reference selected but no control mode
See ControlWordEnable (06.043) which will take priority over ReferenceSelector (01.014).
ReferenceSelector (01.014) is automatically set up when a new drive configuration is programmed (see DriveConfiguration (11.034) ).
ReferenceSelector (01.014) defines how ReferenceSelectedIndicator (01.049) is derived. If ReferenceSelector (01.014) is not set to 0
ReferenceSelectedIndicator (01.049) is equal to ReferenceSelector (01.014). If ReferenceSelector (01.014) = 0 then ReferenceSelectedIndicator (01.049) is
controlled by the reference select flags as shown below. The higher numbered flags have priority over the lower numbered flags.
Reference select flag states Reference Selected Indicator (01.049)
All reference select flags equal to 0 1
ReferenceSelectFlag1 (01.041) = 1 2
ReferenceSelectFlag2 (01.042) = 1 3
ReferenceSelectFlag3 (01.043) = 1 4
PresetSelector (01.015) defines how PresetSelectedIndicator (01.050) is derived as shown below.
Preset Selector
(01.015) Preset Selected Indicator (01.050)
0 Controlled by the preset select flags (01.045 to 01.047)
1 1
2 2
3 3
4 4
5 5
6 6
7 7
8 8
9Controlled by the present reference selector timer (see
PresetSelectorTimer (01.016))
When PresetSelector (01.015) = 0 then PresetSelectedIndicator (01.050) is defined by the preset select flags as shown below.
PresetSelectFlag3
(01.047) PresetSelectFlag2 (01.046) PresetSelectFlag1 (01.045) PresetSelectedIndicator (01.050)
0 0 0 1
0 0 1 2
0 1 0 3
0 1 1 4
1 0 0 5
1 0 1 6
1 1 0 7
1 1 1 8
ReferenceSelectedIndicator (01.049) and PresetSelectedIndicator (01.050) then define the reference to be used as shown below.
20 Unidrive M200 Parameter Reference Guide
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