Danfoss iC7 Motion Series Application Manual
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Danfoss iC7 Motion Series Application Manual

Danfoss iC7 Motion Series Application Manual

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  • Page 1 Application Guide iC7 Series Motion Scan for more www.danfoss.com | documentation...
  • Page 3 Application Guide | iC7 Series Motion Contents Introduction to the Application Guide Version History Purpose of this Application Guide Additional Resources Safety Symbols Motion Application Software Overview Motion Application Overview Basic Functions 2.2.1 I/O Control and Readouts 2.2.2 Reference Handling 2.2.3 Ramps 2.2.4...

  • Page 4: Table Of Contents

    Application Guide | iC7 Series Motion 2.5.5 AC Brake 2.5.6 DC Hold 2.5.7 Load Sharing Protection Features 2.6.1 Grid Protection 2.6.2 Drive Protection Features 2.6.3 Motor Protection Features 2.6.4 Protection of External Filters or Brake Resistors 2.6.5 Automatic Derating Monitoring, Logging and History Log 2.7.1 Monitoring Features in Motion 2.7.2...
  • Page 5 Application Guide | iC7 Series Motion 2.12.2.1 Positioning Types 2.12.2.2 Profile Generator and Reference Handling 2.12.2.3 Control and Status Signals 2.12.3 Gear Mode 2.12.3.1 Overview of Gear Mode 2.12.3.2 Synchronization Types 2.12.3.3 Gear Generator and Reference Handling 2.12.3.4 Control and Status 2.12.3.5 Master 2.12.4...
  • Page 6 Application Guide | iC7 Series Motion 3.2.1 iC7 Control Panel Options 3.2.2 Control Panel Elements 3.2.3 Control Panel Basic Configurations 3.2.4 Starting the Drive and Control Panel Display 3.2.5 Understanding Readout Screens 3.2.6 Adjusting Display Backlight and Contrast 3.2.7 Changing the Content of the Readout Screens 3.2.8 Parameter Group Screen and Overall Navigation 3.2.9...
  • Page 7 Application Guide | iC7 Series Motion Parameter Descriptions Introduction to Parameter Descriptions 6.1.1 Reading the Parameter Table 6.1.2 Understanding Data Types 6.1.3 Understanding Parameter Types 6.1.4 Understanding Access Types Grid (Menu Index 1) 6.2.1 Grid Overview 6.2.2 Grid Status (Menu Index 1.1) 6.2.3 Grid Settings (Menu Index 1.2) 6.2.4...
  • Page 8 Application Guide | iC7 Series Motion 6.5.1 Motor Overview 6.5.2 Motor Status (Menu Index 4.1) 6.5.3 Motor Data (Menu Index 4.2) 6.5.3.1 General Settings (Menu Index 4.2.1) 6.5.3.2 Additional Information for Motor Data General Settings 6.5.3.3 Overview of Motor Nameplate Data 6.5.3.4 Motor Nameplate Data (Menu Index 4.2.2) 6.5.3.5...
  • Page 9 Application Guide | iC7 Series Motion 6.6.5.3 Torque & AEO (Menu Index 5.3.3) 6.6.6 Operation Mode (Menu Index 5.4) 6.6.6.1 Settings (Menu Index 5.4.2) 6.6.7 Control Places (Menu Index 5.5) 6.6.7.1 Control Places Overview 6.6.7.2 Control Places Status (Menu Index 5.5.1) 6.6.7.3 Control Place Settings (Menu Index 5.5.2) 6.6.7.4...
  • Page 10 Application Guide | iC7 Series Motion 6.6.11 Torque control (Menu Index 5.9) 6.6.11.1 Torque Control Overview 6.6.11.2 Torque Control Status (Menu Index 5.9.1) 6.6.11.3 Limits (Menu Index 5.9.2) 6.6.11.4 Torque Reference (Menu Index 5.9.3) 6.6.11.5 Additional Information on Torque Reference 6.6.12 Inching (Menu Index 5.11) 6.6.13...
  • Page 11 Application Guide | iC7 Series Motion 6.6.20.1 Superimposed Status (Menu Index 5.19.1) 6.6.20.2 Configuration (Menu Index 5.19.2) 6.6.21 Additional Status Outputs (Menu Index 5.26) 6.6.21.1 General Digital Outputs (Menu Index 5.26.1) 6.6.22 Fieldbus Process Data (Menu Index 5.27) 6.6.22.1 Fieldbus Process Data (Menu Index 5.27.1) 6.6.22.2 Additional Information on Fieldbus Process Data Status 6.6.23...
  • Page 12 Application Guide | iC7 Series Motion 6.9.2 Basic Settings (Menu Index 8.2) 6.9.3 Control Panel (Menu Index 8.3) 6.9.3.1 Readout Screen 1 (Menu Index 8.3.1) 6.9.3.2 Readout Screen 2 (Menu Index 8.3.2) 6.10 I/O (Menu Index 9) 6.10.1 I/O Overview 6.10.2 Basic I/O 6.10.2.1...
  • Page 13 Frequency Converters Installation Guides cover the mechanical and electrical installation of drives. Safety Symbols The following symbols are used in Danfoss documentation.   DANGER Indicates a hazardous situation which, if not avoided, will result in death or serious injury.
  • Page 14 Application Guide | iC7 Series Motion The guide also includes ISO warning symbols related to hot surfaces and burn hazard, high voltage and electrical shock, and referring to the instructions. ISO warning symbol for hot surfaces and burn hazard ISO warning symbol for high voltage and electrical shock ISO action symbol for referring to the instructions | ©...
  • Page 15 Application Guide | iC7 Series Motion Motion Application Software Overview Motion Application Overview The Motion application enables position control with all motor control principles and motor types supported by iC7-Automation. The following main functions are included in the Motion application: Basic functions Speed control Torque control...
  • Page 16 Application Guide | iC7 Series Motion Inching with Jogging Modes 2.2.6 Predefined speed settings are available for use during commissioning, maintenance, or service. The settings include Slow Down mode (operating at decreased speed), Jogging mode (operating at a preset speed), and Override mode (this mode overrides any reference settings).
  • Page 17 Application Guide | iC7 Series Motion Torque Characteristics 2.4.2 Different load characteristics are supported to match the actual application needs: Variable torque: Typical load characteristic of fans and centrifugal pumps, where the load is proportional to the square of the speed. Constant torque: Load characteristic used in machinery where torque is needed across the full speed range.

  • Page 18: Ac Brake

    Application Guide | iC7 Series Motion AC Brake 2.5.5 In applications where the operation of the motor is non-cyclic, AC braking can be used to shorten the braking time. Excess energy is dissipated by increasing losses in the motor during braking. Performance is motor type dependent and offers best performance on asynchronous motors.

  • Page 19: Protection Of External Filters Or Brake Resistors

    Application Guide | iC7 Series Motion Protection of External Filters or Brake Resistors 2.6.4 Brake resistors are monitored for thermal overload (by calculated thermal load or an external sensor), short circuit, and missing connections. The drive can also monitor the temperature of externally connected filters. Automatic Derating 2.6.5 Automatic derating of the drive allows continued operation even if the nominal operation conditions are exceeded.

  • Page 20: Software Tools

    Overview of Software Tools 2.9.1 Danfoss offers a suite of desktop software tools which have been designed to provide easy operation and the highest level of customization of AC drives. APIs and the Danfoss Device Interface make it possible to integrate the tools into proprietary systems and business processes. The MyDrive®...

  • Page 21: Motor Control Features For Fvc+ And Vvc+ Control

    Application Guide | iC7 Series Motion The drive provides the following cybersecurity features: Secure boot chain Signed and encrypted fimware and application software Secure software updates License verification Secure connectivity for all communication interfaces Motor Control Features for FVC+ and VVC+ Control 2.11 Compatibility of Motor Control Features for FVC+ and VVC+ Control in Motion 2.11.1...
  • Page 22 Application Guide | iC7 Series Motion Table 1: Motor Control Features and Motor Types (continued) Motor type/Feature Induction motors Synchronous motors FVC+ VVC+ FVC+ VVC+ Limit handling Speed limit Torque limit Position limit Current limit Power limit Overvoltage con- trol Undervoltage con- trol Auxiliary functions...

  • Page 23: High Frequency Voltage Injection

    Application Guide | iC7 Series Motion Table 1: Motor Control Features and Motor Types (continued) Motor type/Feature Induction motors Synchronous motors FVC+ VVC+ FVC+ VVC+ Process functional- Mechanical brake ity and protections control in closed loop Missing motor phase Motor thermal pro- tection Electronic thermal relay (ETR)

  • Page 24: Position Control And Motion Features

    Application Guide | iC7 Series Motion Figure 1: HFVI parameters The basic settings are done with the following 3 parameters: 4.3.3.10 HF Inject Voltage Gain % (2): Set the magnitude of the injected voltage as a percentage of the recommended injected voltage.
  • Page 25 Application Guide | iC7 Series Motion Sensorless motor/speed control, position control with feedback Sensorless motor/speed/position control Position Position Motor control Motor control Controller Controller Feedback source Feedback source Figure 2: Control Configuration in U/f Motor Control Sensorless motor/speed/position control Sensorless motor/speed control, position control with feedback Position Position Motor control...

  • Page 26: Control Loop

    Application Guide | iC7 Series Motion Sensorless motor/speed control, position control with feedback Sensorless motor/speed/position control Position Speed Position Speed Motor control Motor control Controller Controller Controller Controller Feedback source Feedback source Feedback source Feedback source FVC+ sensorless FVC+ sensorless Motor/speed/position control with motor feedback Motor/speed control with motor feedback, position control with application feedback Position...

  • Page 27: Position Feedback And The Actual Position

    Application Guide | iC7 Series Motion Position Feedback Source P 5.13.2.1 Speed Feedback Position PID Demanded P 5.13.3.1 - 5.13.3.3: position P 5.8.3.1 - 5.8.3.2 Proportional Gain Kp Integral Time Ti Speed limit Derivative Time Td Speed PI P 5.8.2.2 Demanded Speed feedforward speed...

  • Page 28: Unit Scaling

    Application Guide | iC7 Series Motion Rotary example: 0° = 360° Min position = 0° Max position = 360° 270° 90° 180° Figure 7: Rotary Example Unit Scaling 2.12.1.6 Position values for settings and readouts can be scaled to any physical value relevant for the application. The scaling is done relative to 1 motor rotation and the default is 360°...

  • Page 29: Position Monitoring

    Application Guide | iC7 Series Motion Position Monitoring 2.12.1.7 The actual position error is the difference between the demanded position and the actual position. It is continuously monitored while position control is active. The action to be taken when the maximum tolerated position error, defined by parameter 5.13.5.1 Position Error Window and 5.13.5.2 Position Error Delay, is exceeded can be selected with parameter 5.13.5.3 Position Error Response.

  • Page 30: Hardware End Limits

    Application Guide | iC7 Series Motion In control modes such as speed, torque, and gear control, where the final target is unknown, there is no action until reaching the configured limits. The action when a software position limit is reached is defined by parameter 5.13.5.6 Position Limit Action. The available actions are: Table 4: Position limit actions Action...
  • Page 31 Application Guide | iC7 Series Motion The following example shows the resulting target for each positioning type with a start position of 2000 and a position reference or target of 1000: Absolute 2000 1000 3000 4000 Relative 2000 1000 3000 4000 Touch probe 2000...

  • Page 32: Profile Generator And Reference Handling

    Application Guide | iC7 Series Motion 360=0 360=0 360=0 360=0 Disable Direction Selection Negative Direction Positive Direction Shortest Way Figure 10: Directions of Movement with Rotary Axis Relative positioning Relative movement is started by activating a new target with the Enable Reference signal. For relative positioning the Enable Reference signal is edge-triggered, meaning that a pulse executes a positioning command and completes it with the references active at the point of execution.

  • Page 33: Control And Status Signals

    Application Guide | iC7 Series Motion The source for the target or reference position is selected with the Position Reference parameter in the 5.5 Control Places menu group, which offers the following options: Fieldbus reference, Preset reference, Analog input 1, and Analog input 2. The speed reference source for positioning is selected with parameters in the 5.5 Control Places menu group.

  • Page 34: Gear Mode

    Application Guide | iC7 Series Motion Table 8: Control Signals Control Signals (Input) Function Enable reference Executes a positioning command and controls when new references are used depending on the position- ing type: Absolute positioning A pulse executes a positioning command and completes it with the references active at the point of exe- cution.

  • Page 35: Synchronization Types

    Application Guide | iC7 Series Motion The position of the follower can be further adjusted or displaced, relative to the master position, by superimposed positioning. Superimposed positioning can either be activated manually or automatically based on sensor signals. The signal Start Synchronizing controls the starting and stopping of synchronization. The signal can be assigned to a digital input or set via the fieldbus control word.
  • Page 36 Application Guide | iC7 Series Motion In Relative Sync, the follower position is locked to the master position when Start Synchronizing is set, independent of Operation mode and drive status, and the offset remains the same while Start Synchronizing is true. However, movement of the follower and actual synchronization only commences when Operation mode is set to Gear Control and the drive is started.

  • Page 37: Gear Generator And Reference Handling

    Application Guide | iC7 Series Motion When marker synchronizing is selected, the Start Synchronizing signal starts the Relative Sync mode, and the follower position is locked to the master position until the first pair of markers is found. At this point, the first alignment of the markers is done. The first marker alignment is done by the follower catching up or slowing down depending on the selected behavior.

  • Page 38: Control And Status

    Application Guide | iC7 Series Motion Marker handling Superimposed profile generator P 5.15.4.1 Master Marker Source P 5.19.3.4 Superimposed P 5.15.4.2 Follower Marker Source Speed Difference P 5.15.4.3 Marker Distance P 5.19.3.5 Superimposed P 5.15.4.4 Marker Window distance Demanded position P 5.13.1.4 P 5.16.2.1 Master Source Selection Master position...

  • Page 39: Homing

    Application Guide | iC7 Series Motion Homing 2.12.4 Overview of Homing 2.12.4.1 The Homing function is used to define the zero point of the machine, thus creating a relation between the physical position of the machine and position values registered by the drive. Homing is needed in different situations depending on operating mode and type of feedback.
  • Page 40 Application Guide | iC7 Series Motion Homing on Switch (Rising Edge) in Positive Direction Homing on Switch (Rising Edge) in Negative Direction HomeSwitch HomeSwitch NegLimitSwitch PosLimitSwitch NegLimitSwitch PosLimitSwitch Homing on Switch (Falling Edge) in Positive Direction Homing on Switch (Falling Edge) in Negative Direction HomeSwitch HomeSwitch NegLimitSwitch...

  • Page 41: Homing On The Fly

    Application Guide | iC7 Series Motion Homing on the Fly 2.12.4.3 Homing on the fly adjusts Actual Position and Demanded Position when passing the home sensor, thus refreshing the home position while running, without affecting the ongoing movement. Homing on the fly can be used in all operating modes as a one-time homing maneuver after power-up, instead of having to execute a separate one-time homing function before starting.

  • Page 42: Touch Probe

    Application Guide | iC7 Series Motion Touch Probe 2.12.5 Overview of Touch Probe 2.12.5.1 The Touch probe function captures the actual position at the edge of a signal on a digital input, independent of the operating mode. 2 simultaneous touch probes are supported, called Touch Probe 1 (menu group 5.18.1) and Touch Probe 2 (menu group 5.18.2). The following describes Touch probe 1 but is applicable to both as the two touch probes and their parameters are identical, the only difference being level 3 of the parameter index number.

  • Page 43: Control And Status Signals

    Application Guide | iC7 Series Motion Control and Status Signals 2.12.5.2 Controlling touch probes is done by the following control signals: Control signal (input) Function Touch Probe 1 Enable Activates monitoring and capturing of Touch Probe 1 while signal is high (level-triggered) Touch Probe 2 Enable Activates monitoring and capturing of Touch Probe 2 while signal is high (level-triggered)

  • Page 44: Superimposed Movement

    Application Guide | iC7 Series Motion Events Time b3 b4 Distance a1-b1 a2-b2 a3-b4 a5-b5 Counter Figure 19: Two Separate Touch Probes as Sources A and B Events Time a6 a7 Distance a1-a2 a2-a3 a3-a4 a7-b8 a9-a10 Counter 46 47 Figure 20: The Same Touch Probe as Sources A and B Superimposed Movement 2.12.6...
  • Page 45 Application Guide | iC7 Series Motion Position Additive to Previous Target + 75 + 75 + 100 Speed Superimposed Speed Difference (5.19.1.8) Speed from underlaying movement Superimposed Distance (5.19.2.5) Superimposed Start Input (5.19.2.1) Superimposed Target Reached Output (5.19.1.3) Figure 21: Speed Control Superimposed Mode - Additive to Previous Target ©...
  • Page 46 Application Guide | iC7 Series Motion Position 175+ Delta Additive to Covered Distance + 75 Delta + 75 + 100 Speed Superimposed Speed Difference (5.19.1.8) Speed from underlaying movement Superimposed Distance (5.19.2.5) Superimposed Start Input (5.19.2.1) Superimposed Target Reached Output (5.19.1.3) Figure 22: Speed Control Superimposed Mode - Additive to Covered Distance | ©...
  • Page 47 Application Guide | iC7 Series Motion Position Absolute + 75 + 100 Speed Superimposed Speed Difference (5.19.1.8) Speed from underlaying movement Superimposed Distance (5.19.2.5) Superimposed Start Input (5.19.2.1) Superimposed Target Reached Output (5.19.1.3) Figure 23: Speed Control Superimposed Mode - Absolute Control and Status Signals Controlling superimposed movement is done by the following control signal: Control signal (input)

  • Page 48: Profidrive - Standard Telegram

    Application Guide | iC7 Series Motion PROFIdrive - Standard Telegram 1 2.13 Overview of PROFIdrive - Standard Telegram 1 2.13.1 Standard telegram 1 is implemented according to PROFIdrive Application Class 1 profile as defined in the PROFIdrive standard and state machine diagram.

  • Page 49: Status Word (Stw) In Profidrive Standard Telegram 1

    Application Guide | iC7 Series Motion Table 10: Control Word Bits in PROFIdrive Standard Telegram 1 (continued) Bit number Name Description Control by PLC 1 = Uses process data (control by PLC). 0 = Ignores the current process data. This is linked to a submodule where the CTW is present.

  • Page 50: Profidrive State Machine

    Application Guide | iC7 Series Motion Table 11: Status Word Bits in PROFIdrive Standard Telegram 1 (continued) Bit number Name Description Speed=reference/Speed<>reference 1 = The current motor speed matches the current speed reference within a given tolerance. The tolerance is product spe- cific.

  • Page 51: Ic Speed Profile

    Application Guide | iC7 Series Motion Figure 24 for the basic state transition diagram, where control bits 0–3 control the transitions and the corresponding status bit indicates the actual state. The black dots indicate the priority of the control signals. Fewer dots indicate lower priority, and more dots indicate higher priority.

  • Page 52: Control Word (Ctw) In Ic Speed Profile

    Application Guide | iC7 Series Motion Control Word (CTW) in iC Speed Profile 2.14.2 Table 12: iC Speed Profile Control Word Bits Bit number Name Description Preset reference selector 00 = Preset reference 1 01 = Preset reference 2 10 = Preset reference 3 11 = Preset reference 4 Reserved Reserved for future use.

  • Page 53: Status Word (Stw) In Ic Speed Profile

    Application Guide | iC7 Series Motion Table 12: iC Speed Profile Control Word Bits (continued) Bit number Name Description User defined These bits are reserved for application-specific advanced control. For more information, refer to the Parameter Descriptions chapter in the ap- User defined plication guide.

  • Page 54: Ic Motion Profile

    Application Guide | iC7 Series Motion Table 13: iC Speed Profile Status Word Bits (continued) Bit number Name Description Frequency limit 1 = The output frequency is within the defined motor limits. 0 = The output frequency has exceeded the defined motor limits. The speed limits are set with the parameters: •...
  • Page 55 Application Guide | iC7 Series Motion Table 15: Control Word Name Description Preset position reference Bit 0 Preset position reference Bit 1 Preset position reference Bit 2 No Coast Start Synchronizing Enable Reference Start 1 = If the other starting conditions are fulfilled, this selection allows the frequency converter to start the motor.

  • Page 56: Speed Reference And Actual Speed

    Application Guide | iC7 Series Motion Table 16: Status Word (continued) Name Description No coast (Enabled) 1 = There are no active coast signals, and the motor can start when a start signal is given. 0 = The frequency converter has an active coast signal and has released the motor.

  • Page 57: Position Reference And Actual Position

    Application Guide | iC7 Series Motion Table 17: Range of N2 values Coding Data type Range of values Resolution Length -200% ≤ I ≤ (200-2 = 0.006 1 % 2 Octet Coding: Representation in twos complement, the most significant bit (MSB) is the bit after the sign bit (SN) of the first octet. SN = 0: positive numbers including zero.

  • Page 58: User Interfaces

    Overview of User Interfaces To interact with a Danfoss iC7 Series drive, use either the control panel as a simple and direct interface, or the software tool MyDrive® Insight for more advanced interaction with the drive. The control panel can be mounted directly on the drive, or close to the drive by using a control panel mounting kit.
  • Page 59 Application Guide | iC7 Series Motion Control Panel Elements 3.2.2 The control panel provides an interface for configuring and controlling the converter easily. The section describes the elements for all control panel options. Conveyor belt 14 1420 Speed WARN READY FAULT WARN REA DY FAULT...
  • Page 60 Application Guide | iC7 Series Motion Table 18: Control Panel Elements Description (continued) Legend Name of Element Description Converter Status Indi- The LEDs indicate the status of the converter. cators • [WARN] - When this text is lit in yellow, it indicates a warning-level event. •...
  • Page 61 Application Guide | iC7 Series Motion Control Panel Basic Configurations 3.2.3 The basic configurations of the control panel include: A readout of the status of the motor and the drive, including warnings and faults. Navigable menus, where the parameter settings of the drive can be viewed and changed. Starting the Drive and Control Panel Display 3.2.4 While the drive is powering up until it is ready to operate, the control panel display shows the following:...
  • Page 62 Application Guide | iC7 Series Motion The name of the application software. The status of the drive (see the following table). The current control of the drive. REM indicates remote The setpoint of the selected operation mode. The local control and LOC indicates local control. The arrow shows setpoint can only be changed when the drive is in local the direction of the motor.
  • Page 63 Application Guide | iC7 Series Motion Press the down arrow on the control panel when in Readout Screen 1, and the control panel screen navigates to Readout Screen 2. As a factory default setting, the control panel shows 3 readout values, as shown in the preceding image. Adjusting Display Backlight and Contrast 3.2.6 When in Readout Screen 1 or Readout Screen 2, it is possible to adjust the backlight intensity and contrast of the display.
  • Page 64 Application Guide | iC7 Series Motion Add a readout to the screen by navigating to the Add readout button on the UI and pressing it. You can move between the Add readout and Remove readoutbuttons by pressing the left and right arrow buttons on the control panel. After pressing the Add readout button, select the readout to be added.
  • Page 65 Application Guide | iC7 Series Motion Name and control state of the drive. The menu readout header. It shows the first 3 signals selected in Readout Screen 2. Editing this line also affects Readout Screen 2. Previous and Next arrow icons. Press the icons to navigate Name of the application software that is active in the drive.
  • Page 66 Application Guide | iC7 Series Motion Ramp 1 Type Selector Linear Ramp S-Ramp Figure 37: The Selections of a Parameter To browse through the selections, press the up or down arrow buttons. To select a selection, press OK. Changing a Parameter Value 3.2.10 The example parameter in this procedure is P 5.8.6.2.2 Ramp 1 Accel.
  • Page 67 Application Guide | iC7 Series Motion Control Panel Shortcuts 3.2.12 The following table lists shortcuts in navigating in the control panel. Table 20: Control Panel Shortcuts Action Precondition Buttons Activation time Fast scroll When in a menu or list of Up and down arrows 1 s to activate choices...
  • Page 68 As a prerequisite, ensure that MyDrive® Insight is installed on the device (PC or laptop). MyDrive® Insight can be downloaded and installed from MyDrive® Suite, available here: https://suite.mydrive.danfoss.com/ To establish a point-to-point connection between the drive and the device, use the communication interface X0 and the RJ45 Ethernet port on the device by using a standard Ethernet cable.
  • Page 69 Application Guide | iC7 Series Motion Figure 42: Connection Established To interact with the drive, navigate to the required screen in MyDrive® Insight. The example picture shows the Device Info screen. Figure 43: Device Info Note: The application guide covers basic information such as accessing parameters and using MyDrive® Insight as the PC control place.
  • Page 70 Application Guide | iC7 Series Motion  The Parameters (Live) screen opens. Figure 45: Parameters (Live) Parameter group: Navigate through the different Search field: Use the search function to find a parameter groups in the drive. specific parameter. PC Controlbutton: Switch to PC control to start or Value field: View and change a parameter value or selection.
  • Page 71 Application Guide | iC7 Series Motion Figure 46: Navigating the Parameter Groups Note: When in a specific parameter subgroup, only parameters in that parameter subgroup can be accessed. Searching for a specific parameter Type the search term in the Search field. The search returns all parameters that have the search term in the name. In the following example, all parameters with DC-Link in the name are listed in the search results.
  • Page 72 Application Guide | iC7 Series Motion Figure 48: Parameter Overview Table 21: Legend Table Legend Description Further information Index Based on the parameter group structure, the index defines the location of the para- meter. The index is not used as a unique identifier of a parameter.
  • Page 73 Application Guide | iC7 Series Motion Table 21: Legend Table (continued) Legend Description Further information Unit When applicable, the unit of the parame- ter is shown in the Unit field. Number The unique identifier for each parameter. The identifier is independent and decou- pled from the parameter index values.
  • Page 74 Application Guide | iC7 Series Motion Use the START, STOP, and STOP COAST buttons (3) to perform drive operations. Use the sliders (4) to increase or decrease the reference speed. To reset the drive in case of a fault, click RESET FAULTS (5). For ease of access, click the Pin button (6) to make the control panel be constantly visible on the screen.
  • Page 75 Application Guide | iC7 Series Motion Activate the force trigger. The 0–1 transition (rising edge) Arm Datalogger. The 0–1 transition (rising edge) readies triggers Datalogger manually. This function is typically Datalogger for triggering. used with automatic triggers. Apply any changed settings. Configuring Datalogger 3.3.6.2 There are 2 main steps to configuring Datalogger:...
  • Page 76 Application Guide | iC7 Series Motion Table 22: Datalogger Settings Fields Field name Field description Sample time (ms) Enter a sample time in ms. The actual sample time depends on the switching frequency. Fast sample rate settings result in data changing slowly in the resulting log. Window time (s) Defines the size of the capture window.
  • Page 77 Application Guide | iC7 Series Motion Table 22: Datalogger Settings Fields (continued) Field name Field description Trigger type Following are the trigger types: • No trigger(manual trigger only). • Equaltriggers when the value of the trigger source variable is equal to trigger level 1. •...
  • Page 78 Application Guide | iC7 Series Motion Table 22: Datalogger Settings Fields (continued) Field name Field description Trigger mode Select 1 of the following trigger modes: • Single trigger mode: After a datalog recording, the datalogger must be rearmed before another trigger is allowed.
  • Page 79 Application Guide | iC7 Series Motion Table 22: Datalogger Settings Fields (continued) Field name Field description Click the Add signal button under the Trigger source heading. Trigger source A Trigger source field appears. Click the Trigger sourcefield to select the signal source which is used for triggering the data- logger recording.
  • Page 80 Application Guide | iC7 Series Motion Figure 55: Apply settings  After the signal selection and the datalogger settings, the datalogger is ready to record the logs. To view a recorded datalog file, click the icon shown in the following figure. Figure 56: Datalogger view icon Backup and Restore 3.3.7...
  • Page 81 Application Guide | iC7 Series Motion Backing up the Drive 3.3.7.2 To back up the drive, select a drive, go to Setup & Services > Parameters. Click the backup destination icon shown in the following figure. Figure 58: Backup Destination icon ...
  • Page 82 Application Guide | iC7 Series Motion Figure 59: Backup File in the Menu Restoring the Data to the Drive 3.3.7.3 To restore data to the drive, select a drive, and go to Setup & Service > Parameters. Click the Restore Data icon shown in the following image. Figure 60: Restore Data Icon Select the source of the data which is to be restored to the drive.
  • Page 83 Application Guide | iC7 Series Motion Figure 61: Source of Data to Restore Click Next to select the backup source device and view the available backup files. If Project is the restore source, select the correct backup to restore. Click Next. Figure 62: Select the Backup Select the files for restoring data into the drive, as shown in the following image, and click Next.
  • Page 84 Application Guide | iC7 Series Motion Figure 63: Restore Data The system asks you to confirm the restore action. Click Restore. Figure 64: Confirm the Restore  If the data restore is successful, a message is shown. | © 2023.11 AB318753549016en-000301 / 136R0284...
  • Page 85 Application Guide | iC7 Series Motion Application Software Structure and Overview Understanding Application Software Structure Principles The basic design principle of the application software structure and the related hierarchy refers to the setup of a typical iC7 drive. The same application software structure is reused across all products within the iC7 series. This means that some of the parameter groups or dedicated parameters may not be visible for all applications.
  • Page 86 Application Guide | iC7 Series Motion Table 23: Parameter Group Description Index Parameter group name Description Grid Contains parameters for the configuring, monitoring, and controlling the energy source of the drive system. Typically, the energy source is the grid. The menu also lets the user configure grid protection set- tings and view the condition of the grid.
  • Page 87 Application Guide | iC7 Series Motion Configuration Setup Examples Configuration Prerequisites The section covers the basic configuration steps of a drive. It is possible that the application requires more steps such as protection settings. Use the following topics as reference during the drive configuration/commissioning process: For control panel related configurations, see 3.2.3 Control Panel Basic Configurations.
  • Page 88 Application Guide | iC7 Series Motion Note: Selection lists with inputs and/or outputs consist of the name of the hardware option and the numbers of the terminals. For example, terminal number 13 of the Basic I/O is called Basic I/O T13 in the selection list. Basic Setup of a Drive The basic setup of the drive consists of the following configuration steps.
  • Page 89 Application Guide | iC7 Series Motion Configure the readouts in the control panel. See Understanding Readout Screens. Configuring the Motor, Motor Control, and Motor Thermal Protection The required configuration steps depend on the motor type selected in parameter 4.2.1.1 Motor Type.  ...
  • Page 90 Application Guide | iC7 Series Motion Table 24: Asynchronous Induction Motors Index Parameter name Parameter setting Parameter number 4.2.3.1 Stator Resistance Rs Result of AMA or as on motor data sheet. 4.2.3.2 Rotor Resistance Rr Result of AMA or as on motor data sheet.
  • Page 91 Application Guide | iC7 Series Motion Index Parameter name Parameter setting Parameter number 4.3.1.1 Motor Control Principle FVC+ Control 2503 4.3.3.1 Continuous Rs Estimation Enabled Note: For motor control principles VVC+ and U/f, the following applies: Configure compensations for slip and different application conditions in parameter group 4.3.4 VVC+ & U/f Settings. ¢...
  • Page 92 Application Guide | iC7 Series Motion 11 (24V) 12 (24V) 13 (DI1) Start Forward 14 (DI2) 15 (DI/DO1) 16 (DI/DO2) Coast Inverse 17 (DI3) 18 (DI4) 19 (GND) 20 (GND) Reference: 31 (AO1) Potentiometer (4,7 kohm) 32 (+ 10V) 33 (AI1) 34 (AI2) 35 (GND) Figure 67: Wiring diagram example - Speed Control with Basic I/O...
  • Page 93 Application Guide | iC7 Series Motion Index Parameter name Example setting Parameter number 5.8.3.1 Positive Speed Limit 1500 RPM 1729 5.8.3.2 Negative Speed Limit -1500 RPM 1728 5.8.3.3 Minimum Speed Limit 0 RPM 1722 Configure the ramp. Index Parameter name Example setting Parameter number...
  • Page 94 Application Guide | iC7 Series Motion Also perform an Auto Tuning of the speed controller settings. Auto tuning requires an inertia estimation value. Besides the settings already described, adjust the following: Index Parameter name Example setting Parameter number 5.8.11.1 Speed Controller Auto Tuning Enabled 4546 5.3.2.1...
  • Page 95 Application Guide | iC7 Series Motion 11 (24V) 12 (24V) 13 (DI1) Start Forward 14 (DI2) 15 (DI/DO1) 16 (DI/DO2) Coast Inverse 17 (DI3) 18 (DI4) 19 (GND) 20 (GND) Reference: 31 (AO1) Potentiometer (4,7 kohm) 32 (+ 10V) 33 (AI1) 34 (AI2) 35 (GND) Figure 68: Wiring diagram example - Torque Control with Basic I/O...
  • Page 96 Application Guide | iC7 Series Motion Index Parameter name Example setting Parameter number 5.9.2.1 Positive Torque Limit 150% 1810 5.9.2.2 Negative Torque Limit -150% 1811 5.9.2.3 Motoring Torque Limit 100% 1321 5.9.2.4 Regenerative Torque Limit 100% 1323 5.9.2.5 Speed Limit Mode Torque Ctrl. Pos./Neg.
  • Page 97 Application Guide | iC7 Series Motion Table 29: Basic I/O Settings Index Parameter name Example setting Parameter number 9.5.2.1 T33 Terminal Mode Analog input 2020 9.5.2.2 T33 Terminal Type Voltage 2273 9.5.2.3 T33 Minimum Value 2272 9.5.2.4 T33 Maximum Value 10 V 2271 ©...
  • Page 98 Application Guide | iC7 Series Motion Parameter Descriptions Introduction to Parameter Descriptions Reading the Parameter Table 6.1.1 The application guide includes parameter overview tables. The following descriptions explain how to read the parameters. Figure 70: Reading the Parameter Table The parameter index and name. Parameter indices start The parameter help text which is visible in the control with a P.
  • Page 99 Application Guide | iC7 Series Motion Table 30: Overview of data types (continued) Data type Description Size Range (Bits) ULINT Unsigned long integer 0–18446744073709551615 DATE_AND_TIME Date and time information Understanding Parameter Types 6.1.3 The following table lists the different types of parameters. Table 31: Parameter Types and Descriptions Parameter Type Description...
  • Page 100 Application Guide | iC7 Series Motion Default Value: NA Parameter Type: Range (\* — \*) Parameter Number: 9041 Unit: Hz Data Type: REAL Access Type: Read Only P 1.1.2 Line-To-Line Voltage (RMS) Description: Shows the average line-to-line voltage (RMS). Default Value: NA Parameter Type: Range (0 —...
  • Page 101 Application Guide | iC7 Series Motion P 1.1.12 Grid Active Power Description: Shows the active power at the point of grid connection. Default Value: NA Parameter Type: Range (\* — \*) Parameter Number: 9064 Unit: kW Data Type: REAL Access Type: Read Only Grid Settings (Menu Index 1.2) 6.2.3 P 1.2.1 Grid Type...
  • Page 102 Application Guide | iC7 Series Motion Grid Protection (Menu Index 1.3) 6.2.4 P 1.3.1 Invalid Frequency Response Description: Select the response after detection of invalid grid frequency. Default Value: 1 [Fault] Parameter Type: Selection Parameter Number: 2337 Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter.
  • Page 103 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Disabled Disables the function. Enabled Enables the function. P 1.3.9 Grid Voltage Imbalance Response Description: Select the mode of grid imbalance protection. Default Value: 1 [Fault or Warning] Parameter Type: Selection Parameter Number: 9056 Unit: -...
  • Page 104 Application Guide | iC7 Series Motion Default Value: 400 Parameter Type: Range (0 — \*) Parameter Number: 2830 Unit: V Data Type: REAL Access Type: Read Only P 2.1.2 Unit Nominal Current Description: Shows the nominal current of the unit. Default Value: 23 Parameter Type: Range (0 —...
  • Page 105 Application Guide | iC7 Series Motion P 2.1.14 Actual Relative Output Current Limit Description: Shows the actual output current limit relative to the nominal motor current. Default Value: NA Parameter Type: Range (0 — 300) Parameter Number: 2700 Unit: % Data Type: REAL Access Type: Read Only P 2.1.15 Heat Sink Temperature...
  • Page 106 Application Guide | iC7 Series Motion Description: Select the unit voltage class to optimize the performance of the drive. Default Value: \* Parameter Type: Selection Parameter Number: 2832 Unit: - Data Type: UINT Access Type: Read/Conditional Write The following are the selections for the parameter. Selection Number Selection Name Selection Description...
  • Page 107 Application Guide | iC7 Series Motion Description: Select the supply mode. Default Value: 0 [AC] Parameter Type: Selection Parameter Number: 1328 Unit: - Data Type: UINT Access Type: Read/Conditional Write The following are the selections for the parameter. Selection Number Selection Name Selection Description Drive is supplied from AC grid.
  • Page 108 Application Guide | iC7 Series Motion Description: Select the input for scaling the output current limit between 0% and 100% value as defined in the current limit. Off equals 100%. Default Value: Parameter Type: Selection Parameter Number: 1322 Unit: - Data Type: UINT Access Type: Read/Write P 2.2.1.13 Output Current Limit Response...
  • Page 109 Application Guide | iC7 Series Motion P 2.2.1.16 Power Limit Motor Delay Description: Set the delay before the selected response is triggered after the drive has reached the power limit. Default Value: Parameter Type: Range (0 — 65000) Parameter Number: 2364 Unit: s Data Type: REAL Access Type: Read/Write...
  • Page 110 Application Guide | iC7 Series Motion Table 33: Selection Descriptions Selection Name Selection Description Low Voltage Range Unit nominal voltage and current are configured according to the lowest voltage of the power unit's voltage range. For example: In 380–500 V (3N05) rated units, the range is 380–440 V AC. Medium Voltage Range Unit nominal voltage and current are configured according to the medium voltage level of the power unit's voltage range.
  • Page 111 Application Guide | iC7 Series Motion Table 34: Selection Descriptions (continued) Selection Name Selection Description High Overload Mode (HO1) For applications which require higher short-term overload and constant torque operations. Typical applications work with continuous motion. With high overload mode HO1, the drive can run with a load of up to 160% for 1 minute every 10 minutes, with a breakaway torque of up to 200%, depend- ing on size.
  • Page 112 Application Guide | iC7 Series Motion Description: Select the drive response to a main fan fail. Default Value: 3 [Warning] Parameter Type: Selection Parameter Number: 2939 Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter. Selection Number Selection Name Selection Description...
  • Page 113 Application Guide | iC7 Series Motion Description: Select the level of derating if the drive's nominal operational limits have been exceeded. Default Value: 0 [Maximum derating] Parameter Type: Selection Parameter Number: 2345 Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter.
  • Page 114 Application Guide | iC7 Series Motion Default Value: 1 [Fault] Parameter Type: Selection Parameter Number: 2340 Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter. Selection Number Selection Name Selection Description Fault The drive issues a fault and stops. Automatically derate The drive continues operation with derated performance.
  • Page 115 Application Guide | iC7 Series Motion Default Value: 0 Parameter Type: Range (False — True) Parameter Number: 2355 Unit: - Data Type: BOOL Access Type: Read/Write Additional Information for Power Unit Protection Settings 6.3.4.2 P 2.3.1.1 Retry After Fault This parameter enables the retry functionality (fault ride-through) after 1 of the common power conversion protections has activated. The number of retries or the retrying window depends on the power unit type and rating.
  • Page 116 Application Guide | iC7 Series Motion Table 37: Selection Descriptions Selection Name Selection Description Trip The drive issues a fault and stops modulation. Automatically derate The drive derates the rectifier current (DC-link current) to mitigate the cause of rectifier thermal overload.
  • Page 117 Application Guide | iC7 Series Motion Default Value: 100 Parameter Type: Range (0 — 10000) Parameter Number: 1804 Unit: % Data Type: REAL Access Type: Read/Write P 2.3.2.4 Overvoltage Control Td Description: Set the scaling of the overvoltage control derivation time. Default Value: 100 Parameter Type: Range (0 —...
  • Page 118 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description None The function is disabled. Undervoltage control Drive utilizes the kinetic energy in the system to maintain operation as long as possible. Controlled ramp down Drive utilizes the kinetic energy in the system to perform a controlled ramp down.
  • Page 119 Application Guide | iC7 Series Motion Default Value: 100 Parameter Type: Range (0 — 10000) Parameter Number: 1808 Unit: % Data Type: REAL Access Type: Read/Write P 2.3.3.8 Undervoltage Control Activation Level Description: Set the level at which undervoltage control is activated. Default Value: 100 Parameter Type: Range (\* —...
  • Page 120 Application Guide | iC7 Series Motion Table 41: Selection Descriptions Selection name Selection description Ramp to Reference This is the recommended selection for a system drive. The drive ramps from the actual speed to the reference. Ramp Fast to Reference The drive bypasses ramping and operates directly with the reference.
  • Page 121 Application Guide | iC7 Series Motion The following are the selections for the parameter. Selection Number Selection Name Selection Description Disabled Disables the function. Enabled Enables the function. Filters & Brake Chopper (Menu Index 3) Filters & Brake Chopper Overview 6.4.1 This parameter group contains parameters for configuring, monitoring, and controlling the input filters, output filters, brake chopper, and brake resistors.
  • Page 122 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Disabled Enabled in Run and Coast Enables the brake chopper both while running and at coast. Enabled in run only Enables the brake chopper while running. P 3.2.2 Brake Chopper Voltage Reduce Description: Set the activation level of the brake chopper.
  • Page 123 Application Guide | iC7 Series Motion Default Value: 1 Parameter Type: Range (0 — \*) Parameter Number: 2937 Unit: kW Data Type: REAL Access Type: Read/Write Additional Information for Brake Resistor 6.4.5 P 3.3.3 Brake Resistor Power Limit The parameter must be configured to set the expected average power dissipated in the brake resistor over a period of 120 s. To calculate the brake resistor power limit, use the following formula.
  • Page 124 Application Guide | iC7 Series Motion Default Value: Parameter Type: Selection Parameter Number: 3412 Unit: - Data Type: UINT Access Type: Read/Write P 3.4.3 Thermal Switch Response Description: Select which function is activated if the thermal input indicates too high a temperature. Default Value: 1 [Fault, ramp to coast] Parameter Type: Selection Parameter Number: 3413...
  • Page 125 Application Guide | iC7 Series Motion Default Value: 0 [None] Parameter Type: Selection Parameter Number: 5501 Unit: - Data Type: UINT Access Type: Read/Conditional Write The following are the selections for the parameter. Selection Number Selection Name Selection Description None No output filter connected.
  • Page 126 Application Guide | iC7 Series Motion Default Value: NA Parameter Type: Range (0 — \*) Parameter Number: 9000 Unit: A Data Type: REAL Access Type: Read Only P 4.1.2 Relative Motor Current Description: Shows the actual motor current in % of the nominal motor current. Default Value: NA Parameter Type: Range (0 —...
  • Page 127 Application Guide | iC7 Series Motion P 4.1.11 Motor Torque Description: Shows the actual motor torque. Default Value: NA Parameter Type: Range (-10000000 — Parameter Number: 9009 10000000) Unit: Nm Data Type: REAL Access Type: Read Only P 4.1.12 Relative Motor Torque Description: Shows the motor torque in % of the nominal motor torque.
  • Page 128 Application Guide | iC7 Series Motion Default Value: Parameter Type: Selection Parameter Number: 2302 Unit: - Data Type: UINT Access Type: Read/Write P 4.1.18 Motor Voltage Output Description: Select an output for the motor voltage signal. The scale of the signal is 0–100% of the nominal voltage. Default Value: Parameter Type: Selection Parameter Number: 2303...
  • Page 129 Application Guide | iC7 Series Motion P 4.1.24 AMA Progress Description: Shows the progress of the Automatic Motor Adaptation (AMA). Default Value: NA Parameter Type: Range (0 — 100) Parameter Number: 429 Unit: % Data Type: REAL Access Type: Read Only P 4.1.26 Motor Temperature Description: The analog temperature sensor has exceeded the configured value.
  • Page 130 Application Guide | iC7 Series Motion Description: Select the Automatic Motor Adaptation (AMA) mode. Default Value: 0 [Off] Parameter Type: Selection Parameter Number: 420 Unit: - Data Type: UINT Access Type: Read/Conditional Write The following are the selections for the parameter. Selection Number Selection Name Selection Description...
  • Page 131 Application Guide | iC7 Series Motion Description: Set the output phase sequence. This function virtually swaps the output phases, which can be used to change the direction of motor rotation without having to physically rewire motor cables. Default Value: 0 [UVW] Parameter Type: Selection Parameter Number: 431 Unit: -...
  • Page 132 Application Guide | iC7 Series Motion Table 44: Pole Pairs (p) or Pole Number and Synchronous Motor Speed Number of pole pairs (p) Number of poles 50 Hz supply 3000 1500 1000 60 Hz supply 3600 1800 1200 The dependency of the motor’s synchronous speed ns in RPM of the frequency f of the power supply in Hz (parameter 1.1.1 Grid Frequency) and the number of pole pairs in parameter 4.2.1.2 Number of Pole Pairs is provided by the earlier formula.
  • Page 133 Application Guide | iC7 Series Motion Overview of Motor Nameplate Data 6.5.3.3 These parameters allow the setting of motor nameplate data. Often, permanent magnet motors have torque but not power given on the motor nameplate. For those motors, set the speed and torque product label settings, then the system calculates the power value.
  • Page 134 Application Guide | iC7 Series Motion Description: Set the nominal motor voltage. Default Value: 400 Parameter Type: Range (\* — \*) Parameter Number: 401 Unit: V Data Type: REAL Access Type: Read/Conditional Write P 4.2.2.6 Nominal Torque Description: Set the nominal torque from the nameplate of the motor. Default Value: 52521.13 Parameter Type: Range (\* —...
  • Page 135 Application Guide | iC7 Series Motion Default Value: 0.03 Parameter Type: Range (0.00 — 62.83) Parameter Number: 441 Unit: Ω Data Type: REAL Access Type: Read/Conditional Write P 4.2.3.6 Magnetizing Reactance Xm Description: Set the motor magnetizing reactance. Overwritten by AMA. Default Value: 0.94 Parameter Type: Range (0.00 —...
  • Page 136 Application Guide | iC7 Series Motion Default Value: 1.21 Parameter Type: Range (0 — 1000000) Parameter Number: 408 Unit: Ω Data Type: REAL Access Type: Read/Conditional Write P 4.2.4.3 d-axis Inductance Ld Description: Set the motor non-saturated d-axis inductance. Overwritten by AMA. Default Value: 23.00 Parameter Type: Range (0.00 —...
  • Page 137 Application Guide | iC7 Series Motion Default Value: 100 Parameter Type: Range (0 — 300) Parameter Number: 424 Unit: % Data Type: REAL Access Type: Read/Conditional Write Motor Control (Menu Index 4.3) 6.5.4 General Settings (Menu Index 4.3.1) 6.5.4.1 P 4.3.1.1 Motor Control Principle Description: Select the motor control principle.
  • Page 138 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Motor feedback test is not enabled. Enable Motor Feedback Test The next start command initiates test of motor feedback signal. Running a Motor Feedback Test 6.5.4.2 The Motor Feedback Test optimizes closed-loop motor operation. During the test, the motor is rotated in open loop and feedback data is gathered.
  • Page 139 Application Guide | iC7 Series Motion Voltage Voltage Pt 5 Voltage Pt 4 Voltage Pt 3 Voltage Pt 2 Voltage Pt 1 Freq.Pt 0 Freq.Pt 1 Freq.Pt 2 Freq.Pt 3 Freq.Pt 4 Freq.Pt 5 Frequency Figure 74: U/f Settings U/f Settings (Menu Index 4.3.2) 6.5.4.4 P 4.3.2.1 Voltage Point 0 Description: Set the U/f curve voltage point 0.
  • Page 140 Application Guide | iC7 Series Motion Default Value: 320 Parameter Type: Range (0 — \*) Parameter Number: 2604 Unit: V Data Type: REAL Access Type: Read/Write P 4.3.2.6 Voltage Point 5 Description: Set the U/f curve voltage point 5. Default Value: 400 Parameter Type: Range (0 —...
  • Page 141 Application Guide | iC7 Series Motion P 4.3.2.12 Frequency Point 5 Description: Set the U/f curve frequency point 5. Default Value: 50 Parameter Type: Range (0 — 2000) Parameter Number: 2615 Unit: Hz Data Type: REAL Access Type: Read/Write FVC+ Settings (Menu Index 4.3.3) 6.5.4.5 P 4.3.3.1 Continuous Rs Estimation Description: Enables Rs estimation while running, to compensate for changing operating conditions.
  • Page 142 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Selected motor control Uses the selected motor control at low speed. Forced current mode (I/f Control) Selects robust I/f current control at low speed. Low speed minimum current (only in FVC Ensures a minimum current in FVC+ speed mode at low speed.
  • Page 143 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Open loop The motor is operated without feedback. The motor control estimates the actual speed. Closed loop with Feedback Device 1 The motor is operated with feedback, providing speed and position feedback for motor control from feedback device 1.
  • Page 144 Application Guide | iC7 Series Motion P 4.3.3.16 IdIq Reference Ratio Description: Set the synchronous motor Id/Iq current reference ratio in %. It is used instead of the default MTPA, if it is set to be different from 0. Default Value: 0 Parameter Type: Range (-100 —...
  • Page 145 Application Guide | iC7 Series Motion P 4.3.4.2 Slip Compensation Tc Description: Set the slip compensation time constant. Default Value: 50.00 Parameter Type: Range (0.00 — Parameter Number: 2805 100000.00) Unit: ms Data Type: REAL Access Type: Read/Write P 4.3.4.3 High-speed Load Comp. Description: Set the high-speed load compensation in % of the motor voltage drop.
  • Page 146 Application Guide | iC7 Series Motion P 4.3.4.9 Res. Damp. High Pass Tc (SM) Description: Set time constant of resonance damping for VVC+ control of synchronous motors (SM). Default Value: Parameter Type: Range (0 — 1) Parameter Number: 2819 Unit: s Data Type: REAL Access Type: Read/Write P 4.3.4.10 Motor Model Tc (SM)
  • Page 147 Application Guide | iC7 Series Motion Description: Set the integration time of the current limit controller. The value is scaled to % of the nominal setting. Default Value: 100 Parameter Type: Range (0 — 500) Parameter Number: 3194 Unit: % Data Type: REAL Access Type: Read/Write Additional Information for VVC+ &...
  • Page 148 Application Guide | iC7 Series Motion The following are the selections for the parameter. Selection Number Selection Name Selection Description No response The event is ignored. Warning The drive issues a warning. Fault The drive issues a fault and coasts the motor.
  • Page 149 Application Guide | iC7 Series Motion Default Value: Parameter Type: Selection Parameter Number: 2839 Unit: - Data Type: UINT Access Type: Read/Write P 4.5.6 Motor Thermistor Response Description: Select the response to a motor thermistor event. Default Value: 9 [Fault, ramp to coast] Parameter Type: Selection Parameter Number: 2846 Unit: -...
  • Page 150 Application Guide | iC7 Series Motion Default Value: 3 [Warning] Parameter Type: Selection Parameter Number: 2922 Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter. Selection Number Selection Name Selection Description Disable Synchronization loss detection is disabled. Fault The drive issues a fault if this event happens.
  • Page 151 Application Guide | iC7 Series Motion Default Value: - Parameter Type: Parameter Number: 6203 Unit: Data Type: DWORD Access Type: - P 5.1.8 Warning Status Word 1 Description: Shows the warning status word 1. Default Value: - Parameter Type: Parameter Number: 6205 Unit: Data Type: DWORD Access Type: -...
  • Page 152 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description In stopping state In homing state Unknown drive state Executing non-abortable command Parameter out of range Local Control Active Invalid enumeration value Internal homing error Home mode not allowed in stopped Invalid Home Mode Homing error, ending in standstill Homing error, not in standstill...
  • Page 153 Application Guide | iC7 Series Motion Description Zero speed Protection mode active P 5.1.2 Motor Ctrl. Ready Status Word Description Run Enable high. No fault active. DC-link precharging done. DC Voltage within limits. Power manager initialized. Brake test not running. System software is not blocking start.
  • Page 154 Application Guide | iC7 Series Motion P 5.1.5 Fault Status Word 1 Description Event number Overcurrent 4384, 4373, 5170, 4368, 4369, 4375, 4377, 4380, 4097 Overvoltage 4164, 4162, 4144 4145 Undervoltage 4165, 4146 Unit temperature high 4117, 4118, 4119 Unit temperature low 4116 Control board overtemperature 4121, 4122, 4123, 4120...
  • Page 155 Application Guide | iC7 Series Motion Description Event number Fieldbus communication 5162, 4256, 4257, 4258, 4260, 4261, 4263, 4265, 4266 ,4267, 4268, 4269, 4280, 4281, 4270, 4271, 4272, 4273, 4282, 4274, 4275, 4276, 4277, 4283, 4278, 4279 HMI connection 5141, 5142 Feedback connection 4418 Thermistor input...
  • Page 156 Application Guide | iC7 Series Motion Default Value: Parameter Type: Selection Parameter Number: 2400 Unit: - Data Type: UINT Access Type: Read/Write P 5.2.1.2 Cooling Monitor Fault Delay Description: Set a delay before the cooling monitor issues a fault. Only valid if fault is selected. Default Value: 3 Parameter Type: Range (0 —...
  • Page 157 Application Guide | iC7 Series Motion Default Value: 9 [Fault, ramp to coast] Parameter Type: Selection Parameter Number: 4559 Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter. Selection Number Selection Name Selection Description No response The event is ignored.
  • Page 158 Application Guide | iC7 Series Motion Default Value: Parameter Type: Selection Parameter Number: 5184 Unit: - Data Type: UINT Access Type: Read/Write Additional Information for External Event 6.6.4.3 Events can be issued via an external signal with the parameters of the External Event parameter group. The event can be delayed with parameters 5.2.2.9 External Event 1 Delay and 5.2.2.10 External Event 2 Delay.
  • Page 159 Application Guide | iC7 Series Motion Description: Shows the temperature measured for the temperature protection. Default Value: NA Parameter Type: Range (-300 — 300) Parameter Number: 5205 Unit: °C Data Type: REAL Access Type: Read Only Temp. 1 Protection (Menu Index 5.2.3.2) 6.6.4.4.2 P 5.2.3.2.1 Temp.
  • Page 160 Application Guide | iC7 Series Motion Description: Select the temperature sensor input for the temperature protection. Default Value: Parameter Type: Selection Parameter Number: 5210 Unit: - Data Type: UINT Access Type: Read/Write P 5.2.3.3.2 Temp. 2 Limit 1 Description: Set the temperature level for issuing a warning. Default Value: 120 Parameter Type: Range (-300 —...
  • Page 161 Application Guide | iC7 Series Motion Default Value: 120 Parameter Type: Range (-300 — 300) Parameter Number: 5215 Unit: °C Data Type: REAL Access Type: Read/Write P 5.2.3.4.3 Temp. 3 Limit 2 Description: Set the temperature level for issuing a protection response. Default Value: 150 Parameter Type: Range (-300 —...
  • Page 162 Application Guide | iC7 Series Motion Default Value: 150 Parameter Type: Range (-300 — 300) Parameter Number: 5220 Unit: °C Data Type: REAL Access Type: Read/Write P 5.2.3.5.4 Temp. 4 Limit 2 Response Description: Select the response for exceeding the limit. Default Value: 9 [Fault, ramp to coast] Parameter Type: Selection Parameter Number: 5221...
  • Page 163 Application Guide | iC7 Series Motion Default Value: 9 [Fault, ramp to coast] Parameter Type: Selection Parameter Number: 5225 Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter. Selection Number Selection Name Selection Description Warning The drive issues a warning.
  • Page 164 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Warning The drive issues a warning. Fault, ramp to coast Issues a fault, ramps down, and coast. Fault The drive issues a fault and coasts the motor. Blocked Rotor Detection 6.6.4.5 Use the blocked rotor detection function to detect if the rotor is blocked by the application.
  • Page 165 Application Guide | iC7 Series Motion Lost Load Detection (Menu Index 5.2.7) 6.6.4.7 P 5.2.7.1 Lost-load Response Description: Select an action for the lost-load detection. The lost-load detection is active if the motor speed is above 15 Hz. Default Value: 0 [No response] Parameter Type: Selection Parameter Number: 9072 Unit: -...
  • Page 166 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description No response The event is ignored. Info The event is logged in the event log. Warning - Persistent The drive issues a warning that stays active until acknowledged by a reset. Fault, ramp to coast Issues a fault, ramps down, and coast.
  • Page 167 Application Guide | iC7 Series Motion Load (Menu Index 5.3) 6.6.5 Load Status (Menu Index 5.3.1) 6.6.5.1 P 5.3.1.1 Inertia Estimation Status Description: Shows the status of the inertia estimation routine. 0 = Inactive, 1 = In progress, 2 = Completed successfully, 3 = Completed unsuccessfully.
  • Page 168 Application Guide | iC7 Series Motion P 5.3.2.3 System Inertia Description: Set the system inertia. Default Value: 0 Parameter Type: Range (0 — 10000) Parameter Number: 667 Unit: kgm² Data Type: REAL Access Type: Read/Write Torque & AEO (Menu Index 5.3.3) 6.6.5.3 P 5.3.3.1 Torque Characteristic Description: Select the torque characteristics matching the application needs.
  • Page 169 Application Guide | iC7 Series Motion Default Value: 66 Parameter Type: Range (40 — 90) Parameter Number: 8020 Unit: % Data Type: REAL Access Type: Read/Write Operation Mode (Menu Index 5.4) 6.6.6 Settings (Menu Index 5.4.2) 6.6.6.1 P 5.4.2.16 Operation Mode Description: Select the drive operation mode.
  • Page 170 Application Guide | iC7 Series Motion Control Places (Menu Index 5.5) 6.6.7 Control Places Overview 6.6.7.1 The parameters of parameter group 5.5are used to configure the source from where the drive receives its commands, and what types of references are used. The configuration of the reference sources is part of the application controller parameterization. Commands and references are configured per operation mode of the drive (see also parameter 5.4.2.16).
  • Page 171 Application Guide | iC7 Series Motion Control Places 5.5.3.1 Settings (Functionality settings for the control panel) 5.5.3.2 References Control Place Selection (Types of reference for speed control, torque control, (Parameter 5.5.2.1) and process control when controlled by the panel) Command sources 5.5.3 Local Control and references types 5.5.4.1References...
  • Page 172 Application Guide | iC7 Series Motion Default Value: Parameter Type: Selection Parameter Number: 5178 Unit: - Data Type: UINT Access Type: Read/Write P 5.5.1.3 Fieldbus Control Active Output Description: Select an output terminal indicating that the drive is in fieldbus control. Default Value: Parameter Type: Selection Parameter Number: 5197...
  • Page 173 Application Guide | iC7 Series Motion Description: Enable faults to be reset from all control places. Default Value: 1 [Enabled] Parameter Type: Selection Parameter Number: 109 Unit: - Data Type: BOOL Access Type: Read/Write The following are the selections for the parameter. Selection Number Selection Name Selection Description...
  • Page 174 Application Guide | iC7 Series Motion Default Value: 1 [Enabled] Parameter Type: Selection Parameter Number: 106 Unit: - Data Type: BOOL Access Type: Read/Write The following are the selections for the parameter. Selection Number Selection Name Selection Description Disabled Disables the function. Enabled Enables the function.
  • Page 175 Application Guide | iC7 Series Motion Default Value: 2 [Stop, Hold to Coast] Parameter Type: Selection Parameter Number: 110 Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter. Selection Number Selection Name Selection Description Stop Push stop button to stop the motor.
  • Page 176 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Reference 1 input Use the reference from I/O reference 1. Reference 2 input Use the reference from I/O reference 2. Preset reference Use reference from the preset reference. Process ctrl.
  • Page 177 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Reference 2 input Use the reference from I/O reference 2. Preset reference Use reference from the preset reference. P 5.5.4.1.2 Fieldbus Speed Reference Logic Description: Select how to form the speed reference out of the 2 inputs when operating in fieldbus control. Default Value: 0 [Source 1] Parameter Type: Selection Parameter Number: 1911...
  • Page 178 Application Guide | iC7 Series Motion The following are the selections for the parameter. Selection Number Selection Name Selection Description None No source selected equals a 0 value. Fieldbus reference Use reference from the fieldbus. Reference 1 input Use the reference from I/O reference 1. Reference 2 input Use the reference from I/O reference 2.
  • Page 179 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description None No source selected equals a 0 value. Fieldbus reference Use reference from the fieldbus. Reference 1 input Use the reference from I/O reference 1. Reference 2 input Use the reference from I/O reference 2.
  • Page 180 Application Guide | iC7 Series Motion I/O Control (Menu Index 5.5.5) 6.6.7.6 Commands (Menu Index 5.5.5.1) 6.6.7.6.1 P 5.5.5.1.1 Start Input Description: Select the digital input for the start command. Default Value: Parameter Type: Selection Parameter Number: 200 Unit: - Data Type: UINT Access Type: Read/Write P 5.5.5.1.2 Start Backward Input...
  • Page 181 Application Guide | iC7 Series Motion Description: Select the mode of the start signal. Default Value: 0 [State High Start] Parameter Type: Selection Parameter Number: 211 Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter. Selection Number Selection Name Selection Description...
  • Page 182 Application Guide | iC7 Series Motion The following are the selections for the parameter. Selection Number Selection Name Selection Description Source 1 Use value from source 1 only. Source 2 Use value from source 2 only. Add references from source 1 and 2 together.
  • Page 183 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Preset reference Use reference from the preset reference. Process ctrl. reference Use reference from the process control reference. P 5.5.5.2.5 I/O Torque Reference Logic Description: Select how to form the torque reference out of the 2 sources when operating in I/O control. Default Value: 0 [Source 1] Parameter Type: Selection Parameter Number: 1917...
  • Page 184 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Reference 2 input Use the reference from I/O reference 2. Preset reference Use reference from the preset reference. P 5.5.5.2.13 I/O Position Reference Logic Description: Select how to form the position reference out of the 2 inputs when operating in I/O control. Default Value: 0 [Source 1] Parameter Type: Selection Parameter Number: 1946...
  • Page 185 Application Guide | iC7 Series Motion Default Value: Parameter Type: Selection Parameter Number: 4722 Unit: - Data Type: UINT Access Type: Read/Write P 5.5.6.1.2 Advanced Start Logic Description: Select the combination logic for the start command of advanced control. Default Value: 3 [OR] Parameter Type: Selection Parameter Number: 1933 Unit: -...
  • Page 186 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Logically AND source 1 and 2. Logically OR source 1 and 2. NAND Logically NAND source 1 and 2. Logically NOR source 1 and 2. Logically XOR source 1 and 2. XNOR Logically XNOR source 1 and 2.
  • Page 187 Application Guide | iC7 Series Motion P 5.5.6.1.8 Advanced Coast Inverse Logic Description: Select the combination logic for the inverted coast command of advanced control. Default Value: 0 [Source 1] Parameter Type: Selection Parameter Number: 1936 Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter.
  • Page 188 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description NAND Logically NAND source 1 and 2. Logically NOR source 1 and 2. Logically XOR source 1 and 2. XNOR Logically XNOR source 1 and 2. P 5.5.6.1.11 Advanced Reset Input Description: Select inputs for resetting faults when operating in advanced control.
  • Page 189 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Disabled Disables the function. Enabled Enables the function. References (Menu Index 5.5.6.2) 6.6.7.7.2 P 5.5.6.2.1 Adv. Speed Reference Description: Select the speed reference sources for when the drive operates in advanced control. Select 2 sources to combine them into 1 reference value.
  • Page 190 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Maximum Use highest value of source 1 and source Minimum Use lowest value of source 1 and source 2. Toggle Toggle between source 1 and 2 using a digital input.
  • Page 191 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Source 1 Use value from source 1 only. Source 2 Use value from source 2 only. Add references from source 1 and 2 together. Subtract Subtract source 2 from source 1. Divide Divide source 1 with source 2.
  • Page 192 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Source 1 Use value from source 1 only. Source 2 Use value from source 2 only. Add references from source 1 and 2 together. Subtract Subtract source 2 from source 1. Divide Divide source 1 with source 2.
  • Page 193 Application Guide | iC7 Series Motion DC start is configured using 3 parameters, 5.6.2.3 DC Start Current %, 5.6.2.1 DC Start Time, and 5.6.2.2 DC Start Rise Time. By default, DC start is disabled by setting parameter 5.6.2.1 DC Start Time to 0. The following illustration shows an example of starting an induction at zero speed.
  • Page 194 Application Guide | iC7 Series Motion DC Start Current % Parking Current % Current DC Start Rise Time Speed Time DC Start Time Parking Time DC stator current control Motor control Run Request Figure 79: Synchronous Motor Start from Zero Speed with DC Start and Parking General Settings (Menu Index 5.6.1) 6.6.8.2 P 5.6.1.1 Magnetization Time...
  • Page 195 Application Guide | iC7 Series Motion Additional Information on General Start Settings 6.6.8.3 Enable Start Forward, Enable Start Backward Enable Start Forward and Enable Start Backward make it possible to define end stop switches to the operation of the motor. The motor cannot keep running past the end switch.
  • Page 196 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Disabled Drive will not try to obtain motor angle. Rotor angle detection The drive will force the motor to be at the angle set as motor parking angle. Rotor angle parking The drive will force the motor to be at the angle set as motor parking angle.
  • Page 197 Application Guide | iC7 Series Motion Duration for which the DC brake is active for a DC-braking current injection with parameter 5.7.2.1 DC-Brake Time. The following illustration shows a DC-braking scenario. DC Brake Current % DC Stop Current Current % Speed DC Brake Frequency...
  • Page 198 Application Guide | iC7 Series Motion Settings (Menu Index 5.7.1) 6.6.9.2 P 5.7.1.1 Stop Zero Speed Time Description: Set the time that motor control stays active after reaching 0 speed. The value -1 means indefinitely. Default Value: 0 Parameter Type: Range (-1 — 10000) Parameter Number: 2331 Unit: s Data Type: REAL...
  • Page 199 Application Guide | iC7 Series Motion Description: Set the speed below which DC braking is activated. Default Value: 0 Parameter Type: Range (0 — \*) Parameter Number: 2268 Unit: Hz Data Type: REAL Access Type: Read/Write P 5.7.2.4 DC Stop Time Description: Set the DC stopping injection duration.
  • Page 200 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Disabled Disables the function. Enabled Enables the function. P 5.7.4.2 AC-brake Voltage Control Kp Description: Set the scaling of the proportional gain of the AC-brake controller. Default Value: 100 Parameter Type: Range (0 —...
  • Page 201 Application Guide | iC7 Series Motion Figure 82: Reference Handling for Speed Control © 2023.11 AB318753549016en-000301 / 136R0284 |...
  • Page 202 Application Guide | iC7 Series Motion Speed Control Status (Menu Index 5.8.1) 6.6.10.2 P 5.8.1.1 Motor Shaft Speed Description: Shows the shaft speed in RPM. Default Value: NA Parameter Type: Range (-100000 — Parameter Number: 9010 100000) Unit: rpm Data Type: REAL Access Type: Read Only P 5.8.1.2 Motor Speed Description: Shows the actual motor speed.
  • Page 203 Application Guide | iC7 Series Motion Description: Shows the speed reference. Default Value: NA Parameter Type: Range (-2000 — 2000) Parameter Number: 1718 Unit: Hz Data Type: REAL Access Type: Read/Write P 5.8.1.8 Speed Reference Before Ramp Description: Shows the value of speed reference before the ramp generator. Default Value: NA Parameter Type: Range (-2000 —...
  • Page 204 Application Guide | iC7 Series Motion Default Value: Parameter Type: Selection Parameter Number: 2304 Unit: - Data Type: UINT Access Type: Read/Write P 5.8.1.14 Output Frequency Output Description: Select an output terminal for the output frequency scaled between minimum speed limit and positive speed limits in Hz. Default Value: Parameter Type: Selection Parameter Number: 2308...
  • Page 205 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description P-Controller Select P-controller (proportional control). PI-Controller Select PI-controller (proportional and integration control). P 5.8.2.1.2 Speed Controller Kp FVC+ Description: Set the proportional gain of the speed controller. Default Value: 15 Parameter Type: Range (0 —...
  • Page 206 Application Guide | iC7 Series Motion Default Value: 0.008 Parameter Type: Range (0.001 — 20) Parameter Number: 4081 Unit: s Data Type: REAL Access Type: Read/Write Advanced Settings (Menu Index 5.8.2.2) 6.6.10.4.2 P 5.8.2.2.1 Virtual Friction Gain Description: Set the virtual friction gain, adding friction to the speed control loop to increase damping and stability. It is automatically adjusted when the system inertia is changed and parameter "5.8.11.1 Speed Controller Auto Tuning"...
  • Page 207 Application Guide | iC7 Series Motion Default Value: 0 Parameter Type: Range (0 — 10000) Parameter Number: 4073 Unit: Hz Data Type: REAL Access Type: Read/Write P 5.8.2.2.6 Kp Adaptation High Speed Description: Set the speed above which the speed controller proportional gain is fully using the value set in "5.8.2.1.2 Speed Controller Kp FVC+".
  • Page 208 Application Guide | iC7 Series Motion Default Value: 100 Parameter Type: Range (0 — 1000) Parameter Number: 5434 Unit: % Data Type: REAL Access Type: Read/Write Speed Limits and Monitor (Menu Index 5.8.3) 6.6.10.5 P 5.8.3.1 Positive Speed Limit Description: Set the speed limit for positive direction. Default Value: 50 Parameter Type: Range (0 —...
  • Page 209 Application Guide | iC7 Series Motion Speed Reference (Menu Index 5.8.4) 6.6.10.6 P 5.8.4.1 Speed Reference 1 Input Description: Select the input terminal or a predefined fixed value for the speed reference. Default Value: Parameter Type: Selection Parameter Number: 501 Unit: - Data Type: UINT Access Type: Read/Write...
  • Page 210 Application Guide | iC7 Series Motion Default Value: 1 [Preset 1] Parameter Type: Selection Parameter Number: 702 Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter. Selection Number Selection Name Selection Description Bit Selection Use digital inputs to select the preset reference number.
  • Page 211 Application Guide | iC7 Series Motion Default Value: 40 Parameter Type: Range (-1000 — 1000) Parameter Number: 706 Unit: Hz Data Type: REAL Access Type: Read/Write P 5.8.4.12 Preset Speed 5 Description: Set the value of the preset reference. Default Value: 50 Parameter Type: Range (-1000 —...
  • Page 212 Application Guide | iC7 Series Motion P 5.8.4.18 Preset Speed Reference Bit 2 Input Description: Select the digital input used as bit 2 for addressing the preset reference. Default Value: Parameter Type: Selection Parameter Number: 713 Unit: - Data Type: UINT Access Type: Read/Write P 5.8.4.19 Fieldbus Speed Reference Scale Description: Set the fieldbus reference scale equal to 100% reference.
  • Page 213 Application Guide | iC7 Series Motion Reference P5.8.3.1 Positive Frequency Limit (3) (2) (1729) P5.8.3.3 MinimumFrequency (1203) Time - Minimum Frequency P5.8.3.2 Negative Frequency Limit (1728) P5.8.5.1 Freeze Input (1000) P5.8.5.2 Freeze Up Input (1001) P5.8.5.3 Freeze Down Input (1002) Time Figure 83: Reference Freeze Example Freeze Up/Down Ramp Time...
  • Page 214 Application Guide | iC7 Series Motion Default Value: 10 Parameter Type: Range (0 — 1000) Parameter Number: 1003 Unit: s Data Type: REAL Access Type: Read/Write P 5.8.5.5 Freeze Ramp Delay Description: Set the delay before ramping the reference while reference freeze is active. Default Value: 4 Parameter Type: Range (0 —...
  • Page 215 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Step and Ramp Step increment and ramp thereafter. Ramp Ramp increment. Step Step increment. Speed Ramps (Menu Index 5.8.6) 6.6.10.9 Speed Ramps Overview 6.6.10.9.1 Ramps are used for reaching the desired speed reference in a controlled manner. The parameters in the Speed Ramps parameter group is used to select the ramp type and to adjust their shapes.
  • Page 216 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Bit Selection Use digital inputs to select ramp. Ramp 1 Use ramp 1. Ramp 2 Use ramp 2. Ramp 3 Use ramp 3. Ramp 4 Use ramp 4. Variable Ramp.
  • Page 217 Application Guide | iC7 Series Motion Default Value: 5 Parameter Type: Range (0 — 10000) Parameter Number: 1101 Unit: s Data Type: REAL Access Type: Read/Write P 5.8.6.2.3 Ramp 1 Decel. Time Description: Set the deceleration time from nominal motor speed to 0. Default Value: 5 Parameter Type: Range (0 —...
  • Page 218 Application Guide | iC7 Series Motion The following are the selections for the parameter. Selection Number Selection Name Selection Description Linear Ramp Use linear ramp. S-Ramp Use S-ramp ramp reducing torque changes. P 5.8.6.3.2 Ramp 2 Accel. Time Description: Set the acceleration time from 0 to nominal motor speed. Default Value: 5 Parameter Type: Range (0 —...
  • Page 219 Application Guide | iC7 Series Motion Default Value: 1 Parameter Type: Range (0 — 10000) Parameter Number: 1122 Unit: s Data Type: REAL Access Type: Read/Write Ramp 3 (Menu Index 5.8.6.4) 6.6.10.9.5 P 5.8.6.4.1 Ramp 3 Type Description: Select the ramp type. Default Value: 0 [Linear Ramp] Parameter Type: Selection Parameter Number: 1127...
  • Page 220 Application Guide | iC7 Series Motion Default Value: 1 Parameter Type: Range (0 — 10000) Parameter Number: 1115 Unit: s Data Type: REAL Access Type: Read/Write P 5.8.6.4.6 S-Ramp 3 Decel. Increase Time Description: Set the ramp deceleration increase time for S-ramp. Default Value: 1 Parameter Type: Range (0 —...
  • Page 221 Application Guide | iC7 Series Motion Default Value: 5 Parameter Type: Range (0 — 10000) Parameter Number: 1108 Unit: s Data Type: REAL Access Type: Read/Write P 5.8.6.5.4 S-Ramp 4 Accel. Increase Time Description: Set the ramp acceleration increase time for S-ramp. Default Value: 1 Parameter Type: Range (0 —...
  • Page 222 Application Guide | iC7 Series Motion P 5.8.6.6.3 Accel. Time Minimum Description: Set the minimum of the acceleration time for the variable ramp. Default Value: 0 Parameter Type: Range (0 — 10000) Parameter Number: 1135 Unit: s Data Type: REAL Access Type: Read/Write P 5.8.6.6.4 Decel.
  • Page 223 Application Guide | iC7 Series Motion Description: Set the offset between permanent magnet (direct axis) angle and absolute feedback angle in the electrical domain. The offset value is summed with the feedback angle to attain the permanent magnet angle used in the control. Its correct setting is important when running FVC+ with synchronous motors in closed loop.
  • Page 224 Application Guide | iC7 Series Motion Default Value: 0 Parameter Type: Range (0 — 100) Parameter Number: 4524 Unit: Hz Data Type: REAL Access Type: Read/Write P 5.8.8.6 Band 3, High Limit Description: Set the bypass hysteresis speed band, high limit. Default Value: 0 Parameter Type: Range (0 —...
  • Page 225 Application Guide | iC7 Series Motion P 5.8.9.2 Load Drooping % Description: Set the load drooping amount in % of nominal motor speed at nominal load conditions. Default Value: 0 Parameter Type: Range (0 — 1000) Parameter Number: 671 Unit: % Data Type: REAL Access Type: Read/Write P 5.8.9.3 Load Drooping LP Tc...
  • Page 226 Application Guide | iC7 Series Motion Description: Enables the auto tuning of the speed controller. Auto tuning is started when the value of the parameter "5.3.2.4 System Inertia" is changed and unequal to "0". Default Value: 0 Parameter Type: Range (False — True) Parameter Number: 4546 Unit: - Data Type: BOOL...
  • Page 227 Application Guide | iC7 Series Motion Torque control (Menu Index 5.9) 6.6.11 Torque Control Overview 6.6.11.1 Figure 85: Reference Handling for Torque Control © 2023.11 AB318753549016en-000301 / 136R0284 |...
  • Page 228 Application Guide | iC7 Series Motion While the drive is in torque control, motor speed is not controlled. Motor speed can reach speed limits, when the load application or upper system such as PLC system does not operate within the speed limits. If a speed limit is reached, the drive prevents itself from exceeding the limit depending on the selection in the parameter Speed Limit Mode Torque Ctrl.
  • Page 229 Application Guide | iC7 Series Motion Speed [RPM] Positive Frequency Limit Speed Controller Active Actual Speed Reference Drive in Torque Control Ramp Time Drive in Torque Control Negative Frequency Limit Speed Controller Active Figure 88: Neg. Limit to Ramp Ramp to max. limit The maximum of the speed controller output and the torque reference is selected as final torque reference.
  • Page 230 Application Guide | iC7 Series Motion Default Value: NA Parameter Type: Range (-10000000 — 10000000) Parameter Number: 9009 Unit: Nm Data Type: REAL Access Type: Read Only P 5.9.1.2 Relative Motor Torque Description: Shows the motor torque in % of the nominal motor torque. Default Value: NA Parameter Type: Range (\* —...
  • Page 231 Application Guide | iC7 Series Motion Limits (Menu Index 5.9.2) 6.6.11.3 P 5.9.2.1 Positive Torque Limit Description: Set the positive torque limit (quadrants 1 and 2) in % of nominal motor torque. Default Value: 300 Parameter Type: Range (0 — 500) Parameter Number: 1810 Unit: % Data Type: REAL...
  • Page 232 Application Guide | iC7 Series Motion P 5.9.2.6 Lower Window Limit Description: Set the window size towards the positive speed direction. Default Value: 0 Parameter Type: Range (0 — 10) Parameter Number: 2333 Unit: Hz Data Type: REAL Access Type: Read/Write P 5.9.2.7 Upper Window Limit Description: Set the window size towards the negative speed direction.
  • Page 233 Application Guide | iC7 Series Motion Description: Select the input for scaling negative torque limit between 0% and 100% value defined in negative torque limit. Off equals 100%. Default Value: Parameter Type: Selection Parameter Number: 1330 Unit: - Data Type: UINT Access Type: Read/Write P 5.9.2.31 Positive Torque Limit Scale Input Description: Select the input for scaling positive torque limit between 0% and 100% value defined in positive torque limit.
  • Page 234 Application Guide | iC7 Series Motion P 5.9.2.35 Regenerative Torque Limit Response Description: Select the response for running in regenerative torque limit after the time delay defined. Default Value: 0 [No response] Parameter Type: Selection Parameter Number: 2362 Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter.
  • Page 235 Application Guide | iC7 Series Motion P 5.9.3.4 Torque Reference 1 Min. Description: Set the minimum torque reference value in % of nominal motor torque. Default Value: 0 Parameter Type: Range (-300 — 300) Parameter Number: 4531 Unit: % Data Type: REAL Access Type: Read/Write P 5.9.3.5 Torque Reference 2 Max.
  • Page 236 Application Guide | iC7 Series Motion P 5.9.3.9 Preset Torque 2 Description: Set the torque preset value in % of the nominal motor torque. Default Value: 25 Parameter Type: Range (-300 — 300) Parameter Number: 726 Unit: - Data Type: REAL Access Type: Read/Write P 5.9.3.10 Preset Torque 3 Description: Set the torque preset value in % of the nominal motor torque.
  • Page 237 Application Guide | iC7 Series Motion Default Value: 0.00 Parameter Type: Range (0.00 — Parameter Number: 2335 1000000.00) Unit: ms Data Type: REAL Access Type: Read/Write Additional Information on Torque Reference 6.6.11.5 P 5.9.3.1 Torque Reference 1 Input Note: Selection lists with inputs and/or outputs consist of the name of the hardware option and the numbers of the terminals. For example, terminal number 13 of the Basic I/O is called Basic I/O T13 in the selection list.
  • Page 238 Application Guide | iC7 Series Motion P 5.11.2 Enable Inching Input Description: Select a terminal to enable inching. Default Value: Parameter Type: Selection Parameter Number: 1080 Unit: - Data Type: UINT Access Type: Read/Write P 5.11.3 Inching Ramp Time Description: Set the ramp time for inching. Default Value: 10 Parameter Type: Range (0.01 —...
  • Page 239 Application Guide | iC7 Series Motion Default Value: Parameter Type: Selection Parameter Number: 1087 Unit: - Data Type: UINT Access Type: Read/Write Mechanical Brake Control (Menu Index 5.12) 6.6.13 Mechanical Brake Control Overview 6.6.13.1 The feature controls opening and closing of the mechanical brake and ensures the smooth transition of load between drive and mechanical brake.
  • Page 240 Application Guide | iC7 Series Motion 5.12.2.4 5.12.2.6 5.12.2.10 5.12.2.12 Wait for Brake Priming Brake Release Brake Close Brake Closing Speed Time Time Time Disengaging Time 5.12.2.9 Start Signal Brake Closing Speed 5.12.2.2 Motor Speed Brake Priming Torque Mechanical Motor Torque Delay Mechanical Delay...
  • Page 241 Application Guide | iC7 Series Motion Brake close speed ¢ Priming timeout ¢ Note: Mechanical Brake Control requires operation in FVC+ in closed loop. Mechanical Brake Control Status (Menu Index 5.12.1) 6.6.13.2 P 5.12.1.1 Mechanical Brake Status Word Description: Shows the mechanical brake status word. Default Value: NA Parameter Type: Range (0 —...
  • Page 242 Application Guide | iC7 Series Motion Description: Select the output terminal for controlling the mechanical brake. Default Value: Parameter Type: Selection Parameter Number: 3007 Unit: - Data Type: UINT Access Type: Read/Write P 5.12.2.2 Brake Priming Torque Description: Set the torque to be build up against the mechanical brake during priming before releasing the brake. Default Value: 100 Parameter Type: Range (0 —...
  • Page 243 Application Guide | iC7 Series Motion P 5.12.2.6 Brake Release Time Description: Set the time it takes for the mechanical brake to open and to release the load. Default Value: 0.5 Parameter Type: Range (0.1 — 30) Parameter Number: 3003 Unit: s Data Type: REAL Access Type: Read/Write...
  • Page 244 Application Guide | iC7 Series Motion Default Value: 0.2 Parameter Type: Range (0 — 5) Parameter Number: 3005 Unit: s Data Type: REAL Access Type: Read/Write P 5.12.2.13 Brake Release Bandwidth Description: Set the release control bandwidth. Default Value: 100 Parameter Type: Range (0 —...
  • Page 245 Application Guide | iC7 Series Motion The value configured in this parameter defines the torque ramp down time to gradually transition the load from the motor to the brake. After the mechanical brake is closed, the motor still provides a holding toque. During disengage, holding toque is ramped to zero, gradually transferring load to mechanical brake.
  • Page 246 Application Guide | iC7 Series Motion P 5.13.1.7 Actual Position Error Output Description: Select an analog output to represent the position error. The signal is scaled between Min. Position Limit and Max. Position Limit. Default Value: Parameter Type: Selection Parameter Number: 738 Unit: - Data Type: UINT Access Type: Read/Write...
  • Page 247 Application Guide | iC7 Series Motion Description: Shows the maximum positioning jerk for s-ramps in position units per second³. Shows 0 when selecting linear ramps. Default Value: NA Parameter Type: Range (0 — 16777216) Parameter Number: 760 Unit: - Data Type: REAL Access Type: Read Only Position Feedback (Menu Index 5.13.2) 6.6.14.2...
  • Page 248 Application Guide | iC7 Series Motion P 5.13.3.4 Speed Feedforward Gain Description: Set the speed feedforward gain to improve ability to follow dynamic speed profiles. Default Value: 100 Parameter Type: Range (0 — 200) Parameter Number: 4033 Unit: % Data Type: REAL Access Type: Read/Write Position Scaling (Menu Index 5.13.4) 6.6.14.4...
  • Page 249 Application Guide | iC7 Series Motion Default Value: 10 Parameter Type: Range (0 — Parameter Number: 772 2147483647) Unit: PositionUnit Data Type: DINT Access Type: Read/Write P 5.13.5.2 Position Error Delay Description: Set the time where the actual position error must be outside the position error window before the position error response is activated.
  • Page 250 Application Guide | iC7 Series Motion Default Value: 100000 Parameter Type: Range (\* — Parameter Number: 767 2147483647) Unit: PositionUnit Data Type: DINT Access Type: Read/Conditional Write P 5.13.5.6 Position Limit Response Description: Select the reaction of the drive when exceeding the configured position limits. This reaction applies for linear-axis mode. Default Value: 0 [Disabled] Parameter Type: Selection Parameter Number: 777...
  • Page 251 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Disabled Ramp down to stand still Warning Ramp stop with Warning Ramp stop with Fault Quick stop with Warning Quick stop with Fault Coast with Warning Drive coasts, shows a warning, no reset required.
  • Page 252 Application Guide | iC7 Series Motion Default Value: Parameter Type: Selection Parameter Number: 732 Unit: - Data Type: UINT Access Type: Read/Write P 5.14.1.4 Positioning Aborted Output Description: Select a digital output to signal that positioning was interrupted before the target was reached. Default Value: Parameter Type: Selection Parameter Number: 733...
  • Page 253 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Preset 5 Use preset 5. Preset 6 Use preset 6. Preset 7 Use preset 7. Preset 8 Use preset 8. P 5.14.2.3 Preset Position Ref. 1 Description: Set the value for preset position reference/target 1. Default Value: 0 Parameter Type: Range (-2147483648 —...
  • Page 254 Application Guide | iC7 Series Motion P 5.14.2.8 Preset Position Ref. 6 Description: Set the value for preset position reference/target 6. Default Value: 6000 Parameter Type: Range (-2147483648 — Parameter Number: 755 2147483647) Unit: PositionUnit Data Type: DINT Access Type: Read/Write P 5.14.2.9 Preset Position Ref.
  • Page 255 Application Guide | iC7 Series Motion Description: Select a digital input for selecting between absolute or relative positioning. Default Value: Parameter Type: Selection Parameter Number: 776 Unit: - Data Type: UINT Access Type: Read/Write P 5.14.2.15 Relative Positioning Mode Description: Select the reference/starting point for calculating the relative positioning target. Default Value: 1 [Relative to Position Parameter Type: Selection Parameter Number: 768...
  • Page 256 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Shortest Way Negative Direction P 5.14.2.18 On-target Window Description: Set a position window for activating the on-target position signal. The on-target signal is set when the actual position has been within +/- the on-target window for the time set by on-target delay.
  • Page 257 Application Guide | iC7 Series Motion The following are the selections for the parameter. Selection Number Selection Name Selection Description Idle Active Error FeatureStatusErrorText. Aborted FeatureStatusAbortedText. In Sync FeatureStatusInSyncText. P 5.15.1.2 Synchronizing Active Output Description: Select a digital output to signal that synchronizing is active. Default Value: Parameter Type: Selection Parameter Number: 320...
  • Page 258 Application Guide | iC7 Series Motion Default Value: Parameter Type: Selection Parameter Number: 324 Unit: - Data Type: UINT Access Type: Read/Write P 5.15.2.2 Synchronization Window Description: Set a synchronization window for activating the in-sync signal. The in sync is set when the difference between follower position and master position has been within +/- the synchronization window for the time set by synchronization window delay.
  • Page 259 Application Guide | iC7 Series Motion Default Value: 1 Parameter Type: Range (-2147483648 — Parameter Number: 328 2147483647) Unit: - Data Type: DINT Access Type: Read/Write P 5.15.3.3 Gear Ratio Denominator Description: Set the denominator for the gear ratio used in gear mode. Is used in combination with gear ratio numerator. Default Value: 1 Parameter Type: Range (-2147483648 —...
  • Page 260 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Touch Probe 1 Touch Probe 2 Master (Menu Index 5.16) 6.6.17 Master Status (Menu Index 5.16.1) 6.6.17.1 P 5.16.1.1 Master Position Description: Shows the actual position of the master in position units. Default Value: NA Parameter Type: Range (-2147483648 —...
  • Page 261 Application Guide | iC7 Series Motion Default Value: 0 Parameter Type: Range (-2147483648 — Parameter Number: 355 2147483647) Unit: PositionUnit Data Type: DINT Access Type: Read/Write Homing (Menu Index 5.17) 6.6.18 Homing Status (Menu Index 5.17.1) 6.6.18.1 P 5.17.1.1 Home Status Description: Shows the status of homing.
  • Page 262 Application Guide | iC7 Series Motion P 5.17.1.5 Home Speed Description: Shows the set home seach speed reference in position units per second. Default Value: NA Parameter Type: Range (0 — 16777216) Parameter Number: 861 Unit: - Data Type: REAL Access Type: Read Only P 5.17.1.6 Home Acceleration Description: Shows the set homing acceleration in position units per second².
  • Page 263 Application Guide | iC7 Series Motion Description: Select a digital input for connection of the home sensor. Default Value: Parameter Type: Selection Parameter Number: 840 Unit: - Data Type: UINT Access Type: Read/Conditional Write P 5.17.2.3 Home Mode Description: Select a homing function. Default Value: 4 [Home Direct] Parameter Type: Selection Parameter Number: 851...
  • Page 264 Application Guide | iC7 Series Motion Description: Set the speed reference for home search. Default Value: 10 Parameter Type: Range (0.000000001 — Parameter Number: 852 16777216) Unit: Hz Data Type: REAL Access Type: Read/Write P 5.17.2.7 Home Speed Low Description: Set the low homing speed reference for accurate detection of the home position after the sensor is found. If set to 0, home speed is used.
  • Page 265 Application Guide | iC7 Series Motion Default Value: 0.0 Parameter Type: Range (0.0 — 16777216) Parameter Number: 859 Unit: s Data Type: REAL Access Type: Read/Write P 5.17.2.11 Home Distance Limit Description: Set a distance limit for finding the home position. A fault will be raised if the home position is not found within the distance limit.
  • Page 266 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Power Down Coast Coast Running Homing Only P 5.17.2.15 Homing On The Fly Description: Activate the desired homing on the fly function. Default Value: 0 [Disabled] Parameter Type: Selection Parameter Number: 856 Unit: - Data Type: UINT...
  • Page 267 Application Guide | iC7 Series Motion Touch Probe (Menu Index 5.18) 6.6.19 Touch Probe 1 (Menu Index 5.18.1) 6.6.19.1 Touch Probe 1 Status (Menu Index 5.18.1.1) 6.6.19.1.1 P 5.18.1.1.1 Touch Probe 1 Event Detected Description: Shows that an event has been detected for touch probe 1. Default Value: NA Parameter Type: Selection Parameter Number: 879...
  • Page 268 Application Guide | iC7 Series Motion P 5.18.1.1.5 Touch Probe 1 Recorded Position Description: Shows the recorded actual position at the latest touch probe 1 event. Default Value: NA Parameter Type: Range (-16777216 — Parameter Number: 881 16777216) Unit: - Data Type: DINT Access Type: Read Only P 5.18.1.1.6 Touch Probe 1 Recorded Position Output...
  • Page 269 Application Guide | iC7 Series Motion P 5.18.1.2.3 Touch Probe 1 Edge Description: Select the signal edge to trigger touch probe 1. Default Value: 0 [Rising] Parameter Type: Selection Parameter Number: 876 Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter.
  • Page 270 Application Guide | iC7 Series Motion Description: Enable a position window defined by touch probe 1 first and last position for acceptance of events. Default Value: 0 [Disabled] Parameter Type: Selection Parameter Number: 872 Unit: - Data Type: BOOL Access Type: Read/Write The following are the selections for the parameter.
  • Page 271 Application Guide | iC7 Series Motion The following are the selections for the parameter. Selection Number Selection Name Selection Description False Fixed value - False. True Fixed value - True. P 5.18.2.1.2 Touch Probe 2 Event Detected Output Description: Select a digital output to signal that an event has been detected for touch probe 2. Default Value: Parameter Type: Selection Parameter Number: 804...
  • Page 272 Application Guide | iC7 Series Motion Default Value: Parameter Type: Selection Parameter Number: 806 Unit: - Data Type: UINT Access Type: Read/Write P 5.18.2.1.7 Touch Probe 2 Counter Description: Shows the number of detected touch probe 2 events since the counter was reset. Default Value: NA Parameter Type: Range (0 —...
  • Page 273 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Rising Falling Both P 5.18.2.2.4 Touch Probe 2 Reset Counter Description: Enable reset of touch probe 2 counter. Reset of the counter is also possible while the touch probe is active. Default Value: 0 [Disabled] Parameter Type: Selection Parameter Number: 890...
  • Page 274 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Disabled Disables the function. Enabled Enables the function. P 5.18.2.2.7 Touch Probe 2 First Position Description: Set the absolute start position of the window for touch probe 2 monitoring. Default Value: 0 Parameter Type: Range (-2147483648 —...
  • Page 275 Application Guide | iC7 Series Motion P 5.18.3.1.3 Distance Measurement Counter Description: Shows a continuous counter which is incremented with each occurrence of a distance calculation. The counter will start from 0 and wraps around when exeeding 65535. The counter is reset to 0 when a source selection is set to Disabled. Default Value: NA Parameter Type: Range (0 —...
  • Page 276 Application Guide | iC7 Series Motion Superimposed (Menu Index 5.19) 6.6.20 Superimposed Status (Menu Index 5.19.1) 6.6.20.1 P 5.19.1.1 Superimposed Status Description: Shows the status of the superimposed movements. Default Value: NA Parameter Type: Selection Parameter Number: 833 Unit: - Data Type: UINT Access Type: Read Only The following are the selections for the parameter.
  • Page 277 Application Guide | iC7 Series Motion Default Value: Parameter Type: Selection Parameter Number: 831 Unit: - Data Type: UINT Access Type: Read/Write P 5.19.1.6 Superimposed Actual Distance Description: Shows the actual covered distance of an active superimposed movement. The value is reset a every start of a superimposed movement.
  • Page 278 Application Guide | iC7 Series Motion Default Value: NA Parameter Type: Range (0 — 16777216) Parameter Number: 822 Unit: - Data Type: REAL Access Type: Read Only Configuration (Menu Index 5.19.2) 6.6.20.2 P 5.19.2.1 Superimposed Start Input Description: Select a digital input for starting the configured superimposed movement. Default Value: Parameter Type: Selection Parameter Number: 827...
  • Page 279 Application Guide | iC7 Series Motion Default Value: 10 Parameter Type: Range (0.000000001 — Parameter Number: 823 16777216) Unit: Hz Data Type: REAL Access Type: Read/Write P 5.19.2.5 Superimposed Distance Description: Set the distance for the superimposed movement in position units. Default Value: 50 Parameter Type: Range (-16777216 —...
  • Page 280 Application Guide | iC7 Series Motion Default Value: Parameter Type: Selection Parameter Number: 206 Unit: - Data Type: UINT Access Type: Read/Write P 5.26.1.3 On Reference Output Description: Select an output to indicate that the unit is on reference. Default Value: Parameter Type: Selection Parameter Number: 207 Unit: -...
  • Page 281 Application Guide | iC7 Series Motion Default Value: NA Parameter Type: Range (-32768 — 32767) Parameter Number: 1339 Unit: - Data Type: INT Access Type: Read/Write P 5.27.1.44 Fieldbus Torque Reference Description: Shows the fieldbus torque reference. Default Value: NA Parameter Type: Range (-32768 —...
  • Page 282 Application Guide | iC7 Series Motion P 5.27.1.89 Fieldbus Control Word 2 Description: Shows the fieldbus control word 2. Default Value: NA Parameter Type: Range (\* — \*) Parameter Number: 1347 Unit: - Data Type: WORD Access Type: Read/Write P 5.27.1.90 Fieldbus Status Word 2 Description: Shows the profile specific fieldbus status word 2.
  • Page 283 Application Guide | iC7 Series Motion P 5.33.2 Motor Fan Ctrl. Output Description: Select an output to control the motor fan. Default Value: Parameter Type: Selection Parameter Number: 221 Unit: - Data Type: UINT Access Type: Read/Write P 5.33.3 Cabinet Cooling Fan Ctrl. Output Description: Select an output to control the cabinet cooling fan.
  • Page 284 Application Guide | iC7 Series Motion Default Value: NA Parameter Type: Range (0 — \*) Parameter Number: 9049 Unit: V Data Type: REAL Access Type: Read Only P 1.1.5 L3-L1 Line Voltage (RMS) Description: Shows the L3-L1 line voltage (RMS). Default Value: NA Parameter Type: Range (0 —...
  • Page 285 Application Guide | iC7 Series Motion P 2.1.3 DC-link Voltage Description: Shows the actual DC-link voltage. Default Value: NA Parameter Type: Range (0 — \*) Parameter Number: 9044 Unit: V Data Type: REAL Access Type: Read Only P 2.1.7 DC-link Power Description: Shows the actual DC-link power.
  • Page 286 Application Guide | iC7 Series Motion Default Value: NA Parameter Type: Range (-50 — 200) Parameter Number: 2950 Unit: °C Data Type: REAL Access Type: Read Only P 2.1.16 Main Fan Speed Description: Shows the speed of the main cooling fan. Default Value: NA Parameter Type: Range (0 —...
  • Page 287 Application Guide | iC7 Series Motion P 3.1.3 AHF Capacitor Connected Description: Shows if the advanced harmonic filter (AHF) capacitor is connected. Default Value: NA Parameter Type: Range (0 — 1) Parameter Number: 5410 Unit: - Data Type: BOOL Access Type: Read Only Motor Status (Menu Index 4.1) 6.7.2.4 P 4.1.1 Motor Current...
  • Page 288 Application Guide | iC7 Series Motion Default Value: NA Parameter Type: Range (0 — \*) Parameter Number: 9005 Unit: V Data Type: REAL Access Type: Read Only P 4.1.7 Relative Motor Voltage Description: Shows the actual motor voltage in % of the nominal motor voltage. Default Value: NA Parameter Type: Range (0 —...
  • Page 289 Application Guide | iC7 Series Motion P 4.1.16 Motor Thermal Load (ETR) Description: Shows the estimated thermal load of the motor calculated by the ETR function. Default Value: NA Parameter Type: Range (0 — 100) Parameter Number: 2951 Unit: % Data Type: REAL Access Type: Read Only P 4.1.17 Motor Current Output...
  • Page 290 Application Guide | iC7 Series Motion Default Value: Parameter Type: Selection Parameter Number: 2309 Unit: - Data Type: UINT Access Type: Read/Write P 4.1.23 Motor Power Output Description: Select an output for the motor power signal. The scale of the signal is 0–100% of the nominal power. Default Value: Parameter Type: Selection Parameter Number: 2305...
  • Page 291 Application Guide | iC7 Series Motion P 5.1.3 Motor Regulator Status Word Description: Shows the current state of the motor regulator status word. The status word indicates if a limit controller is active. Default Value: NA Parameter Type: Range (\* — \*) Parameter Number: 1715 Unit: - Data Type: WORD...
  • Page 292 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description No motion error No communication Fault active; Please reset Timeout Op mode change Internal error Command rejected Drive not started In stopping state In homing state Unknown drive state Executing non-abortable command Parameter out of range Local Control Active...
  • Page 293 Application Guide | iC7 Series Motion Description: Shows the temperature measured for the temperature protection. Default Value: NA Parameter Type: Range (-300 — 300) Parameter Number: 5200 Unit: °C Data Type: REAL Access Type: Read Only P 5.2.3.1.2 Protection 2 Temp. Description: Shows the temperature measured for the temperature protection.
  • Page 294 Application Guide | iC7 Series Motion Default Value: NA Parameter Type: Selection Parameter Number: 666 Unit: - Data Type: UINT Access Type: Read Only The following are the selections for the parameter. Selection Number Selection Name Selection Description Inactive In progress Completed successfully Completed unsuccessfully Control Places Status (Menu Index 5.5.1)
  • Page 295 Application Guide | iC7 Series Motion Default Value: Parameter Type: Selection Parameter Number: 5197 Unit: - Data Type: UINT Access Type: Read/Write P 5.5.1.4 I/O Control Active Output Description: Select an output terminal indicating that the drive is in I/O control. Default Value: Parameter Type: Selection Parameter Number: 5177...
  • Page 296 Application Guide | iC7 Series Motion Default Value: NA Parameter Type: Range (-10000 — 10000) Parameter Number: 9007 Unit: rpm Data Type: REAL Access Type: Read Only P 5.8.1.5 Feedback Electrical Angle Description: Shows the feedback device angle in the electrical domain. Its value is needed for manually tuning the feedback angle offset. Default Value: NA Parameter Type: Range (0 —...
  • Page 297 Application Guide | iC7 Series Motion P 5.8.1.11 Control Panel Speed Reference Description: Shows the value of the speed reference given from the control panel. Default Value: NA Parameter Type: Range (\* — \*) Parameter Number: 6153 Unit: Hz Data Type: REAL Access Type: Read/Write P 5.8.1.12 Absolute Output Frequency Output Description: Select an output terminal for the output frequency scaled between 0 Hz and positive speed limits in Hz.
  • Page 298 Application Guide | iC7 Series Motion Default Value: NA Parameter Type: Range (\* — \*) Parameter Number: 1708 Unit: % Data Type: REAL Access Type: Read Only P 5.9.1.3 Torque Limit Motoring Description: Shows the torque limit in motoring mode in % of nominal motor torque. Default Value: NA Parameter Type: Range (0 —...
  • Page 299 Application Guide | iC7 Series Motion P 5.12.1.2 Mechanical Brake State Description: Shows the state of the mechanical brake controller. Default Value: NA Parameter Type: Range (0 — 32767) Parameter Number: 3017 Unit: - Data Type: INT Access Type: Read Only Maintenance &...
  • Page 300 Application Guide | iC7 Series Motion Default Value: 0 [No Action] Parameter Type: Selection Parameter Number: 1400 Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter. Selection Number Selection Name Selection Description No Action The event will be ignored.
  • Page 301 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Response 9 Activate occurrence response 9. Response 10 Activate occurrence response 10. P 6.4.3.3 Simulate Event Number Description: Set the number of the event to be simulated. Default Value: 5260 Parameter Type: Range (0 —...
  • Page 302 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Disabled Disables the function. Enabled Enables the function. P 6.4.4.2 Auto Reset Max Attempts Description: Set the maximum number of automatic resets that is allowed before a manual reset is required. 0 means the drive will auto reset infinite times.
  • Page 303 Application Guide | iC7 Series Motion P 6.5.4 Ground Faults Description: Shows the total number of ground faults. Default Value: 0 Parameter Type: Range (0 — 50000) Parameter Number: 2004 Unit: - Data Type: UINT Access Type: Read Only P 6.5.5 Overvoltage Faults Description: Shows the total number of overvoltage faults.
  • Page 304 Application Guide | iC7 Series Motion P 6.5.10 Motor Operation Below 10 Hz Description: Shows the number of hours of running below 10 Hz output frequency. Low speed operation with full load may decrease motor lifetime. Default Value: 0 Parameter Type: Range (0 — Parameter Number: 2010 4294967295) Unit: h...
  • Page 305 Application Guide | iC7 Series Motion STO (Menu Index 7.3) 6.8.4 P 7.3.1 Safe Torque Off Response Description: Select the response of the drive to the activation of Safe Torque Off. Default Value: 14 [Fault] Parameter Type: Selection Parameter Number: 9910 Unit: - Data Type: UINT Access Type: Read/Write...
  • Page 306 Application Guide | iC7 Series Motion P 8.2.2 Unit Selection Description: Select the unit system used. Default Value: \* Parameter Type: Selection Parameter Number: 2801 Unit: - Data Type: USINT Access Type: Read/Write The following are the selections for the parameter. Selection Number Selection Name Selection Description...
  • Page 307 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description 9000 Motor Current Shows the actual motor current. 9010 Motor Shaft Speed Shows the shaft speed in RPM. 9009 Motor Torque Shows the actual motor torque. 1708 Relative Motor Torque Shows the motor torque in % of the nominal motor torque.
  • Page 308 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Distance Measurement Counter Shows a continuous counter which is incremented with each occurrence of a distance calculation. The counter will start from 0 and wraps around when exeeding 65535.
  • Page 309 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description 9007 Feedback Speed Shows the feedback speed. 9044 DC-link Voltage Shows the actual DC-link voltage. 9041 Grid Frequency Shows the actual grid frequency. 9040 Line-To-Line Voltage (RMS) Shows the average line-to-line voltage (RMS).
  • Page 310 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Distance Measurement Counter Shows a continuous counter which is incremented with each occurrence of a distance calculation. The counter will start from 0 and wraps around when exeeding 65535.
  • Page 311 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description 9007 Feedback Speed Shows the feedback speed. 9044 DC-link Voltage Shows the actual DC-link voltage. 9041 Grid Frequency Shows the actual grid frequency. 9040 Line-To-Line Voltage (RMS) Shows the average line-to-line voltage (RMS).
  • Page 312 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Distance Measurement Counter Shows a continuous counter which is incremented with each occurrence of a distance calculation. The counter will start from 0 and wraps around when exeeding 65535.
  • Page 313 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description 9007 Feedback Speed Shows the feedback speed. 9044 DC-link Voltage Shows the actual DC-link voltage. 9041 Grid Frequency Shows the actual grid frequency. 9040 Line-To-Line Voltage (RMS) Shows the average line-to-line voltage (RMS).
  • Page 314 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Distance Measurement Counter Shows a continuous counter which is incremented with each occurrence of a distance calculation. The counter will start from 0 and wraps around when exeeding 65535.
  • Page 315 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description 9007 Feedback Speed Shows the feedback speed. 9044 DC-link Voltage Shows the actual DC-link voltage. 9041 Grid Frequency Shows the actual grid frequency. 9040 Line-To-Line Voltage (RMS) Shows the average line-to-line voltage (RMS).
  • Page 316 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Distance Measurement Counter Shows a continuous counter which is incremented with each occurrence of a distance calculation. The counter will start from 0 and wraps around when exeeding 65535.
  • Page 317 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description 6155 Local Torque Reference Shows the local torque reference set in the control panel. 9007 Feedback Speed Shows the feedback speed. 9044 DC-link Voltage Shows the actual DC-link voltage. 9041 Grid Frequency Shows the actual grid frequency.
  • Page 318 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Distance Measurement Counter Shows a continuous counter which is incremented with each occurrence of a distance calculation. The counter will start from 0 and wraps around when exeeding 65535.
  • Page 319 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description 9007 Feedback Speed Shows the feedback speed. 9044 DC-link Voltage Shows the actual DC-link voltage. 9041 Grid Frequency Shows the actual grid frequency. 9040 Line-To-Line Voltage (RMS) Shows the average line-to-line voltage (RMS).
  • Page 320 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Distance Measurement Counter Shows a continuous counter which is incremented with each occurrence of a distance calculation. The counter will start from 0 and wraps around when exeeding 65535.
  • Page 321 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description 9007 Feedback Speed Shows the feedback speed. 9044 DC-link Voltage Shows the actual DC-link voltage. 9041 Grid Frequency Shows the actual grid frequency. 9040 Line-To-Line Voltage (RMS) Shows the average line-to-line voltage (RMS).
  • Page 322 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Distance Measurement Counter Shows a continuous counter which is incremented with each occurrence of a distance calculation. The counter will start from 0 and wraps around when exeeding 65535.
  • Page 323 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description 9007 Feedback Speed Shows the feedback speed. 9044 DC-link Voltage Shows the actual DC-link voltage. 9041 Grid Frequency Shows the actual grid frequency. 9040 Line-To-Line Voltage (RMS) Shows the average line-to-line voltage (RMS).
  • Page 324 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Distance Measurement Counter Shows a continuous counter which is incremented with each occurrence of a distance calculation. The counter will start from 0 and wraps around when exeeding 65535.
  • Page 325 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description 9007 Feedback Speed Shows the feedback speed. 9044 DC-link Voltage Shows the actual DC-link voltage. 9041 Grid Frequency Shows the actual grid frequency. 9040 Line-To-Line Voltage (RMS) Shows the average line-to-line voltage (RMS).
  • Page 326 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Distance Measurement Counter Shows a continuous counter which is incremented with each occurrence of a distance calculation. The counter will start from 0 and wraps around when exeeding 65535.
  • Page 327 Application Guide | iC7 Series Motion Description: Shows the actual value of the terminal. Default Value: NA Parameter Type: Range (-20 — 20) Parameter Number: 1611 Unit: - Data Type: REAL Access Type: Read Only P 9.3.5 T34 Analog Input Value Description: Shows the actual value of the terminal.
  • Page 328 Application Guide | iC7 Series Motion Table 47: I/O Digital Output Status Bits (continued) Description Relay02 Relay05 14–15 Not used Digital Inputs/Outputs (Menu Index 9.4) 6.10.2.3 Pulse Input 6.10.2.3.1 A digital input can be configured to be a pulse input with the corresponding mode parameter. The pulse input can be used as a speed reference, similarly to how an analog input signal works.
  • Page 329 Application Guide | iC7 Series Motion Input T13 (Menu Index 9.4.2) 6.10.2.3.3 P 9.4.2.1 T13 Terminal Mode Description: Select the mode for the terminal. Default Value: 3 [Digital input] Parameter Type: Selection Parameter Number: 2015 Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter.
  • Page 330 Application Guide | iC7 Series Motion P 9.4.2.5 T13 Reaction Time Description: Select the reaction time for the debounce filter. Default Value: 0 [Standard reaction time Parameter Type: Selection Parameter Number: 2025 (1ms tick)] Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter.
  • Page 331 Application Guide | iC7 Series Motion Input T14 (Menu Index 9.4.3) 6.10.2.3.4 P 9.4.3.1 T14 Terminal Mode Description: Select the mode for the terminal. Default Value: 3 [Digital input] Parameter Type: Selection Parameter Number: 2016 Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter.
  • Page 332 Application Guide | iC7 Series Motion P 9.4.3.5 T14 Reaction Time Description: Select the reaction time for the debounce filter. Default Value: 0 [Standard reaction time Parameter Type: Selection Parameter Number: 2030 (1ms tick)] Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter.
  • Page 333 Application Guide | iC7 Series Motion Input/Output T15 (Menu Index 9.4.4) 6.10.2.3.5 P 9.4.4.1 T15 Terminal Mode Description: Select the mode for the terminal. Default Value: 3 [Digital input] Parameter Type: Selection Parameter Number: 2022 Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter.
  • Page 334 Application Guide | iC7 Series Motion Default Value: 5.00 Parameter Type: Range (0.00 — 127.00) Parameter Number: 2297 Unit: ms Data Type: REAL Access Type: Read/Write P 9.4.4.5 T15 Reaction Time Description: Select the reaction time for the debounce filter. Default Value: 0 [Standard reaction time Parameter Type: Selection Parameter Number: 2299...
  • Page 335 Application Guide | iC7 Series Motion Default Value: 110000 Parameter Type: Range (0 — 110000) Parameter Number: 2046 Unit: Hz Data Type: REAL Access Type: Read/Write P 9.4.4.9 T15 Digital Output Logic Description: Select the operating logic for the digital output. Default Value: 0 [Tri state] Parameter Type: Selection Parameter Number: 2047...
  • Page 336 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Inactive Digital Output Configures the terminal as boolean output true/false. Pulse Output Configures the terminal as analog output based on pulse frequency. Digital input The terminal is configured as boolean input (true/false).
  • Page 337 Application Guide | iC7 Series Motion Default Value: 0 [Standard reaction time Parameter Type: Selection Parameter Number: 2052 (1ms tick)] Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter. Selection Number Selection Name Selection Description Standard reaction time (1ms tick) Use the digital input in the same way as...
  • Page 338 Application Guide | iC7 Series Motion Default Value: 0 [Tri state] Parameter Type: Selection Parameter Number: 2056 Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter. Selection Number Selection Name Selection Description Tri state Disable output (high impedance).
  • Page 339 Application Guide | iC7 Series Motion P 9.4.6.2 T17 Signal Inversion Description: Select whether the signal of the terminal is inverted. Default Value: 0 [Non-Inverted] Parameter Type: Selection Parameter Number: 2293 Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter. Selection Number Selection Name Selection Description...
  • Page 340 Application Guide | iC7 Series Motion Description: Select the trigger mode for the digital input. Default Value: 0 [None] Parameter Type: Selection Parameter Number: 2036 Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter. Selection Number Selection Name Selection Description...
  • Page 341 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Inactive Digital input The terminal is configured as boolean input (true/false). Pulse input The terminal is configured as pulse input. The frequency represents an analog value. P 9.4.7.2 T18 Signal Inversion Description: Select whether the signal of the terminal is inverted.
  • Page 342 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Standard reaction time (1ms tick) Use the digital input in the same way as other inputs. Fast reaction time (0.5µs tick) Enables fast reaction time for certain event via digital input. P 9.4.7.6 T18 Trigger Mode Description: Select the trigger mode for the digital input.
  • Page 343 Application Guide | iC7 Series Motion The following are the selections for the parameter. Selection Number Selection Name Selection Description Inactive Analog Output Configures the terminal as analog output. P 9.5.1.2 T31 Terminal Type Description: Select the type of the terminal. If voltage is selected, the unit is V. If current is selected, the unit is mA. Default Value: 0 [Off] Parameter Type: Selection Parameter Number: 2284...
  • Page 344 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Inactive Analog Input Configures the terminal as analog input. P 9.5.2.2 T33 Terminal Type Description: Select the type of the terminal. If voltage is selected, the unit is V. If current is selected, the unit is mA. Default Value: 1 [Voltage] Parameter Type: Selection Parameter Number: 2273...
  • Page 345 Application Guide | iC7 Series Motion Default Value: -10 Parameter Type: Range (-20 — 20) Parameter Number: 2274 Unit: - Data Type: REAL Access Type: Read/Write P 9.5.2.7 T33 Live Zero Timeout Value Description: Set the live zero timeout value for the terminal. The response to a live zero event is defined with parameter "5.2.15.2 Live Zero Response".
  • Page 346 Application Guide | iC7 Series Motion Default Value: 0 Parameter Type: Range (-20 — 20) Parameter Number: 2278 Unit: - Data Type: REAL Access Type: Read/Write P 9.5.3.4 T34 Maximum Value Description: Set the voltage or current representing 100% of the signal. Default Value: 10 Parameter Type: Range (-20 —...
  • Page 347 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description No sensor No sensor selected. Pt1000 Pt1000 temperature sensor connected. Ni1000Tk5000 Ni1000Tk5000 temperature sensor connected. Ni1000Tk6180 Ni1000Tk6180 temperature sensor connected. KTY84-1x0 KTY84-1x0 temperature sensor connected. KTY84-151 KTY84-151 temperature sensor connected.
  • Page 348 Application Guide | iC7 Series Motion The following are the available network management protocol and fieldbus protocols: SNMP PROFINET MODBUS TCP EtherNet/IP For more information, refer to the related fieldbus guide. Communication interfaces (Menu Index 10.2) 6.11.2 Host Settings (Menu Index 10.2.1) 6.11.2.1 P 10.2.1.1 Fully Qualified Domain Name Description: Fully Qualified Domain Name.
  • Page 349 Application Guide | iC7 Series Motion Ethernet Interface X1/X2 Settings (Menu Index 10.2.3) 6.11.2.3 Interface X1/X2 IPv4 Settings 6.11.2.3.1 The Ethernet Interface X1/X2 IPv4 settings view contains the following fields: Interface X1 MAC address IPv4 addressing method Requested IPv4 address Requested IPv4 SUBNET mask Requested IPv4 gateway address Enable ACD...
  • Page 350 Application Guide | iC7 Series Motion Ethernet port X1 (Menu Index 10.2.5) 6.11.2.5 X1 Settings (Menu Index 10.2.5.2) 6.11.2.5.1 P 10.2.5.2.5 Link Configuration X1 Description: Select the configuration of the Ethernet link parameters. Default Value: 0 [Auto negotiation] Parameter Type: Selection Parameter Number: 7048 Unit: - Data Type: USINT...
  • Page 351 Application Guide | iC7 Series Motion Protocols (Menu Index 10.3) 6.11.3 General Settings (Menu Index 10.3.1) 6.11.3.1 P 10.3.1.2 Fieldbus Profile Description: Select the fieldbus profile. The selection affects the interpretation of the control word and status word. Default Value: 101 [iC Speed Profile] Parameter Type: Selection Parameter Number: 1301 Unit: -...
  • Page 352 Application Guide | iC7 Series Motion Default Value: 1 [Info] Parameter Type: Selection Parameter Number: 1327 Unit: - Data Type: UINT Access Type: Read/Write The following are the selections for the parameter. Selection Number Selection Name Selection Description Info The event is logged in the event log. Warning The drive issues a warning.
  • Page 353 Application Guide | iC7 Series Motion Selection Number Selection Name Selection Description Warning - Change Control Place - The drive issues a warning, and the Persistent control place changes to the selected alternative while the timeout warning is active. The control place requires a reset command to change back to the original one after the fieldbus process data returns.
  • Page 354 Application Guide | iC7 Series Motion Description: Enables diagnostic fault. When disabled the device will not send any PROFINET diagnosis message with severity "Fault" when a fault is present on device. Default Value: 1 [Enabled] Parameter Type: Selection Parameter Number: 7081 Unit: - Data Type: BOOL Access Type: Read/Write...
  • Page 355 Application Guide | iC7 Series Motion P 10.3.3.2.3 Byte Order Description: Select the byte order. Default Value: 0 [Big Endian] Parameter Type: Selection Parameter Number: 7062 Unit: - Data Type: USINT Access Type: Read/Write The following are the selections for the parameter. Selection Number Selection Name Selection Description...
  • Page 356 Application Guide | iC7 Series Motion Troubleshooting Viewing Warnings When a warning event occurs, the status indicators (halo and WARN) turn yellow. The drive remains operational and when the trigger for the warning is corrected, the indicators turn white. To view the details of a warning, go to parameter group 6.4.1 Active Events. To view the history of events for the drive, go to parameter group 6.4.2 Event History.
  • Page 357 Application Guide | iC7 Series Motion Reading the Event Summary Table Group number and number (columns 1–2) Events in iC7 drives have 2 different identifiers: Group numbers and Individual numbers. The group numbers for iC7 drives follow the DRIVECOM industry standard error code specification. The specification originated with the Interbus communication profile.
  • Page 358 Application Guide | iC7 Series Motion Table 48: Summary Table Group Numb Display Name Description Type of Event Inverter and Numb Brake Chopper (Deci Action (Hex) mal) Invert Brake 0x20F 4372 Current Injection Limit The time limit for the short term current in- jection has been exceeded.
  • Page 359 Application Guide | iC7 Series Motion Table 48: Summary Table (continued) Group Numb Display Name Description Type of Event Inverter and Numb Brake Chopper (Deci Action (Hex) mal) Invert Brake 0x231 4380 Current Limit Setting The actual current limit setting is too high Fault relative to the selected constant control fre- quency level.
  • Page 360 Application Guide | iC7 Series Motion Table 48: Summary Table (continued) Group Numb Display Name Description Type of Event Inverter and Numb Brake Chopper (Deci Action (Hex) mal) Invert Brake 0x313 4160 Missing Grid Phase A missing phase is detected on the grid side. Check the grid supply, cables, connections, and fuses.
  • Page 361 Application Guide | iC7 Series Motion Table 48: Summary Table (continued) Group Numb Display Name Description Type of Event Inverter and Numb Brake Chopper (Deci Action (Hex) mal) Invert Brake 0x411 4099 Ambient Temp. High The ambient temperature is too high. Check the temperature and cooling conditions.
  • Page 362 Application Guide | iC7 Series Motion Table 48: Summary Table (continued) Group Numb Display Name Description Type of Event Inverter and Numb Brake Chopper (Deci Action (Hex) mal) Invert Brake 0x428 5136 Temp. Protection 5 Temperature protection 5 is triggered. The temperature has exceeded the configured value.
  • Page 363 Application Guide | iC7 Series Motion Table 48: Summary Table (continued) Group Numb Display Name Description Type of Event Inverter and Numb Brake Chopper (Deci Action (Hex) mal) Invert Brake 0x431 4103 Inverter Temp. Limit The temperature of the inverter heat sink is at the upper limit of the normal temperature range.
  • Page 364 Application Guide | iC7 Series Motion Table 48: Summary Table (continued) Group Numb Display Name Description Type of Event Inverter and Numb Brake Chopper (Deci Action (Hex) mal) Invert Brake 0x431 4117 Power Unit Temp. Limit The internal air temperature of the drive is at the upper limit of the normal tempera- ture range.
  • Page 365 Application Guide | iC7 Series Motion Table 48: Summary Table (continued) Group Numb Display Name Description Type of Event Inverter and Numb Brake Chopper (Deci Action (Hex) mal) Invert Brake 0x43F 4120 Control Board Temp. Low The temperature of the control board is be- low the normal temperature range.
  • Page 366 Application Guide | iC7 Series Motion Table 48: Summary Table (continued) Group Numb Display Name Description Type of Event Inverter and Numb Brake Chopper (Deci Action (Hex) mal) Invert Brake 0x448 5401 AHF High Temp. Stop A too high temperature has been detected in the connected AHF (Advanced Harmonic Fil- ter).
  • Page 367 Application Guide | iC7 Series Motion Table 48: Summary Table (continued) Group Numb Display Name Description Type of Event Inverter and Numb Brake Chopper (Deci Action (Hex) mal) Invert Brake 0x54F 4629 STO Fault Ch. A The Safe Torque-Off (STO) is activated due to a discrepancy fault: Channel A is not acti- vated, while channel B is activated.
  • Page 368 Application Guide | iC7 Series Motion Table 48: Summary Table (continued) Group Numb Display Name Description Type of Event Inverter and Numb Brake Chopper (Deci Action (Hex) mal) Invert Brake 0x610 4817 PLC Runtime Error The PLC runtime has stopped responding. The application has been halted.
  • Page 369 Application Guide | iC7 Series Motion Table 48: Summary Table (continued) Group Numb Display Name Description Type of Event Inverter and Numb Brake Chopper (Deci Action (Hex) mal) Invert Brake 0x618 5264 Event Simulation SS2 Inst Event simulation SS2 Instance 1. 0x618 5265 Event Simulation SS2 Inst...
  • Page 370 A fault of the communication with an option Fault has been detected. Cycle power, check that the option is properly installed, contact the Danfoss supplier or the service department if the fault persists. Note the occurrence num- ber for further troubleshooting directions. 0x61F...
  • Page 371 An internal fault has been detected. The power system has not received the required reference for modulation. Cycle power, check the wiring if applicable, contact the Danfoss supplier or the service department if the fault persists. Note the occurrence number for fur- ther troubleshooting directions.
  • Page 372 Application Guide | iC7 Series Motion Table 48: Summary Table (continued) Group Numb Display Name Description Type of Event Inverter and Numb Brake Chopper (Deci Action (Hex) mal) Invert Brake 0x61F 4861 Synchronization Fault An internal fault (time synchronization error between controller and power system) has been detected.
  • Page 373 Application Guide | iC7 Series Motion Table 48: Summary Table (continued) Group Numb Display Name Description Type of Event Inverter and Numb Brake Chopper (Deci Action (Hex) mal) Invert Brake 0x708 5222 Brake Feedback Timeout Brake feedback has timed out. The feedback signal is indicating that the mechanical brake has not opened or closeed within the config- ured time.
  • Page 374 Application Guide | iC7 Series Motion Table 48: Summary Table (continued) Group Numb Display Name Description Type of Event Inverter and Numb Brake Chopper (Deci Action (Hex) mal) Invert Brake 0x711 4404 Brake Failure A brake failure is detected, further testing will clarify the failure source.
  • Page 375 Application Guide | iC7 Series Motion Table 48: Summary Table (continued) Group Numb Display Name Description Type of Event Inverter and Numb Brake Chopper (Deci Action (Hex) mal) Invert Brake 0x712 5602 Feedback Resolution/ Feedback signal was slower than expected. Poles High 0x712 5603...
  • Page 376 Application Guide | iC7 Series Motion Table 48: Summary Table (continued) Group Numb Display Name Description Type of Event Inverter and Numb Brake Chopper (Deci Action (Hex) mal) Invert Brake 0x810 4258 Invalid Fieldbus Configu- An issue due to an invalid configuration of ration the fieldbus connection has been detected.
  • Page 377 Application Guide | iC7 Series Motion Table 48: Summary Table (continued) Group Numb Display Name Description Type of Event Inverter and Numb Brake Chopper (Deci Action (Hex) mal) Invert Brake 0x81F 4270 No Modbus TCP Connec- No Modbus TCP communication is currently tion established.
  • Page 378 Application Guide | iC7 Series Motion Table 48: Summary Table (continued) Group Numb Display Name Description Type of Event Inverter and Numb Brake Chopper (Deci Action (Hex) mal) Invert Brake 0x81F 4277 Loss of EtherCAT Connec- One or more of the fieldbus I/O connections tion has failed.
  • Page 379 Application Guide | iC7 Series Motion Table 48: Summary Table (continued) Group Numb Display Name Description Type of Event Inverter and Numb Brake Chopper (Deci Action (Hex) mal) Invert Brake 0x840 5292 Start Below Min. Speed The start took too long. The speed has not reached the minimum speed within the time frame configured.
  • Page 380 Application Guide | iC7 Series Motion | © 2023.11 AB318753549016en-000301 / 136R0284...
  • Page 381  ...
  • Page 382 Danfoss reserves the right to alter its products without notice. This also applies to products ordered but not delivered provided that such alterations can be made without changes to form, fit or function of the product. All trademarks in this material are property of Danfoss A/S or Danfoss group companies.

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