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Nidec Digitax HD M753 User Manual

Variable speed ac drive for servo and induction motors
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Control User Guide
Digitax HD M753
Variable Speed AC drive for
Servo and Induction motors
Part Number: 0478-0461-03
Issue: 3

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Summary of Contents for Nidec Digitax HD M753

  • Page 1 Control User Guide Digitax HD M753 Variable Speed AC drive for Servo and Induction motors Part Number: 0478-0461-03 Issue: 3...
  • Page 2 All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means, electrical or mechanical including photocopying, recording or by an information storage or retrieval system, without permission in writing from the publisher. Copyright © May 2018 Nidec Control Techniques Ltd...
  • Page 3 How to use this guide This guide is intended to be used in conjunction with the Digitax HD M75X Series Installation and Technical Guide. The Installation and Technical Guide gives information necessary to install the drive. This guide gives information on drive configuration, operation and optimization. NOTE There are specific safety warnings throughout this guide, located in the relevant sections.

  • Page 4: Table Of Contents

    ..............39 KI-Remote Keypad saving parameters ....39 Restoring parameter defaults ......39 Parameter access level and security ....39 5.10 Displaying parameters with non-default values only ............40 5.11 Displaying destination parameters only ....40 Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 5 13.17 Switching frequency ..........255 11.4 Onboard PLC parameters .........134 13.18 Sync Task Orun trips ........255 11.5 Onboard PLC trips ..........135 13.19 EtherCAT AL status codes ........255 13.20 SDO abort codes ..........256 Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 6 14.16 Motor overload protection .........258 14.17 Motor overload protection and thermal memory retention ..........258 14.18 Enclosure rating ..........258 14.19 Mounting ............258 14.20 Operating temperature ........258 14.21 Pollution degree ..........258 14.22 Plenum rating ............258 Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 7: Issue

    EU Declaration of Conformity Nidec Control Techniques Ltd, The Gro, Newtown, Powys, SY16 3BE, UK. This declaration is issued under the sole responsibility of the manufacturer. The object of the declaration is in conformity with the relevant European Union harmonization legislation. The declaration applies to the variable speed drive products shown below:...
  • Page 8 EU Declaration of Conformity (including 2006 Machinery Directive) Nidec Control Techniques Ltd, The Gro, Newtown, Powys. UK. SY16 3BE This declaration is issued under the sole responsibility of the manufacturer. The object of the declaration is in conformity with the relevant Union harmonization legislation.

  • Page 9: Safety Information

    1.10 Hazardous environments 2006/42/EC Safety of machinery. The equipment must not be installed in a hazardous environment (i.e. a 2014/30/EU: Electromagnetic Compatibility. potentially explosive environment). Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 10: Motor

    It is the responsibility of the installer to ensure that the equipment or system into which the product is incorporated complies with the relevant EMC legislation in the place of use. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 11: Product Information

    Current Rating : Doc umentation: Nominal current rating x 10 1 - English Enc ode r Interface: Power Format: 0 - Standard A- AC in AC out Safety: 1 - Standard Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 12: Operating Modes

    Sensorless mode provides closed loop control without the need for position feedback by using current, voltages and key motor parameters to estimate the motor speed. It can eliminate instability traditionally associated with open loop control such as operating large motors with light loads at low frequencies. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 13: Compatible Position Feedback Devices

    The date code is four numbers. The first two numbers indicate the year and the remaining numbers indicate the week of the year in which the drive was built. Example: A date code of 1710 would correspond to week 10 of year 2017. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 14: Options

    Compact display with single character code drive status representation, node address setting and a push button reset Remote-Keypad Remote LCD keypad option Keypad Remote Keypad with a LCD display and a real time clock Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 15 SI-Option Mounting kit SI-Option Mounting kit Accessory When connecting SI-option modules, an additional SI-Option Mounting kit is required, (9500-1055) when the drive is not supplied with a SI-Option Mounting kit fitted. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 16: Mechanical Installation

    2. Install the interface card into the option module slot (do not remove the protective cover). The interface card will remain at an angle with respect to the plastic. 3. Line up and clip the SI-option module support mounting frame to the drive in the direction shown. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 17 3. Once the option module tab is located into the slot on the drive, push down at the rear of the option module until it clicks into place. NOTE Once fitted, the SI-option module remains at an angle with respect to the drive. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 18: Ki-Compact Display Installation

    KI-Compact Display installation Figure 3-3 Installing the display 1. Align display tether with slot. 2. Slide the display and tether in the direction shown. 3. Push display until it clicks into position. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 19: Ki-Remote Keypad Adaptor Installation

    2. Align the Remote Keypad Adaptor with the display housing noting the position of the notch (See view B above). Install the Remote Keypad Adaptor over the display tether. 3. Push the Remote Keypad Adaptor into the housing until it clicks into place. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 20: Electrical Installation

    High current brake output 1200 28.8 KI-Compact display 0.24 KI-Remote LCD keypad 1.75 NOTE During start up of the external 24 Vdc supply, allow for an additional 1 A for 300 ms. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 21: Low Voltage Operation

    The working voltage range of the low voltage DC power supply is as follows: Minimum continuous operating voltage: 26 Vdc Minimum start up voltage: 32 Vdc Maximum over voltage trip threshold: 230 Vac drives: 415 Vdc 400 Vac drives: 830 Vdc Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 22: Control Connections

    +24 V / Digital Output 3 Run reverse Digital Output 1 0 V common Digital Output 2 1. Polarized signal connections. * The Safe Torque Off / Drive enable terminal is a positive logic input only Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 23 200 mA (total including DO1) Protection Current limit and trip 2 ms when configured as an output (output Sample / update period will only change at the update rate of the source parameter if slower). Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 24: Position Feedback Connections

    BiSS communication only encoders BiSS (6) Table 4-6 shows the possible combinations of position feedback device types connected to the P1 and P2 position interfaces and the availability of the encoder simulation output. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 25 When using the P1 and P2 position interfaces and the encoder simulation output together, the P2 position interface uses alternative connections on the 15-way D-type connector. Pr 03.172 shows the status of the P2 position interface and indicates if alternative connections are being used for the P2 position interface. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 26 Greyed cells are for P2 position feedback connections or simulated encoder outputs. NOTE Freeze and Freeze\ on terminals 5 and 6 are for Freeze input 1. Freeze2 and Freeze2\ on terminals 11 and 12 are for Freeze input 2. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 27 The termination resistors are always enabled on the P2 position interface. Wire break detection is not available when using AB, FD or FR position feedback device types on the P2 position interface. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 28   6 V Maximum differential voltage between terminals 6 V (with termination resistors enabled) (with termination resistors enabled) NOTE The position feedback input will accept 5 V TTL differential signals. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 29 Not used Resolver (14) Not used Common to All Absolute maximum applied voltage relative to 0V -9 V to 14 V Maximum differential voltage between terminals ±6 V (with termination resistors enabled) Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 30: Safe Torque Off (Sto)

    The total resolution in bits per revolution is the ELPR plus the number of bits of interpolated information. Although it is possible to obtain 11 bits of interpolation information, the nominal design value is 10 bits. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 31 It is important to note that a single short-circuit from the Safe Torque Off input to a DC supply of > 5V could cause the drive to be enabled. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 32: Getting Started

    EtherCAT network, however it is unnecessary for a user to set a station alias in order to initiate EtherCAT communications. When a Digitax HD M753 is fitted with a KI-Compact Display the rotary dials on the display allow for an EtherCAT station alias to be configured when set to a non zero value.
  • Page 33 Table 5-3. When the drive is powered up the lower row will show the power up parameter defined by Parameter Displayed At Power-Up (11.022). Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 34: Ki-Remote Keypad Operation

    'Stop'. NOTE   Low battery voltage is indicated by low battery symbol on the keypad display. Figure 5-3 overleaf shows an example on moving between menus and editing parameters. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 35 0. • If the left and right keypad buttons are pressed together, the least significant digit (furthest right) will be selected on the keypad display for editing. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 36: Menu Structure

    * The option module menus (S.mm.ppp) are only displayed if option modules are installed. Where S signifies the option module slot number and the mm.ppp signifies the menu and the parameter number of the option module's internal menus and parameter. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 37: Menu 0

    All the keypad parameters are saved to the keypad non-volatile memory when exiting from the keypad set-up menu. To exit from the keypad set-up menu press the escape button. Below are the keypad set-up parameters. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 38 The autotune procedure has been initialized and an Auto Tune autotune in progress. Limit switch active. Indicates that a limit switch is Limit Switch active and that is causing the motor to be stopped. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 39: Ki-Remote Keypad Changing The Operating Mode

    The User Security determines whether the access to the user is read only or read write. Both the User Security and Parameter Access Level can operate Open-loop independently of each other as shown in Table 5-10. RFC-A RFC-S Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 40: Displaying Parameters With Non-Default Values Only

    Menu 0 and the symbol is displayed in the right hand corner of the keypad display. The value of Pr 00.034 will return to 0 in order to hide the security code. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 41: Basic Parameters

    RW Num 00.028 Enable Auxiliary Key {06.013} Disabled (0), Forward/Reverse (1), Run Reverse (2) Disabled (0) NV Media Card File Previously 00.029 {11.036} 0 to 999 RO Num NC PT Loaded Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 42 Bit parameter Text string Binary parameter Filtered No default value Not copied Protected parameter Rating dependent User save Power-down save Destination IP address Mac address Date Date parameter Time Time parameter Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 43 Safety Product Mechanical Electrical Getting Basic Running EtherCAT SD Card Onboard Advanced UL listing Optimization Diagnostics information information installation installation started parameters the motor interface Operation parameters information Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 44 Keypad reference 00.023 Jog Reference Enable Auxiliary 00.028 Precision reference Input Read-write (RW) 00.XXX terminals parameter Read-only (RO) Output 00.XXX parameter terminals The parameters are all shown in their default settings Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 45 Maximum Switching 00.041 Frequency P1 Rotary Lines 00.011 Output Frequency 00.027 Per Revolution Overspeed 00.026 Threshold Current Magnitude 00.013 00.012 Torque Producing Current Magnetising 15 way sub-D Current connector Resistor optional Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 46: Parameter Descriptions

    [Read enc. NP P1] Transfer electronic nameplate motor parameters to the drive from the P1 encoder 11051 [Read enc. NP P2] Transfer electronic nameplate motor parameters to the drive from the P2 encoder Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 47 ** These functions do not require a drive reset to become active. All other functions require a drive reset to initiate the function. Equivalent values and strings are also provided in the table above. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 48: Full Descriptions

    The drive speed reference is scaled between Keypad Ref (6) Pr 00.001 and Pr 00.002. [00.001] is a nominal value; slip compensation may cause the actual frequency to be higher. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 49 See Figure 12-4 on page 156 for a schematic of the speed controller. For information on setting up the speed controller gains, refer to Chapter 8 Optimization on page 77. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 50 DC bus level the drive will not decelerate the motor, but it will coast to The active current is the torque producing current and the reactive rest. current is the magnetizing or flux-producing current. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 51 Defines the fault detection for the P1 thermistor input: P1 Thermistor Fault Detection Fault detection (03.123) 0: None No detection active 1: Temperature Over temperature detection Over temperature and short circuit 2: Temp and short detection Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 52 Detect all frequencies Boot (4) Fwd only Detect positive frequencies only RFC-S Rev only Detect negative frequencies only * Only a value of 3 or 4 in this parameter is saved. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 53 Pr 00.040 to 1, and provide the drive with both an enable signal of current into the drive. (terminal 2 and 6) and a run signal (terminal 11 or 13). Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 54 The power factor is the true power factor of the motor, i.e. the angle (terminal 2 and 6) and a run signal (terminal 11 or 13). between the motor voltage and current. Open-loop Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 55 This can be useful to aid load sharing with parameter can be changed. When the drive is reset to implement any mechanically coupled motors. change in this parameter, the default settings of all parameters will be Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 56 If bit 0 is set to one the drive will attempt to stop before tripping if any of the following trip conditions are detected: I/O Overload, An Input 1 Loss, An Input 2 Loss or Keypad Mode. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 57 (along with the motor rated current Pr 00.046, and total motor current Pr 00.012) in the thermal model of the motor in applying thermal protection to the motor. For further details, refer to section 8.3 Motor thermal protection on page 92. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 58: Running The Motor

    Carry out a drive reset through serial communications by setting RFC – S mode (with speed Permanent magnet motor with speed Pr 10.038 to 100 (ensure that Pr. mm.000 returns to 0). and position feedback) and position feedback Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 59 Servo motor Induction (permanent Remote keypad RTC (optional item must motor magnet) be installed for keypad mode). Open loop RFC-A RFC-S Sensorless Sensorless RFC-A RFC-S Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 60: Quick Start Commissioning / Start-Up

    The motor thermistor connection is made through the drive encoder port (terminal 15). The thermistor type is selected thermistor in P1 Thermistor Type (03.118). Motor thermistor fault detection is enabled as default, it can be deselected in set-up Pr 03.123. Refer to Pr 03.123 for further information. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 61 Select 'Save Parameters' in Pr MM.000 (alternatively enter a value of 1001 in Pr MM.000) and press red parameters reset button or toggle the reset digital input. Drive is now ready to run Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 62 Select 'Save Parameters' in Pr mm.000 (alternatively enter a value of 1001 in Pr mm.000) and press red parameters reset button or toggle the reset digital input. Drive is now ready to run Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 63 Select ‘Save Parameters’ in Pr mm.000 (alternatively enter a value of 1001 in Pr mm.000) and press Save parameters the red reset button or toggle the reset digital input. Drive is now ready to run Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 64 Wait for the drive to display ‘Ready’ or ‘Inhibit’ and for the motor to come to a standstill If the drive trips, see Chapter 13 Diagnostics on page 222. • Remove the drive enable and run signal from the drive. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 65 Select 'Save Parameters' in Pr mm.000 (alternatively enter a value of 1001 in Pr mm.000) and press red Save parameters reset button or toggle the reset digital input. Drive is now ready to run Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 66 Wait for the drive to display ‘Ready’ or ‘Inhibit’ and for the motor to come to a standstill. If the drive trips, see Chapter 13 Diagnostics on page 222. • Remove the drive enable and run signal from the drive. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 67: Quick Start Commissioning / Start-Up Using Connect

    KI-Compact 485 adaptor), ‘Scan Ethernet network’ (M750 only or M753 when using Ethernet over EtherCAT protocol) or ‘Scan all connected drives’. This example uses the ‘Scan serial RTU network’ option. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 68 Not required when using data from the motor database for a Leroy Somer LSRPM motor used in RFC-S Sensorless mode. 4. Select 'Save parameters in drive' to perform a parameter save. The drive is now ready to run. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 69: Setting Up A Feedback Device

    Pr 03.036: If the output voltage from the encoder is > 5 V, then termination resistors must be disabled by setting Pr 03.039 to 0. Table 7-3 shows a summary of the parameters required to set-up each feedback device. More detailed information follows. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 70 Disable trips Encoder 1 to Encoder 6 * These settings should only be used in RFC-A mode. If used in RFC-S mode a phase offset test must be performed after every power up. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 71 Error Detection Level (03.040) Enable phase error detection Disable trips Encoder 1 to Encoder 6 So for example, to enable the wire break and phase error detection, set Pr 03.040 to 0011. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 72 Description Error Detection Level (03.040) Enable wire break detection Disable trips Encoder 1 to Encoder 6 So for example, to enable the wire break error detection, set Pr 03.040 to 0001. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 73 Pr 03.128, Pr 03.129, Pr 03.130 and the related part of Pr 03.158 are not reset. Pr 03.158 is transferred to Pr 03.159 and Pr 03.132 is set to 1. This Bit in has no effect. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 74: Encoder Simulation Output Set-Up

    This section shows the parameter settings which must be made to use the encoder simulation output on the drive. For more information on the parameters listed here please refer to the Parameter Reference Guide. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 75 Set to the required output pulse per revolution divided by 2. For example if 2000 pulses per revolution Revolution (03.092) is required, set this parameter to 1000. FD/Binary (1) for Frequency and Direction output signals Encoder Simulation Output Mode (03.098) FR/Binary (2) for Forward and Reverse output signals Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 76 Set to the number bits in the whole position message. AB/Gray (0) for position data in Gray code format Encoder Simulation Output Mode (03.098) FD/Binary (1) or FR/Binary (2) for position data in binary format Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 77: Optimization

    3. Motor And Load Inertia (03.018) and Inertia Times 1000 (04.033) are set up. To perform this autotune test, set Pr 00.040 to 4 and provide the drive with both an enable signal (terminal 2 and 6) and a run signal (terminal 11 or 13). Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 78 Increasing the differential term reduces the overshoot produced by under-damping, however, for most applications the proportional and integral gains alone are sufficient. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 79 1 / (s + 1), where = 1/bw and bw = 2 x Bandwidth (03.020). In this case the damping factor is meaningless, and Damping Factor (03.021) and Compliance Angle (03.019) have no effect. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 80 In some applications where it is necessary for the reference frame used by the drive to dynamically follow the flux very closely the integral gain may need to have a significantly higher value. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 81 1 / (st + 1), where t= 1/wbw and wbw = 2p x Bandwidth (03.020). In this case the damping factor is meaningless, and Damping Factor (03.021) and Compliance Angle (03.019) have no effect. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 82 The drive can be put in to a controlled disable condition by removing the Safe Torque Off signal from terminal 2 & 6, setting the Drive Enable (06.015) to OFF (0) or disabling the drive via the Control Word (06.042) and Control Word Enable (06.043). Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 83 Pr 00.044 00.008 + [(freq/Pr 00.047 ) x (Pr 00.044 - Pr 00.008 00.044 Voltage boost Voltage boost Pr 00.008 Pr 00.008 Output 00.047 Pr 00.047 Pr 00.047 Output frequency frequency Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 84 If too small a value is entered in Pr 00.045, the motor will run faster than the demanded frequency. The synchronous speeds for 50 Hz motors with different numbers of poles are as follows: 2 pole = 3000 rpm, 4 pole = 1500 rpm, 6 pole =1000 rpm, 8 pole = 750 rpm Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 85 The stator inductance can be measured by the drive by performing a rotating autotune (see Autotune (Pr 00.040), later in this table). Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 86 Stator Resistance (05.017), Transient Inductance (05.024), Stator Inductance (05.025), Saturation Breakpoint 1 (05.029), Saturation Breakpoint 2 (05.062), Saturation Breakpoint 3 (05.030) and Saturation Breakpoint 4 (05.063) should be used. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 87 In some applications where it is necessary for the reference frame used by the drive to dynamically follow the flux very closely (i.e. high speed Sensorless RFC-A induction motor applications) the integral gain may need to have a significantly higher value. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 88 1 / (s + 1), where = 1/bw and bw = 2 x Bandwidth (03.020). In this case the damping factor is meaningless, and Damping Factor (03.021) and Compliance Angle (03.019) have no effect. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 89 The stator inductance can be measured by the drive by performing a rotating autotune (see Autotune (Pr 00.040), later in this table). Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 90 In some applications where it is necessary for the reference frame used by the drive to dynamically follow the flux very closely (i.e. high speed Sensorless RFC-A induction motor applications) the integral gain may need to have a significantly higher value. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 91 1 / (s + 1), where = 1/bw and bw = 2 x Bandwidth (03.020). In this case the damping factor is meaningless, and Damping Factor (03.021) and Compliance Angle (03.019) have no effect. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 92: Current Limits

    16 kHz - 250 Level 3 1 ms Voltage controller Time critical user Level 4 4 ms interface 0.00 Non-time critical user Background interface 50% of base Base speed/ speed/frequency frequency Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 93: High Speed Operation

    RFC-A mode ensure the magnetizing current is reduced in the correct proportion for the specific motor. (In open loop mode the magnetizing current is not actively controlled). Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 94 The additional low order harmonics cause increased losses and heating in the motor. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 95: Ethercat Interface

    • Configured Station Alias network. • CANopen over EtherCAT (CoE) which includes: The Digitax HD M753 has two RJ45 Ethernet ports for the EtherCAT • Support of CANopen CiA402 network, refer to Figure 9-1 Location of the communication connectors. •...

  • Page 96: Network Topology

    Value: 0x20141520 To check that the ethernet cable connected to the EtherCAT interface on the drive is connected correctly, look at the LED on the front of the NOTE Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 97 Index: 0x1C12 • Sub index: 0x01 • Size: 2 • Value: 0x1600 Setting object 0x1C12, sub-index 1 to a value of 0x1600 (as above) maps RxPDO1 to the process data output sync. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 98: Quick Start Flowchart

    EtherCAT communications. When a Digitax HD M753 is fitted with a KI-Compact Display the rotary Figure 9-5 Quick start flowchart dials on the display allow for an EtherCAT station alias to be configured when set to a non zero value.

  • Page 99: Process Data Objects (Pdos)

    0x6000 to 0x9FFF Profile area 0xA000 to 0xFFFF Reserved area The object description format describes object related information such as size, range and descriptions and is detailed in Table 9-6 Object description format. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 100 Table 9-10 RxPDO mappings Mapped default PDO No. Mapped object indices object names 0x6040 controlword 0x6040 controlword 0x6060 modes_of_operation 0x6040 controlword 0x607A target_position 0x6040 controlword 0x6071 target_torque 0x6040 controlword 0x6042 vl_target_velocity 0x2006:2A drive controlword Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 101 PDO) defined in the XML configuration file. NOTE Depending on the drive type and operation mode, not all the TxPDO mappings are defined in the XML configuration file. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 102 Bits 0 to 7: Length of the mapped object in bits (if a gap, bit length Description: of the gap). Bits 8 to 15: Sub-index of the mapped object (if a gap, zero). Bits 16 to 31: Index of the mapped object (if a gap, zero). Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 103 Range: N/A Size: 1 byte Unit: N/A utilized by the CoE protocol. Default: Type: USINT Number of assigned PDOs. The mailbox send sync manager can Description: never have PDOs assigned to it. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 104: Ethernet Over Ethercat(Eoe)

    EtherCAT datagrams. Default: Type: UINT It is possible to upgrade the Digitax HD M753 host drive firmware via Description: The object index of a RxPDO to assign to this sync manager. EoE and the EtherCAT master using the change firmware function in Table 9-30 Sync manager 5 PDO assignment object Connect.

  • Page 105: Additional Position Loop Scaling

    The EtherCAT interface supports the following modes of the CiA402 profile: • Homing Mode • Cyclic Synchronous Position Mode • Interpolated Position Mode • vl velocity mode • Cyclic Synchronous Velocity Mode • Cyclic Synchronous Torque Mode Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 106: Common Profile Features

    0111b Operation enabled changed. xxxx xxxx x00x 0111b Quick stop active xxxx xxxx x0xx 1111b Fault reaction active xxxx xxxx x0xx 1000b Fault Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 107 5, 6, 7 or 8 Start quick stop Enable operation (mode specific ) Quick Stop Active Profile SW& 0xFF90 | 0x0007 Drive stopped? Stay in Quick Stop state? Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 108 Disable drive function (switch off the drive power stage) Cyclic Sync Position mode Slow down with slow down ramp; disable the drive function Cyclic Sync Velocity mode Cyclic Sync Torque mode Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 109 The initial value of the feed constant object (0x6092) shall be calculated from the normalization turns parameter of the associated encoder channel if the default values have not been modified. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 110 When the software zero impulse signal is used, the freeze system will be trigger when the normalized Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 111 Trigger first event: this mode captures the position and set the position stored bit when the first event of the trigger source occurs. The further events won’t be captured until the enable bit(s) is cleared and reset. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 112 Table 9-68 Motor rated current 0x6075 Motor rated current Sub-index 0 Range: 0 to Access: RW Size: 4 bytes Unit: mA 0xFFFFFFFF Default: 0xFFFFFFFF Type: UDINT Description: Motor rated current value derived from Pr 05.007. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 113: Interpolated Position Mode

    When a new position command is loaded in, the oldest is specified in user-defined position units. The value is written into sub- position command in the data set is discarded. index 1. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 114: Vl Velocity Mode

    Used to configure the maximum velocity (both in the forward and reverse direction) that the system can operate at. Writing to this Description: sub index will overwrite vl_velocity_max positive and vl_velocity_max negative. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 115 A value of 0 must not be used. Velocity [user-defined unit] / Dimension factor [rpm/user-defined unit] = Velocity [rpm] Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 116: Homing Mode

    Figure 9-9 Homing mode function Controlword (6040 ) Statusword (6041 ) Homing method (6098 ) Homing Homing Speeds (6099 ) method Homing acceleration (609A ) Position demand value (6062 ) Home offset (607C ) Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 117 3 and 4 as shown in Figure 9-14 Homing on positive home Homing procedure was completed switch on page 117. successfully. Homing error occurred, velocity is not 0. Homing error occurred, velocity is 0. Reserved. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 118: Cyclic Sync Position Mode

    The time period is checked to ensure Default: Type: USINT that it an integer multiple of the control loop cycle time. Description: The homing method that shall be used. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 119: Cyclic Synchronous Velocity Mode

    Default: Type: DINT Specifies the velocity offset value in user-defined velocity units. The target velocity value is added to the velocity offset value to Description: give the final velocity reference value. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 120: Cyclic Synchronous Torque Mode

    Value is in 0.1 % units. (e.g. A value of 1000 equates to 100.0 % Description: in Pr 04.003). For open-loop mode, this value is taken from Pr 04.026, for closed-loop mode this value is taken from Pr 04.003. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 121 162 to 163 – Encoder 12 to Encoder 13 0x7300 Sensor 176 – Name Plate 189 to 198 – Encoder 1 to Encoder 10 218 - Temp Feedback 0x7310 Speed 7 - Over speed Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 122: Advanced Features

    Inter-Option Communications, or eCMP), will be written to those parameters in the critical update period at the beginning of every control loop cycle. This behaviour can be modified by the advanced cyclic data configuration objects. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 123: Advanced Cyclic Data Task Configuration

    Pre Drive Critical Update Period. 3 - Sync Manager task. The AL event task which occurs upon a sync manager access. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 124: Supported Objects

    1 to si0 UDINT (Mapped object 1 to si0) Transmit PDO mapping 6 USINT (Number of objects) 1A05 Transmit PDO mapping 6 1 to si0 UDINT (Mapped object 1 to si0) Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 125 USINT (Homing switch source) Homing source USINT (Freeze/marker source) Additional position loop scaling USINT (Number of last sub-index) Additional position loop scaling 3004 DINT (Numerator) Additional position loop scaling DINT (Denominator) Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 126 USINT (Number of last sub-index) vl_velocity_ quick_stop 604A UDINT (Delta speed value (rpm)) vl_velocity_ quick_stop UINT (Delta time value (s)) vl_setpoint_factor USINT (Number of last sub-index) vl_setpoint_factor 604B (Numerator) vl_setpoint_factor (Denominator) Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 127 Homing speeds USINT (Number of last sub-index) Homing speeds 6099 UDINT (Speed during switch search) Homing speeds UDINT (Speed during zero point search) 609A Homing acceleration UDINT 60B1 Velocity offset DINT Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 128 USINT (Number of last sub-index) Position control parameter set 60FB DINT (Proportional gain) Position control parameter set DINT (Speed feed forward gain) 60FF Target velocity DINT 6502 Supported drive modes UDINT Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 129: Ethercat Interface - Setup

    0 to 100 % RO Num ND NC PT 3.09.023 OutDataPositionPercent 0 to 100 % RO Num ND NC PT 3.09.030 PCB Temperature -128 to 127 °C RO Num ND NC Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 130: Sd Card Operation

    The card should not be removed during data transfer, as the drive will produce a trip. If this occurs then either the transfer should be reattempted or in the case of a card to drive transfer, default parameters should be loaded. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 131: Transferring Data

    Pr mm.000 is set to 'Save Parameters' or a 1001 and the drive reset. All SD Card trips apply, except 'Card Change'. If the data block already contains information it is automatically overwritten. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 132: Data Block Header Information

    Option App (6) RFC-S • Setting 9666 in Pr mm.000 will set the warning suppression flag • Setting 9555 in Pr mm.000 will clear the warning suppression flag Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 133: Sd Card Trips

    SD card the file is created as a macro file. NV Media Card Create Special File (11.072) is reset to 0 after the file is created or the transfer fails. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 134: Onboard Plc

    A read or write of a drive parameter by the user program takes a finite period of This parameter stops and starts the user program. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 135: Onboard Plc Trips

    Program trip. The sub-trip number for the User Program trip details the reason for the error. See Chapter 13 Diagnostics on page 222 for more information on the User Program trip. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 136: Advanced Parameters

    Slot 3 option menus* user initiates a parameter save. * Only displayed when the option modules are installed. Power-down save: parameter automatically saved in drive EEPROM when the under volts (UV) state occurs. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 137 05.032 Limit switches 06.035 06.036 Line power supply loss 06.003 10.015 10.016 05.005 06.048 Local position reference 13.020 to 13.023 Logic function 1 09.001 09.004 09.005 09.006 09.007 09.008 09.009 09.010 Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 138 10.037 10.038 10.020 to 10.029 Trip log 10.020 to 10.029 10.041 to 10.060 10.070 to 10.079 Under voltage 05.005 10.016 10.015 V/F mode 05.015 05.014 Variable selector 1 12.008 to 12.016 Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 139: Parameter Ranges And Variable Minimum/Maximums

    Range applied to the parameters showing the AMC jerk Units User units / ms / ms / ms Range of [MIN] Range of [MAX] 107374.1823 VM_AMC_JERK_UNIPOLAR[MAX] = 107374.1823 / AMC Auto Resolution Scaling (31.016) Definition VM_AMC_JERK_UNIPOLAR[MIN] = 0 Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 140 AMC Roll Over Limit VM_AMC_POSITION_REF[MAX] Auto Resolution Auto Resolution (31.010) - 1 Scaling (31.016) Scaling (31.016) -2147483648 / AMC -1073741824 / AMC VM_AMC_POSITION_REF[MIN] Auto Resolution Auto Resolution Scaling (31.016) Scaling (31.016) Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 141 0 to 1190 VM_DC_VOLTAGE[MAX] is the full scale d.c. link voltage feedback (over voltage trip level) for the drive. This level is drive voltage rating dependent. See Table 12-4. Definition VM_DC_VOLTAGE[MIN] = 0 Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 142 Range of [MIN] Range of [MAX] 0 to 6 VM_MIN_SWITCHING_FREQUENCY[MAX] = Maximum Switching Frequency (05.018) Definition VM_MIN_SWITCHING_FREQUENCY[MIN] = 0 for motor control modes, or 1 for Regen mode (subject to the maximum) Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 143 Bipolar Reference VM_NEGATIVE_REF_ VM_NEGATIVE_REF_ Clamp Enable (01.008) Enable (01.010) CLAMP1[MIN] CLAMP1[MAX] Pr 01.006 Definition -VM_POSITIVE_REF_CLAMP1[MAX] VM_NEGATIVE_REF_CLAMP2 is defined in the same way except that Pr 21.001 is used instead of Pr 01.006. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 144 0.000 to 99999.999 VM_RATED_CURRENT [MAX] = Maximum Rated Current (11.060) and is dependent on the drive rating. This is the Heavy Duty rating of the drive. Definition VM_RATED_CURRENT [MIN] = 0.000 Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 145 If Pr 01.008 = 1: VM_SPEED_FREQ_REF[MAX] = Pr 01.006 or |Pr 01.007|, whichever is larger. If the second motor map is selected (Pr 11.045 = 1) Pr 21.001 is used instead of Pr 01.006 and Pr 21.002 instead of Definition Pr 01.007. VM_SPEED_FREQ_REF[MIN] = -VM_SPEED_FREQ_REF[MAX]. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 146 Range of [MIN] Range of [MAX] 0 to 6 VM_SWITCHING_FREQUENCY[MAX] = Power stage dependent Definition VM_SWITCHING_FREQUENCY[MIN] = 0 for motor control modes, or 1 for Regen mode (subject to the maximum) Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 147 For some drive sizes the default value may be reduced below the value given by the parameter range limiting. Table 12-4 Voltage ratings dependant values Voltage level (V) Variable min/max 200 V 400 V VM_DC_VOLTAGE_SET[MAX] VM_DC_VOLTAGE[MAX] VM_AC_VOLTAGE_SET[MAX] VM_AC_VOLTAGE[MAX] VM_STD_UNDER_VOLTS[MIN] VM_SUPPLY_LOSS_LEVEL[MIN] VM_HIGH_DC_VOLTAGE[MAX] 1500 1500 Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 148: Menu 1: Frequency / Speed Reference

    01.020 Input Read-write (RW) mm.ppp terminals Precision parameter Reference Coarse Read-only (RO) mm.ppp Output 01.018 parameter Memory terminals 01.019 The parameters are all shown in their default settings Precision Reference Fine Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 149 Skip Skip Reference 1 Reference 2 Reference 3 Speed Feed-forwards 01.005 01.030 01.032 01.034 [01.006] Jog Reference Skip Skip Skip Reference Reference Reference Band 1 Band 2 Band 3 [01.006] [01.007] Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 150 None (0) RW Read / Write Read only Num Number parameter Bit parameter Text string Binary parameter Filtered No default value Not copied Protected parameter Rating dependent User save Power-down save Destination Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 151 Safety Product Mechanical Electrical Getting Basic Running EtherCAT SD Card Onboard Advanced UL listing Optimization Diagnostics information information installation installation started parameters the motor interface Operation parameters information Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 152: Menu 2: Ramps

    Maximum Rate Of Change Of Acceleration 1 02.042 Maximum Rate Of Change Of Acceleration 2 02.043 Maximum Rate Of Change Of Acceleration 3 02.044 Maximum Rate Of Change Of Acceleration 4 02.045 Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 153 Maximum Rate Of Change Of Acceleration 1 02.042 Maximum Rate Of Change Of Acceleration 2 02.043 Maximum Rate Of Change Of Acceleration 3 02.044 Maximum Rate Of Change Of Acceleration 4 02.045 Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 154 0.000 RW Num Read / Write Read only Number parameter Bit parameter Text string Binary parameter Filtered No default value Not copied Protected parameter Rating dependent User save Power-down save Destination Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 155: Menu 3: Frequency Slaving, Speed Feedback And Speed Control

    03.009 Above Set-Speed Input At Speed Read-write (RW) Absolute mm.ppp terminals Upper Limit parameter At-Speed Select Read-only (RO) Output mm.ppp parameter terminals The parameters are all shown in their default settings Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 156 Option Slot 2 26.027 P2 Speed Feedback 03.079 d/dt 03.080 Sensorless Mode Filter Sensorless Position NOTE * Automatic change over if the relevant ‘bit’ of Position Feedback Initialized (03.076) is 0. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 157 At Speed Above Set Speed Absolute Upper Limit At-Speed Select Input Read-write (RW) mm.ppp terminals parameter Read-only (RO) Output mm.ppp parameter terminals The parameters are all shown in their default settings Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 158 P1 Reference ??.??? Scaling 03.043 P1 Maximum Reference 03.045 03.044 ??.??? Input Read-write (RW) mm.ppp terminals parameter Read-only (RO) Output mm.ppp parameter terminals The parameters are all shown in their default settings Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 159 P2 Reference ??.??? Scaling 03.143 P2 Maximum Reference 03.145 03.144 ??.??? Input Read-write (RW) mm.ppp terminals parameter Read-only (RO) Output mm.ppp parameter terminals The parameters are all shown in their default settings Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 160 Freeze Line Digital I/O 5 P1 Marker Input Read-write (RW) mm.ppp terminals parameter P2 Marker x(-1) Read-only (RO) Output mm.ppp parameter terminals Disabled The parameters are all shown in their default settings Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 161 SSI Comms Bits Encoder Simulation Output Mode Encoder simulation out 03.098 Input Read-write (RW) mm.ppp terminals parameter Read-only (RO) mm.ppp Output parameter terminals The parameters are all shown in their default settings Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 162 03.042 P1 Feedback Filter Disabled (0) Disabled (0), 1 (1), 2 (2), 4 (3), 8 (4), 16 (5) ms 03.043 P1 Maximum Reference 1500 rpm 3000 rpm 0 to 33,000 rpm Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 163 P1 (0) P1 (0), P2 (1), Time (2) 03.103 F1 Normalized Freeze Position ND NC -2147483648 to 2147483647 03.104 F1 Freeze Flag ND NC Off (0) or On (1) Off (0) Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 164 0 to 1 03.168 P2 User Comms Transmit Register 0 to 65535 03.169 P2 User Comms Receive Register 0 to 65535 03.171 P2 Error Detected ND NC Off (0) or On (1) Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 165 0 to 511116116 RW Read / Write Read only Num Number parameter Bit parameter Text string Binary parameter Filtered No default value Not copied Protected parameter Rating dependent User save Power-down save Destination Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 166: Menu 4: Torque And Current Control

    Braking Resistor Motor Load Reached Active Thermal Protection Alarm Accumulator Accumulator Input Read-write (RW) mm.ppp terminals parameter Read-only (RO) Output mm.ppp parameter terminals The parameters are all shown in their default settings Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 167 Motor Rated Load Current Limit Braking Resistor Motor Overload Read-only (RO) Active Thermal Protection Output mm.ppp Reached parameter Accumulator Accumulator Alarm terminals The parameters are all shown in their default settings Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 168 Rated Current Limit Braking Resistor Motor Motor Read-only (RO) Load Reached Active Thermal Protection Overload Alarm Output mm.ppp parameter terminals Accumulator Accumulator The parameters are all shown in their default settings Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 169 100.0 % RW Read / Write Read only Num Number parameter Bit parameter Text string Binary parameter Filtered No default value Not copied Protected parameter Rating dependent User save Power-down save Destination Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 170: Menu 5: Motor Control

    Producing Current 04.002 04.001 04.020 Percentage Load Input Read-write (RW) mm.ppp 04.017 terminals parameter Magnetising Current Read-only (RO) Output mm.ppp parameter terminals The parameters are all shown in their default settings Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 171 Safety Product Mechanical Electrical Getting Basic Running EtherCAT SD Card Onboard Advanced UL listing Optimization Diagnostics information information installation installation started parameters the motor interface Operation parameters information Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 172 05.015 High Dynamic Performance Enable 05.026 Voltage Controller Gain 05.031 Input Read-write (RW) mm.ppp terminals parameter Read-only (RO) Output mm.ppp parameter terminals The parameters are all shown in their default settings Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 173 05.028 Ö 3 x V x I 05.003 Power Calculation ( RFC-S Enable High Speed Mode 05.022 Current Torque Linearisation 05.028 Torque Magnitude Disable Producing Current 04.001 04.002 04.017 Magnetising Current Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 174 Off (0) or On (1) On (1) 05.029 Saturation Breakpoint 1 0.0 to 100.0 % 50.0 % 05.030 Saturation Breakpoint 3 0.0 to 100.0 % 75.0 % 05.031 Voltage Controller Gain 1 to 30 Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 175 -100 to 0 % -100 % 0.000 to 05.084 Lq At The Defined Id Test Current 0.000 mH 500.000 mH Lq Incremental Inductance At Defined Id 0.000 to 05.085 0.000 mH Current 500.000 mH Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 176 0 to 90° Read / Write Read only Number parameter Bit parameter Text string Binary parameter Filtered No default value Not copied Protected parameter Rating dependent User save Power-down save Destination Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 177: Menu 6: Sequencer And Clock

    Drive power supply monitor 06.044 Active Supply Low voltage supply Input Read-write (RW) mm.ppp terminals parameter Read-only (RO) Output mm.ppp parameter terminals The parameters are all shown in their default settings Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 178 Under Voltage System Contactor Close Under Voltage System Contactor 06.070 Closed Input Read-write (RW) mm.ppp terminals parameter Read-only (RO) mm.ppp Output parameter terminals The parameters are all shown in their default settings Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 179 200 V drive: 175 V 06.066 Low Under Voltage Threshold 24 to VM_LOW_UNDER_VOLTS V 400 V drive: 330 V 06.067 Low Under Voltage Threshold Select Off (0) or On (1) Off (0) Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 180 0.00 Hours RW Read / Write Read only Num Number parameter Bit parameter Text string Binary parameter Filtered No default value Not copied Protected parameter Rating dependent User save Power-down save Destination Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 181: Menu 7: Analog I/O / Temperature Monitoring

    Temperature 07.034 Percentage Of Input d.c. Link Thermal Trip Level Read-write (RW) mm.ppp terminals parameter 07.035 Read-only (RO) Output mm.ppp parameter terminals The parameters are all shown in their default settings Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 182 0 to 1999 RW Read / Write Read only Num Number parameter Bit parameter Text string Binary parameter Filtered No default value Not copied Protected parameter Rating dependent User save Power-down save Destination Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 183 Safety Product Mechanical Electrical Getting Basic Running EtherCAT SD Card Onboard Advanced UL listing Optimization Diagnostics information information installation installation started parameters the motor interface Operation parameters information Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 184: Menu 8: Digital I/O

    Digital parameter Input 05 ??.??? Run Reverse 06.032 x(-1) ??.??? Input Read-write (RW) mm.ppp terminals parameter Read-only (RO) Output mm.ppp parameter terminals The parameters are all shown in their default settings Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 185 T14 Digital Output 1 Digital I/O Digital I/O 02 Source 02 Invert 08.022 08.012 ??.??? Digital I/O 02 State 12.040 ??.??? 08.002 x(-1) Any bit parameter T16 Digital Output 2 Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 186 ??.??? Auxiliary Button 00.000 ??.??? x(-1) Toggle Input Read-write (RW) mm.ppp terminals parameter Read-only (RO) mm.ppp Output parameter terminals The parameters are all shown in their default settings Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 187 0000000000000000 RW Read / Write Read only Num Number parameter Bit parameter Text string Binary parameter Filtered No default value Not copied Protected parameter Rating dependent User save Power-down save Destination Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 188: Menu 9: Programmable Logic, Motorized Pot, Binary Sum And Timers

    Delay ??.??? ??.??? x(-1) 09.016 Input Read-write (RW) Logic Function 2 mm.ppp terminals parameter Source 2 Read-only (RO) mm.ppp Output parameter terminals The parameters are all shown in their default settings Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 189 Function disabled if set to a non valid destination 09.031 Binary Sum Fours(MSB) Input Read-write (RW) mm.ppp terminals parameter Read-only (RO) Output mm.ppp parameter terminals The parameters are all shown in their default settings Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 190 Timer 2 Repeat 09.049 to a non valid destination Function Input Read-write (RW) mm.ppp terminals parameter Read-only (RO) Output mm.ppp parameter terminals The parameters are all shown in their default settings Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 191 09.059 Scope Trigger Source x(-1) 09.060 Scope Trigger Threshold 09.061 Input Read-write (RW) mm.ppp terminals parameter Read-only (RO) Output mm.ppp parameter terminals The parameters are all shown in their default settings Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 192 0.000 to 59.999 10.001 09.061 Scope Trigger Threshold -2147483648 to 2147483647 09.062 Scope Trigger Invert Off (0) or On (1) Off (0) 09.063 Scope Mode Single (0), Normal (1), Auto (2) Normal (1) Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 193 Binary parameter Filtered No default value Not copied Protected parameter Rating dependent User save Power-down save Destination IP address Mac address Date Date parameter Time Time parameter Slot,menu,parameter Character parameter Version number Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 194: Menu 10: Status And Trips

    Trip 6 Time 00:00:00 to 23:59:59 Time 10.055 Trip 7 Date 00-00-00 to 31-12-99 Date 10.056 Trip 7 Time 00:00:00 to 23:59:59 Time 10.057 Trip 8 Date 00-00-00 to 31-12-99 Date Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 195 Binary parameter Filtered No default value Not copied Protected parameter Rating dependent User save Power-down save Destination IP address Mac address Date Date parameter Time Time parameter Slot,menu,parameter Character parameter Version number Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 196: Menu 11: General Drive Set-Up

    NV Media Card Read-only Flag Off (0) or On (1) 11.076 NV Media Card Warning Suppression Flag Off (0) or On (1) 11.077 NV Media Card File Required Version 0 to 9999 Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 197 Binary parameter Filtered No default value Not copied Protected parameter Rating dependent User save Power-down save Destination IP address Mac address Date Date parameter Time Time parameter Slot,menu,parameter Character parameter Version number Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 198: Menu 12: Threshold Detectors, Variable Selectors And Brake Control Function

    Detector 2 Source Hysteresis Output Invert Input Read-write (RW) Hysteresis mm.ppp terminals parameter Threshold level Read-only (RO) Output mm.ppp parameter terminals Threshold The parameters are all shown in their default settings output Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 199 12.036 Enable 12.034 ??.??? Variable Selector 2 12.029 Source 2 Input Read-write (RW) mm.ppp terminals parameter Read-only (RO) Output mm.ppp parameter terminals The parameters are all shown in their default settings Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 200 If the reset input is 1, the output is 0. Brake Control: If the reset input is 0, the output Brake Apply Through latches at 1 if the input is 1. Zero Threshold Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 201 5. Wait for zero frequency 01.011 Reference On 6. 1s delay as phase 2 of stopping sequence (Pr 06.001 =1,2 or 3) 12.040 Brake Control: Brake Release 02.003 Ramp Hold Pr 12.046 Pr 12.047 Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 202 If the reset input is 0, the output latches at 1 if the input is 1. Input Read-write (RW) mm.ppp terminals parameter Read-only (RO) Output mm.ppp parameter terminals The parameters are all shown in their default settings Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 203 4. Wait for brake apply speed delay 5. Brake apply delay 01.011 Reference On 12.040 Brake Control: Brake Release 02.003 Ramp Hold 13.010 Position Control Mode 06.008 Hold Zero Speed Pr 12.047 Pr 12.046 Pr 12.048 Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 204 01.011 Input Read-write (RW) mm.ppp terminals parameter Reference Read-only (RO) Output mm.ppp Brake Control parameter terminals Brake Apply Zero Threshold The parameters are all shown in their default settings 12.051 Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 205 Output LATCH Reset 12.045 BC Brake Apply Speed 12.046 Latch function BC Brake Reset = 1 THEN Output= 0 Delay Reset = 0 AND Input = 1 THEN Output latches to1 Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 206 Off (0) RW Read / Write Read only Num Number parameter Bit parameter Text string Binary parameter Filtered No default value Not copied Protected parameter Rating dependent User save Power-down save Destination Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 207 Safety Product Mechanical Electrical Getting Basic Running EtherCAT SD Card Onboard Advanced UL listing Optimization Diagnostics information information installation installation started parameters the motor interface Operation parameters information Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 208: Menu 13: Standard Motion Controller

    Limited to ± / rev Option Slot 3 pole pitch P1 Speed Feedback 13.013 Option Slot 3 P2 Speed Feedback Standard Motion Orientation Position Reference RFC-A / S only Sensorless Position 03.080 Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 209 3. The absolute mode parameter (Pr 13.011) is changed. The position controller is disabled transiently to reset the error integrator. 4. One of the position sources is invalid. 5. The position feedback initialized parameter (Pr 03.048) is zero. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 210 Not Active (0), 4ms (1) RW Read / Write Read only Num Number parameter Bit parameter Text string Binary parameter Filtered No default value Not copied Protected parameter Rating dependent User save Power-down save Destination Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 211 Safety Product Mechanical Electrical Getting Basic Running EtherCAT SD Card Onboard Advanced UL listing Optimization Diagnostics information information installation installation started parameters the motor interface Operation parameters information Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 212: Menu 14: User Pid Controller

    14.008 Logic 1 Any bit parameter Logic 1 ??.??? Any bit parameter ??.??? ??.??? Source ??.??? 14.009 not used PID1 Enable Source 1 Source 14.027 not used PID1 Enable Source 2 Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 213 Output parameter terminals The parameters are all shown in their default settings NOTE The same logic diagram above (Menu 14) can also be used for PID2 as they are the same. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 214 PID2 Digital Reference ±100.00 % 0.00 % 14.056 PID2 Digital Feedback ±100.00 % 0.00 % 14.057 PID2 Enable Source 2 0.000 to 59.999 0.000 14.058 PID1 Feedback Output Scaling 0.000 to 4.000 1.000 Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 215 Off (0) RW Read / Write Read only Num Number parameter Bit parameter Text string Binary parameter Filtered No default value Not copied Protected parameter Rating dependent User save Power-down save Destination Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 216: Menus 15, 16 And 17: Option Module Set-Up

    Option module ID Module Category No module installed SI-Encoder Feedback SI-Universal Encoder SI-I/O Automation (I/O Expansion) MCi210 Automation (Applications) MCi200 SI-EtherCAT SI-PROFINET RT SI-Ethernet SI-PROFINET V2 Fieldbus SI-PROFIBUS SI-DeviceNet SI-CANopen Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 217: Menus 17: Ethercat Interface - Setup

    20.040 RW Read / Write Read only Num Number parameter Bit parameter Text string Binary parameter Filtered No default value Not copied Protected parameter Rating dependent User save Power-down save Destination Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 218: Menu 21: Second Motor Parameters

    M2 Low Speed Sensorless Mode Current Limit 0.0 to 1000.0 % 20.0 % 0.000 to 21.048 M2 No-load Lq 0.000 mH 500.000 mH M2 Iq Test Current For Inductance 21.051 0 to 200 % 100 % Measurement Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 219 500.000 mH RW Read / Write Read only Num Number parameter Bit parameter Text string Binary parameter Filtered No default value Not copied Protected parameter Rating dependent User save Power-down save Destination Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 220: Menu 22: Additional Menu 0 Set-Up

    Parameter 00.054 Set-up 0.000 to 59.999 0.000 22.055 Parameter 00.055 Set-up 0.000 to 59.999 0.000 22.056 Parameter 00.056 Set-up 0.000 to 59.999 0.000 22.057 Parameter 00.057 Set-up 0.000 to 59.999 0.000 Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 221 0.000 to 59.999 0.000 Read / Write Read only Number parameter Bit parameter Text string Binary parameter Filtered No default value Not copied Protected parameter Rating dependent User save Power-down save Destination Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 222: Diagnostics

    Status modes (KI-Compact Display, KI-Remote Keypad and drive LED status) Figure 13-1 KI-Compact Display status modes 1. Drive OK status 2. Trip status 3. Alarm status 1. Drive OK status 2. Trip status (flashing) Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 223: Trip Indications

    If a display is not being used, the drive LED Status indicator will flash with 0.5 s duty cycle if the drive has tripped. Refer to Figure 13-3. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 224 Table 13-4. Table 13-3 Sub-trip identification Source Description Control Control board thermistor 1 over temperature system Control Control board thermistor 2 over temperature system Control Control board thermistor 3 over temperature system Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 225: Trips, Sub-Trip Numbers

    Recommended actions: • Check motor cable wiring is correct • Check feedback device wiring is correct • Swap any two motor phases Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 226 If an external thermal protection device is being used and the braking resistor software overload protection is not required, set Pr 10.030, Pr 10.031 or Pr 10.061 to 0 to disable the trip. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 227 Ensure the destination drive supports the drive operating mode in the parameter file. • Clear the value in Pr mm.000 and reset the drive. • Ensure destination drive operating mode is the same as the source parameter file. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 228 Pr xx.000, and resetting the drive (this applies the warning suppression flag to the card). Recommended actions: • Use a different SD Card • This trip can be suppressed by setting Pr mm.000 to 9666 and resetting the drive Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 229 Ensure the drive is not enabled when one of he following is being carried out Loading defaults Changing drive mode Transferring data from SD Card or position feedback device Transferring user programs Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 230 The Drive Size trip indicates that the control PCB has not recognized the drive size of the power circuit to which it is connected. Recommended action: • Ensure the drive is programmed to the latest firmware version • Hardware fault - return drive to supplier Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 231 If wire break detection on the drive encoder input is not required, set Pr 03.040 = XXX0 to disable the Encoder 2 trip • Check cable continuity • Check wiring of feedback signals is correct • Check encoder power supply is set correctly (Pr 03.036) • Replace encoder Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 232 Drive position feedback interface 2 Recommended actions: • For SSI encoders, check the wiring and encoder power supply setting (Pr 03.036) • Replace the encoder / contact the supplier of the encoder Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 233 Communications bits error Calculation time is too long Line delay measured is longer than 5 µs Recommended actions: • Enter the encoder setup parameters manually • Check to see the encoder supports auto-configuration Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 234 The HF08 trip indicates that a CPU interrupt crash has occurred. This trip indicates that the control PCB on the drive has failed. Recommended actions: • Hardware fault – Contact the supplier of the drive Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 235 The sub-trip number gives the actual ID code of the control board hardware. Recommended actions: • Re-program the drive with the latest version of the drive firmware for Digitax HD M753 • Hardware fault – Contact the supplier of the drive...
  • Page 236 Recommended actions: • Hardware fault - Contact the supplier of the drive HF23 to HF25 Hardware fault Recommended actions: • If this trip occurs please consult the drive supplier. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 237 (21.003 = 4 or 6 if motor map 2 is selected] and the keypad has been removed or disconnected from the drive. Recommended actions: • Re-install keypad and reset • Change Reference Selector (01.014) to select the reference from another source Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 238 Check enclosure / drive fans are still functioning correctly • Check enclosure ventilation paths • Check enclosure door filters • Increase ventilation • Reduce the drive switching frequency • Check ambient temperature Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 239 Increase acceleration / deceleration rates • Reduce motor load • Check DC bus ripple • Ensure all three input phases are present and balanced Recommended actions with sub-trip 300: • Reduce the braking load Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 240 Reduce the values in the speed loop gain parameters - (Pr 03.010, 03.011, 03.012) or (Pr 03.013, 03.014, 03.015) • Has the phase angle autotune been completed? (RFC-S mode only) • Reduce the values in current loop gain parameters (RFC-A, RFC-S modes only) Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 241 If Pr 05.042 = 1 the physical output phases are reversed, and so sub-trip 3 refers to physical output phase V and sub-trip 2 refers to physical output phase W. Recommended actions: • Check motor and drive connections • To disable the trip set Output Phase Loss Detection Enable (06.059) = 0 Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 242 Check the output current stability • Check for mechanical resonance with the load • Reduce the duty cycle • Reduce the motor load • Disable the phase loss detection, set Pr 06.047 to 2. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 243 The Power Down Save trip indicates that an error has been detected in the power down save parameters saved in non- volatile memory. Recommended actions: • Perform a 1001 save in Pr mm.000 to ensure that the trip doesn’t occur the next time the drive is powered up. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 244 Ensure the stator resistance of the motor falls within the range of the drive model • Select fixed boost mode (Pr 05.014 = Fixed) and verify the output current waveforms with an oscilloscope • Replace the motor Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 245 Ensure the option module is installed correctly. • Re-install the option module. • To confirm that the removed option module is no longer required perform a save function in Pr mm.000. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 246 Option slot 1 set-up Option slot 1 applications Option slot 2 set-up Option slot 2 applications Option slot 3 set-up Option slot 3 applications Option slot 4 set-up Option slot 4 applications Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 247 The Undefined trip indicates that the power system has generated but did not identify the trip from the power system. The cause of the trip is unknown. Recommended actions: • Hardware fault – return the drive to the supplier Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 248 Unknown parameter error. Invalid bit present in parameter. The parameter does not contain the specified bit. Parameter format lookup failed. Failed to get parameter information data. An over-range write has been attempted. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 249 Once Pr 06.042 bit 14 has been changed from 0 to 1 to enable the watchdog, this must be repeated every 1 s or a Watchdog trip will be initiated. The watchdog is disabled when the trip occurs and must be re-enabled if required when the trip is reset. Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 250 228 - 246 Reserved 228 - 246 Power Down Save Encoder 2 Derivative ID 40 -89 User Trip 40 - 89 Encoder 3 Derivative Image Power Comms Encoder 4 User Program Reset Logs Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 251: Internal / Hardware Trips

    On power up after it has been power cycled the drive will trip on Stored HF. The sub-trip code is the number of the original HF trip. Enter 1299 in mm.000 to clear the Stored HF trip. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 252: Alarm Indications

    The drive is in the under voltage state Disabled Voltage either in low voltage or high voltage mode. Heat The motor pre-heat function is active. Enabled The drive is performing a ‘phasing test on Phasing Enabled enable’. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 253: Displaying The Trip History

    EtherCAT interface ID code Table 13-17 below. Default 435 (EtherCAT) Pr 17.001 Range 0 to 65535 Access This parameter is useful for checking the EtherCAT interface is of the correct type. Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 254: Drive Trip Display Codes

    ERROR_RUNTIM 183 – Card No Data, 184 – Card Full Runtime configuration error E_CONFIG 185 – Card Access, 186 – Card Rating 187 – Card Drive Mode, 188 – Card Compare Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 255: Updating The Ethercat Interface Firmware

    Check DC configuration 0017 Manager the EtherCAT error direction mismatch Manager events missed configuration. configuration No valid inputs No valid inputs available Check slave input 0018 available on Slave device objects Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 256: Sdo Abort Codes

    Data cannot be transferred or stored to the application because 0x08000022 of the present device state Object dictionary dynamic generation fails or no object 0x08000023 dictionary is present Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 257: Ul Listing Information

    (fuses or circuit breaker) provide overcurrent protection in the usual way. All AC drives incorporate solid state short circuit protection. If a ground (earth) fault occurs in the motor circuit, the solid-state protection Digitax HD M753 Control User Guide Issue Number: 3...

  • Page 258: Motor Overload Protection

    Refer to the ‘Technical Data’ (Chapter 6) of the Digitax HD M75X Series Installation and Technical Guide. 14.21 Pollution degree Drives are designed for operation in a pollution degree 2 environment or better (dry, non-conductive pollution only). Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 259 Digital Input 5 ................23 Motor rated current ..............82 Digital Output 2 ................24 Motor rated frequency ............82 Digitax HD M753 Control terminal specification ......23 Motor rated power factor ............82 Display messages ..............38 Motor rated speed ..............82 Drive enable ................23 Motor rated voltage ..............
  • Page 260 Status ..................252 Status Indications ..............252 Status information ..............56 Switching frequency ............92 Trip ..................222 Trip History ................253 Trip Indications ..............222 User Security ................40 Voltage boost ................49 Voltage mode ................83 Warnings ...................9 Digitax HD M753 Control User Guide Issue Number: 3...
  • Page 262 0478-0461-03...

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