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Digitax ST

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83 views206 pages

Digitax ST

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Yenireé Medina

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User Guide

AC variable speed drive for servo

motors

Part Number: 0475-0001-03

Issue: 3

www.controltechniques.com
General Information
The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect
installation or adjustment of the optional operating parameters of the equipment or from mismatching the variable speed
drive with the motor.
The contents of this guide are believed to be correct at the time of printing. In the interests of a commitment to a policy
of continuous development and improvement, the manufacturer reserves the right to change the specification of the
product or its performance, or the contents of the guide, without notice.
All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means, electrical or
mechanical including photocopying, recording or by an information storage or retrieval system, without permission in
writing from the publisher.
Drive software version
This product is supplied with the latest software version. If this drive is to be connected to an existing system or machine,
all drive software versions should be verified to confirm the same functionality as drives of the same model already
present. This may also apply to drives returned from a Control Techniques Service Centre or Repair Centre. If there is
any doubt please contact the supplier of the product.
The software version of the drive can be checked by looking at Pr 11.29 and Pr 11.34. This takes the form of xx.yy.zz
where Pr 11.29 displays xx.yy and Pr 11.34 displays zz. (e.g. for software version 01.01.00, Pr 11.29 = 1.01 and Pr 11.34
displays 0).

Environmental statement
Control Techniques is committed to minimising the environmental impacts of its manufacturing operations and of its
products throughout their life cycle. To this end, we operate an Environmental Management System (EMS) which is
certified to the International Standard ISO 14001. Further information on the EMS, our Environmental Policy and other
relevant information is available on request, or can be found at www.greendrives.com.
The electronic variable-speed drives manufactured by Control Techniques have the potential to save energy and
(through increased machine/process efficiency) reduce raw material consumption and scrap throughout their long
working lifetime. In typical applications, these positive environmental effects far outweigh the negative impacts of product
manufacture and end-of-life disposal.
Nevertheless, when the products eventually reach the end of their useful life, they must not be discarded but should
instead be recycled by a specialist recycler of electronic equipment. Recyclers will find the products easy to dismantle
into their major component parts for efficient recycling. Many parts snap together and can be separated without the use
of tools, while other parts are secured with conventional fasteners. Virtually all parts of the product are suitable for
recycling.
Product packaging is of good quality and can be re-used. Large products are packed in wooden crates, while smaller
products come in strong cardboard cartons which themselves have a high recycled fibre content. If not re-used, these
containers can be recycled. Polythene, used on the protective film and bags for wrapping product, can be recycled in the
same way. Control Techniques' packaging strategy prefers easily-recyclable materials of low environmental impact, and
regular reviews identify opportunities for improvement.
When preparing to recycle or dispose of any product or packaging, please observe local legislation and best practice.

REACH legislation
EC Regulation 1907/2006 on the Registration, Evaluation, Authorisation and restriction of Chemicals (REACH) requires
the supplier of an article to inform the recipient if it contains more than a specified proportion of any substance which is
considered by the European Chemicals Agency (ECHA) to be a Substance of Very High Concern (SVHC) and is
therefore listed by them as a candidate for compulsory authorisation.
For current information on how this requirement applies in relation to specific Control Techniques products, please
approach your usual contact in the first instance. Control Techniques position statement can be viewed at:
http://www.controltechniques.com/REACH

Copyright © July 2011 Control Techniques Ltd.

Issue Number: 3
Software: 01.06.00 onwards
How to use this guide
This User Guide provides information for operating the drive from start to finish.
The information is in logical order, taking the reader from receiving the drive through to fine tuning the performance.
NOTE

There are specific safety warnings throughout this guide, located in the relevant sections. In addition, Chapter 1 Safety
Information contains general safety information. It is essential that the warnings are observed and the information
considered when working with or designing a system using the drive.
This map of the user guide helps to find the right sections for the task you wish to complete:

1 Safety information

2 Product information

3 Mechanical installation

4 Electrical installation

5 Getting started

6 Basic parameters

7 Running the motor

8 Optimization

9 SMARTCARD operation

10 Onboard PLC

11 Advanced parameters

12 Technical data

13 Diagnostics

14 UL listing information
Contents
1 Safety Information .................................6 5 Getting started .................................... 42
1.1 Warnings, Cautions and Notes .............................6 5.1 User interfaces ................................................... 42
1.2 Electrical safety - general warning ........................6 5.2 CT Soft ............................................................... 42
1.3 System design and safety of personnel ................6 5.3 SYPTPro (Indexer & Plus only) .......................... 42
1.4 Environmental limits ..............................................6 5.4 EZMotion PowerTools Pro ................................. 42
1.5 Access ...................................................................6 5.5 Keypad operation ............................................... 43
1.6 Fire protection .......................................................6 5.6 Understanding the display .................................. 43
1.7 Compliance with regulations .................................6 5.7 Displaying parameters with non-default
1.8 Motor .....................................................................6 values only ......................................................... 46
1.9 Mechanical brake control ......................................6 5.8 Displaying destination parameters only ............. 46
1.10 Adjusting parameters ............................................6 5.9 Communications ................................................ 46
1.11 Electrical installation ..............................................6
6 Basic parameters ................................ 48
2 Product information ..............................8 6.1 Single line descriptions ...................................... 48
2.1 Introduction ...........................................................8 6.2 Full descriptions ................................................. 52
2.2 Drive ratings ..........................................................8
2.3 Drive model numbers ............................................9 7 Running the motor .............................. 58
2.4 Drive nameplate description ..................................9 7.1 Quick start Connections ..................................... 58
2.5 Features of the drive ...........................................10 7.2 Quick Start set-up .............................................. 62
2.6 Options ................................................................11 7.3 Setting up a feedback device ............................. 63
2.7 Items supplied with the drive ...............................14 7.4 Setting up a buffered encoder output ................. 66

3 Mechanical installation .......................15 8 Optimization ........................................ 67

3.1 Safety information ...............................................15 8.1 Motor map parameters ....................................... 67
3.2 Planning the installation ......................................15
3.3 Solutions Module / keypad installation / removal 16 9 SMARTCARD Operation ..................... 70
3.4 Drive dimensions .................................................17 9.1 Introduction ........................................................ 70
3.5 External EMC filter rating ....................................18 9.2 Transferring data ................................................ 71
3.6 Optional braking resistor .....................................19 9.3 Data block header information ........................... 73
3.7 Terminal torque settings ......................................19 9.4 SMARTCARD parameters ................................. 73
3.8 Routine maintenance ..........................................19 9.5 SMARTCARD trips ............................................. 75

4 Electrical installation ...........................20 10 Onboard PLC ....................................... 77

4.1 Power terminal connections ................................21 10.1 Onboard PLC and SYPTLite .............................. 77
4.2 Ground connections ............................................22 10.2 Benefits .............................................................. 77
4.3 AC supply requirements ......................................22 10.3 Limitations .......................................................... 77
4.4 DC bus design .....................................................23 10.4 Getting started .................................................... 77
4.5 DC drive voltage levels .......................................23 10.5 Onboard PLC parameters .................................. 78
4.6 Ratings ................................................................24 10.6 Onboard PLC trips ............................................. 78
4.7 Output circuit and motor protection .....................24 10.7 Onboard PLC and the SMARTCARD ................ 78
4.8 Braking ................................................................25
4.9 Ground leakage ...................................................26
4.10 EMC (Electromagnetic compatibility) ..................27
4.11 Internal and external conducted emissions
conformity ............................................................29
4.12 Serial communications connections ....................30
4.13 Control connections ............................................31
4.14 Control terminals .................................................33
4.15 Encoder connections ...........................................36
4.16 Encoder terminals ...............................................37
4.17 SAFE TORQUE OFF ..........................................40

4 Digitax ST User Guide

www.controltechniques.com Issue: 3
11 Advanced parameters .........................79
11.1 Menu 1: Speed reference ...................................84
11.2 Menu 2: Ramps ...................................................88
11.3 Menu 3: Frequency slaving, speed feedback
and speed control ...............................................92
11.4 Menu 4: Torque and current control ....................95
11.5 Menu 5: Motor control .........................................98
11.6 Menu 6: Sequencer and clock ..........................101
11.7 Menu 7: Analog I/O ...........................................103
11.8 Menu 8: Digital I/O ............................................106
11.9 Menu 9: Programmable logic, motorized
pot, binary sum and timers ................................109
11.10 Menu 10: Status and trips .................................112
11.11 Menu 11: General drive set-up .........................114
11.12 Menu 12: Threshold detectors, variable
selectors and brake control function .................115
11.13 Menu 13: Position control .................................120
11.14 Menu 14: User PID controller ............................124
11.15 Menus 15 and 16: Solutions Module set-up ......127
11.16 Menu 17: Motion processors .............................159
11.17 Menu 18: Application menu 1 ...........................161
11.18 Menu 19: Application menu 2 ...........................161
11.19 Menu 20: Application menu 3 ...........................161
11.20 Menu 21: Second motor parameters ................162
11.21 Menu 22: Additional Menu 0 set-up ..................163
11.22 Advanced features ............................................164

12 Technical Data ...................................171

12.1 Drive technical data ..........................................171
12.2 Continuous rating ..............................................174
12.3 Maximum power ratings ....................................175
12.4 Motor cable size and maximum lengths ............178
12.5 Terminal torque settings ...................................179
12.6 Elecromagnetic compatibility (EMC) .................179
12.7 Optional external EMC filters ............................180
12.8 Overall EMC filter dimensions ...........................180

13 Diagnostics ........................................181
13.1 Trip indications ..................................................181
13.2 Alarm indications ...............................................196
13.3 Status indications ..............................................197

14 UL listing information .......................198

14.1 Common UL information ...................................198
14.2 AC supply specification .....................................198
14.3 Maximum continuous output current .................198
14.4 Common DC bus ..............................................198
14.5 DC Supplied drive .............................................198
14.6 UL listed accessories ........................................199

Digitax ST User Guide 5

Issue: 3 www.controltechniques.com
Safety Product Mechanical Electrical Getting Basic Running the SMARTCARD Onboard Advanced Technical UL listing
Optimization Diagnostics
Information information installation installation started parameters motor Operation PLC parameters Data information

1 Safety Information 1.4 Environmental limits

Instructions regarding transport, storage, installation and use of the drive
1.1 Warnings, Cautions and Notes must be complied with, including the specified environmental limits.
Drives must not be subjected to excessive physical force.

A Warning contains information which is essential for 1.5 Access

avoiding a safety hazard. Access must be restricted to authorized personnel only. Safety
regulations which apply at the place of use must be complied with.
WARNING

1.6 Fire protection

The drive enclosure is not classified as a fire enclosure. A separate fire
A Caution contains information which is necessary for enclosure must be provided. For details regarding fire protection please
avoiding a risk of damage to the product or other equipment. refer to section 3.2.5 Fire protection on page 15.
CAUTION
1.7 Compliance with regulations
NOTE The installer is responsible for complying with all relevant regulations,
A Note contains information which helps to ensure correct operation of such as national wiring regulations, accident prevention regulations and
the product. electromagnetic compatibility (EMC) regulations. Particular attention
must be given to the cross-sectional areas of conductors, the selection
1.2 Electrical safety - general warning of fuses or other protection, and protective ground (earth) connections.
The voltages used in the drive can cause severe electrical shock and/or Within the European Union, all machinery in which this product is used
burns, and could be lethal. Extreme care is necessary at all times when must comply with the following directives:
working with or adjacent to the drive.
2006/42/EC: Safety of machinery.
Specific warnings are given at the relevant places in this guide. 2004/108/EC: Electromagnetic Compatibility.
1.3 System design and safety of personnel 1.8 Motor
The drive is intended as a component for professional incorporation into Ensure the motor is installed in accordance with the manufacturer’s
complete equipment or a system. If installed incorrectly, the drive may recommendations. Ensure the motor shaft is not exposed.
present a safety hazard.
The values of the motor parameters set in the drive affect the protection
The drive uses high voltages and currents, carries a high level of stored of the motor. The default values in the drive should not be relied upon.
electrical energy, and is used to control equipment which can cause
It is essential that the correct value is entered in parameter 0.46 motor
injury.
rated current. This affects the thermal protection of the motor.
Close attention is required to the electrical installation and the system
design to avoid hazards either in normal operation or in the event of 1.9 Mechanical brake control
equipment malfunction. System design, installation, set-up and The brake control functions are provided to allow well co-ordinated
maintenance must be carried out by personnel who have the necessary operation of an external brake with the drive. While both hardware and
training and experience. They must read this safety information and this software are designed to high standards of quality and robustness, they
guide carefully. are not intended for use as safety functions, i.e. where a fault or failure
The STOP and SAFE TORQUE OFF functions of the drive do not isolate would result in a risk of injury. In any application where the incorrect
dangerous voltages from the output of the drive or from any external operation of the brake release mechanism could result in injury,
option unit. The supply must be disconnected by an approved electrical independent protection devices of proven integrity must also be
isolation device before gaining access to the electrical connections. incorporated.
With the sole exception of the SAFE TORQUE OFF function, none 1.10 Adjusting parameters
of the drive functions must be used to ensure safety of personnel, Some parameters have a profound effect on the operation of the drive.
i.e. they must not be used for safety-related functions. They must not be altered without careful consideration of the impact on
Careful consideration must be given to the functions of the drive which the controlled system. Measures must be taken to prevent unwanted
might result in a hazard, either through their intended behavior or changes due to error or tampering.
through incorrect operation due to a fault. In any application where a
malfunction of the drive or its control system could lead to or allow 1.11 Electrical installation
damage, loss or injury, a risk analysis must be carried out, and where 1.11.1 Electric shock risk
necessary, further measures taken to reduce the risk - for example, an The voltages present in the following locations can cause severe electric
over-speed protection device in case of failure of the speed control, or a shock and may be lethal:
fail-safe mechanical brake in case of loss of motor braking.
• AC supply cables and connections
The SAFE TORQUE OFF function has been approved by BGIA as • DC bus, dynamic brake cables and connections
meeting the requirements of the following standards, for the prevention • Output cables and connections
of unexpected starting of the drive: • Many internal parts of the drive, and external option units
EN 61800-5-2:2007 SIL 3 Unless otherwise indicated, control terminals are single insulated and
EN ISO 13849-1:2006 PL e must not be touched.
EN 954-1:1997 Category 3 1.11.2 Isolation device
The AC supply must be disconnected from the drive using an approved
The SAFE TORQUE OFF function may be used in a safety-related
isolation device before any cover is removed from the drive or before
application. The system designer is responsible for ensuring that the
any servicing work is performed.
complete system is safe and designed correctly according to the
relevant safety standards. 1.11.3 STOP function
The STOP function does not remove dangerous voltages from the drive,
the motor or any external option units.

6 Digitax ST User Guide

www.controltechniques.com Issue: 3
Safety Product Mechanical Electrical Getting Basic Running the SMARTCARD Onboard Advanced Technical UL listing
Optimization Diagnostics
Information information installation installation started parameters motor Operation PLC parameters Data information

1.11.4 Stored charge

The drive contains capacitors that remain charged to a potentially lethal
voltage after the AC supply has been disconnected. If the drive has been
energized, the AC supply must be isolated at least ten minutes before
work may continue.
Normally, the capacitors are discharged by an internal resistor. Under
certain, unusual fault conditions, it is possible that the capacitors may fail
to discharge, or be prevented from being discharged by a voltage
applied to the output terminals. If the drive has failed in a manner that
causes the display to go blank immediately, it is possible the capacitors
will not be discharged. In this case, consult Control Techniques or their
authorized distributor.
1.11.5 Equipment supplied by plug and socket
Special attention must be given if the drive is installed in equipment
which is connected to the AC supply by a plug and socket. The AC
supply terminals of the drive are connected to the internal capacitors
through rectifier diodes which are not intended to give safety isolation. If
the plug terminals can be touched when the plug is disconnected from
the socket, a means of automatically isolating the plug from the drive
must be used (e.g. a latching relay).
1.11.6 Permanent magnet motors
Permanent magnet motors generate electrical power if they are rotated,
even when the supply to the drive is disconnected. If that happens then
the drive will become energized through its motor terminals.
If the motor load is capable of rotating the motor when the supply is
disconnected, then the motor must be isolated from the drive before
gaining access to any live parts.

Digitax ST User Guide 7

2 Product information 2.2 Drive ratings

The drive rating is limited by numerous systems which protect the power
2.1 Introduction stage hardware. (Rectifier, DC bus, inverter)
The Digitax ST family of servo drives are available with four levels of These systems come into operation under various extremes of operating
intelligence: conditions. (I.e. ambient, supply imbalance, output power.)
2.2.1 Maximum ratings
Digitax ST Base Green Table 2-1 Maximum ratings
B
Nominal current Peak current
No of input In IMAX
Model
Digitax ST Indexer Silver phases
I A A
DST1201 1 1.1* 2.2
Digitax ST Plus Gold
P DST1202 1 2.4* 4.8
DST1203 1 2.9* 5.8
DST1204 1 4.7* 9.4
Digitax ST EZMotion Z Blue
DST1201 3 1.7 5.1
DST1202 3 3.8 11.4
The Digitax ST Base drive operates in velocity or torque modes and is
DST1203 3 5.4 16.2
designed to operate with a centralized motion controller or as a
standalone drive. DST1204 3 7.6 22.8
DST1401 3 1.5 4.5
The Digitax ST Indexer drive performs point-to-point motion profiling
including relative, absolute, rotary plus, rotary minus, registration and DST1402 3 2.7 8.1
homing motion. The Digitax ST Indexer will operate as a single DST1403 3 4.0 12.0
standalone system controller. Alternatively, the Digitax ST Indexer can DST1404 3 5.9 17.7
form part of a distributed system where commands are sent over a DST1405 3 8.0 24.0
fieldbus or through digital input/output signals. The Digitax ST Indexer
drive is commissioned using a simple and easy to use indexing tool that *The maximum rating information, in Table 2-1 above, for the 200V
resides within CTSoft, a set-up tool for Control Techniques products. single phase supply, illustrates a 200% overload capability. When the
Digitax ST 120x is used with a single phase supply it is possible to
The Digitax ST plus drive offers all the features available o the Digitax
achieve the three phase nominal current rating as long as the single
ST Indexer drive with the addition of performing complex motion as a
phase peak current rating is observed.
single axis or synchronized to a reference axis. This offers digital lock
and electronic camming via a virtual master reference. The Digitax ST The rating information shown in section 2.3 Drive model numbers on
Plus drive is commissioned using a simple and easy to use indexing tool page 9 is based on the limitations of the drive output stage only.
that resides within CT Soft, a set-up tool for Control Techniques The ratings are based on the following operating conditions:
products.
• Ambient temperature = 40°C
For more complex systems using the Digitax ST Indexer and Digitax ST • Altitude = 1000m
Plus drives, an export feature is available that allows the user to import • Not exceeding power ratings
applications into SYPTPro for further development. • DC bus voltage = 565V for DST140X
The Digitax ST EZMotion drive is part of the Motion Made Easy family of • DC bus voltage = 325V for DST120X
servo drives and allows the user to create programs to sequence The sizing tool should be used to select a drive for a profile or condition
motion, I/O control, and other machine operations in one environment. that is not given as an example in section 12.1.2 Typical pulse duty on
Digitax ST EZMotion also supports advanced functions such as a page 171.
Position Capture Object, Multiple Profile Summation, Queuing, and
Program Multitasking.
All variants provide a SAFE TORQUE OFF function. This function is
identical to that referred to as "SECURE DISABLE" in the Control
Techniques Unidrive SP product range. The name has been changed in
accordance with draft standard prEN 61800-5-2 (future IEC 61800-5-2,
EN 61800-5-2).
Three documentation guides are available for Digitax ST, these cover all
variants:
Installation Guide (Supplied with the drive)
• Designed to be used by an "Electrician/Wireman" installing the drive
(FIGS Available).
User Guide (Included on the Digitax ST software CD ROM)
• Designed as a step by step guide to help the user become familiar
with the product, and as a reference guide for experienced drive
users (FIGS Available).

Advanced User Guide (Included on the Digitax ST software CD ROM)

• In-depth parameter descriptions.

8 Digitax ST User Guide

2.3 Drive model numbers

Each drive variant and rating has a unique model number.
Figure 2-1 Model code explanation

DST 1 2 01 B

Model: Digitax ST

Frame size

Voltage rating
2: 200V to 240V
4: 380V to 480V

Current rating step

Variant
B: Base
I: Indexer
P: Plus
Z: EZMotion

2.4 Drive nameplate description

The drive rating label provides the user with various details relating to the drive variant and rating.
Figure 2-2 Typical drive label
Rating label

CT Model type Frequency Serial

number

S/N: 3000005001 Single/three

Input
voltage
I/P 200-240V 50-60Hz 1/3ph 4.0/3.1A phase input
O/P 0-240V ST 1.1A M/TL 3ph 2.2/5.1Apk current

Output voltage LS Model Single/three phase

type peak output current

Approvals label

Model Rating Date code

3098-0010 2.2/5.1Apk 250ms R10

Please read the manual before connecting

Electric Shock Risk: Wait 10 mins
between disconnecting supply
and accessing terminals
Serial S/N: 3000005001 RoHS IND. CONTROL
Approvals
Compliant EQUIPMENT
number
C R US
UL file: E171230 N1652
8
Designed in the U.K. Made in China

Digitax ST User Guide 9

2.5 Features of the drive

Figure 2-3 Features of the drive
48V connection
(for low voltage EMC bracket
DC operation)
Ground Status LED
screw AC supply Marker tag
Reset location*
Line to button** Brake
ground resistor slot
varistor
screw Solutions
Keypad Module
Internal slot 2
connection
EMC cover
filter SMARTCARD
screw slot

Braking Solutions
resistor Rating Module
connections label slot 1
cover
Product Serial port Encoder In
identifier connector connection

Approvals
Control label
terminals Buffered
encoder output
Relay
Fan
terminal
Control cable
strain relief
Motor
connections
Ground
EMC bracket screw

* The Marker Tag (as shown in Figure 2-3 above), is where markers can be placed to identify a particular drive which can prove beneficial where several Digitax
ST drives are located in the same panel.
** A drive reset can be performed even when a keypad is not installed, by pressing the recessed reset button.

NOTE

If the embedded Solutions Module is removed, the warranty for the drive will be void.
NOTE

The drive is supplied with a SMARTCARD installed. Do not remove until after first power-up, as defaults are stored on the SMARTCARD.

Be aware of possible live terminals when inserting the SMARTCARD.

WARNING

Static precautions must be taken when removing the Solutions Module slot covers.

CAUTION

10 Digitax ST User Guide

2.6 Options
Figure 2-4 Options available with Digitax ST
DST Keypad

Internal
SM-Keypad Plus braking
SMARTCARD* resistor

External footprint/
Slot 2 bookcase EMC
filter

Fieldbus
CT Comms Slot 1
cable Automation
Feedback I/O Expansion
Applications

15-way
D-type
converter
* Grounding
bracket

* A SMARTCARD is provided as standard. For further information refer to Chapter 9 SMARTCARD Operation on page 70.
All Solutions Modules are color-coded in order to make identification easy. The following table shows the color-code key and gives further details on
their function.

Table 2-2 Solutions Module identification

Type Solutions Module Color Name Further Details
Universal Feedback interface
Feedback interface for the following devices:
Inputs Outputs
SM-Universal
Light Green • Incremental encoders • Quadrature
Encoder Plus • SinCos encoders • Frequency and direction
• SSI encoders • SSI simulated outputs
• EnDat encoders
Feedback Resolver interface
Light Blue SM-Resolver Feedback interface for resolvers.
Simulated quadrature encoder outputs
Incremental encoder interface
Feedback interface for incremental encoders without
Brown SM-Encoder Plus
commutation signals.
No simulated encoder outputs available

Digitax ST User Guide 11

Type Solutions Module Color Name Further Details

Incremental encoder interface
Feedback interface for incremental encoders without
SM-Encoder Output
Dark Brown commutation signals.
Plus
Simulated encoder output for quadrature, frequency and
direction signals
Drive encoder input converter
15-way D-type
N/A Provides screw terminal interface for encoder wiring and spade
converter
terminal for shield
Single ended encoder interface
Single ended
Provides an interface for single ended ABZ or UVW encoder
N/A encoder interface
signals, such as those from hall effect sensors. 15V and 24V
(15V or 24V)
Feedback versions are available.
Reference Marker Signal Interface
Provides an interface that converts the 1Vpp reference marker
Reference Marker signal found on some SinCos into a differential EIA485
N/A
Signal Interface compatible marker pulse signal for use by the drive. The sine
and cosine signals from the encoder are passed to the drive
unchanged.
ERN1387 Encoder Interface Board
Provides an interface for Heidenhain ERN1387 and ERN487
ERN1387 Encoder
N/A SinCos encoder which use a single SinCos cycle per revolution
Interface Board
commutation track. A SM-Universal Encoder Plus module is
required to use this interface board.
Extended I/O interface
Increases the I/O capability by adding the following to the
existing I/O in the drive:
Yellow SM-I/O Plus
• Digital inputs x 3 • Analog output (voltage) x 1
• Digital I/O x 3 • Relay x 2
• Analog inputs (voltage) x 2
Extended I/O interface
Increase the I/O capability by adding the following to the
Yellow SM-I/O 32 existing I/O in the drive:
• High speed digital I/O x 32
• +24V output
Additional I/O
1 x Analog input (±10V bi-polar or current modes)
Dark Yellow SM-I/O Lite
1 x Analog output (0-10V or current modes)
3 x Digital input and 1 x Relay
Automation
(I/O Additional I/O with real time clock
Expansion) Dark Red SM-I/O Timer As per SM-I/O Lite but with the addition of a Real Time Clock
for scheduling drive running

Isolated I/O to NAMUR NE37 specifications

For chemical industry applications
Turquoise SM-I/O PELV 1 x Analog input (current modes)
2 x Analog outputs (current modes)
4 x Digital input / outputs, 1 x Digital input, 2 x Relay outputs

Additional I/O conforming to IEC 61131-2 120Vac

Olive SM-I/O 120V
6 digital inputs and 2 relay outputs rated for 120Vac operation

Additional I/O with overvoltage protection up to 48V

SM-I/O 24V
Cobalt Blue 2 x Analog outputs (current modes)
Protected
4 x Digital input / outputs, 3 x Digital inputs, 2 x Relay outputs

Applications Processor
Automation Golden
(Applications) brown
SM-Register 2nd processor for running position capture functionality with
CTNet support.

12 Digitax ST User Guide

Type Solutions Module Color Name Further Details

SM-PROFIBUS-DP- Profibus option

Purple
V1 PROFIBUS DP adapter for communications with the drive

DeviceNet option
Medium Grey SM-DeviceNet
Devicenet adapter for communications with the drive

Interbus option
Dark Grey SM-INTERBUS
Interbus adapter for communications with the drive

CAN option
Pink SM-CAN
CAN adapter for communications with the drive

CANopen option
Light Grey SM-CANopen
Fieldbus CANopen adapter for communications with the drive

SERCOS option
Class B compliant. Torque velocity and position control modes
Red SM-SERCOS supported with data rates (bit/sec): 2MB, 4MB, 8MB and 16MB.
Minimum 250μsec network cycle time. Two digital high speed
probe inputs 1μsec for position capture
Ethernet option
10 base-T / 100 base-T; Supports web pages, SMTP mail and
Beige SM-Ethernet
multiple protocols: DHCP IP addressing; Standard RJ45
connection

LonWorks option
Pale Green SM-LON
LonWorks adapter for communications with the drive

EtherCAT option
Brown Red SM-EtherCAT
EtherCAT adapter for communications with the drive

SLM interface
The SM-SLM allows SLM feedback to be connected directly to
the Digitax ST drive and allows operation in either of the
SLM Orange SM-SLM
following modes:
• Encoder only mode
• Host mode

Table 2-3 Keypad identification

Type Keypad Name Further Details

LED keypad option

Digitax ST Keypad
Keypad with a LED display
Keypad
Remote keypad option
SM-Keypad Plus
Keypad with an alpha-numeric LCD display with Help function

Digitax ST User Guide 13

Table 2-4 Other options

Type Option Name Further details

These additional filters are designed to operate together with the drive’s own
EMC EMC Filters
integral EMC filter in areas of sensitive equipment

Cable with isolation RS232 to RS485 converter. For connecting PC/Laptop to

CT Comms cable
the drive when using the various interface softwares (e.g. CTSoft)

Communications Software for PC or Laptop which allows the user to commission and store
CTSoft
parameter settings
Software for PC or Laptop which allows the user to program PLC functions
SyPTLite
within the drive

Internal braking
Braking resistor Optional braking resistor 70R 50W
resistor

Standard feature that enables simple configuration of parameters in a variety of

SMARTCARD SMARTCARD
ways

2.7 Items supplied with the drive

The drive is supplied with the following items:
• Installation Guide
• SMARTCARD
• Safety Information booklet
• CD ROM containing all appropriate drive and Solutions Module documentation, and software tools
An accessory box containing the items illustrated in Figure 2-5 is also provided.
Figure 2-5 Accessory box contents
Control
connectors

Digitax ST
Plus
additional
connectors
Relay
connector

Grounding
bracket Ground
screws
Cable
guides

Ground
screws

14 Digitax ST User Guide

3 Mechanical installation NOTE

During installation it is recommended that the vents on the drive are
This chapter describes how to use all mechanical details to install the
drive. The drive is intended to be installed in an enclosure. Key features covered to prevent debris (e.g. wire off-cuts) from entering the drive.
of this chapter include: 3.2.3 Cooling
• Through-hole mounting The heat produced by the drive must be removed without its specified
• IP54 as standard or through-panel mounting operating temperature being exceeded. Note that a sealed enclosure
• Enclosure sizing and layout gives much reduced cooling compared with a ventilated one, and may
• Solutions Module installing need to be larger and/or use internal air circulating fans.
• Terminal location and torque settings 3.2.4 Electrical safety
The installation must be safe under normal and fault conditions.
3.1 Safety information Electrical installation instructions are given in Chapter 4 Electrical
Follow the instructions installation on page 20.
The mechanical and electrical installation instructions must 3.2.5 Fire protection
be adhered to. Any questions or doubt should be referred to The drive enclosure is not classified as a fire enclosure. A separate fire
the supplier of the equipment. It is the responsibility of the enclosure must be provided.
WARNING owner or user to ensure that the installation of the drive and
For installation in the USA, a NEMA 12 enclosure is suitable.
any external option unit, and the way in which they are
operated and maintained, comply with the requirements of For installation outside the USA, the following (based on IEC 62109-1,
the Health and Safety at Work Act in the United Kingdom or standard for PV inverters) is recommended.
applicable legislation and regulations and codes of practice in Enclosure can be metal and/or polymeric, polymer must meet
the country in which the equipment is used. requirements which can be summarized for larger enclosures as using
materials meeting at least UL 94 class 5VB at the point of minimum
Stored charge thickness.
The drive contains capacitors that remain charged to a
potentially lethal voltage after the AC supply has been Air filter assemblies to be at least class V-2.
disconnected. If the drive has been energized, the AC The location and size of the bottom shall cover the area shown in Figure
WARNING supply must be isolated at least ten minutes before work 3-1. Any part of the side which is within the area traced out by the 5°
may continue. Normally, the capacitors are discharged by an angle is also considered to be part of the bottom of the fire enclosure.
internal resistor. Under certain, unusual fault conditions, it is Figure 3-1 Fire enclosure bottom layout
possible that the capacitors may fail to discharge, or be
prevented from being discharged by a voltage applied to the
output terminals. If the drive has failed in a manner that
causes the display to go blank immediately, it is possible the
capacitors will not be discharged. In this case, consult
Control Techniques or their authorized distributor. Drive
Competence of the installer
The drive must be installed by professional assemblers who
are familiar with the requirements for safety and EMC. The
assembler is responsible for ensuring that the end product or
WARNING
system complies with all the relevant laws in the country
where it is to be used.

Enclosure
o
The drive is intended to be mounted in an enclosure which 5
prevents access except by trained and authorized
WARNING
personnel, and which prevents the ingress of contamination.
o
It is designed for use in an environment classified as 5
pollution degree 2 in accordance with IEC 60664-1. This
means that only dry, non-conducting contamination is
acceptable.

3.2 Planning the installation The bottom, including the part of the side considered to be part of the
bottom, must be designed to prevent escape of burning material - either
The following considerations must be made when planning the installation: by having no openings or by having a baffle construction. This means
3.2.1 Access that openings for cables etc. must be sealed with materials meeting the
Access must be restricted to authorized personnel only. Safety 5VB requirement, or else have a baffle above. See Figure 3-2 for
regulations which apply at the place of use must be complied with. acceptable baffle construction. This does not apply for mounting in an
enclosed electrical operating area (restricted access) with concrete floor.
3.2.2 Environmental protection
Figure 3-2 Fire enclosure baffle construction
The drive must be protected from:
Not less
• moisture, including dripping water or spraying water and than 2
condensation. An anti-condensation heater may be required, which times ‘X’
N o t le s s
th a n 2 X
Baffle plates (may be above or
B a f f le p la t e s ( m a y b e

must be switched off when the drive is running. below bottom of enclosure)
a b o v e o r b e lo w b o t t o m
o f e n c lo s u r e )

• contamination with electrically conductive material XX

• contamination with any form of dust which may restrict the fan, or
impair airflow over various components
B o t t o m o f fir e

Bottom of fire enclosure

e n c lo s u r e

• temperature beyond the specified operating and storage ranges

• corrosive gasses

Digitax ST User Guide 15

3.2.6 Electromagnetic compatibility Figure 3-4 Installation of a keypad

Variable speed drives are powerful electronic circuits which can cause
electromagnetic interference if not installed correctly with careful
attention to the layout of the wiring.
Some simple routine precautions can prevent disturbance to typical
industrial control equipment.
If it is necessary to meet strict emission limits, or if it is known that
electromagnetically sensitive equipment is located nearby, then full
precautions must be observed. In-built into the drive, is an internal EMC
filter, which reduces emissions under certain conditions. If these
conditions are exceeded, then the use of an external EMC filter may be
required at the drive inputs, which must be located very close to the
drives. Space must be made available for the filters and allowance made
for carefully segregated wiring. Both levels of precautions are covered in
section 4.10 EMC (Electromagnetic compatibility) on page 27.
3.2.7 Hazardous areas
The drive must not be located in a classified hazardous area unless it is
installed in an approved enclosure and the installation is certified.

3.3 Solutions Module / keypad installation /

removal

Power down the drive before installing / removing the

Solutions Module. Failure to do so may result in damage to
the product.
CAUTION

Figure 3-3 Installation of a Solutions Module

NOTE
The protective tab from the Solutions Module slot must be removed
before attempting to install a Solutions Module.

Be aware of possible live terminals when installing the

keypad.
WARNING

16 Digitax ST User Guide

3.4 Drive dimensions

Enclosure
The drive is intended to be mounted in an enclosure which prevents access except by trained and authorized personnel, and which
prevents the ingress of contamination. It is designed for use in an environment classified as pollution degree 2 in accordance with IEC
WARNING
60664-1. This means that only dry, non-conducting contamination is acceptable.

The drive complies with the requirements of IP20 as standard.

Figure 3-5 Dimensions
47mm
226mm (8.9in) 7.5mm
(1.85in)
(0.3in)
220mm (8.66in)

322mm 249.7mm 292mm 304mm

(12.68in) (9.83in) (11.49in) (11.96in)

226mm (8.9in)
∅5.4mm (0.21in) 6mm
62mm 229mm (9.02in) (0.24in)
M5
(2.44in)

Figure 3-6 New ingress protective label Figure 3-7 Minimum mounting clearances
100mm (4in) *2mm (0.08in)

Ingress protective labels

100mm (4in)

NOTE NOTE

The ingress protective labels (shown on Figure 3-6 above) should *2mm clearance between drives to allow for mechanical tolerance.
remain in place while the drive is mounted, and until all the electrical If Solutions Modules are installed, a larger clearance between drives will
wires have been connected. The labels should be removed before first be required if access to the modules is needed without removing the
power up. drive.

Digitax ST User Guide 17

Digitax ST can be mounted using a DIN rail, either fixed at the top or the
bottom of the drive (as illustrated in Figure ). Two screws are required to
fix the drive to the backplate at the opposite end to the DIN rail.
Figure 3-8 DIN rail mounting

47mm (1.85in)

312.7mm
(12.31in)

3.5 External EMC filter rating

Filter details for each drive rating are provided in the tables below.
Table 3-1 External EMC filter ratings
Power Worst Filter
Maximum Operational
losses case terminal
Filter part number continuous Weight leakage
Number at rated leakage tightening
current IP current
Used with of current current torque
rating
phases @40°C @50°C
CT Schaffner (104°F) (122°F) W Kg lb mA mA Nm lb ft
A A
DST120X 1 4200-6000 FS23072-19-07 19 17.3 11 1.2 2.64 29.5 56.9 0.8 0.6
DST120X 3 4200-6001 FS23073-17-07 17 15.5 13 20 1.2 2.64 8 50 0.8 0.6
DST140X 3 4200-6002 FS23074-11-07 11 10 10 1.2 2.64 16 90 0.8 0.6

The external EMC filters can be footprint or bookcase mounted, see Figure 3-9 and Figure 3-10.
Figure 3-9 Bookcase mounting Figure 3-10 Footprint mounting

18 Digitax ST User Guide

Figure 3-11 External EMC filter dimensions

359mm (14.13in)
339mm (13.35in)
304mm (11.97in)

M5 M5 38mm 61mm
(1.50in) (2.40in)

∅ 5.3mm (M5) ∅ 5.3mm (M5)

(0.21in) Torque settings of connector = 0.8 N m (0.21in)

29mm (1.14in)

Figure 3-11 shows a 3 phase filter. For a single phase filter, there are only 3 input terminals (L1, N, ground) and 3 output cables (L1, N, ground).

3.6 Optional braking resistor 3.7 Terminal torque settings

3.6.1 Optional internal braking resistor Table 3-2 Torque settings
Figure 3-12 Installing an optional internal braking resistor (top Terminals Torque setting*
view of drive) Power terminals 1.0 N m (12.1 lb in)
Control terminals 0.2 N m (1.7 lb in)
Status relay terminals 0.5 N m (4.5 lb in)
Ground terminals 4 N m (35 lb in)
Brake
connections Small ground terminal screws 2 N m (17.7 lb in)
*Torque tolerance = 10%
Thermistor
connection Table 3-3 Plug-in terminal block maximum cable sizes
2
3
Model size Terminal block description Max cable size
All 11 way control connectors 1.5 mm2 (16 AWG)
1 All 2 way relay connector 2.5 mm2 (12 AWG)

3.8 Routine maintenance

The drive should be installed in a cool, clean, well ventilated location.
Contact of moisture and dust with the drive should be prevented.
Regular checks of the following should be carried out to ensure drive /
installation reliability are maximized:
Environment
Ambient Ensure the enclosure temperature remains at or below
temperature maximum specified
4 5 6
Ensure the drive remains dust free – check that the
1. Remove screws. Dust heatsink and drive fan are not gathering dust. The
2. Remove grill. lifetime of the fan is reduced in dusty environments.
3. Install the braking resistor shield. Ensure the drive enclosure shows no signs of
Moisture
4. Install the optional internal braking resistor in the slot provided (note condensation
the angle). Enclosure
5. Electrically connect the braking resistor and thermistor (connections
Enclosure
shown in Figure 4-1 Power terminal connections on page 21). Ensure filters are not blocked and that air is free to flow
door filters
6. Re-install the grill and mounting screws by reversing the procedure
in points 1 and 2. Electrical

3.6.2 Optional external braking resistor Screw

Ensure all screw terminals remain tight
If using an external braking resistor, the following Warning must be connections
adhered to: Crimp Ensure all crimp terminals remains tight – check for any
terminals discoloration which could indicate overheating
Braking resistor: High temperatures and overload
protection Cables Check all cables for signs of damage
Braking resistors can reach high temperatures. Locate braking
resistors so that damage cannot result. Use cable having
WARNING insulation capable of withstanding the high temperatures.

Digitax ST User Guide 19

4 Electrical installation
Many cable management features have been incorporated into the
product and accessories, this chapter shows how to optimize them. Key
features include:
• SAFE TORQUE OFF function
• Internal EMC filter
• EMC compliance with shielding / grounding accessories
• Product rating, fusing and cabling information
• Brake resistor details (selection / ratings)

Electric shock risk

The voltages present in the following locations can cause
severe electric shock and may be lethal:

WARNING
• AC supply cables and connections
• DC and brake cables, and connections
• Output cables and connections
• Many internal parts of the drive, and external option units
Unless otherwise indicated, control terminals are single
insulated and must not be touched.

Isolation device
The AC supply must be disconnected from the drive using
an approved isolation device before any cover is removed
from the drive or before any servicing work is performed.
WARNING

STOP function
The STOP function does not remove dangerous voltages
from the drive, the motor or any external option units.
WARNING

SAFE TORQUE OFF function

The SAFE TORQUE OFF function does not remove
dangerous voltages from the drive, the motor or any external
WARNING
option units.

Stored charge
The drive contains capacitors that remain charged to a
potentially lethal voltage after the AC supply has been
disconnected. If the drive has been energized, the AC
WARNING supply must be isolated at least ten minutes before work
may continue.
Normally, the capacitors are discharged by an internal
resistor. Under certain, unusual fault conditions, it is possible
that the capacitors may fail to discharge, or be prevented
from being discharged by a voltage applied to the output
terminals. If the drive has failed in a manner that causes the
display to go blank immediately, it is possible the capacitors
will not be discharged. In this case, consult Control
Techniques or their authorized distributor.

Equipment supplied by plug and socket

Special attention must be given if the drive is installed in
equipment which is connected to the AC supply by a plug
and socket. The AC supply terminals of the drive are
WARNING connected to the internal capacitors through rectifier diodes
which are not intended to give safety isolation. If the plug
terminals can be touched when the plug is disconnected
from the socket, a means of automatically isolating the plug
from the drive must be used (e.g. a latching relay).

Permanent magnet motors

Permanent magnet motors generate electrical power if they
are rotated, even when the supply to the drive is
disconnected. If that happens then the drive will become
WARNING
energized through its motor terminals.
If the motor load is capable of rotating the motor when the
supply is disconnected, then the motor must be isolated from
the drive before gaining access to any live parts.

20 Digitax ST User Guide

4.1 Power terminal connections

Figure 4-1 Power terminal connections

Mains
Connectors specification: supply Supply
Maximum size of power cable ground
= 4.0mm2(10AWG) L1* L2* L3*
Torque setting = 1 N m DST12XX = 200 to 240V±10%
DST14XX = 380 to 480V±10%

Fuses

Optional
line reactor

Optional EMC
Low voltage
filter
DC (48V)

+ _
It is essential that the braking L1 L2 L3/N PE
resistor be protected against
overload caused by a failure AC
WARNING
of the brake control. Unless connections
the resistor has in-built
protection, a circuit like those
shown in Figure 4-1 should
be used, where the thermal
protection device
disconnects the AC supply to
the drive. Do not use AC
relay contacts directly in
series with the braking
resistor circuit, because it
carries DC.

Terminals Torque setting

1.0 N m
Power terminals
(12.1 lb in)
0.2 N m
Control terminals
(1.7 lb in)
Status relay 0.5 N m U V W DC
_ DC
terminals (4.5 lb in) +
Ground terminal 4Nm
screws (35 lb in)
Small ground 2 Nm
High current
terminal screws (17.7 Ib in) -DC connections
* *Torque tolerance = 10%

NOTE
* When using a 200V drive on a single phase supply, the live and neutral conductors can be connected to any of the AC connections on the drive.
** This is not required if the optional internal braking resistor is used.

Digitax ST User Guide 21

4.2 Ground connections Operation with IT (ungrounded) supplies:

Special attention is required when using internal or external
EMC filters with ungrounded supplies, because in the event
Electrochemical corrosion of grounding terminals
of a ground (earth) fault in the motor circuit the drive may not
Ensure that grounding terminals are protected against WARNING
trip and the filter could be over-stressed. In this case, either
corrosion i.e. as could be caused by condensation.
WARNING the filter must not be used (removed) or additional
independent motor ground fault protection must be provided.
The drive must be connected to the system ground of the AC supply. The Refer to Table 4-2.
ground wiring must conform to local regulations and codes of practice. For instructions on removal, refer to Figure 4-4 Removing
The supply and motor ground connections are made using the M6 the internal EMC filter and line to ground varistors on
threaded hole in the metal back plate of the drive located at the top and page 27. For details of ground fault protection contact the
bottom of the drive. See Figure 4-2 for details. supplier of the drive.
The ground loop impedance must conform to the A ground fault in the supply has no effect in any case. If the motor must
requirements of local safety regulations. continue to run with a ground fault in its own circuit then an input
The drive must be grounded by a connection capable of isolating transformer must be provided and if an EMC filter is required it
carrying the prospective fault current until the protective must be located in the primary circuit.
WARNING
device (fuse, etc.) disconnects the AC supply. Unusual hazards can occur on ungrounded supplies with more than one
The ground connections must be inspected and tested at source, for example on ships. Contact the supplier of the drive for more
appropriate intervals. information.
Figure 4-2 Ground connection Table 4-2 Behavior of the drive in the event of a motor circuit
ground (earth) fault with an IT supply
Supply
ground Drive size Internal filter only External filter (with internal)
May not trip – precautions
0 (200V) Drive trips on fault
required
0 (400V) Drive trips on fault Drive trips on fault

4.3.2 Line reactors

Input line reactors reduce the risk of damage to the drive resulting from
poor phase balance or severe disturbances on the supply network.
Where line reactors are to be used, reactance values of approximately
2% are recommended. Higher values may be used if necessary, but may
result in a loss of drive output (reduced torque at high speed) because of
the voltage drop.
Motor For all drive ratings, 2% line reactors permit drives to be used with a
ground supply imbalance of up to 3.5% negative phase sequence (equivalent to
5% voltage imbalance between phases).
4.3 AC supply requirements Severe disturbances may be caused by the following factors, for
Table 4-1 Supply requirements example:
Frequency • Power factor correction equipment connected close to the drive
Model Voltage
range • Large DC drives having no or inadequate line reactors connected to
DST120X 200V to 240V ±10% single phase 48Hz to 65Hz the supply
DST120X 200V to 240V ±10% three phase* 48Hz to 65Hz • Direct-on-line started motor(s) connected to the supply such that
when any of these motors are started, the voltage dip exceeds 20%
DST140X 380V to 480V ±10% three phase* 48Hz to 65Hz
Such disturbances may cause excessive peak currents to flow in the
*Maximum supply in-balance: 2% negative phase sequence (equivalent input power circuit of the drive. This may cause nuisance tripping, or in
to 3% voltage in-balance between phases). extreme cases, failure of the drive.
For UL compliance only, the maximum supply symmetrical fault current Drives of low power rating may also be susceptible to disturbance when
must be limited to 100kA. connected to supplies with a high rated capacity.
4.3.1 Supply types When required, each drive must have its own reactor(s). Three individual
All drives are suitable for use on any supply type i.e TN-S, TN-C-S, TT reactors or a single three-phase reactor should be used.
and IT. Reactor current ratings
• Supplies with voltage up to 600V may have grounding at any Continuous current:
potential, i.e. neutral, centre or corner (“grounded delta”) Not less than the continuous input current rating of the drive.
• Supplies with voltage above 600V may not have corner grounding
Repetitive peak current:
Drives are suitable for use on supplies of installation category III and Not less than three times the continuous input current rating of the drive.
lower, according to IEC60664-1. This means they may be connected
permanently to the supply at its origin in a building, but for outdoor 4.3.3 Input inductor calculation
installation additional over-voltage suppression (transient voltage surge To calculate the inductance required (at Y%), use the following equation:
suppression) must be provided to reduce category IV to category III. Y V 1
L = ---------- × ------- × ------------
100 3 2πfI
Where:
I = drive rated input current (A)
L = inductance (H)
f = supply frequency (Hz)
V = voltage between lines

22 Digitax ST User Guide

4.4 DC bus design 4.5.2 High voltage DC levels

4.4.1 DC bus design Table 4-5 High voltage DC levels
Parallel connections DST120X DST140X
The power limit of the rectifier must be adhered to for all combinations of Condition
drives in parallel. In addition to this If the total rated bus power required V V
exceeds the capability of 1 x Digitax ST rectifier then two or more Digitax Undervoltage trip level 175 330
ST's can be connected with the AC & DC in parallel. If the AC supply is Undervoltage reset level* 215 425
connected to more than one drive in a parallel DC bus application,
Overvoltage trip level 415 830
balancing of the current in the input stage of each drive must be
considered. Braking level 390 780
Maximum continuous voltage level for 15s 400 800
Using DC bus chokes makes the current in the rectifier diodes of each
drive the same, so providing a solution to sharing. * These are the absolute minimum DC voltages that the drive is capable
There are many possible combinations for paralleling drives through the of operating from. If the drive is not supplied with the minimum voltage, it
DC bus connections. Table 4-3 gives details of the internal capacitance will not reset following a UV trip at power-up.
for each drive and the additional capacitance which can be powered 4.5.3 Control 24Vdc supply
from the drive. The capacitance must incorporate its own soft-start The 24Vdc input has three main functions:
circuit. All Digitax ST drives incorporate this feature. • It can be used as a back-up power supply to keep the control circuits
of the drive powered up when the line power supply is removed. This
Table 4-3 DC bus data
allows any fieldbus modules or serial communications to continue to
Maximum additional DC operate.
Internal DC bus
bus capacitance which can • It can be used to supplement the drive’s own internal 24V when
Drive capacitance
be connected multiple SM-I/O Plus modules are being used and the current drawn
(μF)
(μF) by these modules is greater than the drive can supply. (If too much
DST1201 440 1760 current is drawn from the drive, the drive will initiate a 'PS.24V' trip)
• It can be used to commission the drive when line power supply
DST1202 880 1320
voltages are not available, as the display operates correctly.
DST1203 880 1320 However, the drive will be in the UV trip state unless either line
DST1204 1320 880 power supply is reapplied or low voltage DC operation is enabled,
DST1401 220 660 therefore diagnostics may not be possible. (Power down save
DST1402 220 660 parameters are not saved when using the 24V back-up power
supply input.)
DST1403 220 660
The working voltage range of the 24V power supply is shown in Table 4-6.
DST1404 220 660
Table 4-6 Control supply voltage levels
DST1405 220 660
Condition Value
NOTE
Maximum continuous operating voltage 30.0V
For additional details regarding DC bus paralleling please contact the
Minimum continuous operating voltage 19.2V
supplier of the drive.
Nominal operating voltage 24.0V
4.5 DC drive voltage levels Minimum start up voltage 21.6V
Maximum power supply requirement at 24V 60W
4.5.1 Low voltage DC operation
The drive can be operated from low voltage DC supplies, nominally Recommended fuse 3 A, 50Vdc
24Vdc (control) and 48Vdc (power). The low voltage DC power Minimum and maximum voltage values include ripple and noise. Ripple
operating mode is designed either, to allow for motor operation in an and noise values must not exceed 5%.
emergency back-up situation following failure of the AC supply, for
example in robotic arm applications; or to limit the speed of a servo
motor during set-up of equipment, for example a robot cell.

With low voltage DC operation there is a reduction in the

level of safety of the SAFE TORQUE OFF function. There
exist certain unlikely faults which might permit the drive to
produce some limited motor torque, if the DC supply has its
WARNING
negative terminal connected to ground.
See section 4.17 SAFE TORQUE OFF on page 40 for
methods on preventing a loss of the safety function under
these conditions.
The working voltage range of the low voltage DC power supply is shown
in Table 4-4.
Table 4-4 Low voltage DC levels
Condition Value
Minimum continuous operating voltage 36V
Minimum start up voltage 40V
Nominal continuous operating voltage 48V to 72V
Maximum braking IGBT turn on voltage 63V to 95V
Maximum over voltage trip threshold 69V to 104V

Digitax ST User Guide 23

4.6 Ratings

Fuses
The AC supply to the drive must be installed with suitable protection against overload and short-circuits. The following section shows
recommended fuse ratings. Failure to observe this requirement will cause risk of fire.
WARNING

Table 4-7 Fuse ratings and cable sizes

Typical input Maximum Fuse rating Cable size
No of
current continuous input Input Output
Model input IEC class
current Class CC
phases gG
A A mm2 AWG mm2 AWG
DST1201 1 4.0 6 10 0.75 16 0.75 24
DST1202 1 7.6 10 10 1 16 0.75 22
DST1203 1 9.0 16 15 2.5 14 0.75 20
DST1204 1 13.4 16 20 2.5 12 0.75 18
DST1201 3 3.1 3.5 6 10 0.75 16 0.75 24
DST1202 3 6.4 7.3 10 10 1 16 0.75 22
DST1203 3 8.6 9.4 16 15 2.5 14 0.75 20
DST1204 3 11.8 13.4 16 20 2.5 12 0.75 18
DST1401 3 2.6 2.8 4 10 0.75 16 0.75 24
DST1402 3 4.2 4.3 6 10 0.75 16 0.75 24
DST1403 3 5.9 6.0 8 10 0.75 16 0.75 22
DST1404 3 7.9 8.0 10 10 1 16 0.75 20
DST1405 3 9.9 9.9 12 15 1.5 14 0.75 18
Control cable ≥0.5 20
NOTE For a parallel DC bus system the maximum AC input fusing is shown in
PVC insulated cable should be used. Table 4-8 below.
Installation class (ref: IEC60364-5-52:2001) Table 4-8 Maximum AC input fusing
B1 - Separate cables in conduit.
B2 - Multicore cable in conduit Fuse rating Fuse rating
Input cable size
C - Multicore cable in free air. IEC class gG class CC
Model
NOTE A A
Cable sizes are from IEC60364-5-52:2001 table A.52.C with correction mm2 AWG
factor for 40°C ambient of 0.87 (from table A52.14) for cable installation All 20 20 4.0 12
method B2 (multicore cable in conduit).
Cable size may be reduced if a different installation method is used, or if NOTE

the ambient temperature is lower. Refer to the supplier of your drive for further information regarding DC
bus paralleling.
The recommended cable sizes above are only a guide. The mounting
and grouping of cables affects their current-carrying capacity, in some
cases smaller cables may be acceptable but in other cases a larger
4.7 Output circuit and motor protection
cable is required to avoid excessive temperature or voltage drop. Refer The output circuit has fast-acting electronic short-circuit protection which
to local wiring regulations for the correct size of cables. limits the fault current to typically no more than five times the rated
output current, and interrupts the current in approximately 20µs. No
NOTE N additional short-circuit protection devices are required.
The recommended output cable sizes assume that the motor maximum The drive provides overload protection for the motor and its cable. For
current matches that of the drive. Where a motor of reduced rating is this to be effective, Pr 0.46 Motor rated current must be set to suit the
used the cable rating may be chosen to match that of the motor. To motor.
ensure that the motor and cable are protected against overload, the
drive must be programmed with the correct motor rated current.
NOTE N Pr 0.46 Motor rated current must be set correctly to avoid a
UL listing is dependent on the use of the correct type of UL-listed fuse, risk of fire in the event of motor overload.
and applies when symmetrical short-circuit current does not exceed WARNING
100kA. See Chapter 14 UL listing information on page 198 for sizing
There is also provision for the use of a motor thermistor to prevent over-
information.
heating of the motor, e.g. due to loss of cooling.
An MCB (miniature circuit breaker) may be used in place of fuses under
the following conditions: 4.7.1 Motor cable size and maximum lengths
Since capacitance in the motor cable causes loading on the output of the
• The fault-clearing capacity must be sufficient for the installation
drive, ensure the cable length does not exceed the values given in Table
• The I2T rating of the MCB must be less than or equal to that of the fuse 4-9.
rating listed above.
A fuse or other protection must be included in all live connections to the Use 105°C (221°F) (UL 60/75°C temp rise) PVC-insulated cable with
AC supply. copper conductors having a suitable voltage rating, for the following
power connections:

24 Digitax ST User Guide

• AC supply to external EMC filter (when used) 4.7.2 Motor winding voltage
• AC supply (or external EMC filter) to drive The PWM output voltage can adversely affect the inter-turn insulation in
• Drive to motor the motor. This is because of the high rate of change of voltage, in
• Drive to braking resistor conjunction with the impedance of the motor cable and the distributed
• When operating in ambient >45°C UL 75°C cable should be used. nature of the motor winding.
Cable sizes are given for guidance only and may be changed depending For normal operation with AC supplies up to 500Vac and a standard
on the application and the method of installation of the cables. motor with a good quality insulation system, there is no need for any
The mounting and grouping of cables affect their current capacity, in special precautions. In case of doubt the motor supplier should be
some cases a larger cable is required to avoid excessive temperature or consulted.
voltage drop. Special precautions are recommended under the following conditions,
Input cable sizes should generally be regarded as a minimum, since but only if the motor cable length exceeds 10m:
they have been selected for co-ordination with the recommended fuses.
• AC supply voltage exceeds 500V
Output cable sizes assume that the maximum motor current matches • DC supply voltage exceeds 670V
that of the drive. • Operation of 400V drive with continuous or very frequent sustained
Where a motor of reduced rating is used the cable rating may be chosen braking
to match that of the motor. For the other cases listed, it is recommended that an inverter-rated
To ensure that the motor and cable are protected against overload, the motor be used. This has a reinforced insulation system intended by the
drive must be programmed with the correct motor rated current. manufacturer for repetitive fast-rising pulsed voltage operation.
• Cable lengths in excess of the specified values may be used only If it is not practical to use an inverter-rated motor, an output choke
when special techniques are adopted; refer to the supplier of the (inductor) should be used. The recommended type is a simple iron-cored
drive. component with a reactance of about 2%. The exact value is not critical.
• The default switching frequency is 6kHz. This operates in conjunction with the capacitance of the motor cable to
increase the rise-time of the motor terminal voltage and prevent
The drive power terminals are designed for a maximum cable size of
excessive electrical stress.
4.0mm2 (minimum 0.2mm / 24 AWG).
Where more than one cable per terminal is used the combined
4.7.3 Output contactor
diameters should not exceed the maximum. If the cable between the drive and the motor is to be
The terminals are suitable for both solid and stranded wires. interrupted by a contactor or circuit breaker, ensure that the
drive is disabled before the contactor or circuit breaker is
Table 4-9 Motor cable size and maximum lengths
opened or closed. Severe arcing may occur if this circuit is
Output cable 6kHz 8kHz 12kHz WARNING interrupted with the motor running at high current and low
Model speed.
mm2 AWG m m m
A contactor is sometimes required to be installed between the drive and
DST1201 24 motor for safety purposes.
DST1202 22 The recommended motor contactor is the AC3 type.
DST1203 20 Switching of an output contactor should only occur when the output of
DST1204 18 the drive is disabled.
DST1401 0.75 50 Opening or closing of the contactor with the drive enabled will lead to:
24
DST1402 1. OI.AC trips (which cannot be reset for 10 seconds)
DST1403 22 2. High levels of radio frequency noise emission
DST1404 20 3. Increased contactor wear and tear
DST1405 18 The Drive Enable terminal (T31) when opened provides a SAFE
TORQUE OFF function. This can in many cases replace output
High-capacitance cables
contactors.
The maximum cable length is reduced from that shown in Table 4-9 if
For further information see section 4.17 SAFE TORQUE OFF on
high capacitance motor cables are used.
page 40.
Most cables have an insulating jacket between the cores and the armor
or shield; these cables have a low capacitance and are recommended. 4.8 Braking
Cables that do not have an insulating jacket tend to have high The internal braking resistor can be used with the drive even though its
capacitance; if a cable of this type is used, the maximum cable length is resistance is lower than the minimum resistance values given in
half that quoted in the tables. (Figure 4-3 shows how to identify the two Table 4-11, because of the following reasons.
types). • The braking resistor overload protection function in the drive is set
Figure 4-3 Cable construction influencing the capacitance up to limit the power dissipated in the resistor.
• The braking resistor is installed with a thermistor which will trip the
drive if the resistor is too hot.
• The power rating of the resistor is only 50W

The internal braking resistor for Digitax ST is installed with a

thermistor which must be connected to the drive whenever
Normal capacitance High capacitance
Shield or armour Shield or armour close the internal braking resistor in installed.
separated from the cores to the cores CAUTION

If an external resistor is used with the drive, its resistance must be equal
to or greater than the value given in Table 4-11.
The cable used for Table 4-9 is shielded and contains four cores. Typical
capacitance for this type of cable is 130pF/m (i.e. from one core to all
others and the shield connected together).

Digitax ST User Guide 25

Table 4-10 Internal braking resistor data Table 4-11 Minimum resistance and power ratings

Parameter Peak Average

Minimum Continuous
power power for
Part number 1299-0001 Model resistance* power rating
rating 0.25s
DC resistance at 25°C 70Ω
Ω kW kW kW
Peak instantaneous power over 1ms at nominal 200V 400V
DST1201 0.5 1.6
resistance 2.2kW 8.7kW
DST1202 23 6.6 1.2 3.5
Average power over 60s 50W
DST1203 1.6 4.9
Braking resistor overload protection parameter settings DST1204 16 9.3 2.3 7.0
Failure to observe the following information may DST1401 0.8 2.3
111 5.5
damage the resistor. DST1402 1.4 4.1
The drive’s software contains an overload protection
CAUTION
DST1403 75 8.1 2.0 6.1
function for a braking resistor. On Digitax ST this function is
DST1404 3.0 9.0
enabled at default to protect the internally mounted resistor. 28 21.7
Below are the parameter settings. DST1405 4.1 12.2

200V 400V * Resistor tolerance: ±10%

Parameter
drive drive
4.9 Ground leakage
Full power braking The ground leakage current depends upon whether the internal EMC
Pr 10.30 0.06 0.01
time filter is installed. The drive is supplied with the filter installed. Instructions
Full power braking for removing the internal filter are given in Figure 4-4.
Pr 10.31 2.6 1.7
period With the internal EMC filter installed the ground leakage current is as
follows:
For more information on the braking resistor software
overload protection, see Pr 10.30 and Pr 10.31 full Table 4-12 Ground leakage current with internal EMC filter installed
descriptions in the Advanced User Guide.
3 phase Star 3 phase Delta
If the internally mounted braking resistor is to be used at 1 phase
Model ground ground
more than half of its average power rating then the drive's
mA
cooling fan must be at full speed, controlled by setting
Pr 6.45 to On (1). DST120X at 220V 4 10 3
DST140X at 400V 12 40
4.8.1 External braking resistor
NOTE
Overload protection The above leakage current is just the leakage current of the drive with the
When an external braking resistor is used, it is essential that internal EMC filter connected and does not take into account any leakage
an overload protection device is incorporated in the braking currents of the motor or motor cable.
resistor circuit.
WARNING With internal EMC filter removed the ground leakage current = <1mA.
When a braking resistor is to be mounted outside the enclosure, ensure NOTE
that it is mounted in a ventilated metal housing that will perform the In both cases, there is an internal voltage surge suppression device
following functions: connected to ground. Under normal circumstances, this carries
• Prevent inadvertent contact with the resistor negligible current.
• Allow adequate ventilation for the resistor
When compliance with EMC emission standards is required, external
connection requires the cable to be armored or shielded, since it is not When the internal EMC filter is installed, the leakage current
fully contained in a metal enclosure. See section 4.10 EMC is high. In this case, a permanent fixed ground connection
(Electromagnetic compatibility) on page 27 for further details. must be provided with a cross sectional area equal to 10mm2.
WARNING
Internal connection does not require the cable to be armored or
shielded. 4.9.1 Use of residual current device (RCD)
There are three common types of ELCB / RCD:
1. AC - detects AC fault currents
2. A - detects AC and pulsating DC fault currents (provided the DC
current reaches zero at least once every half cycle)
3. B - detects AC, pulsating DC and smooth DC fault currents
• Type AC should never be used with drives
• Type A can only be used with single phase drives
• Type B must be used with three phase drives

Only type B ELCB / RCD are suitable for use with 3 phase
inverter drives.
WARNING

If an external EMC filter is used, a delay of at least 50ms should be

incorporated to ensure spurious trips are not seen. The leakage current
is likely to exceed the trip level if all of the phases are not energized
simultaneously.

26 Digitax ST User Guide

4.10 EMC (Electromagnetic compatibility)

4.10.1 Internal EMC filter
It is recommended that the internal EMC filter is kept in place unless
there is a specific reason for removing it.
Special attention is required when using a DST120X model on an
ungrounded supply (IT supply). In the event of a ground fault in the
motor circuit the drive may not trip and the filter could be overstressed.
In this case, either the filter must be removed or additional independent
motor ground fault protection must be provided.
The internal EMC filter reduces radio-frequency emissions into the line
power supply. Where the motor cable is short, it permits the
requirements of EN 61800-3:2004 to be met for the second environment.
For longer motor cables, the filter continues to provide a useful reduction
in emission level, and when used with any length of shielded cable up to
the limit for the drive, it is unlikely that nearby industrial equipment will be
disturbed. It is recommended that the filter be used in all applications
unless the ground leakage current is unacceptable or the above
conditions are true.

The supply must be disconnected before removing the

internal EMC filter or line to ground varistor screws.
WARNING

Figure 4-4 Removing the internal EMC filter and line to ground
varistors

1. Internal EMC filter. Remove the bottom screw as shown.

2. Line to ground varistors. Remove the top screw as shown.
NOTE
The line to ground varistors should only be removed in special
circumstances.
4.10.2 Further EMC precautions
Further EMC precautions are required if more stringent EMC emission
requirements apply:
• Operation in the first environment of EN 61800-3:2004
• Conformity to the generic emission standards
• Equipment which is sensitive to electrical interference operating
nearby
In this case it is necessary to use:
• The optional external EMC filter
• A shielded motor cable, with shield clamped to the grounded metal
panel
• A shielded control cable, with shield clamped to the grounded metal
panel via the grounding bracket.
NOTE
It is not necessary to remove the external EMC filter when using an IT
supply.

Digitax ST User Guide 27

4.10.3 Recommended cable management

Figure 4-5 Drive cable clearances

Optional
braking resistor

Locate optional braking

Thermal resistor and overload
overload external to cubicle
protection (preferably near to or
device on top of the cubicle).

Metal back
plate

Note
For EMC compliance:
1) When using an external EMC
filter, one filter is required for
each drive
2) Ensure direct metal contact
at drive and filter mounting
points (any paint must be
removed)

The external EMC filter can be

bookcase mounted (next to the
drive) or footprint mounted (with
the drive mounted onto the filter).

AC supply
contactor and
External fuses or MCB
controller

Signal cables
Plan for all signal cables
to be routed at least
300mm (12in) from the
drive and any power cable

28 Digitax ST User Guide

Figure 4-6 Grounding bracket at the top of the drive Figure 4-8 Multiple drives with single grounding bracket

Figure 4-7 Grounding bracket at the bottom of the drive If installing multiple drives, one grounding bracket can be used for two
drives.

4.11 Internal and external conducted

emissions conformity
Table 4-13 Immunity compliance
Type of
Standard Test specification Application Level
immunity
6kV contact
IEC61000-4-2 Electrostatic Module Level 3
discharge
EN61000-4-2 discharge enclosure (industrial)
8kV air discharge
10V/m prior to
Radio modulation
IEC61000-4-3 Module Level 3
frequency 80 - 1000MHz
EN61000-4-3 enclosure (industrial)
radiated field 80% AM (1kHz)
modulation
5/50ns 2kV transient
Level 4
at 5kHz repetition
Control lines (industrial
frequency via
harsh)
1 IEC61000-4-4 Fast transient coupling clamp
EN61000-4-4 burst 5/50ns 2kV transient
at 5kHz repetition Level 3
Power lines
frequency by direct (industrial)
injection
AC supply
Common mode 4kV
lines: Level 4
1.2/50μs waveshape
line to ground
IEC61000-4-5 Differential mode AC supply
Surges
Grounding bracket and drive to be directly connected to a grounded EN61000-4-5 2kV lines: Level 3
backplate. 1.2/50μs waveshape line to line
Signal ports
NOTE
Lines to ground Level 2
to ground
1. The distance for EMC (shown in Figure 4-7 above) from the drive is as 10V prior to
follows: Conducted modulation
IEC61000-4-6 Control and Level 3
200V drive - Allowance up to 65mm (2.56 in) radio 0.15 - 80MHz
EN61000-4-6 power lines (industrial)
frequency 80% AM (1kHz)
400V drive - Allowance up to 100mm (3.94 in) modulation
-30% 10ms
Voltage dips
NOTE IEC61000-4-11 +60% 100ms AC power
and
The grounding bracket can remain mounted when the drive is removed. EN61000-4-11 -60% 1s ports
interruptions
<-95% 5s
as follows.
IEC61000-6-1 Generic immunity standard for the
EN61000-6- residential, commercial and light - Complies
1:2007 industrial environment
IEC61000-6-2
Generic immunity standard for the
EN61000-6- Complies
industrial environment
2:2005
EN 61800- Product standard for adjustable Meets immunity
3:2004 speed power drive systems requirements for first and
IEC61800-3 (immunity requirements) second environments

Digitax ST User Guide 29

Table 4-14 DST120X (200V) emission compliance (single and IEC 61800-3:2004 and EN 61800-3:2004
three phase drives The 2004 revision of the standard uses different terminology to align the
requirements of the standard better with the EC EMC Directive.
Motor cable length Switching frequency (kHz)
Power drive systems are categorized C1 to C4:
(m) 3 4 6 8 12
Using internal filter: Corresponding
Category Definition code used
0 to 7 E2U
above
7 to 9 E2U E2R
Intended for use in the first or second
9 to 11 E2U E2R C1 R
environments
>11 E2R
Not a plug-in or movable device, and
Using external filter: intended for use in the first environment
C2 I
0 to 20 R I only when installed by a professional, or
20 to 100 I in the second environment
Intended for use in the second
Table 4-15 DST140X (400V) emission compliance C3 E2U
environment, not the first environment
Motor cable length Switching frequency (kHz)
Rated at over 1000V or over 400A,
(m) 3 4 6 8 12 C4 intended for use in complex systems in E2R
Using internal filter: the second environment
0 to 6 E2U E2R Note that category 4 is more restrictive than E2R, since the rated current
6 to 12 E2U E2R of the PDS must exceed 400A or the supply voltage exceed 1000V, for
12 to 14 E2U E2R the complete PDS.
>14 E2R
NOTE N
Using external filter:
Where the drive is incorporated into a system with rated input current
0 to 20 R I exceeding 100A, the higher emission limits of EN 61800-3:2004 for the
20 to 70 I second environment are applicable, and no filter is then required.
70 to 100 I Do not use
NOTE N
Key to Table 4-14 and Table 4-15 Operation without an external filter is a practical cost-effective possibility
(shown in decreasing order of permitted emission level): in an industrial installation where existing levels of electrical noise are
likely to be high, and any electronic equipment in operation has been
E2R EN 61800-3:2004 second environment, restricted distribution designed for such an environment. This is in accordance with EN 61800-
(Additional measures may be required to prevent interference) 3:2004 in the second environment, with restricted distribution. There is
E2U EN 61800-3:2004 second environment, unrestricted distribution some risk of disturbance to other equipment, and in this case the user
I Industrial generic standard EN 61000-6-4:2007 and supplier of the drive system must jointly take responsibility for
EN 61800-3:2004 first environment restricted distribution (The correcting any problem which occurs.
following caution is required by EN 61800-3:2004)
4.12 Serial communications connections
This is a product of the restricted distribution class according The drive has a serial communications port (serial port) as standard
to IEC 61800-3. In a residential environment this product may supporting 2 wire EIA485 communications. Please see Table 4-16 for
cause radio interference in which case the user may be the connection details for the RJ45 connector.
CAUTION required to take adequate measures. Figure 4-9 Location of the RJ45 serial comms connector
R Residential generic standard EN 61000-6-3:2007
EN 61800-3:2004 first environment unrestricted distribution
EN 61800-3:2004 defines the following:
• The first environment is one that includes residential premises. It
also includes properties directly connected without intermediate
8
transformers to a low-voltage power supply network which supplies
buildings used for residential purposes.
• The second environment is one that includes all establishments 1
other than those directly connected to a low-voltage power supply
network which supplies buildings used for residential purposes.
• Restricted distribution is defined as a mode of sales distribution in which
the manufacturer restricts the supply of equipment to suppliers,
customers or users who separately or jointly have technical competence
in the EMC requirements of the application of drives.

30 Digitax ST User Guide

Table 4-16 Connection details for RJ45 connector CT Comms Cable

The CT Comms Cable can be used on a multi-drop network but should
Pin Function
only be used occasionally for diagnostic and set up purposes. The
1 120Ω Termination resistor network must also be made up entirely of Unidrive SPs.
2 RX TX If the CT Comms Cable is to be used, then pin 6 (TX enable) should be
3 Isolated 0V connected on all drives and pin 4 (+24V) should be linked to at least 1
4 +24V (100mA) drive to supply power to the converter in the cable.
5 Isolated 0V Only one CT Comms Cable can be used on a network.
6 TX enable
7 RX\ TX\ 4.13 Control connections
RX\ TX\ (if termination resistors are required, jumper to 4.13.1 General
8
pin 1) Table 4-18 The control connections consist of:
Shield Isolated 0V Terminal
Function Qty Control parameters available
The communications port applies a 2 unit load to the communications number
network. Differential analog input 1
Destination, offset, offset trim,
5,6
invert, scaling
Minimum number of connections are 2, 3, 7 and shield. Shielded cable
Single ended analog Mode, offset, scaling, invert,
must be used at all times. input
2
destination
7,8

4.12.1 Isolation of the serial communications port Analog output 2 Source, mode, scaling, 9,10
The serial communications port is double insulated and meets the Digital input 3 Destination, invert, logic select 27, 28, 29
requirements for SELV in IEC61800-5-1. Input / output mode select,
Digital input / output 3 destination / source, invert, 24, 25, 26
In order to meet the requirements for SELV in IEC60950 (IT logic select
equipment) it is necessary for the control computer to be
Relay 1 Source, invert 41,42
grounded. Alternatively, when a lap-top or similar device is
Drive enable (SAFE
used which has no provision for grounding, an isolation TORQUE OFF)
1 31
WARNING
device must be incorporated in the communications lead.
+10V User output 1 4
+24V User output 1 Source, invert 22
An isolated serial communications lead has been designed to connect
1, 3, 11, 21,
the drive to IT equipment (such as lap-top computers), and is available 0V common 6
23, 30
from the supplier of the drive. See Table 4-17 below for details:
+24V External input 1 2
Table 4-17 Isolated serial comms lead details
Key:
Part number Description
Destination indicates the parameter which is being controlled by the
4500-0087 CT EIA232 Comms cable parameter: terminal / function
4500-0096 CT USB Comms cable Source
indicates the parameter being output by the terminal
The “isolated serial communications” lead has reinforced insulation as parameter:
defined in IEC60950 for altitudes up to 3,000m. Mode analog - indicates the mode of operation of the terminal,
parameter: i.e. voltage 0-10V, current 4-20mA etc.
NOTE N
When using the CT EIA232 Comms cable the available baud rate is digital - indicates the mode of operation of the terminal,
limited to 19.2k baud. i.e. positive / negative logic (the Drive Enable terminal is
fixed in positive logic), open collector.
4.12.2 Multi-drop network
The drive can be used on a 2 wire EIA485 multi-drop network using the All analog terminal functions can be programmed in menu 7.
drive's serial communications port when the following guidelines are All digital terminal functions (including the relay) can be programmed in
adhered to. menu 8.
Connections The setting of Pr 1.14 and Pr 6.04 can cause the function of digital inputs
The network should be a daisy chain arrangement and not a star, T25 to T29 to change. For more information, please refer to section
although short stubs to the drive are allowed. 11.22.1 Reference modes on page 164 and section 11.22.7 Start / stop
The minimum connections are pins 2 (RX TX), 3 (isolated 0V), 7 (RX\ logic modes on page 168.
TX\) and the shield. The control circuits are isolated from the power circuits in the
Pin 4 (+24V) on each drive can be connected together but there is no drive by basic insulation (single insulation) only. The installer
power sharing mechanism between drives and therefore the maximum must ensure that the external control circuits are insulated
power available is the same as a single drive. (If pin 4 is not linked to the from human contact by at least one layer of insulation
other drives on the network and has an individual load then the
WARNING (supplementary insulation) rated for use at the AC supply
maximum power can be taken from pin 4 of each drive.) voltage.

Termination resistors If the control circuits are to be connected to other circuits

If a drive is on the end of the network chain then pins 1 and 8 should be
classified as Safety Extra Low Voltage (SELV) (e.g. to a
linked together. This will connect an internal 120Ω termination resistor
personal computer), an additional isolating barrier must be
between RXTX and RX\TX\. (If the end unit is not a drive or the user
included in order to maintain the SELV classification.
wishes to use their own termination resistor, a 120Ω termination resistor WARNING
should be connected between RXTX and RX\TX\ at the end unit.)
If the host is connected to a single drive then termination resistors
should not be used unless the baud rate is high.

Digitax ST User Guide 31

If any of the digital inputs or outputs (including the drive

enable input) are connected in parallel with an inductive load
(i.e. contactor or motor brake) then suitable suppression (i.e.
diode or varistor) should be used on the coil of the load. If no
CAUTION suppression is used then over voltage spikes can cause
damage to the digital inputs and outputs on the drive.

Ensure the logic sense is correct for the control circuit to be

used. Incorrect logic sense could cause the motor to be
started unexpectedly.
Positive logic is the default state for the drive.
CAUTION

NOTE N
Any signal cables which are carried inside the motor cable (i.e. motor
thermistor, motor brake) will pick up large pulse currents via the cable
capacitance. The shield of these signal cables must be connected to
ground close to the point of exit of the motor cable, to avoid this noise
current spreading through the control system.
NOTE N
The SAFE TORQUE OFF drive enable terminal is a positive logic input
only. It is not affected by the setting of Pr 8.29 Positive logic select.
NOTE N
The common 0V from analog signals should, wherever possible, not be
connected to the same 0V terminal as the common 0V from digital
signals. Terminals 3 and 11 should be used for connecting the 0V
common of analog signals and terminals 21, 23 and 30 for digital
signals. This is to prevent small voltage drops in the terminal
connections causing inaccuracies in the analog signals.

32 Digitax ST User Guide

4.14 Control terminals

The control circuits are isolated from the power circuits in the drive by basic insulation (single insulation) only. The installer must ensure
that the external control circuits are insulated from human contact by at least one layer of insulation (supplementary insulation) rated for
WARNING
use at the AC supply voltage.

Figure 4-10 Default terminal functions

0V common 1 Connectors specification:

External 24V supply 2 Maximum size of control
connections cable =
Analog speed 2
reference 1 1.5mm (16AWG)
Torque setting =
0V common
3 0.2 N m (1.8 lb in)
Connections for
single-ended input 5 Status relay cable =
signal 6 2
2.5mm (12AWG)
Torque setting =
0V common 0.5 N m (4.4 lb in)
Connections for
differential input signal

4
Analog
speed 7
reference 2

Analog input 3 8
Motor thermistor

9
Speed 10
Torque (active
current)
11
0V common
0V common
21

0V common
23

At zero speed 24
Polarized
signal
Reset 25 connections
Run forward 26

Run reverse 27
Analog input 1/ Analog input 1
input 2 select Analog input 2
28

Jog forward select 29

0V common
30
SAFE TORQUE OFF
(drive enable) 31

41
Drive OK Status relay
42 (Overvoltage
category II)

For control terminal specification, refer to Chapter 4.14.1 Control terminal specification on page 34.
NOTE
If Terminal 31 is used as a SAFE TORQUE OFF function, the cable must be shielded or segregated.

Digitax ST User Guide 33

4.14.1 Control terminal specification

1 0V common 7 Analog input 2
Common connection for all external Default function Frequency/speed reference
Function
devices Bipolar single-ended analog voltage
Type of input
or unipolar current
2 +24V external input Mode controlled by... Pr 7.11
Operating in Voltage mode
To supply the control circuit
Function without providing a supply to the Full scale voltage range ±9.8V ±3%
power stage Maximum offset ±30mV
Nominal voltage +24.0Vdc Absolute maximum
±36V relative to 0V
Minimum continuous voltage range
+19.2Vdc
operating voltage Input resistance >100kΩ
Maximum continuous Operating in current mode
+30.0Vdc
operating voltage 0 to 20mA ±5%, 20 to 0mA ±5%,
Current ranges
Minimum start-up voltage 21.6Vdc 4 to 20mA ±5%, 20 to 4mA ±5%
Recommended power supply 60W 24Vdc nominal Maximum offset 250μA
Recommended fuse 3A, 50Vdc Absolute maximum voltage
−36V max
(reverse bias)
Absolute maximum current +70mA
3 0V common Equivalent input resistance ≤200Ω at 20mA
Common connection for all external Resolution 10 bit + sign
Function
devices 250μs when configured as voltage
Sample period input with destinations as Pr 1.36, Pr
1.37, Pr 3.22 or Pr 4.08.
4 +10V user output
Function Supply for external analog devices
Voltage tolerance ±1% 8 Analog input 3
Maximum output current 10mA Default function Motor thermistor input (PTC)
Protection Current limit and trip @ 30mA Bipolar single-ended analog voltage,
Type of input unipolar current or motor thermistor
input
Precision reference Analog input 1 Mode controlled by... Pr 7.15
5 Non-inverting input Operating in Voltage mode (default)
Voltage range ±9.8V ±3%
6 Inverting input
Maximum offset ±30mV
Default function Frequency/speed reference
Absolute maximum
Bipolar differential analog ±36V relative to 0V
voltage range
Type of input (For single-ended use, connect Input resistance >100kΩ
terminal 6 to terminal 3)
Operating in current mode
Full scale voltage range ±9.8V ±1%
0 to 20mA ±5%, 20 to 0mA ±5%,
Absolute maximum Current ranges
±36V relative to 0V 4 to 20mA ±5%, 20 to 4mA ±5%
voltage range
Maximum offset 250μA
Working common mode
±13V relative to 0V Absolute maximum voltage
voltage range −36V max
(reverse bias)
Input resistance 100kΩ ±1%
Absolute maximum current +70mA
Resolution 16-bit plus sign (as speed reference)
Equivalent input resistance ≤200Ω at 20mA
Monotonic Yes (including 0V)
Operating in thermistor input mode
Dead band None (including 0V)
Internal pull-up voltage <5V
Jumps None (including 0V)
Trip threshold resistance 3.3kΩ ±10%
Maximum offset 700μV
Reset resistance 1.8kΩ ±10%
Maximum non linearity 0.3% of input
Short-circuit detection
Maximum gain asymmetry 0.5% 50Ω ±30%
resistance
Input filter bandwidth single Resolution 10 bit + sign
~1kHz
pole
250μs when configured as voltage
250μs with destinations as Pr 1.36,
Sampling period Sample period input with destinations as Pr 1.36,
Pr 1.37 or Pr 3.22.
Pr 1.37, Pr 3.22 or Pr 4.08.
T8 analog input 3 has a parallel connection to terminal 15 of the drive
input encoder connector.

34 Digitax ST User Guide

9 Analog output 1 24 Digital I/O 1

10 Analog output 2 25 Digital I/O 2

Terminal 9 default function SPEED output signal 26 Digital I/O 3
Terminal 10 default function Motor active current
Terminal 24 default function AT ZERO SPEED output
Bipolar single-ended analog voltage
Type of output Terminal 25 default function DRIVE RESET input
or unipolar single ended current
Terminal 26 default function RUN FORWARD input
Mode controlled by... Pr 7.21 and Pr 7.24
Positive or negative logic digital
Operating in Voltage mode (default)
Type inputs, positive or negative logic push-
Voltage range ±9.6V ±5% pull outputs or open collector outputs
Maximum offset 100mV Input / output mode controlled
Pr 8.31, Pr 8.32 and Pr 8.33
Maximum output current ±10mA by...
Load resistance 1kΩ min Operating as an input
Protection 35mA max. Short circuit protection Logic mode controlled by... Pr 8.29
Operating in current mode Absolute maximum applied
±30V
0 to 20mA ±10% voltage range
Current ranges
4 to 20mA ±10% Impedance 6kΩ
Maximum offset 600μA Input thresholds 10.0V ±0.8V
Maximum open circuit voltage +15V Operating as an output
Maximum load resistance 500Ω Open collector outputs
Pr 8.30
Resolution 10-bit (plus sign in voltage mode) selected
250μs when configured as a high Nominal maximum output
200mA (total including terminal 22)
speed output with sources as Pr 4.02, current
Update period Pr 4.17, Pr 3.02 or Pr 5.03. 4ms when Maximum output current 240mA (total including terminal 22)
configured as any other type of output Nominal working voltage
or with all other sources. 0V to +24V
range
250μs when configured as an input
with destinations as Pr 6.35 or
11 0V common
Sample / Update period Pr 6.36. 600μs when configured as an
Common connection for all external input with destination as Pr 6.29. 4ms
Function
devices in all other cases.

21 0V common 27 Digital Input 4

Common connection for all external 28 Digital Input 5
Function
devices
29 Digital Input 6
Terminal 27 default function RUN REVERSE input
22 +24V user output (selectable) Terminal 27 special function High Speed Freeze input (with
Terminal 22 default function +24V user output destination set as Pr 8.40)
Can be switched on or off to act as a Terminal 28 default function Analog INPUT 1 / INPUT 2 select
fourth digital output (positive logic Terminal 29 default function JOG SELECT input
Programmability
only) by setting the source Pr 8.28
Type Positive or negative logic digital inputs
and source invert Pr 8.18
Logic mode controlled by... Pr 8.29
Nominal output current 200mA (including all digital I/O)
Voltage range 0V to +24V
Maximum output current 240mA (including all digital I/O)
Absolute maximum applied
Protection Current limit and trip ±30V
voltage range
Impedance 6kΩ
23 0V common Input thresholds 10.0V ±0.8V
Common connection for all external 1µs when T27 (Digital Input 4)
Function destination is Pr 8.40. 250μs with
devices
Sample / Update period destinations as Pr 6.35 or Pr 6.36.
600μs with destination as Pr 6.29.
4ms in all other cases.

30 0V common
Common connection for all external
Function
devices

Digitax ST User Guide 35

Figure 4-12 Access to encoder connections

31 SAFE TORQUE OFF function (drive enable)
Type Positive logic only digital input
Voltage range 0V to +24V Break-outs
Absolute maximum applied
±30V
voltage
LogicThreshold 15.5V ±2.5V
Low state maximum voltage
for SIL3 and EN954-1 2V (or open-circuit)
category 3
Nominal: 8ms
Response time
Maximum: 20ms
SAFE TORQUE OFF function has been approved by BGIA as meeting
the requirements of the following standards, for the prevention of After removing the break-out, ensure that the ground tab is
unexpected starting of the drive: connected to ground (see Figure 4-13). This will connect 0V
EN 61800-5-2:2007 SIL 3 of the drive to ground. This is required to enable the drive to
EN ISO 13849-1:2006 PL e WARNING
meet IP20 when the break-out is removed.
EN 954-1:1997 Category 3
The SAFE TORQUE OFF function may be used in a safety-related NOTE
application in preventing the drive from generating torque in the motor Do not remove break-out if the connections are not required.
to a high level of integrity. The system designer is responsible for
ensuring that the complete system is safe and designed correctly Figure 4-13 Connecting the encoder ground tab to the EMC
according to the relevant safety standards. bracket

Refer to section 4.17 SAFE TORQUE OFF on page 40 for further

information.

41
Relay contacts
42
Default function Drive OK indicator
240Vac, Installation over-voltage
Contact voltage rating
category II
2A AC 240V
Contact maximum current 4A DC 30V resistive load
rating 0.5A DC 30V inductive load (L/R =
40ms)
Contact minimum
12V 100mA
recommended rating
Contact type Normally open
Closed when power applied and drive
Default contact condition
OK NOTE
Update period 4ms The size of the connecting cable between the encoder ground tab and
the EMC bracket should be equal to the input cable.
Recommended cable
A fuse or other over-current protection should be Installed to The recommended cable for feedback signals are shielded twisted pairs,
the relay circuit. shielded with an overall shield as shown in Figure 4-14.
WARNING Figure 4-14 Feedback Cable, Twisted Pairs
4.15 Encoder connections Cable overall shield
Figure 4-11 Encoder

5 1
10 6
Twisted
15 11
pair Cable
cable
4.15.1 Location of encoder connector
Before using the encoder connectors for the first time, the break-outs
need removing as shown in Figure 4-12. Twisted pair shield
Using this type of cable also allows for the connection of the outer shield
to ground and the inner shields to 0V alone at both drive and encoder
end, when required.
NOTE
Ensure that feedback cables are kept as far away as possible from
power cables and avoid parallel routing.

36 Digitax ST User Guide

Figure 4-19 Feedback cable connections

Twisted Twisted
pair pair
Shield shield shield Shield
connection Cable connection
to 0V to 0V

Connection Connection
at drive at motor

Cable Cable
shield Ground clamp or shield
grounding bracket on shield

4.16 Encoder terminals

Figure 4-15 Location of encoder connectors on underside of drive signals are used to define the motor position during the first 120°
electrical rotation after the drive is powered-up or the encoder is
initialized.
Drive encoder input converter connector
A 15-way D-type converter is available to provide a screw terminal
interface for encoder wiring, and a spade terminal for the shield.
Buffered
Figure 4-16 Drive encoder input converter connector
encoder
output 5 1
10 6
15 11

Drive encoder connector

Female 15-way D-type
Encoder
input

4.16.1 Encoder In connections

If using the Drive Encoder Input Converter connector, the
Table 4-20 Encoder types
Single Ended Encoder Interface or the ERN1387 Encoder
Setting of Interface protection to at least IP2X must be provided for the
Description
Pr 3.38 connector.
WARNING
Ab Quadrature incremental encoder with or without marker
(0) pulse
Fd Incremental encoder with frequency pulses and direction,
(1) with or without marker pulse
Fr Incremental encoder with forward pulses and reverse
(2) pulses, with or without marker pulse
Quadrature incremental encoder with UVW commutation
Ab.SErVO signals, with or without marker pulse
(3) Encoder with UVW commutation signals only (Pr 3.34 set
to zero)*
Fd.SErVO Incremental encoder with frequency pulses and direction
(4) with commutation signals**, with or without marker pulse
Incremental encoder with forward pulses and reverse
Fr.SErVO
pulses with commutation signals**, with or without marker
(5)
pulse
SC
SinCos encoder without serial communications
(6)
SC.HiPEr Absolute SinCos encoder with HiperFace serial
(7) communications protocol (Stegmann)
EndAt Absolute EndAt serial communications encoder
(8) (Heidenhain)
SC.EndAt Absolute SinCos encoder with EnDat serial
(9) communications protocol (Heidenhain)
SSI
Absolute SSI only encoder
(10)
SC.SSI
Absolute SinCos encoder with SSI
(11)
* This feedback device provides very low resolution feedback and should
not be used for applications requiring a high level of performance
** The U, V & W commutation signals are required with an incremental
type encoder when used with a servo motor. The UVW commutation

Digitax ST User Guide 37

Table 4-17 Encoder In connector details

Setting of Pr 3.38
Term. Ab Fd Fr Ab.SErVO Fd.SErVO Fr.SErVO SC SC.HiPEr EndAt SC.EndAt SSI SC.SSI
(0) (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11)
1 A F F A F F Cos Cos Cos
2 A\ F\ F\ A\ F\ F\ Cosref Cosref Cosref
3 B D R B D R Sin Sin Sin
4 B\ D\ R\ B\ D\ R\ Sinref Sinref Sinref
5 Z* Encoder input - Data (input/output)
6 Z\* Encoder input - Data\ (input/output)
7 U
8 U\
9 V
10 V\
11 W Encoder input - Clock (output)
12 W\ Encoder input - Clock\ (output)
13 +V**
14 0V common
15 th***
Shell 0V common
* Marker pulse is optional
** The encoder supply is selectable through parameter configuration to 5Vdc, 8Vdc and 15Vdc
*** Terminal 15 is a parallel connection to T8 analog input 3. If this is to be used as a thermistor input, ensure that Pr 7.15 is set to ‘th.sc’ (7), ‘th’ (8)
or ‘th.diSP’ (9)
Table 4-18 Simulated encoder output connector details
Setting of Pr 3.54 5 Marker pulse channel Z
Term. Ab Fd Fr Ab.L Fd.L
(0) (1) (2) (3) (4) 6 Marker pulse channel Z\
1 A F F A F 7 Phase channel U
2 A\ F\ F\ A\ F\
3 B D R B D 8 Phase channel U\
4 B\ D\ R\ B\ D\
5 Z* 9 Phase channel V
6 Z\*
10 Phase channel V\
14 0V
Shell 0V common 11 Phase channel W

NOTE 12 Phase channel W\

SSI encoders typically have maximum baud rate of 500kBaud. When a
Type EIA 485 differential receivers
SSI only encoder is used for speed feedback with a servo motor, a large
speed feedback filter (Pr 3.42) is required due to the time taken for the Maximum input frequency 512kHz
position information to be transferred from the encoder into the drive.
32 unit loads (for terminals 5 and 6)
The addition of this filter means that SSI only encoders are not suitable Line loading
1 unit load (for terminals 7 to 12)
for speed feedback in dynamic or high-speed applications.
120Ω (switchable for terminals 5
Specifications Line termination components and 6, always in circuit for terminals
Feedback device connections 7 to 12)
Ab, Fd, Fr, Ab.SErVO, Fd.SErVO and Fr.SErVO encoders Working common mode range +12V to –7V
1 Channel A, Frequency or Forward inputs Absolute maximum applied
+14V to -9V
voltage relative to 0V
2 Channel A\, Frequency\ or Forward\ inputs
Absolute maximum applied
3 Channel B, Direction or Reverse inputs +14V to -9V
differential voltage
4 Channel B\, Direction\ or Reverse\ inputs
Type EIA 485 differential receivers
Maximum input frequency 500kHz
Line loading <2 unit loads
Line termination components 120Ω (switchable)
Working common mode range +12V to –7V
Absolute maximum applied
±25V
voltage relative to 0V
Absolute maximum applied
±25V
differential voltage

38 Digitax ST User Guide

SC, SC.HiPEr, EndAt, SC.EndAt, SSI and SC.SSI encoders

1 Channel Cos* 14 0V common

2 Channel Cosref*

3 Channel Sin* 15 Motor thermistor input

This terminal is connected internally to terminal 8 of the signal

4 Channel Sinref*
connector. Connect only one of these terminals to a motor thermistor.
Type Differential voltage Analog input 3 must be in thermistor mode, Pr 7.15 = th.SC (7), th (8) or
th.diSP (9).
1.25V peak to peak (sin with regard
Maximum Signal level to sinref and cos with regard to
cosref) 4.16.2 Buffered encoder output
NOTE
Maximum input frequency See Table 4-21
The buffered encoder output is sourced from the drive encoder input and
Maximum applied differential can be any incremental type or any SINCOS type (Note: - No output is
voltage and common mode ±4V available if EndAt only or SSI communications only encoders are used).
voltage range If a SINCOS is used as the source the buffered output is derived from
For the SinCos encoder to be compatible with Digitax ST, the output the zero crossings of the sine waves and does not include interpolated
signals from the encoder must be a 1V peak to peak differential voltage information. The buffered encoder output provides an output with
(across Sin to Sinref and Cos to Cosref). minimal delay from the drive encoder input (maximum delay is 0.5µs). If
the source encoder does not have a marker pulse, then no marker pulse
The majority of encoders have a DC offset on all signals. A number of
encoder manufactures typically have a 2.5Vdc offset. The Sinref and can be obtained from the buffered encoder output.
Cosref are a flat DC level at 2.5Vdc and the Cos and Sin signals have a Table 4-22 Encoder output types
1V peak to peak waveform biased at 2.5Vdc.
Setting of
Encoders are available which have a 1V peak to peak voltage on Sin, Description
Pr 3.54
Sinref, Cos and Cosref. This results in a 2V peak to peak voltage seen
at the drive's encoder terminals. It is not recommended that encoders of Ab (0) Quadrature outputs
this type are used with Digitax ST, and that the encoder feedback Fd (1) Frequency and direction outputs
signals should meet the above parameters (1V peak to peak). Fr (2) Frequency and reverse outputs
Resolution: The sinewave frequency can be up to 500kHz but the Ab.L (3) Quadrature outputs with marker lock
resolution is reduced at high frequency. Table 4-21 shows the number Fd.L (4) Frequency and direction outputs with marker lock
of bits of interpolated information at different frequencies and with
different voltage levels at the drive encoder port. The total resolution in Table 4-23 Buffered encoder connections
bits per revolution is the ELPR plus the number of bits of interpolated
Setting of Pr 3.54
information. Although it is possible to obtain 11 bits of interpolation
information, the nominal design value is 10 bits. Term. Ab Fd Fr Ab.L Fd.L
(0) (1) (2) (3) (4)
* Not used with EndAt and SSI communications only encoders. 1 A F F A F
Table 4-21 Feedback resolution based on frequency and voltage level 2 A\ F\ F\ A\ F\
Volt/Freq 1kHz 5kHz 50kHz 100kHz 200kHz 500kHz 3 B D R B D
1.2 11 11 10 10 9 8 4 B\ D\ R\ B\ D\
1.0 11 11 10 9 9 7 5 Z*
0.8 10 10 10 9 8 7 6 Z\*
0.6 10 10 9 9 8 7 14 0V
0.4 9 9 9 8 7 6 *Available when marker pulse input connected

1 A, F
5 Data**
2 A\, F\
6 Data\**
3 B, D, R
11 Clock***
4 B\, D\, R\
12 Clock\***
5 Z
Type EIA 485 differential transceivers
6 Z\
Maximum frequency 2MHz
32 unit loads (for terminals 5 and 6) Type EIA 485 differential transmitter
Line loading
1 unit load (for terminals 11 and 12) Max frequency 512 KHz
Working common mode range +12V to –7V Max load capability 31 units
Absolute maximum applied Working common mode range +12V to -7V
+14V to -9V
voltage relative to 0V Absolute maximum applied
+14V to -14V
Absolute maximum applied voltage relative to 0V
+14V to -9V
differential voltage

** Not used with SC encoders. 14 0V common

*** Not used with SC and SC.HiPEr encoders.

Digitax ST User Guide 39

4.16.3 Digitax ST Plus additional connections Table 4-26 Digitax EZMotion connector details
Figure 4-19 Digitax ST Plus terminals view
Terminal Function Description
1 0V common 0V common connection for digital I/O
1
2 Input 1 Digital input 1
3 Input 2 Digital input 2
4 Input 3 Digital input 3
Connector specification:
5 Input 4 Digital input 4
Maximum size cable = 1.5mm2 6 Output 1 Digital output 1
Torque = 0.2 N m (1.8 lb in) 7 Output 2 Digital output 2

13
1 0V common
Function Common connection for Digital I/O

2 Input 1
The terminals are numbered from terminal 1 at the top, to terminal 13 at 3 Input 2
the bottom as per the orientation shown in Figure 4-19. The terminal
functions are given in Table 4-24: 4 Input 3
Table 4-24 Digitax ST Plus connector details 5 Input 4
Terminal Function Description Input turn on voltage 15Vdc ± 0.5Vdc
1 0V SC 0V connection for EIA-RS485 port Input voltage range 0Vdc to +24Vdc
EIA-RS485 Receive line (negative). Maximum input voltage + 30Vdc
2 /RX
Incoming.
EIA-RS485 Receive line (positive).
3 RX 6 Output 1
Incoming.
EIA-RS485 Transmit line (negative). 7 Output 2
4 /TX
Outgoing. Output voltage Depends on 24Vdc supply
EIA-RS485 Transmit line (positive). Maximum output current 20mA total for both outputs
5 TX
Outgoing.
6 Fieldbus Type A Fieldbus Type data line 4.17 SAFE TORQUE OFF
Fieldbus Type The SAFE TORQUE OFF function provides a means for preventing the
7 Shield connection for Fieldbus Type
Shield drive from generating torque in the motor, with a very high level of
8 Fieldbus Type B Fieldbus Type data line integrity. It is suitable for incorporation into a safety system for a
machine. It is also suitable for use as a conventional drive enable input.
9 0V 0V connection for digital I/O
10 DI0 Digital input 0 The SAFE TORQUE OFF function makes use of the special property of
an inverter drive with an induction motor, which is that torque cannot be
11 DI1 Digital input 1
generated without the continuous correct active behavior of the inverter
12 DO0 Digital output 0 circuit. All credible faults in the inverter power circuit cause a loss of
13 DO1 Digital output 1 torque generation.

4.16.4 Digitax ST EZMotion additional connections The SAFE TORQUE OFF function is fail-safe, so when the SAFE
TORQUE OFF input is disconnected the drive will not operate the motor,
Figure 4-25 Digitax ST EZMotion terminals view even if a combination of components within the drive has failed. Most
component failures are revealed by the drive failing to operate. SAFE
TORQUE OFF is also independent of the drive firmware. This meets the
requirements of the following standards, for the prevention of operation
of the motor.1

Connector specification: EN 61800-5-2:2007 SIL 3 (PFH ≤10-8)

2
Maximum size cable = 1.5mm EN ISO 13849-1:2006 PL e (MTTFD >105 yr)
1
Torque = 0.2 N m (1.8 lb in) EN954-1:1997 Category 3

7
On drives with date code P04 and later the SAFE TORQUE OFF input
also meets the requirements (of EN 81-1 clause 12.7.3 b) as part of a
system for preventing unwanted operation of the motor in a lift
(elevator).2
1 Independent approval has been given by BGIA.
2
Independent approval of concept has been given by TÜV. Please
consult the separate guide for lift applications for further information.
SAFE TORQUE OFF can be used to eliminate electro-mechanical
contactors, including special safety contactors, which would otherwise
be required for safety applications.

40 Digitax ST User Guide

Note on response time of SAFE TORQUE OFF, and use with safety
controllers with self-testing outputs (drives with date code P04 and Low voltage DC operation
later). With low voltage DC operation there is a reduction in the level
SAFE TORQUE OFF has been designed to have a response time of of safety of the SAFE TORQUE OFF function. There exist
greater than 1ms, so that it is compatible with safety controllers whose certain unlikely faults which might permit the drive to produce
WARNING
outputs are subject to a dynamic test with a pulse width not exceeding some limited motor torque when disabled, but only if the DC
1ms. supply has its negative pole connected to ground.
For applications where a fast-acting disable function is required, section To prevent a loss of the safety function in the event of such a
11.22.10 Fast Disable on page 170 fault, one of the following methods can be used:
Note on the use of servo motors, other permanent-magnet motors, 1. Monitor the state of Pr 8.09. This parameter value
reluctance motors and salient-pole induction motors should match the state of the enable input. If it does not
match then there is a fault and further operation must be
When the drive is disabled through SAFE TORQUE OFF, a possible prevented.
(although highly unlikely) failure mode is for two power devices in the
2. Connect the positive pole of the DC supply to ground.
inverter circuit to conduct incorrectly.
3. Connect neither pole of the DC supply to ground. Use a
This fault cannot produce a steady rotating torque in any AC motor. It ground fault detection circuit to prevent further operation
produces no torque in a conventional induction motor with a cage rotor. If in the event of a ground fault in the DC circuit. If the
the rotor has permanent magnets and/or saliency, then a transient detection circuit requires the supply to be biased relative
alignment torque may occur. The motor may briefly try to rotate by up to to ground, ensure that the bias is negative, i.e. both DC
180° electrical, for a permanent magnet motor, or 90° electrical, for a rails are negative relative to ground.
salient pole induction motor or reluctance motor. This possible failure Note that in lift (elevator) applications designed to meet
mode must be allowed for in the machine design. EN 81-1 with the use of one contactor or no contactors,
method 1 is normally implemented as part of the standard lift
The design of safety-related control systems must only be safety control system.
done by personnel with the required training and experience. With SAFE TORQUE OFF there are no single faults in the drive which
The SAFE TORQUE OFF function will only ensure the safety
can permit the motor to be driven. Therefore it is not necessary to have a
of a machine if it is correctly incorporated into a complete
WARNING second channel to interrupt the power connection, nor a fault detection
safety system. The system must be subject to a risk circuit.
assessment to confirm that the residual risk of an unsafe
event is at an acceptable level for the application. It is important to note that a single short-circuit from the SAFE TORQUE
OFF input to a DC supply of approximately +24V would cause the drive
to be enabled. This can be excluded under EN ISO 13849-2 by the use
SAFE TORQUE OFF inhibits the operation of the drive, this
of protected wiring. The wiring can be protected by either of the following
includes inhibiting braking. If the drive is required to provide
both braking and SAFE TORQUE OFF in the same operation methods:
(e.g. for emergency stop) then a safety timer relay or similar • By placing the wiring in a segregated cable duct or other enclosure.
WARNING
device must be used to ensure that the drive is disabled a or
suitable time after braking. The braking function in the drive • By providing the wiring with a grounded shield in a positive-logic
is provided by an electronic circuit which is not fail-safe. If grounded control circuit. The shield is provided to avoid a hazard
braking is a safety requirement, it must be supplemented by from an electrical fault. It may be grounded by any convenient
an independent fail-safe braking mechanism. method; no special EMC precautions are required.
If the use of protected wiring is not acceptable, so that the possibility of
SAFE TORQUE OFF does not provide electrical isolation. this short circuit occurring is anticipated, then a relay must be used to
The supply to the drive must be disconnected by an approved monitor the state of the SAFE TORQUE OFF input, together with a
isolation device before gaining access to power connections. single safety contactor to prevent operation of the motor after a fault.
WARNING For more information regarding the SAFE TORQUE OFF input, please
see the Control Techniques Safe Torque Off Engineering Guide
available for download from www.controltechniques.com.

Digitax ST User Guide 41

5 Getting started 5.3 SYPTPro (Indexer & Plus only)

SYPTPro is a professional drive programming toolkit for OEM’s and End
5.1 User interfaces Users who wish to maximize performance of the Digitax ST Indexer or
There are six user interfaces available for the various drive variants. the Digitax ST Plus. SYPTPro allows the user to program in a choice of
• CTSoft three languages, with a real-time multi-tasking environment
• SYPT Pro SYPTPro incorporates IEC61131-3 style ladder language editor. This
• EZMotion PowerTools Pro form of programming will be familiar to all PLC programmers and is the
• DST Keypad (LED) ideal format for sequencing and I/O control.
• SM-Keypad Plus (LCD) For further information on programming with SYPTPro refer to the SM-
Applications Module And Motion Processors User Guide.
Table 5-1 User interface compatibility SM-Applications Module And Motion Processors User Guide is available
on the CD, which is supplied with the drive.
Digitax ST Digitax ST Digitax ST Digitax ST
Base Indexer Plus EZMotion 5.4 EZMotion PowerTools Pro
CTSoft √ √
Applications for the Digitax ST EZMotion are developed using
SYPT Pro √ √ PowerTools Pro software. PowerTools Pro is an easy to use, Windows™
EZMotion based set-up and diagnostics tool. It provides the user with the ability to
√
PowerTools pro create, edit and maintain the system set-up.
DST Keypad √ √ √ √ PowerTools Pro is designed to be the easiest to use software available
SM-Keypad Plus √ √ √ √ for the 1 ½ axis motion controllers.
Features of PowerTools Pro include:
5.1.1 User software system requirements
System requirements are: • Hierarchy Tree for quick navigation to any set-up view.
• Simple I/O function assignments.
• Windows 7, Windows Vista, Windows XP or Windows 2000
• Powerful on-line diagnostic capability.
(Including the latest Service Packs) only.
• Fill in black motion profile parameters
• Internet Explorer 5.0 or later.
• Minimum of 800x600 screen resolution with 256 colors. 1024x768 is For further information on programming with PowerTools Pro refer to the
recommended. EZMotion User/Programming Guide.
• 512MB RAM. The EZMotion User/Programming Guide is available on the CD, which is
• Microsoft.Net frameworks 2.0 (supplied on CD). supplied with the drive.
• Pentium IV 1000MHz or better recommended.
• Adobe Acrobat Reader 5.05 or later for parameter help files access
(supplied on CD provided).
• Windows™ Administrator rights to install.

5.2 CT Soft
CTSoft is a Windows based drive commissioning / start-up program that
allows the complete control and display of all parameters within Control
Techniques' ranges of drives.
CTSoft provides the user with a graphical interface that is logically split
into a series of screens offering quick and easy viewing and, where
appropriate, the ability to edit parameter values. Individual detailed
parameter information can at any time be displayed showing the
parameter function, type and range of permitted values.
CTSoft can be used for set-up and monitoring, drive parameters can be
uploaded, downloaded and compared, and simple or custom menu
listings can be created. Drive menus can be displayed in standard list
format or as live block diagrams. CTSoft is able to communicate with a
single drive or network.
The drive's parameter set is split up into a series of related groups or
menus. Many of these menus have an associated graphical block
diagram which may be displayed and used interactively within CTSoft.
For full details of the drive's parameters, the relevant pages from the
drive and Solutions Module Advanced User Guides can also be
displayed by simply clicking any parameter on any displayed list or block
diagram view.
For the Digitax ST Indexer and Digitax ST Plus variants, CTSoft allows
users to specify and execute motion sequences using sequential
function chart style diagrams.
Refer to the on-line set-up wizard and help files in CTSoft for further
information.
CTSoft is available on the CD which is supplied with the drive.

42 Digitax ST User Guide

5.5 Keypad operation

Beware of possible live terminals when installing the keypad.

WARNING

5.6 Understanding the display

There are two keypads available for the Digitax ST. The Digitax ST Keypad has an LED display and the SM-Keypad Plus has an LCD display. The
Digitax ST Keypad can be installed to the drive and the SM -Keypad Plus is remotely mounted on an enclosure door.

5.6.1 Digitax ST Keypad (LED) 5.6.2 SM-Keypad Plus (LCD)

The display consists of two horizontal rows of 7 segment LED displays. The display consists of three lines of text.
The upper display shows the drive status or the current menu and The top line shows the drive status or the current menu and parameter
parameter number being viewed. number being viewed on the left, and the parameter value or the specific
trip type on the right. The lower two lines show the parameter name or
The lower display shows the parameter value or the specific trip type.
the help text.
Figure 5-1 Digitax ST Keypad Figure 5-2 SM-Keypad Plus (remote mount only)

Upper display

Lower display
Mode (black) button
Help button
Mode (black) button Control buttons
Programming buttons
Stop/reset (red) button Fwd / Rev (blue) button Joypad
Stop/reset (red) button
Start (green) button

Control buttons
The keypad consists of:
1. Programming buttons: used to navigate the parameter structure and change parameter values.
2. Mode button: used to change between the display modes – parameter view, parameter edit, status.
3. Reset button
4. Help button (Keypad Plus only) - displays text briefly describing the selected parameter.
5. Start, Fwd/Rev buttons (Keypad Plus only) - used to control the drive if Keypad mode is selected.
Figure 5-3 Display modes
Status
Mode
(Display
not
flashing)
Timeout** Timeout** Timeout**
To enter Parameter
Mode, press key or To return to
Status Mode,
press key

Parameter When returning

Mode to Parameter
(Upper Mode use the Temporary
display Parameter
*
flashing) Mode
keys to select (Upper display
Use * keys another parameter flashing)
to select parameter for editing to change, if
required

To exit Edit Mode,

press key
To enter Edit Mode,
press key

RO R/W
parameter parameter
Edit Mode
(Character to be edited in lower line of display flashing)
Change parameter values using keys.

*Can only be used to move between menus if L2 access has been enabled (Pr 0.49). Refer to section 5.6.7 Parameter access level
and security on page 45.
**Timeout defined by Pr 11.41 (default value = 240s).

Digitax ST User Guide 43

Figure 5-4 Mode examples

Parameter Status Mode

View Mode
Healthy Status Alarm Status Trip Status

Menu 5. Parameter 5 Drive status =

Pr 5.05 value tripped
Trip type (UU =
undervolts)

Figure 5-6 Menu structure

Do not change parameter values without careful
consideration; incorrect values may cause damage or a
safety hazard.
WARNING
Menu 21 enu 2
NOTE Menu 22 Menu 0 Menu 1 M
When changing the values of parameters, make a note of the new ....XX.00....
values in case they need to be entered again. 22.29 0.50 1.50
22.28 0.49 1.49
NOTE 22.27 0.48 1.48
22.26 0.47 1.47
For new parameter-values to apply after the AC supply to the drive is 22.25 0.46 1.46
interrupted, new values must be saved. Refer to section 5.6.5 Saving
parameters on page 45.
5.6.3 Menu structure Moves
between
The drive parameter structure consists of menus and parameters. parameters

The drive initially powers up so that only menu 0 can be viewed. The up
and down arrow buttons are used to navigate between parameters and
once level 2 access (L2) has been enabled (see Pr 0.49) the left and
right buttons are used to navigate between menus. For further
information, refer to section 5.6.7 Parameter access level and
security on page 45. 22.05 0.05 1.05
22.04 0.04 1.04
Figure 5-5 Parameter navigation 22.03 0.03 1.03
22.02 0.02 1.02
22.01 0.01 1.01

Moves between Menus

* *

*Can only be used to move between menus if L2 access

has been enabled (Pr 0.49). Refer to section
5.6.7 Parameter access level and security on page 45.
The menus and parameters roll over in both directions.
i.e. if the last parameter is displayed, a further press will cause the
display to rollover and show the first parameter.
When changing between menus the drive remembers which parameter
was last viewed in a particular menu and thus displays that parameter.

44 Digitax ST User Guide

5.6.4 Advanced menus 5.6.7 Parameter access level and security

The advanced menus consist of groups or parameters appropriate to a The parameter access level determines whether the user has access to
specific function or feature of the drive. Menus 0 to 22 can be viewed on menu 0 only or to all the advanced menus (menus 1 to 22) in addition to
both keypads. Menus 40 and 41 are specific to the Keypad Plus (LCD). menu 0.
Menu Description The User Security determines whether the access to the user is read
only or read write.
Commonly used basic set up parameters for quick / easy
0
programming Both the User Security and Parameter Access Level can operate
1 Frequency / speed reference independently of each other as shown in the table below:
2 Ramps Parameter Menu 0 Advanced
User Security
3 Slave frequency, speed feedback and speed control Access Level status menus status
4 Torque and current control L1 Open RW Not visible
5 Motor control L1 Closed RO Not visible
6 Sequencer and clock L2 Open RW RW
7 Analog I/O L2 Closed RO RO
8 Digital I/O RW = Read / write access RO = Read only access
9 Programmable logic, motorized pot and binary sum The default settings of the drive are Parameter Access Level L1 and
10 Status and trips user Security Open, i.e. read / write access to Menu 0 with the advanced
11 General drive set-up menus not visible.
12 Threshold detectors and variable selectors Access Level
13 Position control The access level is set in Pr 0.49 and allows or prevents access to the
14 User PID controller advanced menu parameters.
15, 16 Solutions Module set-up L1 access selected - Menu 0 only visible
17 Motion processor
Pr 0.00 Pr 1.00 ............ Pr 19.00 Pr 20.00
18 Application menu 1
Pr 0.01 Pr 1.01 ............ Pr 19.01 Pr 20.01
19 Application menu 2 Pr 0.02 Pr 1.02 ............ Pr 19.02 Pr 20.02
20 Application menu 3 Pr 0.03 Pr 1.03 ............ Pr 19.03 Pr 20.03
21 Second motor parameters ............
22 Additional Menu 0 set-up ............
Pr 0.49 Pr 1.49 ............ Pr 19.49 Pr 20.49
5.6.5 Saving parameters Pr 0.50 Pr 1.50 ............ Pr 19.50 Pr 20.50
When changing a parameter in Menu 0, the new value is saved when
pressing the Mode button to return to parameter view mode from
parameter edit mode.
L2 access selected - All parameters visible
If parameters have been changed in the advanced menus, then the
change will not be saved automatically. A save function must be carried
out.
Procedure
Enter 1000* in Pr. xx.00
Either:
• Press the red reset button
• Toggle the reset digital input
• Carry out a drive reset through serial communications by setting
Pr 10.38 to 100 (ensure that Pr. xx.00 returns to 0).
*If the drive is in the under voltage trip state or is being supplied from a Pr 0.00 Pr 1.00 ............ Pr 21.00 Pr 22.00
low voltage DC supply, a value of 1001 must be entered into Pr xx.00 to Pr 0.01 Pr 1.01 ............ Pr 21.01 Pr 22.01
perform a save function. Pr 0.02 Pr 1.02 ............ Pr 21.02 Pr 22.02
5.6.6 Restoring parameter defaults Pr 0.03 Pr 1.03 ............ Pr 21.03 Pr 22.03
Restoring parameter defaults by this method saves the default values in ............
the drive’s memory. (Pr 0.49 and Pr 0.34 are not affected by this ............
procedure.) Pr 0.49 Pr 1.49 ............ Pr 21.30 Pr 22.28
Procedure Pr 0.50 Pr 1.50 ............ Pr 21.31 Pr 22.29
1. Ensure the drive is not enabled, i.e. terminal 31 is open or Pr 6.15 is
Off (0)
Changing the Access Level
2. Enter 1233 (EUR 50Hz settings) or 1244 (USA 60Hz settings) in The Access Level is determined by the setting of Pr 0.49 as follows:
Pr xx.00. String Value Effect
3. Either:
• Press the red reset button L1 0 Access to menu 0 only
• Toggle the reset digital input L2 1 Access to all menus (menu 0 to menu 22)
• Carry out a drive reset through serial communications by setting
Pr 10.38 to 100 (ensure that Pr. xx.00 returns to 0). The Access Level can be changed through the keypad even if the User
Security has been set.

Digitax ST User Guide 45

5.6.8 User Security 5.7 Displaying parameters with non-

The User Security, when set, prevents write access to any of the
parameters (other than Pr. 0.49 and Pr 11.44 Access Level) in any
default values only
menu. By entering 12000 in Pr xx.00, the only parameters that will be visible to
the user will be those containing a non-default value. This function does
User security open - All parameters: Read / Write access
not require a drive reset to become active. In order to deactivate this
function, return to Pr xx.00 and enter a value of 0.
Please note that this function can be affected by the access level
enabled, refer to section 5.6.7 Parameter access level and security for
further information regarding access level.

5.8 Displaying destination parameters only

By entering 12001 in Pr xx.00, the only parameters that will be visible to
the user will be destination parameters. This function does not require a
drive reset to become active. In order to deactivate this function, return
Pr 0.00 Pr 1.00 ............ Pr 21.00 Pr 22.00 to Pr xx.00 and enter a value of 0.
Pr 0.01 Pr 1.01 ............ Pr 21.01 Pr 22.01 Please note that this function can be affected by the access level
Pr 0.02 Pr 1.02 ............ Pr 21.02 Pr 22.02 enabled, refer to section 5.6.7 Parameter access level and security for
Pr 0.03 Pr 1.03 ............ Pr 21.03 Pr 22.03 further information regarding access level.
............
............ 5.9 Communications
Pr 0.49 Pr 1.49 ............ Pr 21.30 Pr 22.28
5.9.1 Introduction
Pr 0.50 Pr 1.50 ............ Pr 21.31 Pr 22.29 The Digitax ST has a standard 2-wire EIA485 interface (serial
communications interface) which enables all drive set-up, operation and
User security closed - All parameters: Read Only access monitoring to be carried out with a PC or PLC if required. Therefore, it is
(except Pr 0.49 and Pr 11.44)
possible to control the drive entirely by serial communications without
Pr 0.00 Pr 1.00 ............ Pr 21.00 Pr 22.00 the need for a -keypad or other control cabling. The Digitax ST supports
Pr 0.01 Pr 1.01 ............ Pr 21.01 Pr 22.01 two protocols selected by parameter configuration:
Pr 0.02 Pr 1.02 ............ Pr 21.02 Pr 22.02 • Modbus RTU
Pr 0.03 Pr 1.03 ............ Pr 21.03 Pr 22.03 • CT ANSI
............ Modbus RTU has been set as the default protocol, as it is used with the
............ PC-tools set-up software as provided on the CD ROM.
Pr 0.49 Pr 1.49 ............ Pr 21.30 Pr 22.28 The communications port of the drive is a RJ45 socket, and is isolated
Pr 0.50 Pr 1.50 ............ Pr 21.31 Pr 22.29 from the power stage and the other control terminals.
The communications port applies a 2 unit load to the communications
Setting User Security network.
Enter a value between 1 and 999 in Pr 0.34 and press the button; USB/EIA232 to EIA485 Communications
the security code has now been set to this value. In order to activate the
An external USB/EIA232 hardware interface such as a PC cannot be
security, the Access level must be set to Loc in Pr 0.49. When the drive
used directly with the 2-wire interface of the drive. Therefore a suitable
is reset, the security code will have been activated and the drive returns
converter is required.
to Access Level L1. The value of Pr 0.34 will return to 0 in order to hide
the security code. At this point, the only parameter that can be changed Suitable USB to EIA485 and EIA232 to EIA485 isolated converters are
by the user is the Access Level Pr 0.49. available from Control Techniques as follows:
• CT USB Comms cable (CT Part No. 4500-0096)
Unlocking User Security • CT EIA232 Comms cable (CT Part No. 4500-0087)
Select a read write parameter to be edited and press the button, the When using one of the above converters or any other suitable converter
display will now show CodE. Use the arrow buttons to set the security with the Digitax ST, it is recommended that no terminating resistors be
code and press the button. connected on the network. It may be necessary to 'jumper out' the
terminating resistor within the converter depending on which type is
With the correct security code entered, the display will revert to the
used. The information on how to jumper out the terminating resistor will
parameter selected in edit mode.
normally be contained in the user information supplied with the
If an incorrect security code is entered the display will revert to converter.
parameter view mode.

To lock the User Security again, set Pr 0.49 to Loc and press the
reset button.

Disabling User Security

Unlock the previously set security code as detailed above. Set Pr 0.34 to
0 and press the button. The User Security has now been disabled,
and will not have to be unlocked each time the drive is powered up to
allow read / write access to the parameters.

46 Digitax ST User Guide

5.9.2 Communications set-up parameters 9. Therefore, Pr 0.37 is limited to 99 in this mode. The value 00 is used
The following parameters need to be set according to the system to globally address all slaves on the system, and x0 is used to address
requirements. all slaves of group x, therefore these addresses should not be set in this
parameter.
0.35 {11.24} Serial mode
RW Txt US
AnSI (0)
Ú rtU (1)
Ö rtU (1)

This parameter defines the communications protocol used by the 485

comms port on the drive. This parameter can be changed via the drive
keypad, via a Solutions Module or via the comms interface itself. If it is
changed via the comms interface, the response to the command uses
the original protocol. The master should wait at least 20ms before send a
new message using the new protocol. (Note: ANSI uses 7 data bits, 1
stop bit and even parity; Modbus RTU uses 8 data bits, 2 stops bits and
no parity.)

Comms value String Communications mode

0 AnSI ANSI
1 rtU Modbus RTU protocol
Modbus RTU protocol, but with an
2 Lcd
Keypad Plus only

ANSIx3.28 protocol
Full details of the CT ANSI communications protocol are given in the
Advanced User Guide.
Modbus RTU protocol
Full details of the CT implementation of Modbus RTU are given in the
Advanced User Guide.
Modbus RTU protocol, but with an SM-Keypad Plus only
This setting is used for disabling communications access when the -
Keypad Plus is used as a hardware key. See the Advanced User Guide
for more details.

0.36 {11.25} Serial communications baud rate

RW Txt US
300 (0), 600 (1), 1200 (2),
2400 (3), 4800 (4), 9600 (5),
Ú 19200 (6), 38400 (7),
Ö 19200 (6)
57600 (8)*, 115200 (9)*

* only applicable to Modbus RTU mode

This parameter can be changed via the drive keypad, via a Solutions
Module or via the comms interface itself. If it is changed via the comms
interface, the response to the command uses the original baud rate. The
master should wait at least 20ms before sending a new message using
the new baud rate.
NOTE
When using the CT EIA232 Comms cable the available baud rate is
limited to 19.2k baud.

0.37 {11.23} Serial communications address

RW Txt US
Ú 0 to 247 Ö 1

Used to define the unique address for the drive for the serial interface.
The drive is always a slave.
Modbus RTU
When the Modbus RTU protocol is used addresses between 0 and 247
are permitted. Address 0 is used to globally address all slaves, and so
this address should not be set in this parameter
ANSI
When the ANSI protocol is used the first digit is the group and the
second digit is the address within a group. The maximum permitted
group number is 9 and the maximum permitted address within a group is

Digitax ST User Guide 47

6 Basic parameters
Menu 0 is used to bring together various commonly used parameters for basic easy set up of the drive. All the parameters in menu 0 appear in other
menus in the drive (denoted by {…}).
Menus 11 and 22 can be used to change most of the parameters in menu 0. Menu 0 can also contain up to 59 parameters by setting up menu 22.
6.1 Single line descriptions
Parameter Range(Ú) Default(Ö) Type
0.00 xx.00 {x.00} 0 to 32,767 0 RW Uni
0.01 Minimum reference clamp {1.07} ±SPEED_LIMIT_MAX Hz/rpm 0.0 RW Bi PT US
US
0.02 Maximum reference clamp {1.06} SPEED_LIMIT_MAX Hz/rpm 3,000.0 RW Uni
{2.11} 0.000 to 3,200.000 US
0.03 Acceleration rate 0.200 RW Uni
s/1,000rpm
0.000 to 3,200.000
0.04 Deceleration rate {2.21} 0.200 RW Uni US
s/1,000rpm
A1.A2 (0), A1.Pr (1), A2.Pr (2), Pr (3), PAd (4),
0.05 Reference select {1.14} A1.A2 (0) RW Txt NC US
Prc (5)
0.06 Current limit {4.07} 0 to Current_limit_max % 300.0 RW Uni RA US
0.07 Speed controller P gain {3.10} 0.0000 to 6.5535 1/rad s-1 0.0100 RW Uni US
0.08 Speed controller I gain {3.11} 0.00 to 655.35 1/rad 1.00 RW Uni US
0.09 Speed controller D gain {3.12} 0.00000 to 0.65535 (s) 0.00000 RW Uni US
0.10 Motor speed {3.02} ±Speed_max rpm RO Bi FI NC PT
0 to 65,535
0.11 Drive encoder position {3.29} RO Uni FI NC PT
1/216ths of a revolution
0.12 Total motor current {4.01} 0 to Drive_current_max A RO Uni FI NC PT
0.13 Analog input 1 offset trim {7.07} ±10.000 % 0.000 RW Bi US
0.14 Torque mode selector {4.11} 0 to 4 Speed control mode (0) RW Uni US
FASt (0)
0.15 Ramp mode select {2.04} Std (1) RW Txt US
Std (1)
0.16 Ramp enable {2.02} OFF (0) or On (1) On (1) RW Bit US
0.17 Current demand filter filter {4.12} 0.0 to 25.0 ms 0.0 RW Uni US
0.18 Positive logic select {8.29} OFF (0) or On (1) On (1) RW Bit PT US
0-20 (0), 20-0 (1), 4-20tr (2), 20-4tr (3),
0.19 Analog input 2 mode {7.11} VOLt (6) RW Txt US
4-20 (4), 20-4 (5), VOLt (6)
0.20 Analog input 2 destination {7.14} Pr 0.00 to Pr 21.51 Pr 1.37 RW Uni DE PT US
0-20 (0), 20-0 (1), 4-20tr (2), 20-4tr (3),
0.21 Analog input 3 mode {7.15} 4-20 (4), 20-4 (5), VOLt (6), th.SC (7), th (8) RW Txt PT US
th (8), th.diSp (9)
0.22 Bipolar reference select {1.10} OFF (0) or On (1) OFF (0) RW Bit US
0.23 Jog reference {1.05} 0 to 4000.0 rpm 0.0 RW Uni US
0.24 Pre-set reference 1 {1.21} ±Speed_limit_max rpm 0.0 RW Bi US
0.25 Pre-set reference 2 {1.22} ±Speed_limit_max rpm 0.0 RW Bi US
0.26 Overspeed threshold {3.08} 0 to 40,000 rpm 0 RW Uni US
Drive encoder lines per
0.27 {3.34} 0 to 50,000 4096 RW Uni US
revolution
0.28 Keypad fwd/rev key enable {6.13} OFF (0) or On (1) OFF (0) RW Bit US
SMARTCARD parameter
0.29 {11.36} 0 to 999 0 RO Uni NC PT US
data
0.30 Parameter copying {11.42} nonE (0), rEAd (1), Prog (2), AutO (3), boot (4) nonE (0) RW Txt NC *
0.31 Drive rated voltage {11.33} 200 (0), 400 (1) RO Txt NC PT
0.32 Drive rated current {11.32} 0.00 to 9999.99A RO Uni NC PT
0.34 User security code {11.30} 0 to 999 0 RW Uni NC PT PS
0.35 Serial comms mode {11.24} AnSI (0), rtu (1), Lcd (2) rtU (1) RW Txt US
300 (0), 600 (1), 1200 (2), 2400 (3), 4800 (4),
9600 (5), 19200 (6), 38400 (7),
0.36 Serial comms baud rate {11.25} 19200 (6) RW Txt US
57600 (8) Modbus RTU only,
115200 (9) Modbus RTU only
0.37 Serial comms address {11.23} 0 to 247 1 RW Uni US
200V drive: 75
0.38 Current loop P gain {4.13} 0 to 30,000 RW Uni US
400V drive: 150
0 to 30,000 200V drive: 1000
0.39 Current loop I gain {4.14} RW Uni US
400V drive: 2000
0.40 Autotune {5.12} 0 to 6 0 RW Uni
Maximum switching
0.41 {5.18} 3 (0), 4 (1), 6 (2), 8 (3), 12 (4) 6 (2) RW Txt RA US
frequency
0.42 No. of motor poles {5.11} 0 to 60 (Auto to 120 pole) 6 POLE (3) RW Txt US
0.43 Encoder phase angle {3.25} 0.0 to 359.9° 0.0 RW Uni US
200V drive: 230
0.44 Motor rated voltage {5.09} 0 to AC_voltage_set_max V RW Uni RA US
400V drive: EUR> 400, USA> 460
0.45 Motor thermal filter {4.15} 0.0 to 3000.0 20.0 RW Uni US
0.46 Motor rated current {5.07} 0 to Rated_current_max A Drive rated current [11.32] RW Uni RA US
0.48 User drive mode {11.32} SErVO (3) SErVO (3) RO Txt NC PT
0.49 Security status {11.44} L1 (0), L2 (1), Loc (2) RW Txt PT US
0.50 Software version {11.29} 1.00 to 99.99 RO Uni NC PT
0.51 Action on trip detection {10.37} 0 to 15 0 RW US

48 Digitax ST User Guide

Key:

Coding Attribute
{X.XX} Copied advanced parameter
RW Read/write: can be written by the user
RO Read only: can only be read by the user
Bit 1 bit parameter: ‘On’ or ‘OFF’ on the display
Bi Bipolar parameter
Uni Unipolar parameter
Txt Text: the parameter uses text strings instead of numbers.
Filtered: some parameters which can have rapidly changing
FI values are filtered when displayed on the drive keypad for
easy viewing.
Destination: This parameter selects the destination of an
DE
input or logic function.
Rating dependent: this parameter is likely to have different
values and ranges with drives of different voltage and
current ratings. Parameters with this attribute will not be
RA
transferred to the destination drive by SMARTCARDs when
the rating of the destination drive is different from the
source drive and the file is a parameter file.
Not copied: not transferred to or from SMARTCARDs
NC
during copying.
PT Protected: cannot be used as a destination.
User save: parameter saved in drive EEPROM when the
US
user initiates a parameter save.
Power-down save: parameter automatically saved in drive
PS
EEPROM when the under volts (UV) trip occurs.

Digitax ST User Guide 49

Figure 6-1 Menu 0 logic diagram

The function of the two digital inputs are controlled by the setting of Pr 0.05 (reference selector). See table below for details.

Analog reference

Analog Analog
input 1 input 2
offset trim destination Any
0.13 0.20 unprotected
variable
Analog parameter
input + Analog
2 mode ??.?? reference 2
+
0.19 1.37 Reference
0.05
selector
??.??

OR
Bipolar
reference
select
0.22
Preset frequency
reference
Preset
0.24
reference 1
A1.A2
Preset
0.25 A1.Pr
reference 2
A2.Pr
Pr
PAd
Prc

Keypad reference

0.23

Jog reference

Digital inputs T28 & T29

Pr 0.05 T28 T29

Precision reference A1.A2 Local/Remote Jog
A1.Pr Preset reference selectors
A2.Pr Preset reference selectors
Pr Preset reference selectors
PAd Local/Remote Jog
Prc Local/Remote Jog

Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown in their default settings

50 Digitax ST User Guide

RUN RUN
FORWARD REVERSE RESET SPEED TORQUE AT ZERO SPEED
26 27 25 9 10 24

Analog outputs Digital output

Motor control
Maximum Current
reference/ 0.06
limit
speed clamp
0.14 Torque mode
0.02 Ramp selector
enable
0.17 Current demand
Minimum 0.16 filter time
reference/ constant
speed clamp
0.01

Motor parameters
0.42 ~ 0.46
Ramps
No. of poles
Encoder phase angle
Rated voltage
CL> Speed-loop PID gains Rated speed
Rated current
Motor thermal
0.07 Speed-loop time constant
proportional
gain
0.03
Acceleration 0.08 Speed-loop
rate integral gain

0.04
Deceleration L1 L2 L3 Drive
rate
Speed-loop
0.15 0.09 derivative
Ramp mode gain
selector
_ +

Motor speed

0.10

Power stage _
PWM switching +
0.41
frequency
Drive encoder Drive encoder
0.27 0.11
ppr position
Overspeed
0.26
threshold

_
U V W + BR

15 way sub-D
connector
Resistor
optional

Digitax ST User Guide 51

6.2 Full descriptions 6.2.2 Speed limits

6.2.1 Parameter x.00 0.01 {1.07} Minimum reference clamp
RW Bi PT US
0.00 {x.00} Parameter zero
RW Uni Ú ±SPEED_LIMIT_MAX Hz/rpm Ö 0.0

Ú 0 to 32,767 Ö 0 (When the drive is jogging, [0.01] has no effect.)

Pr x.00 is available in all menus and has the following functions. 0.02 {1.06} Maximum reference clamp
Value Action RW Uni US

1000
Save parameters when under voltage is not active (Pr 10.16 Ú SPEED_LIMIT_MAX Hz/rpm Ö 3,000.0
= 0) and low voltage DC supply is not active (Pr 6.44 = 0).
1001 Save parameters under all conditions (The drive has additional over-speed protection.)
1070 Reset all option modules
6.2.3 Ramps, speed reference selection, current
1233 Load standard defaults limit
1244 Load US defaults
0.03 {2.11} Acceleration rate
Change drive mode with standard defaults (excluding menus
1255 RW Uni US
15 to 20)
0.000 to 3,200.000
1256
Change drive mode with US defaults (excluding menus 15 to Ú s/1,000rpm
Ö 0.200
20)
Transfer drive parameters as difference from default to a Set Pr 0.03 at the required rate of acceleration.
2001*
bootable SMARTCARD block in data block number 001 Note that larger values produce lower acceleration. The rate applies in
Transfer drive EEPROM data to a SMART Card block both directions of rotation.
3yyy*
number yyy
Transfer drive data as difference from defaults to SMART 0.04 {2.21} Deceleration rate
4yyy*
Card block number yyy RW Uni US
Transfer drive ladder program to SMART Card block number 0.000 to 3,200.000
5yyy*
yyy
Ú s/1,000rpm
Ö 0.200

6yyy* Transfer SMART Card data block number yyy to the drive
7yyy* Erase SMART Card data block number yyy Set Pr 0.04 at the required rate of deceleration.
Compare drive parameters with SMART Card data block Note that larger values produce lower deceleration. The rate applies in
8yyy* both directions of rotation.
number yyy
Transfer the user program in the applications module in slot 1
15yyy 0.05 {1.14} Reference selector
to data block number yyy on a SMART Card
Transfer the user program in the applications module in slot 2 RW Txt NC US
16yyy
to data block number yyy on a SMART Card Ú 0 to 5 Ö A1.A2 (0)
Transfer the user program in the SM-Applications Modules
17yyy And Motion Processors (Digitax ST Plus and Indexer) to data Use Pr 0.05 to select the required frequency/speed reference as follows:
block number yyy on a SMART Card
Setting
Transfer a user program in data block number yyy on a
18yyy Analog input 1 OR analog input 2 selectable by digital
SMART Card to the applications module in slot 1 A1.A2 0
input, terminal 28
Transfer a user program in data block number yyy on a
19yyy Analog input 1 OR preset frequency/speed selectable
SMART Card to the applications module in slot 2 A1.Pr 1
by digital input, terminal 28 and 29
Transfer a user program in data block number yyy on a
Analog input 2 OR preset frequency/speed selectable
20yyy SMART Card to the SM-Applications Modules And Motion A2.Pr 2
Processors (Digitax ST Plus and Indexer) by digital input, terminal 28 and 29
9555* Clear SMARTCARD warning suppression flag Pr 3 Pre-set frequency/speed
9666* Set SMARTCARD warning suppression card PAd 4 Keypad reference
9777* Clear SMARTCARD read-only flag Prc 5 Precision reference
9888* Set SMARTCARD read-only flag Setting Pr 0.05 to 1, 2 or 3 will re-configure T28 and T29. Refer to
9999* Erase SMARTCARD data block 1 to 499 Pr 8.39 (Pr 0.16 in OL) to disable this function.
Transfer electronic nameplate parameters to/from drive from/
110zy to encoder. See the Advanced User Guide for more 0.06 {4.07} Current Limit
information on this function. RW Uni RA US
12000** Display non-default values only
Ú 0 to Current_limit_max % Ö 300.0
12001** Display destination parameters only
* See Chapter 9 SMARTCARD Operation for more information of these Pr 0.06 limits the maximum output current of the drive (and hence
functions. maximum motor torque) to protect the drive and motor from overload.
** These functions do not require a drive reset to become active. All Set Pr 0.06 at the required maximum torque as a percentage of the rated
other functions require a drive reset to initiate the function. torque of the motor, as follows:

52 Digitax ST User Guide

TR
[ 0.06 ] = -------------------- × 100 (%)
T RATED 0.12 {4.01} Total motor current
Where: RO Uni FI NC PT
TR Required maximum torque Ú 0 to Drive_current_max A Ö
TRATED Motor rated torque
Pr 0.12 displays the rms value of the output current of the drive in each
of the three phases. The phase currents consist of an active component
Alternatively, set 0.06 at the required maximum active (torque-
and a reactive component, which can form a resultant current vector as
producing) current as a percentage of the rated active current of the
shown in the following diagram.
motor, as follows:

I R
[ 0.06 ] = ------------------- × 100 (%) Total current
IRATED Active
current
Where:
IR Required maximum active current
IRATED Motor rated active current

0.07 {3.10} Speed controller proportional gain

Magnetising current
RW Uni US
0.0000 to 6.5535 The active current is the torque producing current and the reactive
Ú Ö 0.0100
1/rad s-1 current is the magnetising or flux-producing current.

Pr 0.07 (3.10) operates in the feed-forward path of the speed-control

0.13 {7.07} Analog input 1 offset trim
loop in the drive. See Figure 11-3 on page 92 for a schematic of the
speed controller. For information on setting up the speed controller RW Bi US
gains, refer to Chapter 8 Optimization . Ú ±10.000 % Ö 0.000

Pr 0.13 can be used to trim out any offset in the user signal to analog
0.08 {3.11} Speed controller integral gain
input 1.
RW Uni US
0.00 to 655.35 6.2.4 Jog reference, Ramp mode selector, Stop and
Ú 1/rad
Ö 1.00 torque mode selectors

Pr 0.08 (3.11) operates in the feed-forward path of the speed-control 0.14 {4.11} Torque mode selector
loop in the drive. See Figure 11-3 on page 92 for a schematic of the RW Uni US
speed controller. For information on setting up the speed controller
gains, refer to Chapter 8 Optimization . Ú 0 to 4 Ö Speed control (0)

Pr 0.14 is used to select the required control mode of the drive as

0.09 {3.12} Speed controller differential feedback gain follows:
RW Uni US
Setting Function
Ú 0.00000 to 0.65535(s) Ö 0.00000 0 Speed control
1 Torque control
Pr 0.09 (3.12) operates in the feedback path of the speed-control loop in
2 Torque control with speed override
the drive. See Figure 11-3 on page 92 for a schematic of the speed
controller. For information on setting up the speed controller gains, refer 3 Coiler/uncoiler mode
to Chapter 8 Optimization . 4 Speed control with torque feed-forward

0.10 {3.02} Motor speed

0.15 {2.04} Ramp mode select
RO Bi FI NC PT
RW Txt US
Ú ±Speed_max rpm Ö FASt (0)
Ú Std (1)
Ö Std (1)
Pr 0.10 (3.02) indicates the value of motor speed that is obtained from
the speed feedback. Pr 0.15 sets the ramp mode of the drive as shown below:
0: Fast ramp
0.11 {3.29} Drive encoder position Fast ramp is used where the deceleration follows the programmed
RO Uni FI NC PT deceleration rate subject to current limits. This mode must be used if a
braking resistor is connected to the drive.
0 to 65,535
Ú Ö 1: Standard ramp
1/216ths of a revolution
Standard ramp is used. During deceleration, if the voltage rises to the
Pr 0.11 displays the position of the encoder in mechanical values of 0 to standard ramp level (Pr 2.08) it causes a controller to operate, the output
65,535. There are 65,536 units to one mechanical revolution. of which changes the demanded load current in the motor. As the
controller regulates the DC bus voltage, the motor deceleration increases
as the speed approaches zero speed. When the motor deceleration rate

Digitax ST User Guide 53

reaches the programmed deceleration rate the controller ceases to

operate and the drive continues to decelerate at the programmed rate. If Pr Pr
Mode Comments
the standard ramp voltage (Pr 2.08) is set lower than the nominal DC bus value string
level the drive will not decelerate the motor, but it will coast to rest. The
0 0-20 0 - 20mA
output of the ramp controller (when active) is a current demand that is fed
1 20-0 20 - 0mA
to the torque producing current controller (Servo mode). The gain of these
controllers can be modified with Pr 4.13 and Pr 4.14. 2 4-20.tr 4 - 20mA with trip on loss Trip if I < 3mA
3 20-4.tr 20 - 4mA with trip on loss Trip if I < 3mA
Controller 4 4-20 4 - 20mA with no trip on loss 0.0% if I ≤ 4mA
operational
5 20-4 20 – 4mA with no trip on loss 100% if I ≤ 4mA
DC bus voltage 6 VOLt Voltage mode

0.20 {7.14} Analog input 2 destination

RW Uni DE PT US

Motor Speed Ú Pr 0.00 to Pr 21.51 Ö Pr 1.37

Programmed
deceleration Pr 0.20 sets the destination of analog input 2.
rate

0.21 {7.15} Analog input 3 mode

RW Txt PT US
t Ú 0 to 9 Ö th (8)
2: Standard ramp with motor voltage boost
In modes 2 & 3 a current loop loss trip is generated if the current falls
This mode is the same as normal standard ramp mode except that the
below 3mA.
motor voltage is boosted by 20%. This increases the losses in the motor,
dissipating some of the mechanical energy as heat giving faster In modes 2 & 4 the analog input level goes to 0.0% if the input current
deceleration. falls below 4mA.

Pr Pr
0.16 {2.02} Ramp enable Mode Comments
value string
RW Bit US
0 0-20 0 - 20mA
Ú OFF (0) or On (1) Ö On (1) 1 20-0 20 - 0mA
2 4-20.tr 4 - 20mA with trip on loss Trip if I < 3mA
Setting Pr 0.16 to 0 allows the user to disable the ramps. This is
generally used when the drive is required to closely follow a speed 3 20-4.tr 20 - 4mA with trip on loss Trip if I < 3mA
reference which already contains acceleration and deceleration ramps. 4 4-20 4 - 20mA with no trip on loss 0.0% if I ≤ 4mA
5 20-4 20 - 4mA with no trip on loss 100% if I ≤ 4mA
0.17 {4.12} Current demand filter 6 VOLt Voltage mode
RW Uni US Th trip if R > 3K3
Thermistor mode with short-
7 th.SC Th reset if R < 1K8
Ú 0.0 to 25.0 ms Ö 0.0 circuit detection
ThS trip if R < 50R
A first order filter, with a filter defined by Pr 0.17, is provided on the Thermistor mode with no Th trip if R > 3K3
8 th
current demand to reduce acoustic noise and vibration produced as a short-circuit detection Th reset if R < 1K8
result of position feedback quantization noise. The filter introduces a lag Thermistor mode with
in the speed loop, and so the speed loop gains may need to be reduced 9 th.diSp
display only and no trip
to maintain stability as the filter filter is increased.
0.19 {7.11} Analog input 2 mode
0.22 {1.10} Bipolar reference select
RW Txt US
RW Bit US
Ú 0 to 6 Ö VOLt (6)
Ú OFF (0) or On (1) Ö OFF (0)
In modes 2 & 3 a current loop loss trip is generated if the current falls
Pr 0.22 determines whether the reference is uni-polar or bi-polar as
below 3mA.
follows:
In modes 2 & 4 the analog input level goes to 0.0% if the input current
falls below 4mA. Pr 0.22 Function

0 Unipolar speed/reference

1 Bipolar speed/reference

54 Digitax ST User Guide

Pr Pr
Comment
0.23 {1.05} Jog reference String value
RW Uni US nonE 0 Inactive
Ú 0 to 4,000.0 rpm Ö 0.0 rEAd 1 Read parameter set from the SMARTCARD
Prog 2 Programming a parameter set to the SMARTCARD
Enter the required value of jog/speed. Auto 3 Auto save
The speed limits affect the drive when jogging as follows: boot 4 Boot mode

Frequency-limit parameter Limit applies For further information, please refer to Chapter 9 SMARTCARD
Operation .
Pr 0.01 Minimum reference clamp No
Pr 0.02 Maximum reference clamp Yes 0.31 {11.33} Drive rated voltage
RO Txt NC PT
0.24 {1.21} Preset reference 1
RW Bi US
Ú 200V (0), 400V (1) Ö

Ú ±Speed_limit_max rpm Ö 0.0 Pr 0.31 indicates the voltage rating of the drive.

0.32 {11.32} Drive rated current

0.25 {1.22} Preset reference 2
RO Uni NC PT
RW Bi US
Ú 0.00 to 9,999.99 A Ö
Ú ±Speed_limit_max rpm Ö 0.0
Pr 0.32 indicates the maximum current rating (which will allow for an
overload of 300%).
0.26 {3.08} Overspeed threshold
RW Uni US
0.34 {11.30} User security code
Ú 0 to 40,000 rpm Ö 0 RW Uni NC PT PS

If the speed feedback (Pr 3.02) exceeds this level in either direction, an Ú 0 to 999 Ö 0
overspeed trip is produced. If this parameter is set to zero, the
overspeed threshold is automatically set to 120% x SPEED_MAX. If any number other than 0 is programmed into this parameter, user
security is applied so that no parameters except parameter 0.49 can be
adjusted with the keypad. When this parameter is read via a keypad it
0.27 {3.34} Drive encoder lines per revolution
appears as zero.
RW Uni US
For further details refer to section 5.6.7 Parameter access level and
Ú 0 to 50,000 Ö 4096 security .

Enter in Pr 0.27 the number of lines per revolution of the drive encoder. 0.35 {11.24} Serial comms mode
RW Txt US
0.28 {6.13} Keypad fwd/rev key enable
RW Bit US Ú AnSI (0), rtu (1), Lcd (2) Ö rtU (1)

Ú OFF (0) or On (1) Ö OFF (0) This parameter defines the communications protocol used by the
EIA485 comms port on the drive. This parameter can be changed via the
When a keypad is installed, this parameter enables the forward/reverse drive keypad, via a Solutions Module or via the comms interface itself. If
key. it is changed via the comms interface, the response to the command
uses the original protocol. The master should wait at least 20ms before
0.29 {11.36} SMARTCARD parameter data send a new message using the new protocol. (Note: ANSI uses 7 data
RO Uni NC PT US bits, 1 stop bit and even parity; Modbus RTU uses 8 data bits, 2 stops
bits and no parity.)
Ú 0 to 999 Ö 0
Comms value String Communications mode
This parameter shows the number of the data block last transferred from
0 AnSI ANSI
a SMARTCARD to the drive.
1 rtU Modbus RTU protocol
0.30 {11.42} Parameter copying Modbus RTU protocol, but with an SM-
2 Lcd
Keypad Plus only
RW Txt NC *
ANSIx3.28 protocol
Ú 0 to 4 Ö nonE (0)
Full details of the CT ANSI communications protocol are the Advanced
User Guide.
* Modes 1 and 2 are not user saved, Modes 0, 3 and 4 are user saved.
Modbus RTU protocol
NOTE N Full details of the CT implementation of Modbus RTU are given in the
If Pr 0.30 is equal to 1 or 2 this value is not transferred to the EEPROM Advanced User Guide.
or the drive. If Pr 0.30 is set to a 3 or 4 the value is transferred.
Modbus RTU protocol, but with an SM-Keypad Plus only
This setting is used for disabling communications access when the SM-
Keypad Plus is used as a hardware key. See the Keypad Plus User
Guide for more details.

Digitax ST User Guide 55

• A short low speed test will rotate the motor by 2 electrical revolutions
0.36 {11.25} Serial comms baud rate (i.e. up to 2 mechanical revolutions) in the forward direction, and
RW Txt US measure the encoder phase angle. The motor must be free from
300 (0), 600 (1), 1200 (2), load for this test.
2400 (3), 4800 (4), 9600 (5), • A normal low speed test will rotate the motor by 2 electrical
Ú 19200 (6), 38400 (7),
Ö 19200 (6) revolutions (i.e. up to 2 mechanical revolutions) in the forward
57600 (8)*, 115200 (9)* direction. This test measures the encoder phase angle and updates
other parameters including the current loop gains. The motor must
* only applicable to Modbus RTU mode be free from load for this test.
This parameter can be changed via the drive keypad, via a Solutions • The inertia measurement test can measure the total inertia of the
Module or via the comms interface itself. If it is changed via the comms load and the motor. This is used to set the speed loop gains and to
interface, the response to the command uses the original baud rate. The provide torque feed forwards when required during acceleration.
master should wait at least 20ms before send a new message using the During the inertia measurement test the motor speed changes from
1
new baud rate. /3 to 2/3 rated speed in the forward direction several times. The
motor can be loaded with a constant torque load and still give an
0.37 {11.23} Serial address accurate result, however, non-linear loads and loads that change
RW Uni US with speed will cause measurement errors.
• The stationary test only measures the motor resistance and
Ú 0 to 247 Ö 1 inductance, and updates the current loop gain parameters. This test
does not measure the encoder phase angle so this test needs to be
Used to define the unique address for the drive for the serial interface. done in conjunction with either the short low speed or minimal
The drive is always a slave. movement tests.
Modbus RTU • The minimal movement test will move the motor through a small
angle to measure the encoder phase angle. This test will operate
When the Modbus RTU protocol is used addresses between 0 and 247
correctly when the load is an inertia, and although a small amount of
are permitted. Address 0 is used to globally address all slaves, and so
cogging and stiction is acceptable, this test cannot be used for a
this address should not be set in this parameter
loaded motor.
ANSI
To perform an autotune, set Pr 0.40 to 1 for a short low speed test, 2 for
When the ANSI protocol is used the first digit is the group and the a normal low speed test, 3 for an inertia measurement test, 4 for a
second digit is the address within a group. The maximum permitted stationary test or 5 for a minimal movement test, and provide the drive
group number is 9 and the maximum permitted address within a group is with both an enable signal (on terminal 31) and a run signal (on terminal
9. Therefore, Pr 0.37 is limited to 99 in this mode. The value 00 is used 26 or 27).
to globally address all slaves on the system, and x0 is used to address
Following the completion of an autotune test the drive will go into the
all slaves of group x, therefore these addresses should not be set in this
inhibit state. The drive must be placed into a controlled disable condition
parameter.
before the drive can be made to run at the required reference. The drive
can be put in to a controlled disable condition by removing the SAFE
0.38 {4.13} Current loop P gain TORQUE OFF signal from terminal 31, setting the drive enable
RW Uni US parameter Pr 6.15 to OFF (0) or disabling the drive via the control word
200V drive: 75 (Pr 6.42 & Pr 6.43).
Ú 0 to 30,000 Ö 400V drive: 150 Setting Pr 0.40 to 6 will cause the drive to calculate the current loop
gains based on the previously measured values of motor resistance and
inductance. The drive does apply any voltage to the motor during this
0.39 {4.14} Current loop I gain test. The drive will change Pr 0.40 back to 0 as soon as the calculations
RW Uni US are complete (approximately 500ms).
0 to 30,000 200V drive: 1,000 For further information refer to section Pr 0.40 {5.12} Autotune on
Ú Ö 400V drive: 2,000 page 67.

These parameters control the proportional and integral gains of the 0.41 {5.18} Maximum switching frequency
current controller used in the open loop drive. The current controller
RW Txt RA US
either provides current limits or closed loop torque control by modifying
the drive output frequency. The control loop is also used in its torque Ú 3 (0), 4 (1), 6 (2), 8 (3), 12 (4) Ö 6 (2)
mode during line power supply loss, or when the controlled mode
standard ramp is active and the drive is decelerating, to regulate the flow This parameter defines the required switching frequency. The drive may
of current into the drive. automatically reduce the actual switching frequency (without changing
this parameter) if the power stage becomes too hot. A thermal model of
the IGBT junction temperature is used based on the heatsink
0.40 {5.12} Autotune
temperature and an instantaneous temperature drop using the drive
RW Uni output current and switching frequency. The estimated IGBT junction
Ú 0 to 6 Ö 0 temperature is displayed in Pr 7.34. If the temperature exceeds 145°C/
170°C (variant dependant) the switching frequency is reduced if this is
There are five autotune tests available, a short low speed test, a normal possible (i.e >3kHz). Reducing the switching frequency reduces the
low speed test, an inertia measurement test, a stationary test and a drive losses and the junction temperature displayed in Pr 7.34 also
minimal movement test. A normal low speed should be done where reduces. If the load condition persists the junction temperature may
possible as the drive measures the stator resistance and inductance of continue to rise again above 145°C/170°C (variant dependant) and the
the motor, and from these calculates the current loop gains. An inertia drive cannot reduce the switching frequency further the drive will initiate
measurement test should be performed separately to a short low speed an ‘O.ht1’ trip. Every second the drive will attempt to restore the
or normal low speed autotune. switching frequency to the level set in Pr 0.41.

56 Digitax ST User Guide

6.2.5 Motor parameters 6.2.6 Status information

0.42 {5.11} No. of motor poles 0.49 {11.44} Security status
RW Txt US RW Txt PT US
Ú 0 to 60 (Auto to 120 Pole) Ö 6 POLE (3) Ú 0 to 2 Ö 0

This parameter must be set correctly for the vector control algorithms to This parameter controls access via the drive keypad as follows:
operate correctly. When auto is selected the number of poles is set to 6. Value String Action
0 L1 Only menu 0 can be accessed
0.43 {3.25} Encoder phase angle 1 L2 All menus can be accessed
RW Uni US Lock user security when drive is reset.
2 Loc
(This parameter is set to L1 after reset.)
Ú 0.0 to 359.9° Ö 0.0
The keypad can adjust this parameter even when user security is set.
The phase angle between the rotor flux in a servo motor and the
encoder position is required for the motor to operate correctly. If the 0.50 {11.29} Software version number
phase angle is known it can be set in this parameter by the user. RO Uni NC PT
Alternatively the drive can automatically measure the phase angle by
performing a phasing test (see autotune in servo mode Pr 0.40). When Ú 1.00 to 99.99 Ö
the test is complete the new value is written to this parameter. The
encoder phase angle can be modified at any time and becomes effective The parameter displays the software version of the drive.
immediately. This parameter has a factory default value of 0.0, but is not
affected when defaults are loaded by the user.
0.51 {10.37} Action on trip detection
0.44 {5.09} Motor rated voltage RW Uni US
RW Uni RA US Ú 0 to 15 Ö 0
200V drive: 230
Ú 0 to AC_voltage_set_max V Ö 400V drive: EUR> 400 Each bit in this parameter has the following functions:
USA> 460
Bit Function
0 Stop on non-important trips
0.45 {4.15} Motor thermal filter 1 Disable braking IGBT trips
RW Uni US 2 Disable phase loss trip
Ú 0 to 3000.0 Ö 20.0 3 Disable braking resistor temperature monitoring failure detection

Pr 0.45 is the motor thermal filter of the motor, and is used (along with Stop on non-important trips
the motor rated current Pr 0.46, and total motor current Pr 0.12) in the If bit 0 is set to zero then the drive simply trips when a non-important trip
thermal model of the motor in applying thermal protection to the motor. occurs. Non-important trips are: th, ths, Old1, cL2, cL3, SCL. If bit 0 is
set to one the drive will stop before tripping when one of these trips is
Setting this parameter to 0 disables the motor thermal protection. initiated, except in Regen mode where the drive trips immediately.
Disable braking IGBT trips
0.46 {5.07} Motor rated current For details of braking IGBT trip mode see Pr 10.31.
RW Uni RA US Disable phase loss trip
The user can disable the phase loss trip in 200V drives as these are
Ú 0 to Rated_current_max A Ö Drive rated current [11.32]
allowed to operate from a single phase supply. If bit 2 is set to zero the
phase loss trip is enabled. If bit 2 is set to one the phase loss trip is
Enter the name-plate value for the motor rated current.
disabled in 200V drives only.
Disable braking resistor temperature monitoring failure detection
0.48 {11.31} User drive mode Digitax ST have an internal user install braking resistor with a thermistor
RO Txt NC PT to detect overheating of the resistor. If the resistor is not installed the trip
can be disabled by setting Pr 10.37 (0.51) to 8. If the resistor is installed
Ú SErVO (3) Ö SErVO (3) then no trip is produced unless the thermistor fails. With the resistor
installed Pr 10.37 must be set to zero.
This parameter is read only.

Digitax ST User Guide 57

7 Running the motor

This chapter takes the new user through all the essential steps to
running a motor for the first time.

Ensure that no damage or safety hazard could arise from the

motor starting unexpectedly.
WARNING

The values of the motor parameters affect the protection of

the motor.
The default values in the drive should not be relied upon.
It is essential that the correct value is entered in Pr 0.46 Motor
CAUTION rated current. This affects the thermal protection of the motor.

If the keypad mode has been used previously, ensure that

the keypad reference has been set to 0 using the
buttons as if the drive is started using the keypad it will run to
CAUTION the speed defined by the keypad reference (Pr 1.17).

If the intended maximum speed affects the safety of the

machinery, additional independent over-speed protection
must be used.
WARNING

7.1 Quick start Connections

7.1.1 Basic requirements
This section shows the basic connections which must be made for the
drive. For minimal parameter settings to run, please see the relevant part
of section 7.2 Quick Start set-up on page 62.
Table 7-1 Minimum control connection requirements for each
control mode
Drive control method Requirements
Drive Enable
Speed reference
Terminal mode
Run forward or run reverse
command
Keypad mode Drive Enable
Drive Enable
Serial communications
Serial communications link

Table 7-2 Minimum control connection requirements

Operating mode Requirements
Permanent magnet motor with
Closed loop servo mode
speed and position feedback

Speed and position feedback

Suitable devices are:
• Incremental encoder (A, B or F, D with or without Z) with
commutation signals (U, V, W)
• Incremental encoder with forward and reverse outputs (F, R with or
without Z) and commutation outputs (U, V, W)
• SINCOS encoder (with Stegmann Hiperface, EnDat or SSI
communications protocols)
• EnDat absolute encoder

For Solutions Module terminal information see section 11.15 Menus 15

and 16: Solutions Module set-up on page 127 or the appropriate
Solutions Module Option User Guide.

58 Digitax ST User Guide

Figure 7-1 Minimum connections to get the motor running via Serial Communications (e.g. CTSoft)
L1 L2 L3/N
DST12XX = 200 to 240V±10%
DST14XX = 380 to 480V±10%

External
braking
resistor
(optional) Fuses

Terminals Torque setting*

1.0 N m Thermal
Power terminals overload
(12.1 lb in)
protection
0.2 N m device
Control terminals
(1.7 lb in)
Status relay 0.5 N m
terminals (4.5 lb in)
L1 L2
Ground terminal 4Nm
screws (35 lb in)
Internal
Small ground 2 Nm braking
terminal screws (17.7 Ib in) resistor
* Torque tolerance = 10% (optional)

Part number Description

CT EIA232
4500-0087
Comms cable
CT USB
4500-0096
Comms cable

21
24V
Serial Comms Isolated serial Serial 22
User Interface comms lead communications
port 23
Polarized signal
connections 24
25
26
27
5 1 28
10 6
15 11 29 SAFE TORQUE
OFF(drive
Encoder connector 30
U V W enable - T31)
15 way D-type
31

A A
B B

U U U V W
V V
W W

Z Z

Digitax ST User Guide 59

Figure 7-2 Minimum connections to get the motor running via keypad
L1 L2 L3/N
DST12XX = 200 to 240V±10%
DST14XX = 380 to 480V±10%

External
braking
resistor
Terminals Torque setting* (optional) Fuses

1.0 N m
Power terminals
(12.1 lb in)
Thermal
0.2 N m overload
Control terminals
(1.7 lb in) protection
device
Status relay 0.5 N m
terminals (4.5 lb in)
Ground terminal 4Nm
screws (35 lb in) L1 L2
Small ground 2 Nm
terminal screws (17.7 Ib in) Internal
braking
* Torque tolerance = 10% resistor
(optional)

21
24V
22
23
Polarized signal
connections 24
25
26
27
5 1 28
10 6
15 11 29 SAFE TORQUE
OFF(drive
Encoder connector 30
U V W enable - T31)
15 way D-type
A A
31
B B

U U
V V
W W
U V W
Z Z

60 Digitax ST User Guide

Figure 7-3 Minimum connections to get the motor running via terminal mode (analog input)
L1 L2 L3/N
DST12XX = 200 to 240V±10%
DST14XX = 380 to 480V±10%

External
braking
resistor
(optional) Fuses

Terminals Torque setting* Thermal

1.0 N m overload
Power terminals protection
(12.1 lb in)
device
0.2 N m 1
Control terminals
(1.7 lb in)
Status relay 0.5 N m 2
L1 L2
terminals (4.5 lb in)
3 0V
Ground terminal 4Nm Internal +10V
screws (35 lb in) braking 4
Speed
Small ground 2 Nm resistor
(optional) 5 reference
terminal screws (17.7 Ib in) input
* Torque tolerance = 10% 6
7
8
9
10
11

21
24V
22
23
Polarized signal
connections 24
25 Run
forward
26
27
Run
5 1 28 reverse
10 6
15 11 29 SAFE TORQUE
OFF(drive
Encoder connector 30
U V W enable - T31)
15 way D-type
A A
31
B B

U U
V V
W W
U V W
Z Z

Digitax ST User Guide 61

7.2 Quick Start set-up

For simplicity only an incremental quadrature encoder will be considered here. For information on setting up one of the other supported speed
feedback devices, refer to section 7.3 Setting up a feedback device on page 63.

Action Detail
Ensure:
• Drive Enable signal is not given (terminal 31)
Before power-
• Run signal is not given
up
• Motor is connected
• Feedback device is connected
If a motor thermistor is not connected and the drive trips on ‘th’ set Pr 0.21 = VOLt and press the red reset button.
Ensure:

Power-up the • SMARTCARD is installed (first power-up only)

drive • Drive displays ‘inh’
If the drive trips, see Chapter 13 Diagnostics on page 181.
* If no internal braking resistor is installed, then the drive will trip ‘br.th’. If no internal braking resistor is required, then
set Pr 0.51 to 8 to disable the trip.
Incremental encoder basic set-up
Enter:
• Drive encoder type in Pr. 3.38 = Ab.SErVO (3): Quadrature encoder with commutation outputs
• Encoder power supply in Pr. 3.36 = 5V (0), 8V (1) or 15V (2).
NOTE If Ab encoder voltage is greater than 5V, then the termination resistors must be disabled Pr 3.39 to 0.

Set motor
feedback Setting the encoder voltage supply too high for the encoder could result in damage to the feedback device.
parameters
CAUTION
• Drive encoder Pulses Per Revolution in Pr. 3.34 (set according to encoder)
• Drive encoder termination resistor setting in Pr. 3.39:
0 = A-A\, B-B\, Z-Z\ termination resistors disabled
1 = A-A\, B-B\, termination resistors enabled, Z-Z\ termination resistors disabled
2 = A-A\, B-B\, Z-Z\ termination resistors enabled
Enter:
Enter motor • Motor rated current in Pr 0.46 (A)
nameplate Ensure that this equal to or less than the Heavy Duty rating of the drive otherwise It.AC trips may occur Model No: 95UXXXXXXXXXXXX
Volts: 380/480
Cont: 7.7Nm:4.81Arms
Brake: 12Nm
24V
0.67A

details during the autotune. Stall: 9.5Nm:5.91Arms

Speed: 3000rpm Poles:6
Kt: 1.6Nm/Arms
Ins Class: H
Control Techniques
Dynamics Ltd

• Number of poles in Pr 0.42

ANDOVER, HANTS.
ENGLAND. SP10 5AB
Serial No: XXXXXXXXXXX

Set maximum Enter: 0.02

speed • Maximum speed in Pr 0.02 (rpm)

Set Enter:
acceleration / • Acceleration rate in Pr 0.03 (s/1000rpm)
1000rpm

deceleration • Deceleration rate in Pr 0.04 (s/1000rpm) (If braking resistor installed, set Pr 0.15 = FAST. Also ensure Pr 10.30
rates and Pr 10.31 are set correctly, otherwise premature ‘It.br’ trips may be seen.) 0.03 0.04
t

Digitax ST is able to perform a short low speed, a normal low speed or a minimal movement autotune. The motor
must be at a standstill before an autotune is enabled. A normal low speed autotune will measure the encoder phase
offset angle and calculate the current gains.
The short low speed and normal low speed tests will rotate the motor by up to 2 revolutions in the direction
selected, regardless of the reference provided. The minimal movement test will move the motor through an
angle defined by Pr 5.38.
Once complete the motor will come to a standstill. The enable signal must be removed before the drive can
WARNING
be made to run at the required reference.
The drive can be stopped at any time by removing the run signal or removing the Drive Enable.
The motor must not be loaded when attempting an autotune.
• The short low speed and normal low speed tests will rotate the motor by up to 2 rotations in the direction selected 0
and the drive measures the encoder phase angle and updates the value in Pr 3.25. The normal low speed test also 0
measures the stator resistance, and inductance of the motor. These are used to calculate the current loop gains,
Autotune and at the end of the test the values in Pr 0.38 and Pr 0.39 are updated. The short low speed test takes
approximately 2s and the normal low speed test approximately 20s to complete.
• The minimal movement autotune will move the motor through an angle defined by Pr 5.38. The motor must not
be loaded for this test although it will operate correctly when the load is an inertia.
To perform an autotune:
• Set Pr 0.40 = 1 for a short low speed autotune, Pr 0.40 = 2 for a normal low speed test or Pr 0.40 = 5 for a
minimal movement autotune.
• Close the run signal (terminal 26 or 27).
• Close the Drive Enable signal (terminal 31). The lower display will flash 'Auto' and 'tunE' alternatively, while the
drive is performing the test.
• Wait for the drive to display 'rdy' or ‘inh’ and for the motor to come to a standstill.
If the drive trips it cannot be reset until the drive enable signal (terminal 31) has been removed. See Chapter
13 Diagnostics on page 181.
Remove the drive enabled and run signal from the drive.
Save Enter 1000 in Pr xx.00
parameters Press the red reset button or toggle the reset digital input (ensure Pr xx.00 returns to 0)

62 Digitax ST User Guide

Action Detail
Run Drive is now ready to run

7.3 Setting up a feedback device

This section shows the parameter settings which must be made to use each of the compatible encoder types with Digitax ST. For more information
on the parameters listed here please refer to the Advanced User Guide.
7.3.1 Overview
Table 7-3 Parameters required for feedback device set-up
Ab, Fd, Fr,
SC.EndAt or
Ab.SErVO, SC.HiPEr EndAt
Parameter SC.SSI SSI encoder
Fd.SErVO, Fr.SErVO, encoder encoder
encoders
or SC encoders
3.33 Drive encoder turns 9x 9x 9x 9
3.34 Drive encoder lines per revolution 9 9x 9x
3.35 Drive encoder comms resolution 9x 9x 9x 9
3.36 Drive encoder supply voltage* 9 9 9 9 9
3.37 Drive encoder comms baud rate 9 9 9
3.38 Drive encoder type 9 9 9 9 9
Drive encoder auto configuration enable or
3.41 9 9 9 9
SSI binary format select
9 Information required
x Parameter can be set-up automatically by the drive through auto-configuration
* Pr 3.36: If A + B >5V then disable termination resistors
Table 7-3 shows a summary of the parameters required to set-up each feedback device. More detailed information follows.

7.3.2 Detailed feedback device set-up information

Standard quadrature encoder with or without commutation signals (A, B, Z or A, B, Z, U, V, W), or
Sincos encoder without serial communications
Ab (0) for a quadrature encoder without commutation signals
Encoder type Pr 3.38 Ab.SErVO (3) for a quadrature encoder with commutation signals
SC (6) for a Sincos encoder without serial communications
5V (0), 8V (1) or 15V (2)
Encoder power supply voltage Pr 3.36 NOTE

If Ab encoder voltage is greater than 5V, then the termination resistors must be disabled Pr 3.39 to 0
Encoder number of lines per
Pr 3.34 Set to the number of lines or sine waves per revolution of the encoder.
revolution
0 = A, B, Z termination resistors disabled
Encoder termination selection
Pr 3.39 1 = A, B termination resistors enabled and Z termination resistors disabled
(Ab or Ab.SErVO only)
2 = A, B, Z termination resistors enabled
0 = Error detection disable
1 = Wire break detection on A, B and Z inputs enabled
Encoder error detection level Pr 3.40 2 = Phase error detection (Ab.SErVO only)
3 = Wire break detection on A, B and Z inputs and phase error detection (Ab.SErVO only)
Termination resistors must be enabled for wire break detection to operate

Digitax ST User Guide 63

Incremental encoder with frequency and direction (F and D), or

Forward and Reverse (CW and CCW) signals, with or without commutation signals
Fd (1) for frequency and direction signals without commutation signals
Fr (2) for forward and reverse signals without commutation signals
Encoder type Pr 3.38
Fd.SErVO (4) for a frequency and direction encoder with commutation signals
Fr.SErVO (5) for forward and reverse signals with commutation signals
5V (0), 8V (1) or 15V (2)
Encoder power supply voltage Pr 3.36 NOTE

If Ab encoder voltage is greater than 5V, then the termination resistors must be disabled Pr 3.39 to 0
Encoder number of lines per
Pr 3.34 Set to the number of pulses per revolution of the encoder divide by 2.
revolution
0 = F or CW, D or CCW, Z termination resistors disabled
Encoder termination selection Pr 3.39 1 = F or CW, D or CCW termination resistors enabled and Z termination resistors disabled
2 = For CW, D or CCW, Z termination resistors enabled
0 = Error detection disable
1 = Wire break detection on F & D or CW & CCW, and Z inputs enabled
2 = Phase error detection (Fd.SErVO and Fr.SErVO only)
Encoder error detection level Pr 3.40
3 = Wire break detection on F & D or CW & CCW, and Z inputs and Phase error detection
(Fd.SErVO and Fr.SErVO only)
Termination resistors must be enabled for wire break detection to operate

Absolute Sincos encoder with Hiperface or EnDat serial communications, or

Absolute EnDat communications only encoder

The Digitax ST is compatible with the following Hiperface encoders:

SCS 60/70, SCM 60/70, SRS 50/60, SRM 50/60, SHS 170, LINCODER, SCS-KIT 101, SKS36, SKM36, SEK-53.
SC.HiPEr (7) for a Sincos encoder with Hiperface serial communications
Encoder type Pr 3.38 EndAt (8) for an EnDat communications only encoder
SC.EndAt (9) for a Sincos encoder with EnDat serial communications
Encoder power supply voltage Pr 3.36 5V (0), 8V (1) or 15V (2)
Setting this to 1 automatically sets up the following parameters:
Pr 3.33 Encoder turn bits
Encoder auto configure enable Pr 3.41 Pr 3.34 Encoder number of lines of revolution (SC.HiPEr and SC.EndAt only) *
Pr 3.35 Encoder single turn comms resolution
Alternatively these parameters can be entered manually.
Encoder comms baud rate
Pr 3.37 100 = 100k, 200 = 200k, 300 = 300k, 500 = 500k, 1000 = 1M, 1500 = 1.5M, or 2000 = 2M
(EndAt and SC.EndAt only)
0 = Error detection disabled
Encoder error detection level 1 = Wire break detection on Sin and Cos inputs
Pr 3.40
(SC.HiPEr and SC.EndAt only) 2 = Phase error detection
3 = Wire break detection on Sin and Cos inputs and phase error detection

64 Digitax ST User Guide

Absolute SSI communications only encoder, or

Absolute Sincos encoder with SSI
SSI (10) for a SSI communications only encoder
Encoder type Pr 3.38
SC.SSI (11) for a Sincos encoder with SSI
5V (0), 8V (1) or 15V (2)
Encoder power supply voltage Pr 3.36 NOTE

If Ab encoder voltage is greater than 5V, then the termination resistors must be disabled Pr 3.39 to 0
Encoder number of lines per
Pr 3.34 Set to the number of sine waves per revolution of the encoder.
revolution. (SC.SSI only)
SSI binary format select Pr 3.41 OFF (0) for gray code, or On (1) for binary format SSI encoders
Encoder turn bits Pr 3.33 Set to the number of turn bits for the encoder (this is usually 12bits for a SSI encoder)
Encoder single turn comms resolution Pr 3.35 Set to the single turn comms resolution for the encoder (this is usually 13bits for a SSI encoder)
Encoder comms baud rate Pr 3.37 100 = 100k, 200 = 200k, 300 = 300k, 500 = 500k, 1000 = 1M, 1500 = 1.5M, or 2000 = 2M
0 = Error detection disabled
1 = Wire break detection on Sin and Cos inputs (SC.SSI only)
2 = Phase error detection (SC.SSI only)
3 = Wire break detection and phase error detection (SC.SSI only)
Encoder error detection level Pr 3.40
4 = SSI power supply bit monitor
5 = SSI power supply bit monitor and wire break detection (SC.SSI only)
6 = SSI power supply bit monitor and phase error detection (SC.SSI only)
7 = SSI power supply bit monitor, wire break detection and phase error detection (SC.SSI only)

UVW commutation signal only encoders*

Encoder type Pr 3.38 Ab.servo
Encoder power supply voltage Pr 3.36 5V (0), 8V (1) or 15V (2)
Encoder number of lines per
Pr 3.34 Set to zero
revolution
Encoder error detection level Pr 3.40 Set to zero to disable wire break detection
* This feedback device provides very low resolution feedback and should not be used for applications requiring a high level of performance.
7.3.3 Restriction of encoder number of lines per revolution
Although Pr 3.34 can be set to any value from 0 to 50,000 there are restrictions on the values actually used by the drive. These restrictions are
dependent on the software version as follows:
Software version V01.06.01 and later
Table 7-4 Restrictions of drive encoder lines per revolution with software version V01.06.01 and later
Position feedback device Equivalent Lines per revolution used by the drive
Ab, Fd, Fr, Ab.SErVO, Fd.SErVO,
The drive uses the value in Pr 3.34.
Fr.SerVO, SC
If Pr 3.34 ≤1, the drive uses the value of 1.
SC.HiPEr, SC.EndAt, SC.SSI
If 1< Pr 3.34 <32,768, the drive uses the value in Pr 3.34 rounded down to nearest value that is a power of 2.
(rotary encoders)
If Pr 3.34 ≥32,768, the drive uses the value of 32,768.
SC.HiPEr, SC.EndAt, SC.SSI
The drive uses the value in Pr 3.34.
(linear encoders

At power-up Pr 3.48 is initially zero, but is set to one when the drive encoder and any encoders connected to any Solutions Modules have been
initialized. The drive cannot be enabled until this parameter is one.
Encoder initialization will occur as follows:
• At drive power-up
• When requested by the user via Pr 3.47
• When trips PS.24V, Enc1 to Enc8, or Enc11 to Enc17 trips are reset
• The encoder number of lines per revolution (Pr 3.34) or the number of motor poles (Pr 5.11 and Pr 21.11) are changed (software version
V01.08.00 and later).
Initialization causes an encoder with communications to be re-initialized and auto-configuration to be performed if selected. After initialization
Ab.SErVO, Fd.SErVO and Fr.SErVO encoders will use the UVW commutations signals to give position feedback for the first 120° (electrical) of
rotation when the motor is restarted.

Digitax ST User Guide 65

7.4 Setting up a buffered encoder output

The Digitax ST has a buffered encoder output, which derives its position
from the drive encoder input.
The buffered encoder output is sourced from the drive encoder input and
can be any incremental type or any SINCOS type.
NOTE
No output is available if EndAt only or SSI communications only
encoders are used
If a SINCOS is used as the source the buffered output is derived from
the zero crossings of the sine waves and does not include interpolated
information. The buffered encoder output provides an output with
minimal delay from the drive encoder input (maximum delay is 0.5µs). If
the source encoder does not have a marker pulse then no marker pulse
can be obtained from the buffered encoder output.
This section shows the parameter settings required for the buffered
Encoder output.
Pr 3.54 selects the type of buffered encoder output as shown in Table 7-
5:
Table 7-5 Buffered encoder output type

Pr 3.54 String Mode

0 Ab Quadrature outputs
1 Fd Frequency and direction outputs
2 Fr Forward and reverse outputs
3 Ab.L Quadrature outputs with marker lock
Frequency and direction outputs with
4 Fd.L
marker lock

The buffered encoder output can be scaled using Pr 3.52 as shown in

the table below:

Pr 3.52 Ratio
0.0312 1/32
0.0625 1/16
0.1250 1/8
0.2500 1/4
0.5000 1/2
1.0000 1

For more information on the parameters mentioned above please refer

to the Advanced User Guide.

66 Digitax ST User Guide

8 Optimization
This chapter takes the user through methods of optimizing the product set-up, maximizing performance. The auto-tuning features of the drive simplify
this task.

8.1 Motor map parameters

8.1.1 Motor control
Pr 0.46 {5.07} Motor rated current Defines the maximum motor continuous current
The motor rated current parameter must be set to the maximum continuous current of the motor. The motor rated current is used in the following:
• Current limits
• Motor thermal overload protection
Pr 0.42 {5.11} Motor number of poles Defines the number of motor poles
The motor number of poles parameter defines the number of electrical revolutions in one whole mechanical revolution of the motor. This parameter
must be set correctly for the control algorithms to operate correctly. When Pr 0.42 is set to "Auto" the number of poles is 6.
Pr 0.40 {5.12} Autotune
There are five autotune tests available, a short low speed test, a normal low speed test, an inertia measurement test, a stationary test to set up
current controller gains and a minimal movement phasing test. A normal low speed should be done where possible as the drive measures the stator
resistance and inductance of the motor, and from these calculates the current loop gains. An inertia measurement test should be performed
separately to a short low speed or normal low speed autotune.
• A short low speed test will rotate the motor by 2 electrical revolutions (i.e. up to 2 mechanical revolutions) in the direction selected. The drive
applies rated current to the motor during the test and measures the encoder phase angle (Pr 3.25). The phase angle measurement is taken when
the motor has stopped at the end of the test, therefore there must be no load on the motor when it is at rest for the correct angle to be measured.
This test takes approximately 2 seconds to complete and can only be used where the rotor settles to a stable position in a short time. To perform a
short low speed autotune, set Pr 0.40 to 1, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).
• A normal low speed test will rotate the motor by 2 electrical revolutions (i.e. up to 2 mechanical revolutions) in the direction selected. The drive applies
rated current to the motor during the test and measures the encoder phase angle (Pr 3.25). The phase angle measurement is taken when the motor
has stopped at the end of the test, therefore there must be no load on the motor when it is at rest for the correct angle to be measured. The motor
resistance (Pr 5.17) and inductance (Pr 5.24) are then measured, and the values are used to set up the current loop gains (Pr 0.38 {4.13} and Pr 0.39
{4.14}). The whole test takes approximately 20 seconds and can be used with motors that take time to settle after the rotor has moved. During the
motor inductance measurement the drive applies current pulses to the motor that produces flux that opposes the flux produced by the magnets. The
maximum current applied is a quarter of rated current (Pr 0.46). This current is unlikely to affect the motor magnets, however, if this level of current
could permanently de-magnetise the magnets the rated current should be set to a lower level for the tests to avoid this. To perform a normal low
speed autotune, set Pr 0.40 to 2, and provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).
0

• The inertia measurement test can measure the total inertia of the load and the motor. This is used to set the speed loop gains (see Speed loop
gains) and to provide torque feed-forwards when required during acceleration.
During the inertia measurement test the drive attempts to accelerate the motor in the direction selected up to 3/4 x rated load rpm and then back to
standstill. The drive uses rated torque/16, but if the motor cannot be accelerated to the required speed the drive then increases the torque progressively
to x1/8, x1/4, x1/2 and x1 rated torque. If the required speed is not achieved on the final attempt the test is aborted and a tunE1 trip is initiated. If the test
is successful the acceleration and deceleration times are used to calculate the motor and load inertia which is then written to Pr 3.18. The value of the
value of motor torque per amp in Pr 5.32 and the motor rated speed in Pr 5.08 must be set up correctly before performing an inertia measurement test.
To perform an Inertia measurement autotune, set Pr 0.40 to 3, and provide the drive with both an enable signal (on terminal 31) and a run signal
(on terminal 26 or 27).
• The stationary test to set up current controller gains measures the stator resistance and the transient inductance of the motor, calculates the
current loop gains and updates the current loop gain parameters. This test does not measure the encoder phase angle. This test should only be
performed when the correct phasing angle has been set in Pr 0.43. If the phasing angle is not correct the motor may move and the results may
be incorrect. To perform a stationary test to set up current controller gains, set Pr 0.40 to 4, and provide the drive with both an enable signal (on
terminal 31) and a run signal (on terminal 26 or 27).
• A minimal movement phasing test can measure the encoder phase offset by moving the motor through a small angle. Short current pulses are
applied to the motor to produce a small movement and then to move the motor back to the original position. The size and length of the pulses
are gradually increased (up to a maximum of motor rated current) until the movement is approximately at the level defined by Pr 5.38 electrical
degrees. The resulting movements are used to estimate the phase angle. To perform a minimal movement phasing test, set Pr 0.40 to 5, and
provide the drive with both an enable signal (on terminal 31) and a run signal (on terminal 26 or 27).
Following the completion of an autotune test the drive will go into the inhibit state. The drive must be placed into a controlled disable condition
before the drive can be made to run at the required reference. The drive can be put in to a controlled disable condition by removing the SAFE
TORQUE OFF signal from terminal 31, setting the drive enable parameter Pr 6.15 to OFF (0) or disabling the drive via the control word (Pr 6.42 &
Pr 6.43).

Digitax ST User Guide 67

Current loop gains (Pr 0.38 {4.13} / Pr 0.39 {4.14})

The current loop gains proportional (Kp) and integral (Ki) gains control the response of the current loop to a change in current (torque) demand. The
default values give satisfactory operation with most motors. However, for optimal performance in dynamic applications it may be necessary to
change the gains to improve the performance. The proportional gain (Pr 4.13) is the most critical value in controlling the performance. The values
for the current loop gains can be calculated by one of the following:
• During a stationary or rotating autotune (see Autotune Pr 0.40, earlier in this table) the drive measures the stator resistance (Pr 5.17) and
transient inductance (Pr 5.24) of the motor and calculates the current loop gains.
• By setting Pr 0.40 to 6 the drive will calculate the current loop gains from the values of stator resistance (Pr 5.17) and transient inductance
(Pr 5.24) set in the drive.
This will give a step response with minimum overshoot after a step change of current reference. The proportional gain can be increased by a factor
of 1.5 giving a similar increase in bandwidth; however, this gives a step response with approximately 12.5% overshoot. The equation for the integral
gain gives a conservative value. 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 closed-loop induction motor applications) the integral gain may need to have a significantly higher value.

68 Digitax ST User Guide

Speed loop gains (Pr 0.07 {3.10}, Pr 0.08 {3.11}, Pr 0.09 {3.12})
The speed loop gains control the response of the speed controller to a change in speed demand. The speed controller includes proportional (Kp)
and integral (Ki) feed forward terms, and a differential (Kd) feedback term. The drive holds two sets of these gains and either set may be selected for
use by the speed controller with Pr 3.16. If Pr 3.16 = 0, gains Kp1, Ki1 and Kd1 (Pr 0.07 to Pr 0.09) are used, and if Pr 3.16 = 1, gains Kp2, Ki2 and
Kd2 (Pr 3.13 to Pr 3.15) are used. Pr 3.16 may be changed when the drive is enabled or disabled. If the load is predominantly a constant inertia and
constant torque, the drive can calculate the required Kp and Ki gains to give a required compliance angle or bandwidth dependant on the setting of
Pr 3.17.
Proportional gain (Kp), Pr 0.07 {3.10} and Pr 3.13
If the proportional gain has a value and the integral gain is set to zero the controller will only have a proportional term, and there must be a speed
error to produce a torque reference. Therefore as the motor load increases there will be a difference between the reference and actual speeds. This
effect, called regulation, depends on the level of the proportional gain, the higher the gain the smaller the speed error for a given load. If the
proportional gain is too high either the acoustic noise produced by speed feedback quantization becomes unacceptable, or the closed-loop stability
limit is reached.
Integral gain (Ki), Pr 0.08 {3.11} and Pr 3.14
The integral gain is provided to prevent speed regulation. The error is accumulated over a period of time and used to produce the necessary torque
demand without any speed error. Increasing the integral gain reduces the time taken for the speed to reach the correct level and increases the
stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque to the motor. Unfortunately increasing the
integral gain also reduces the system damping giving overshoot after a transient. For a given integral gain the damping can be improved by
increasing the proportional gain. A compromise must be reached where the system response, stiffness and damping are all adequate for the
application.
Differential gain (Kd), Pr 0.09 {3.12} and Pr 3.15
The differential gain is provided in the feedback of the speed controller to give additional damping. The differential term is implemented in a way that
does not introduce excessive noise normally associated with this type of function. Increasing the differential term reduces the overshoot produced
by under-damping, however, for most applications the proportional and integral gains alone are sufficient.
There are three methods of tuning the speed loop gains dependant on the setting of Pr 3.17:
1. Pr 3.17 = 0, User set-up.
This involves the connecting of an oscilloscope to analog output 1 to
monitor the speed feedback.
Give the drive a step change in speed reference and monitor the
response of the drive on the oscilloscope.
The proportional gain (Kp) should be set up initially. The value
should be increased up to the point where the speed overshoots and
Speed demand
then reduced slightly.
The integral gain (Ki) should then be increased up to the point where
the speed becomes unstable and then reduced slightly.
It may now be possible to increase the proportional gain to a higher
value and the process should be repeated until the system response
matches the ideal response as shown. Insufficient proportional
gain [0.07]
The diagram shows the effect of incorrect P and I gain settings as
well as the ideal response.
2. Pr 3.17 = 1, Bandwidth set-up
If bandwidth based set-up is required, the drive can calculate Kp and
Ki if the following parameters are set up correctly:
Excessive proportional
Pr 3.20 - Required bandwidth, gain [0.07]
Pr 3.21 - Required damping factor,
Pr 5.32 - Motor torque per amp (Kt).
Pr 3.18 - Motor and load inertia. The drive can be made to
measure the motor and load inertia by performing an inertia
measurement autotune (see Autotune Pr 0.40, earlier in this Excessive integral gain
table). [0.08]
3. Pr 3.17 = 2, Compliance angle set-up
If compliance angle based set-up is required, the drive can calculate
Kp and Ki if the following parameters are set up correctly:
Pr 3.19 - Required compliance angle, Ideal response
Pr 3.21 - Required damping factor,
Pr 5.32 - Motor torque per amp (Kt).
Pr 3.18 - Motor and load inertia The drive can be made to
measure the motor and load inertia by performing an inertia
measurement autotune (see Autotune Pr 0.40, earlier in this
table).

Digitax ST User Guide 69

9 SMARTCARD Operation
9.1 Introduction
This is a standard feature that enables simple configuration of
parameters in a variety of ways. The SMARTCARD can be used for:
• Parameter copying between drives
• Saving whole drive parameter sets
• Saving ‘differences from default‘ parameter sets
• Storing Onboard PLC programs
• Automatically saving all user parameter changes for maintenance purposes
• Loading complete motor map parameters
The SMARTCARD is located at the top of the module under the drive
display (if installed) on the left-hand side. Ensure the SMARTCARD is
inserted as shown on the SMARTCARD.
The drive only communicates with the SMARTCARD when commanded
to read or write, meaning the card may be "hot swapped".

Encoder phase angle

The encoder phase angles in Pr 3.25 and Pr 21.20 are copied
to the SMARTCARD when using any of the SMARTCARD
transfer methods.
WARNING

Figure 9-1 Installation of the SMARTCARD

0
r0.3

d+
-P
rEA
eter

g+
Pro
am
Par

+
to
Au

+
ot
bo

NOTE
When inserting the SMARTCARD, always ensure that ST SP0 arrow
points upwards.

Be aware of possible live terminals when inserting the

SMARTCARD.
WARNING

70 Digitax ST User Guide

Easy saving and reading

Figure 9-2 Basic SMARTCARD operation

Drive reads all Programs all drive

parameters from parameters to the
the SMARTCARD SMARTCARD
NOTE
Overwrites any
data already in
data block 1
Pr 0.30 = rEAd + Pr 0.30 = Prog +
Boot Drive boots from the
Drive automatically SMARTCARD on
writes to the power up and
SMARTCARD automatically writes
when a parameter Auto to the SMARTCARD
save is performed Save when a parameter
Auto Save save is performed

Pr 0.30 = Auto + Pr 0.30 = boot +

The SMARTCARD has 999 individual data block locations. Each 9.2 Transferring data
individual location from 1 to 499 can be used to store data until the
capacity of the SMARTCARD is used. The drive can support Data transfer, erasing and protecting the information is performed by
SMARTCARDs with a capacity of between 4kB and 512kB. entering a code in Pr xx.00 and then resetting the drive as shown in
Table 9-2.
The data block locations of the SMARTCARD are arranged to have the
following usage: Table 9-2 SMARTCARD codes
Table 9-1 SMARTCARD data blocks Code Action
Transfer drive parameters as difference from defaults to a
Data Block Type Example Use 2001
bootable SMARTCARD block in data block number 001
1 to 499 Read / Write Application set ups
3yyy Transfer drive parameters to a SMARTCARD block number yyy
500 to 999 Read Only Macros
Transfer drive data as difference from defaults to SMARTCARD
4yyy
block number yyy
‘Differences from default‘ parameter sets will be much smaller than
whole parameter sets and thus take up a lot less memory as most Transfer drive Onboard PLC program to SMARTCARD block
5yyy
applications only require a few parameters to be changed from the number yyy
default setting. 6yyy Transfer SMARTCARD data block yyy to the drive
The whole card may be protected from writing or erasing by setting the 7yyy Erase SMARTCARD data block yyy
read-only flag as detailed section 9.2.10 9888 / 9777 - Setting and 8yyy Compare drive parameters with block yyy
clearing the SMARTCARD read only flag on page 73. 9555 Clear SMARTCARD warning suppression flag
Data transfer to or from the SMARTCARD is indicated by one the 9666 Set SMARTCARD warning suppression flag
following: 9777 Clear SMARTCARD read-only flag
• Digitax ST: The decimal point after the fourth digit in the upper 9888 Set SMARTCARD read-only flag
display will flash. 9999 Erase SMARTCARD
• SM-Keypad Plus: The symbol 'CC' will appear in the lower left hand
corner of the display Where yyy indicates the block number 001 to 999. See Table 9-1 for
restrictions on block numbers.
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 NOTE N
reattempted or in the case of a card to drive transfer, default parameters If the read only flag is set then only codes 6yyy or 9777 are effective.
should be loaded.
9.2.1 Writing to the SMARTCARD
3yyy - Transfer data to the SMARTCARD
The data block contains the complete parameter data from the drive, i.e.
all user save (US) parameters except parameters with the NC coding bit
set. Power-down save (PS) parameters are not transferred to the
SMARTCARD.

Digitax ST User Guide 71

4yyy - Write default differences to a SMARTCARD this parameter is automatically reset to nonE (0). Parameters are saved
The data block only contains the parameter differences from the last to the drive EEPROM after this action is complete.
time default settings were loaded.
NOTE N
Six bytes are required for each parameter difference. The data density is This operation is only performed if data block 1 on the card is a full
not as high as when using the 3yyy transfer method as described in the parameter set (3yyy transfer) and not a default difference file (4yyy
previous section, but in most cases the number of differences from transfer). If block 1 does not exist a 'C.dAt' trip occurs.
default is small and the data blocks are therefore smaller. This method
can be used for creating drive macros. Power-down save (PS) 9.2.3 Auto saving parameter changes (Pr 11.42 =
parameters are not transferred to the SMARTCARD. Auto (3))
This setting causes the drive to automatically save any changes made to
All user save (US) parameters including those that do not have a default
menu 0 parameters on the drive to the SMARTCARD. The latest menu 0
value (i.e. Pr 3.25 or Pr 21.20 Encoder phase angle), but not including
parameter set in the drive is therefore always backed up on the
those with the NC (Not copied) coding bit set can be transferred to the
SMARTCARD. Changing Pr 11.42 to Auto (3) and resetting the drive will
SMARTCARD. In addition to these parameters all menu 20 parameters
immediately save the complete parameter set from the drive to the card,
(except Pr 20.00), can be transferred to the SMARTCARD even though
i.e. all user save (US) parameters except parameters with the NC coding
they are not user save parameters and have the NC coding bit set.
bit set. Once the whole parameter set is stored only the individual
It is possible to transfer parameters between drives with each of the modified menu 0 parameter setting is updated.
different formats, however, the data block compare function does not Advanced parameter changes are only saved to the card when Pr xx.00
work with data produced by different formats.
is set to a 1000 and the drive reset.
Writing a parameter set to the SMARTCARD (Pr 11.42 = Prog All SMARTCARD trips apply, except ‘C.Chg’. If the data block already
(2)) contains information it is automatically overwritten.
Setting Pr 11.42 to Prog (2) and resetting the drive will save the
If the card is removed when Pr 11.42 is set to 3 Pr 11.42 is then
parameters to the SMARTCARD, i.e. this is equivalent to writing 3001 to
automatically set to nonE (0).
Pr xx.00. All SMARTCARD trips apply except 'C.Chg'. If the data block
already exists it is automatically overwritten. When the action is When a new SMARTCARD is installed Pr 11.42 must be set back to
complete this parameter is automatically reset to nonE (0). Auto (3) by the user and the drive reset so the complete parameter set is
rewritten to the new SMARTCARD if auto mode is still required.
9.2.2 Reading from the SMARTCARD When Pr 11.42 is set to Auto (3) and the parameters in the drive are
6yyy - Read default differences from a SMARTCARD saved, the SMARTCARD is also updated, therefore the SMARTCARD
When the data is transferred back to a drive, using 6yyy in Pr xx.00, it is becomes a copy of the drives stored configuration.
transferred to the drive RAM and the drive EEPROM. A parameter save
At power up, if Pr 11.42 is set to Auto (3), the drive will save the
is not required to retain the data after power-down. Set up data for any
complete parameter set to the SMARTCARD. The drive will display
Solutions Modules installed are stored on the card and are transferred to
‘cArd’ during this operation. This is done to ensure that if a user puts a
the destination drive. If the Solutions Modules are different between the
new SMARTCARD in during power down the new SMARTCARD will
source and destination drive, the menus for the slots where the
have the correct data.
Solutions Module categories are different are not updated from the card
and will contain their default values after the copying action. The drive NOTE N
will produce a 'C.Optn' trip if the Solutions Modules installed to the When Pr 11.42 is set to Auto (3) the setting of Pr 11.42 itself is saved to
source and destination drive are different or are in different slots. If the the drive EEPROM but NOT to the SMARTCARD.
data is being transferred to a drive of a different voltage or current rating
a 'C.rtg' trip will occur.
9.2.4 Booting up from the SMARTCARD on every
power up (Pr 11.42 = boot (4))
The following drive rating dependant parameters (RA coding bit set) will When Pr 11.42 is set to boot (4) the drive operates the same as Auto
not be transferred to the destination drive by a SMARTCARD when the mode except when the drive is powered-up. The parameters on the
rating of the destination drive is different from the source drive and the SMARTCARD will be automatically transferred to the drive at power up if
file is a parameter file (i.e. created using the 3yyy transfer method). the following are true:
However drive rating dependent parameters will be transferred if only • A card is inserted in the drive
the current rating is different and the file is a differences from default • Parameter data block 1 exists on the card
type file (i.e. created using the 4yyy transfer method). If drive rating • The data in block 1 is type 1 to 5 (as defined in Pr 11.38)
dependant parameters are not transferred to the destination drive they • Pr 11.42 on the card set to boot (4)
will contain their default values.
The drive will display 'boot' during this operation. If the drive mode is
Pr 2.08 Standard ramp voltage different from that on the card, the drive gives a 'C.Typ'. trip and the data
Pr 4.05 to Pr 4.07 and Pr 21.27 to Pr 21.29 Current limits is not transferred.
Pr 4.24, User current maximum scaling
If 'boot' mode is stored on the copying SMARTCARD this makes the
Pr 5.07, Pr 21.07 Motor rated current
copying SMARTCARD the master device. This provides a very fast and
Pr 5.09, Pr 21.09 Motor rated voltage
efficient way of re-programming a number of drives.
Pr 5.10, Pr 21.10 Rated power factor
Pr 5.17, Pr 21.12 Stator resistance If data block 1 contains a bootable parameter set and data block 2
Pr 5.18 Switching frequency contains an Onboard PLC program (type 17 as defined in Pr 11.38), then
Pr 5.23, Pr 21.13 Voltage offset the onboard PLC program will be transferred to the drive at power up
Pr 5.24, Pr 21.14 Transient inductance along with the parameter set in data block 1.
Pr 5.25, Pr 21.24 Stator inductance NOTE N
Pr 6.06 DC injection braking current ‘Boot’ mode is saved to the card, but when the card is read, the value of
Pr 6.48 Line power supply loss ride through detection level
Pr 11.42 is not transferred to the drive.
Reading a parameter set from the SMARTCARD (Pr 11.42 =
rEAd (1)) 9.2.5 Booting up from the SMARTCARD on every
Setting Pr 11.42 to rEAd (1) and resetting the drive will transfer the
power up (Pr xx.00 = 2001)
It is possible to create a difference from default bootable file by setting
parameters from the card into the drive parameter set and the drive
Pr xx.00 to 2001 and resetting the drive. This type of file causes the
EEPROM, i.e. this is equivalent to writing 6001 to Pr xx.00. All
SMARTCARD trips apply. Once the parameters are successfully copied drive to behave in the same way at power-up as a file created with boot

72 Digitax ST User Guide

mode set up with Pr 11.42. The difference from the default file is that it source and destination drives. The Solutions Module or rating
has the added advantage of including menu 20 parameters. dependent parameters will not be transferred.
Setting Pr xx.00 to 2001 will overwrite data block 1 on the card if it • Setting 9666 in Pr xx.00 will set the warning suppression flag
already exists. • Setting 9555 in Pr xx.00 will clear the warning suppression flag

If a data block 2 exists and contains an Onboard PLC program (type 17 9.2.10 9888 / 9777 - Setting and clearing the
as defined in Pr 11.38), this will also be loaded after the parameters have SMARTCARD read only flag
been transferred The SMART CARD may be protected from writing or erasing by setting
the read only flag. If an attempt is made to write or erase a data block
A bootable difference from default file can only be created in one
when the read only flag is set, a 'C.rdo' trip is initiated. When the read
operation and parameters cannot be added as they are saved via menu
0. only flag is set only codes 6yyy or 9777 are effective.
• Setting 9888 in Pr xx.00 will set the read only flag
9.2.6 8yyy - Comparing the drive full parameter set • Setting 9777 in Pr xx.00 will clear the read only flag.
with the SMARTCARD values
Setting 8yyy in Pr xx.00, will compare the SMARTCARD file with the 9.3 Data block header information
data in the drive. If the compare is successful Pr xx.00 is simply set to 0. Each data block stored on a SMARTCARD has header information
If the compare fails a ‘C.cpr’ trip is initiated. detailing the following:
9.2.7 7yyy / 9999 - Erasing data from the • A number which identifies the block (Pr 11.37)
SMARTCARD • The type of data stored in the block (Pr 11.38)
Data can be erased from the SMARTCARD either one block at a time or • The drive mode if the data is parameter data (Pr 11.38)
all blocks in one go. • The version number (Pr 11.39)
• Setting 7yyy in Pr xx.00 will erase SMARTCARD data block yyy. • The checksum (Pr 11.40)
• Setting 9999 in Pr xx.00 will erase all SMARTCARD data blocks • The read-only flag
• The warning suppression flag
9.2.8 SM-Applications Modules And Motion
Processors program to/from SMARTCARD The header information for each data block which has been used can be
transfer system viewed in Pr 11.38 to Pr 11.40 by increasing or decreasing the data
The following additional codes can be used in Pr x.00 and will initiate the block number set in Pr 11.37.
specified actions when a drive reset occurs. If Pr 11.37 is set to 1000 the checksum parameter (Pr 11.40) shows the
number of 16 byte pages left on the card.
Value Action
If Pr 11.37 is set to 1001 the checksum parameter (Pr 11.40) shows the
Transfer the user program in the applications module in slot 1 total capacity of the card in 16 byte pages. Therefore, for a 4kB card this
15yyy
to data block number yyy on a SMARTCARD parameter would show 254.
Transfer the user program in the applications module in slot 2 If Pr 11.37 is set to 1002 the checksum parameter (Pr 11.40) shows the
16yyy
to data block number yyy on a SMARTCARD state of the read-only (bit 0) and warning suppression flags (bit 1).
Transfer the user program in the SM-Applications Modules
Software version xx.xx.xx: If Pr 11.37 is set to 1003, the checksum
17yyy And Motion Processors (Digitax ST Plus and Indexer) to data parameter (Pr 11.40) shows the product identifier (255 = Unidrive SP, 1 =
block number yyy on a SMARTCARD
Commander GP20, 2 = Digitax ST, 3 = Affinity).
Transfer a user program in data block number yyy on a
18yyy If there is no data on the card Pr 11.37 can only have values of 0 or 1000
SMARTCARD to the applications module in slot 1
to 1003.
Transfer a user program in data block number yyy on a
19yyy 9.4 SMARTCARD parameters
SMARTCARD to the applications module in slot 2
Transfer a user program in data block number yyy on a Table 9-3 Key to parameter table coding
20yyy SMARTCARD to the SM-Applications Modules And Motion RW Read / Write RO Read only Uni Unipolar
Processors (Digitax ST Plus and Indexer) Bi Bi-polar Bit Bit parameter Txt Text string
If the action is not possible because there is no applications category FI Filtered DE Destination NC Not copied
module in the requested slot then Pr x.00 remains at the value set by the RA Rating dependent PT Protected US User save
user. If the action is not possible for any other reason a C.SLx trip is PS Power down save
produced where x is the slot number. The possible reasons are:
1. The data block to be read from the card does not exist or the data
11.36 {0.29} SMARTCARD parameter data previously loaded
block is of the wrong type.
2. The data block to be written to the card already exists. RO Uni NC PT US
3. A failure has occurred within the Solutions Module and it has Ú 0 to 999 Ö 0
stopped the transfer process.
4. The data block to be written to the card is not copyable. To resolve This parameter shows the number of the data block last transferred from
this, allow copying within CTSoft or SyPTPro. a SMARTCARD to the drive.
5. The SMARTCARD does not have enough free memory. To resolve
use an empty SMARTCARD or a high capacity SMARTCARD 11.37 SMARTCARD data number
(64KB). RW Uni NC
9.2.9 9666 / 9555 - Setting and clearing the Ú 0 to 1003 Ö 0
SMARTCARD warning suppression flag
This parameter should have the data block number entered for which the
If the Solutions Modules installed to the source and destination drive are
user would like information displayed in Pr 11.38, Pr 11.39 and Pr 11.40.
different or are in different slots the drive will produce a 'C.Optn' trip. If
the data is being transferred to a drive of a different voltage or current
rating a 'C.rtg' trip will occur. It is possible to suppress these trips by
setting the warning suppression flag. If this flag is set the drive will not
trip if the Solutions Module(s) or drive ratings are different between the

Digitax ST User Guide 73

11.38 SMARTCARD data type/mode

RO Txt NC PT
Ú 0 to 18 Ö
Gives the type/mode of the data block selected with Pr 11.37

Pr 11.38 String Type/mode Data stored

Value when Pr 11.37 = 0, 1000 to
0 FrEE
1003
1 Reserved
Data from
2 3OpEn.LP Open-loop mode parameters
EEPROM
6 to 8 3Un Unused
9 Reserved
Defaults last
10 4OpEn.LP Open-loop mode parameters loaded and
differences
11 4CL.VECt Closed-loop vector mode parameters
14 to 16 4Un Unused
17 LAddEr Onboard PLC program
18 Option A Solutions Module file
Solutions Module program data block
19 Opt.Prg
present

11.39 SMARTCARD data version

RW Uni NC
Ú 0 to 9,999 Ö 0

Gives the version number of the data block selected in Pr 11.37.

11.40 SMARTCARD data checksum

R0 Uni NC PT
Ú 0 to 65,335 Ö
Gives the checksum of the data block selected in Pr 11.37.

11.42 {0.30} Parameter copying

RW Txt NC US*
Ú 0 to 4 Ö nonE (0)

NOTE N
If Pr 11.42 is equal to 1 or 2, this value is not transferred to the drive or
saved to the EEPROM. If Pr 11.42 is set to a 3 or 4 the value is
transferred.
nonE (0) = Inactive
rEAd (1) = Read parameter set from the SMARTCARD
Prog (2) = Programming a parameter set to the SMARTCARD
Auto (3) = Auto save
boot (4) = Boot mode

74 Digitax ST User Guide

9.5 SMARTCARD trips

After an attempt to read, write or erase data to or from a SMARTCARD a trip may occur if there has been a problem with the command. The following
trips indicate various problems as detailed in Table 9-4.

Table 9-4 Trip conditions

Trip Diagnosis
C.Acc SMARTCARD trip: SMARTCARD Read / Write fail
Check SMARTCARD is installed / located correctly
185 Ensure SMARTCARD is not writing data to data location 500 to 999
Replace SMARTCARD
SMARTCARD trip: The menu 0 parameter modification cannot be saved to the SMARTCARD because the necessary file has
C.boot
not been created on the SMARTCARD
A write to a menu 0 parameter has been initiated via the keypad with Pr 11.42 set to auto(3) or boot(4), but the necessary file on the
SMARTCARD has not been created
177
Ensure that Pr 11.42 is correctly set and reset the drive to create the necessary file on the SMARTCARD
Re-attempt the parameter write to the menu 0 parameter
C.bUSY SMARTCARD trip: SMARTCARD can not perform the required function as it is being accessed by a Solutions Module
178 Wait for the Solutions Module to finish accessing the SMARTCARD and then re-attempt the required function
C.Chg SMARTCARD trip: Data location already contains data
Erase data in data location
179
Write data to an alternative data location
C.Cpr SMARTCARD trip: The values stored in the drive and the values in the data block on the SMARTCARD are different
188 Press the red reset button
C.dat SMARTCARD trip: Data location specified does not contain any data
183 Ensure data block number is correct
C.Err SMARTCARD trip: SMARTCARD data is corrupted
Ensure the card is located correctly
182 Erase data and retry
Replace SMARTCARD
C.Full SMARTCARD trip: SMARTCARD full
184 Delete a data block or use a different SMARTCARD
C.Optn SMARTCARD trip: Solutions Modules installed are different between source drive and destination drive
Ensure correct Solutions Modules are installed
180 Ensure Solutions Modules are in the same Solutions Module slot
Press the red reset button
C.Prod SMARTCARD trip: The data blocks on the SMARTCARD are not compatible with this product

175 Erase all data on the SMARTCARD by setting Pr xx.00 to 9999 and pressing the red reset button
Replace SMARTCARD
C.rdo SMARTCARD trip: SMARTCARD has the Read only bit set
Enter 9777 in Pr xx.00 to allow SMARTCARD Read / Write access
181
Ensure card is not writing to data locations 500 to 999
An error has occurred when attempting to transfer a user program from a Solutions Module to a SMARTCARD and vice
C.SLX
versa
See section 9.2.8 SM-Applications Modules And Motion Processors program to/from SMARTCARD transfer system on page 73 for
172,173,174
more information.

Digitax ST User Guide 75

Table 9-4 Trip conditions

187 Press the red reset button

Ensure destination drive type is the same as the source parameter file drive type

Table 9-5 SMARTCARD status indications

Lower display Description Lower display Description

boot A parameter set is being transferred from the cArd The drive is writing a parameter set to the SMARTCARD
SMARTCARD to the drive during power-up. For further during power-up.
information, please refer to section 9.2.4 Booting up For further information, please refer to section
from the SMARTCARD on every power up (Pr 11.42 = 9.2.3 Auto saving parameter changes (Pr 11.42 = Auto
boot (4)) . (3)) .

76 Digitax ST User Guide

10 Onboard PLC • The program runs at a low priority. The Digitax ST provides a single
background task in which to run a ladder diagram. The drive is
prioritised to perform its major functions first, e.g. motor control, and
10.1 Onboard PLC and SYPTLite will use any remaining processing time to execute the ladder
The Digitax ST has the ability to store and execute a 4KB Onboard PLC diagram as a background activity. As the drive's processor becomes
ladder logic program without the need for additional hardware. more heavily loaded, less time is spent executing the program.
The ladder logic program is written using SYPTLite, a Windows™ based Figure 10-1 Digitax ST Onboard PLC program scheduling
ladder diagram editor allowing the development of programs for
execution in Digitax ST.
Major drive
SYPTLite is designed to be easy to use and to make program functions
development as simple as possible. The features provided are a sub-set
User
of those in the SYPT program editor. SYPTLite programs are developed program
using ladder logic, a graphical language widely used to program PLCs
(IEC61131-3). SYPTLite allows the user to "draw" a ladder diagram
representing a program. 0 64 128
Time
SYPTLite provides a complete environment for the development of (milliseconds)
ladder diagrams. Ladder diagrams can be created, compiled into user
The user program is scheduled for a short period approximately once
programs and downloaded to a Digitax ST for execution, via the RJ45
every 64ms. The time for which the program is scheduled will vary
serial communications port on the front of the drive. The run-time
between 0.2ms and 2ms depending on the loading of the drive's
operation of the compiled ladder diagram on the target can also be
processor.
monitored using SYPTLite and facilities are provided to interact with the
program on the target by setting new values for target parameters. When scheduled, several scans of the user program may be performed.
Some scans may execute in microseconds. However, when the main
SYPTLite is available on the CD which is supplied with the drive.
drive functions are scheduled there will be a pause in the execution of
10.2 Benefits the program causing some scans to take many milliseconds. SYPTLite
displays the average execution time calculated over the last 10 scans of
The combination of the Onboard PLC and SYPTLite, means that Digitax the user program.
ST can replace nano and some micro PLCs in many applications. The
Onboard PLC programs can consist of up to a maximum of 50 ladder 10.4 Getting started
logic rungs (up to 7 function blocks and 10 contacts per rung). The SYPTLite can be found on the CD which is supplied with the drive.
Onboard PLC program can also be transferred to and from a SYPTLite system requirements
SMARTCARD for backup or quick commissioning / start-up
• Windows 2000/XP/Vista. Windows 95/98/98SE/Me/NT4 are not
In addition to the basic ladder symbols, SYPTLite contains a sub-set of supported
the function from the full version of SYPT. These include, • Pentium III 500MHz or better recommended
• Arithmetic blocks • 128MB RAM
• Comparison blocks • Minimum of 800x600 shield resolution. 1024x768 is recommended
• Timers • Adobe Acrobat 5.10 or later (for viewing User Guides)
• Counters
• Microsoft Internet Explorer V5.0 or later
• Multiplexers
• RS232 to RS485, RJ45 communications lead to connect the PC to a
• Latches
Digitax ST
• Bit manipulation
• Administrator rights under Windows NT/2000/XP/Vista are required
Typical applications for the Onboard PLC include, to install the software
• Interlocking logic To install SYPTLite, insert the CD and the auto-run facility should start
• Sequences routines up the front-end shield, from which SYPTLite can be selected.
• Custom control words.
See the SYPTLite help file for more information regarding using
SYPTLite, creating ladder diagrams and the available function blocks.
10.3 Limitations
The Onboard PLC program has the following limitations:
• The maximum program size is 4032 bytes including header and
optional source code.
• The Digitax ST is rated for 100 program downloads. This limitation is
imposed by the flash memory used to store the program within the
drive.
• The user cannot create user variables. The user is only able to
manipulate the drive parameter set.
• The program cannot be downloaded or monitored over CTNet. The
program is only accessible via the drives RJ45 serial
communications port.
• There are no real-time tasks, i.e. the scheduling rate of the program
cannot be guaranteed. SM-Applications tasks such as Clock, Event,
Pos0 or Speed are not available. The Onboard PLC should not be
used for time-critical applications.

Digitax ST User Guide 77

10.5 Onboard PLC parameters The Drive Onboard PLC program first run parameter is set for the
duration of program scan from the stopped state. This enables the user
The following parameters are associated with the Onboard PLC to perform any required initialisation every time the program is run. This
program. parameter is set every time the program is stopped.

11.47 Drive Onboard PLC program enable

10.6 Onboard PLC trips
RW Uni US The following trips are associated with the Onboard PLC program.

Ú 0 to 2 Ö 2 Trip Diagnosis
Onboard PLC program: Cannot access Onboard
This parameter is used to start and stop the drive Onboard PLC program. UP ACC
PLC program file on drive
Value Description Disable drive - write access is not allowed when the
0 Halt the drive Onboard PLC program. drive is enabled.
98
Another source is already accessing Onboard PLC
Run the drive Onboard PLC program (if installed). Any out-of-
program - retry once the other action is complete.
range parameter writes attempted will be clipped to the
1 UP div0 Onboard PLC program attempted divide by zero
maximum / minimum values valid for that parameter before
being written. 90 Check program
Run the drive Onboard PLC program (if installed). Any out-of-
2 Onboard PLC program variables and function
range parameter writes attempted will cause a ‘UP ovr’ trip.
UP OFL block calls using more than the allowed RAM
space (stack overflow)
11.48 Drive Onboard PLC program status
95 Check program
RO Bi NC PT
Onboard PLC program attempted out of range
UP ovr
Ú -128 to +127 Ö parameter write
94 Check program
The drive Onboard PLC program status parameter indicates to the user
the actual state of the drive Onboard PLC program. Onboard PLC program attempted access to a non-
UP PAr
existent parameter
Value Description
91 Check program
Onboard PLC program caused a drive trip due to an error
-n condition while running rung n. Note that the rung number is Onboard PLC program attempted write to a read-
UP ro
shown on the display as a negative number. only parameter
0 Onboard PLC program is not installed. 92 Check program
1 Onboard PLC program is installed but stopped.
Onboard PLC program attempted read of a write-
2 Onboard PLC program is installed and running. UP So
only parameter
When an Onboard PLC program is installed and running, the lower
93 Check program
display of the drive flashes ‘PLC’ once every 10s.
UP udF Onboard PLC program undefined trip

11.49 Drive Onboard PLC programming events 97 Check program

RO Uni NC PT PS UP uSEr Onboard PLC program requested a trip

Ú 0 to 65,535 Ö 96 Check program

The drive Onboard PLC programming events parameter holds the 10.7 Onboard PLC and the SMARTCARD
number of times an Onboard PLC program download has taken place The Onboard PLC program in a drive may be transferred from the drive
and is 0 on dispatch from the factory. The Digitax ST is rated for one to a SMARTCARD and vice versa.
hundred ladder program downloads. This parameter is not altered when • To transfer an Onboard PLC program from the drive to a
defaults are loaded. SMARTCARD, set Pr xx.00 to 5yyy and reset the drive
• To transfer an Onboard PLC program from the SMARTCARD to a
drive, set Pr xx.00 to 6yyy and reset the drive.
11.50 Drive Onboard PLC program maximum scan time
(Where yyy is the data block location, see Table 9-1 SMARTCARD data
RO Uni NC PT blocks on page 71 for restrictions on block numbers).
Ú 0 to 65,535 ms Ö If an attempt is made to transfer an Onboard PLC program from a drive
to the SMARTCARD when the drive contains no program, the block is
The Onboard PLC program maximum scan time parameter gives the still created on the SMARTCARD but it will contain no data. If this data
longest scan time within the last ten scans of the drive Onboard PLC block is then transferred to a drive, the destination drive will then have
program. If the scan time is greater than the maximum value which can no Onboard PLC program.
be represented by this parameter, the value will be clipped to the The smallest SMARTCARD compatible with Digitax ST has a capacity of
maximum value.
4064 bytes and each block can be up to 4064 bytes in size. The
maximum size of a user program is 4032 bytes so it is guaranteed that
11.51 Drive Onboard PLC program first run any Onboard PLC program downloaded to a Digitax ST will fit on to an
empty SMARTCARD. A SMARTCARD can contain a number of
RO Bit NC PT
Onboard PLC programs until the capacity of the card is used.
Ú OFF (0) or On (1) Ö

78 Digitax ST User Guide

11 Advanced parameters Table 11-2 Key to parameter table coding

Coding Attribute
This is a quick reference to all parameters in the drive showing units,
RW Read/write: can be written by the user
ranges limits etc, with block diagrams to illustrate their function. Full
descriptions of the parameters can be found in the Advanced User RO Read only: can only be read by the user
Guide on the supplied CD ROM. Bit 1 bit parameter. ‘On’ or ‘OFF’ on the display
Bi Bipolar parameter
These advanced parameters are listed for reference Uni Unipolar parameter
purposes only. The lists in this chapter do not include Txt Text: the parameter uses text strings instead of numbers.
sufficient information for adjusting these parameters. Filtered: some parameters which can have rapidly changing
Incorrect adjustment can affect the safety of the system, and
WARNING FI values are filtered when displayed on the drive keypad for
damage the drive and or external equipment. Before
easy viewing.
attempting to adjust any of these parameters, refer to the
Advanced User Guide. Destination: This parameter selects the destination of an
DE
input or logic function.
Table 11-1 Menu descriptions Rating dependent: this parameter is likely to have different
values and ranges with drives of different voltage and
Menu current ratings. Parameters with this attribute will not be
Description RA
number transferred to the destination drive by SMARTCARDs when
Commonly used basic set up parameters for quick / easy the rating of the destination drive is different from the
0 source drive and the file is a parameter file.
programming
1 Speed reference Not copied: not transferred to or from SMARTCARDs
NC
during copying.
2 Ramps
PT Protected: cannot be used as a destination.
3 Speed feedback and control
User save: parameter saved in drive EEPROM when the
4 Torque and current control US
user initiates a parameter save.
5 Motor control
Power-down save: parameter automatically saved in drive
6 Sequencer and clock EEPROM when the under volts (UV) trip occurs.
7 Analog I/O PS With software version V01.08.00 and later, power-down
8 Digital I/O save parameters are also saved in the drive when the user
9 Programmable logic, motorized pot and binary sum initiates a parameter save.
10 Status and trips
11 General drive set-up
12 Threshold detectors and variable selectors
13 Position control
14 User PID controller
15, 16 Solutions Module slots
17 Digitax ST indexer/plus parameters
18 Application menu 1
19 Application menu 2
20 Application menu 3
21 Second motor parameters
22 Additional Menu 0 set-up
Default abbreviations:
EUR> European default value (50Hz AC supply frequency)
USA> USA default value (60Hz AC supply frequency)

NOTE
Parameter numbers shown in brackets {...} are the equivalent Menu 0
parameters.
In some cases, the function or range of a parameter is affected by the
setting of another parameter; the information in the lists relates to the
default condition of such parameters.

Digitax ST User Guide 79

Issue Number: 3 www.controltechniques.com
Safety Product Mechanical Electrical Getting Basic Running the SMARTCARD Onboard Advanced Technical UL listing
Optimization Diagnostics
Information information installation installation started parameters motor Operation PLC parameters Data information

Table 11-3 Feature look-up table

Feature Parameter number (Pr)

Acceleration rates 2.10 2.11 to 2.19 2.32 2.33 2.34 2.02
Analog speed reference 1 1.36 7.10 7.01 7.07 7.08 7.09 7.25 7.26 7.30
Analog speed reference 2 1.37 7.14 1.41 7.02 7.11 7.12 7.13 7.28 7.31
Analog I/O Menu 7
Analog input 1 7.01 7.07 7.08 7.09 7.10 7.25 7.26 7.30
Analog input 2 7.02 7.11 7.12 7.13 7.14 7.28 7.31
Analog input 3 7.03 7.15 7.16 7.17 7.18 7.29 7.32
Analog output 1 7.19 7.20 7.21 7.33
Analog output 2 7.22 7.23 7.24
Application menu Menu 18 Menu 19 Menu 20
At speed indicator bit 3.06 3.07 3.09 10.06 10.05 10.07
Auto reset 10.34 10.35 10.36 10.01
Autotune 5.12 5.17 5.24
Binary sum 9.29 9.30 9.31 9.32 9.33 9.34
Bipolar speed 1.10
Brake control 12.40 to 12.49
Braking 10.11 10.10 10.30 10.31 6.01 2.04 2.02 10.12 10.39 10.40
Copying 11.42 11.36 to 11.40
Stop mode 6.01
Comms 11.23 to 11.26
Cost - per kWh electricity 6.16 6.17 6.24 6.25 6.26 6.40
Current controller 4.13 4.14
Current feedback 4.01 4.02 4.17 4.04 4.12 4.20 4.23 4.24 10.08 10.09 10.17
Current limits 4.05 4.06 4.07 4.18 4.15 4.19 4.16 5.07 10.08 10.09 10.17
DC bus voltage 5.05 2.08
Deceleration rates 2.20 2.21 to 2.29 2.04 2.35 to 2.37 2.02 2.04 2.08 6.01 10.30 10.31 10.39
Defaults 11.43 11.46
Digital I/O Menu 8
Digital I/O read word 8.20
Digital I/O T24 8.01 8.11 8.21 8.31
Digital I/O T25 8.02 8.12 8.22 8.32
Digital I/O T26 8.03 8.13 8.23 8.33
Digital input T27 8.04 8.14 8.24
Digital input T28 8.05 8.15 8.25 8.39
Digital input T29 8.06 8.16 8.26 8.39
Digital lock 13.10 13.01 to 13.09 13.11 13.12 13.16 3.22 3.23 13.19 to 13.23
Digital output T22 8.08 8.18 8.28
Direction 10.13 6.30 6.31 1.03 10.14 2.01 3.02 8.03 8.04 10.40
Display timeout 11.41
Drive active 10.02 10.40
Drive derivative 11.28
Drive ok 10.01 8.27 8.07 8.17 10.36 10.40
Dynamic performance 5.26
Electronic nameplate 3.49
Enable 6.15 8.09 8.10
Encoder reference 3.43 3.44 3.45 3.46
Encoder set up 3.33 3.34 to 3.42 3.47 3.48
External trip 10.32 8.10 8.07
Fan speed 6.45
Fast disable 6.29
Field weakening 5.22 1.06
Filter change 6.19 6.18
Speed reference selection 1.14 1.15
Speed slaving 3.01 3.13 3.14 3.15 3.16 3.17 3.18
Hard speed reference 3.22 3.23
Current rating 5.07 11.32
I/O sequencer 6.04 6.30 6.31 6.32 6.33 6.34 6.42 6.43 6.41
Inertia compensation 2.38 5.12 4.22 3.18
Jog reference 1.05 2.19 2.29
Ke 5.33
Keypad reference 1.17 1.14 1.43 1.51 6.12 6.13
Kt 5.32
Limit switches 6.35 6.36
Line power supply loss 6.03 10.15 10.16 5.05
Local position reference 13.20 to 13.23
Logic function 1 9.01 9.04 9.05 9.06 9.07 9.08 9.09 9.10
Logic function 2 9.02 9.14 9.15 9.16 9.17 9.18 9.19 9.20

80 Digitax ST User Guide

www.controltechniques.com Issue Number: 3
Safety Product Mechanical Electrical Getting Basic Running the SMARTCARD Onboard Advanced Technical UL listing
Optimization Diagnostics
Information information installation installation started parameters motor Operation PLC parameters Data information

Feature Parameter number (Pr)

Low voltage supply 6.44 6.46
Marker pulse 3.32 3.31
Maximum speed 1.06
Menu 0 set up 11.01 to 11.22 Menu 22
Minimum speed 1.07 10.04
Motor map 5.07 5.08 5.09 5.11
Motor map 2 Menu 21 11.45
Motorized potentiometer 9.21 9.22 9.23 9.24 9.25 9.26 9.27 9.28
Offset speed reference 1.04 1.38 1.09
Onboard PLC 11.47 to 11.51
Open collector digital outputs 8.30
Orientation 13.10 13.13 to 13.15
Output 5.01 5.02 5.03 5.04
Overspeed threshold 3.08
Phase angle 3.25 5.12
PID controller Menu 14
Position feedback - drive 3.28 3.29 3.30 3.50
Positive logic 8.29
Power up parameter 11.22 11.21
Precision reference 1.18 1.19 1.20 1.44
Preset speeds 1.15 1.21 to 1.28 1.16 1.14 1.42 1.45 to 1.48 1.50
Programmable logic Menu 9
Ramp (accel / decel) mode 2.04 2.08 6.01 2.02 2.03 10.30 10.31 10.39
Rated speed autotune 5.08
Regenerating 10.10 10.11 10.30 10.31 6.01 2.04 2.02 10.12 10.39 10.40
Relative jog 13.17 to 13.19
Relay output 8.07 8.17 8.27
Reset 10.33 8.02 8.22 10.34 10.35 10.36 10.01
S ramp 2.06 2.07
SAFE TORQUE OFF input 8.09 8.10
Sample rates 5.18
Security code 11.30 11.44
Serial comms 11.23 to 11.26
Skip speeds 1.29 1.30 1.31 1.32 1.33 1.34 1.35
Smartcard 11.36 to 11.40 11.42
Software version 11.29 11.34
Speed controller 3.10 to 3.17 3.19 3.20 3.21
Speed feedback 3.02 3.03 3.04
Speed feedback - drive 3.26 3.27 3.28 3.29 3.30 3.31 3.42
Speed reference selection 1.14 1.15 1.49 1.50 1.01
Status word 10.40
Supply 6.44 5.05 6.46
Switching frequency 5.18 5.35 7.34 7.35
Thermal protection - drive 5.18 5.35 7.04 7.05 7.06 7.32 7.35 10.18
Thermal protection - motor 4.15 5.07 4.19 4.16 4.25 7.15
Thermistor input 7.15 7.03 10.37
Threshold detector 1 12.01 12.03 to 12.07
Threshold detector 2 12.02 12.23 to 12.27
Time - filter change 6.19 6.18
Time - powered up log 6.20 6.21 6.28
Time - run log 6.22 6.23 6.28
Torque 4.03 5.32
Torque mode 4.08 4.11 4.09 4.10
Trip detection 10.37 10.38 10.20 to 10.29
Trip log 10.20 to 10.29 10.41 to 10.51 6.28
Under voltage 5.05 10.16 10.15
Variable selector 1 12.08 to 12.15
Variable selector 2 12.28 to 12.35
Velocity feed forward 1.39 1.40
Voltage controller 5.31
Voltage mode 5.14 5.17
Voltage rating 11.33 5.09 5.05
Voltage supply 6.44 6.46 5.05
Warning 10.19 10.12 10.17 10.18 10.40
Zero speed indicator bit 3.05 10.03

Digitax ST User Guide 81

Parameter ranges and variable maximums:

The two values provided define the minimum and maximum values for the given parameter. In some cases the parameter range is variable and
dependant on either:
• other parameters
• the drive rating
• drive mode
• or a combination of these
The values given in Table 11-4 are the variable maximums used in the drive.
Table 11-4 Definition of parameter ranges & variable maximums
Maximum Definition
Maximum speed reference
SPEED_MAX If Pr 1.08 = 0: SPEED_MAX = Pr 1.06
[40000.0rpm] If Pr 1.08 = 1: SPEED_MAX is Pr 1.06 or – Pr 1.07 whichever is the largest
(If the second motor map is selected Pr 21.01 is used instead of Pr 1.06 and Pr 21.02 instead of Pr 1.07)
Maximum applied to speed reference limits
A maximum limit may be applied to the speed reference to prevent the nominal encoder frequency from
exceeding 500kHZ. The maximum is defined by
SPEED_LIMIT_MAX (in rpm) = 500kHz x 60 / ELPR = 3.0 x 107 / ELPR subject to an absolute maximum of
40,000 rpm.
ELPR is equivalent encoder lines per revolution and is the number of lines that would be produced by a
SPEED_LIMIT_MAX quadrature encoder.
[40000.0rpm] Quadrature encoder ELPR = number of lines per revolution
F and D encoder ELPR = number of lines per revolution / 2
Resolver ELPR = resolution / 4
SINCOS encoder ELPR = number of sine waves per revolution
Serial comms encoder ELPR = resolution / 4
This maximum is defined by the device selected with the speed feedback selector (Pr 3.26) and the ELPR set
for the position feedback device.
Maximum speed
SPEED_MAX This maximum is used for some speed related parameters in menu 3. To allow headroom for overshoot etc. the
[40000.0rpm] maximum speed is twice the maximum speed reference.
SPEED_MAX = 2 x SPEED_MAX
Maximum drive current
DRIVE_CURRENT_MAX
The maximum drive current is the current at the over current trip level and is given by:
[9999.99A]
DRIVE_CURRENT_MAX = KC / 0.45
Maximum output voltage set-point
AC_VOLTAGE_SET_MAX
Defines the maximum motor voltage that can be selected.
[690V]
200V drives: 240V, 400V drives: 480V
Maximum AC output voltage
This maximum has been chosen to allow for maximum AC voltage that can be produced by the drive including
AC_VOLTAGE_MAX
quasi-square wave operation as follows:
[930V]
AC_VOLTAGE_MAX = 0.78 x DC_VOLTAGE_MAX
200V drives: 325V, 400V drives: 650V
DC_VOLTAGE_SET_MAX Maximum DC voltage set-point
[1150V] 200V rating drive: 0 to 400V, 400V rating drive: 0 to 800V
Maximum DC bus voltage
DC_VOLTAGE_MAX
The maximum measurable DC bus voltage.
[1190V]
200V drives: 415V, 400V drives: 830V
Where:

MOTOR1_CURRENT_LIMIT_MAX
Maximum
current limit
= [ Maximum current
Motor rated current
] x 100%

[1000.0%] The Maximum current is either (1.75 x KC) when the motor rated current set in Pr 5.07 is less than or equal to the
maximum Heavy Duty current rating given by Pr 11.32, otherwise it is (1.1 x Normal Duty rating).
Motor rated current is given by Pr 5.07
Maximum current limit settings for motor map 2
MOTOR2_CURRENT_LIMIT_MAX This maximum current limit setting is the maximum applied to the current limit parameters in motor map 2.
[1000.0%] The formulae for MOTOR2_CURRENT_LIMIT_MAX are the same for MOTOR1_CURRENT_LIMIT_MAX
except that Pr 5.07 is replaced with Pr 21.07 and Pr 5.10 is replaced with Pr 21.10.
Maximum torque producing current
TORQUE_PROD_CURRENT_MAX This is used as a maximum for torque and torque producing current parameters. It is
[1000.0%] MOTOR1_CURRENT_LIMIT_MAX or MOTOR2_CURRENT_LIMIT_MAX depending on which motor map is
currently active.

82 Digitax ST User Guide

Maximum Definition
Current parameter limit selected by the user
The user can select a maximum for Pr 4.08 (torque reference) and Pr 4.20 (percentage load) to give suitable
USER_CURRENT_MAX
scaling for analog I/O with Pr 4.24. This maximum is subject to a limit of MOTOR1_CURRENT_LIMIT_MAX. or
[1000.0%]
MOTOR2_CURRENT_LIMIT_MAX depending on which motor map is currently active.
USER_CURRENT_MAX = Pr 4.24
Maximum power in kW
POWER_MAX The maximum power has been chosen to allow for the maximum power that can be output by the drive with
[9999.99kW] maximum AC output voltage, maximum controlled current and unity power factor. Therefore
POWER_MAX = √3 x AC_VOLTAGE_MAX x DRIVE_CURRENT_MAX

The values given in square brackets indicate the absolute maximum value allowed for the variable maximum.

Digitax ST User Guide 83

11.1 Menu 1: Speed reference

Figure 11-1 Menu 1 logic diagram

LOCAL/REMOTE

Analog reference

Analog input 1
Analog Menu 8
reference 1

1.36
Analog reference 2
Menu 7 1.41 select

1.37

Analog input 2 Analog

reference 2

1.42 Preset reference

select

Preset reference
Preset reference 1.43 Keypad reference
1.15 select
selector*
Preset reference select bits 1 ~ 3

1.44 Precision reference

1.47 1.46 select
1.45
Reference
selector* 1.14

Reference selected
indicator

1.49
1.21 ~ 1.28
Preset +
references
1 to 8
+

Scan timer
1.38 1.01
1.20
Preset Reference
reference Pr 1.50 set to percentage Level of
selected 1.50
greater than 1 trim reference
1.16 indicator selected
Preset 1.04
reference
scan time Reference
offset
1.48 Pr 1.49 Pr 1.50 Reference being used
1 1 Analog reference 1 1.09
Preset reference 1 >1 Preset reference defined by Pr 1.50
Scan-timer reset 2 1 Analog reference 2 Reference
2 >1 Preset reference defined by Pr 1.50 offset mode
Keypad reference Power-up keypad 3 x Preset reference defined by Pr 1.50 select
1.51 control mode 4 x Keypad reference
reference 5 x Precision reference

1.17

Keypad
Reference

Precision reference
Precision-reference
update disable Key

1.20
Input Read-write (RW)
terminals 0.XX
parameter
Precision
reference
Output 0.XX Read-only (RO)
1.18 Memory terminals parameter
1.19
Precision The parameters are all shown in their default settings
reference trim

*For more information, refer to section 11.22.1 Reference modes on page 164

84 Digitax ST User Guide

JOG RUN FORWARD RUN REVERSE

Menu 8
Menu 6
Sequencer

Sequencer (Menu 6)
Jog selected 1.13 Reference in skip
indicator speed band
indicator
Menu 13
Bipolar Position control Reference
reference 1.10 1.35
1.11 enabled
select indicator
Pre-ramp
reference

Feed-forward Pre-filter
selected 1.06 1.02 reference 1.03
indicator Maximum
Reverse speed
selected 1.12 1.40 "clamp"
indicator
1.07
Menu 2
Minimum
Negative speed
minimum "clamp"
speed (Maximum
select reverse
1.08 speed)

[1.06]
[1.07]

[1.07]
[1.06]
x(-1)

1.29 1.31 1.33

1.39 [1.06]
Skip Skip Skip
speed 1 speed 2 speed 3
Velocity
1.05 feed-forward
reference [1.06] 1.30 1.32 1.34
Jog
Skip speed Skip speed Skip speed
reference
band 1 band 2 band 3
[1.06]

[1.07]

Digitax ST User Guide 85

Parameter Range(Ú) Default(Ö) Type

1.01 Speed reference selected ±SPEED_MAX Hz/rpm RO Bi NC PT
1.02 Pre-skip filter reference ±SPEED_MAX Hz/rpm RO Bi NC PT
1.03 Pre-ramp reference ±SPEED_MAX Hz/rpm RO Bi NC PT
1.04 Reference offset ±40,000.0 rpm 0.0 RW Bi US
1.05 Jog reference {0.23} 0 to 4,000.0 rpm 0.0 RW Uni US
1.06 Maximum reference clamp {0.02} SPEED_LIMIT_MAX rpm 3,000.0 RW Uni US
1.07 Minimum reference clamp {0.01} ±SPEED_LIMIT_MAX rpm 0.0 RW Bi PT US
Negative minimum reference
1.08 OFF (0) or On (1) OFF (0) RW Bit US
clamp enable
1.09 Reference offset select OFF (0) or On (1) OFF (0) RW Bit US
1.10 Bipolar reference enable {0.22} OFF (0) or On (1) OFF (0) RW Bit US
1.11 Reference enabled indicator OFF (0) or On (1) RO Bit NC PT
1.12 Reverse selected indicator OFF (0) or On (1) RO Bit NC PT
1.13 Jog selected indicator OFF (0) or On (1) RO Bit NC PT
A1.A2 (0), A1.Pr (1), A2.Pr (2), Pr (3), PAd (4),
1.14 Reference selector {0.05} A1.A2 (0) RW Txt US
Prc (5)
1.15 Preset reference selector 0 to 9 0 RW Uni US
Preset reference selector
1.16 0 to 400.0s 10.0 RW Uni US
timer
Keypad control mode
1.17 ±SPEED_MAX Hz/rpm 0.0 RO Bi NC PT PS
reference
1.18 Precision reference coarse ±SPEED_MAX Hz/rpm 0.0 RW Bi US
1.19 Precision reference fine 0.000 to 0.099 rpm 0.000 RW Uni US
Precision reference update
1.20 OFF (0) or On (1) OFF (0) RW Bit NC
disable
1.21 Preset reference 1 {0.24} ±SPEED_MAX Hz/rpm 0.0 RW Bi US
1.22 Preset reference 2 {0.25} ±SPEED_MAX Hz/rpm 0.0 RW Bi US
1.23 Preset reference 3 ±SPEED_MAX Hz/rpm 0.0 RW Bi US
1.24 Preset reference 4 ±SPEED_MAX Hz/rpm 0.0 RW Bi US
1.25 Preset reference 5 ±SPEED_MAX Hz/rpm 0.0 RW Bi US
1.26 Preset reference 6 ±SPEED_MAX Hz/rpm 0.0 RW Bi US
1.27 Preset reference 7 ±SPEED_MAX Hz/rpm 0.0 RW Bi US
1.28 Preset reference 8 ±SPEED_MAX Hz/rpm 0.0 RW Bi US
1.29 Skip reference 1 0 to 40,000 rpm 0 RW Uni US
1.30 Skip reference band 1 0 to 250 rpm 5 RW Uni US
1.31 Skip reference 2 0 to 40,000 rpm 0 RW Uni US
1.32 Skip reference band 2 0 to 250 rpm 5 RW Uni US
1.33 Skip reference 3 0 to 40,000 rpm 0 RW Uni US
1.34 Skip reference band 3 0 to 250 rpm 5 RW Uni US
1.35 Reference in rejection zone OFF (0) or On (1) RO Bit NC PT
1.36 Analog reference 1 ±SPEED_MAX Hz/rpm RO Bi NC
1.37 Analog reference 2 ±SPEED_MAX Hz/rpm RO Bi NC
1.38 Percentage trim ±100.00% 0.00 RW Bi NC
1.39 Velocity feed-forward ±40,000.0 rpm RO Bi NC PT
1.40 Velocity feed-forward select OFF (0) or On (1) RO Bit NC PT
1.41 Analog reference 2 select OFF (0) or On (1) OFF (0) RW Bit NC
1.42 Preset reference select OFF (0) or On (1) OFF (0) RW Bit NC
1.43 Keypad reference select OFF (0) or On (1) OFF (0) RW Bit NC
1.44 Precision reference select OFF (0) or On (1) OFF (0) RW Bit NC
1.45 Preset reference 1 select OFF (0) or On (1) OFF (0) RW Bit NC
1.46 Preset reference 2 select OFF (0) or On (1) OFF (0) RW Bit NC
1.47 Preset reference 3 select OFF (0) or On (1) OFF (0) RW Bit NC
1.48 Reference timer reset flag OFF (0) or On (1) OFF (0) RW Bit NC
1.49 Reference selected indicator 1 to 5 RO Uni NC PT
Preset reference selected
1.50 1 to 8 RO Uni NC PT
indicator
Power-up keyboard control
1.51 rESEt (0), LASt (1), PrS1 (2) rESEt (0) RW Txt US
mode reference

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

86 Digitax ST User Guide

Digitax ST User Guide 87

11.2 Menu 2: Ramps

Figure 11-2 Menu 2 logic diagram

Acceleration rate select bits

Key

2.34 2.33 2.32

2.32 Input Read-write (RW)
terminals 0.XX
parameter

0 0 0 Output 0.XX Read-only (RO)

terminals parameter
0 0 1
0 1 0
The parameters are all shown at their default settings
0 1 1
1 0 0
1 0 1
Acceleration
1 1 0 rate selector
1 1 1
2.10

Acceleration rates 1 ~ 8

2.11 Acceleration rate 1

2.12 Acceleration rate 2

2.13 Acceleration rate 3

2.14 Acceleration rate 4

2.15 Acceleration rate 5

2.16 Acceleration rate 6

2.17 Acceleration rate 7

2.18 Acceleration rate 8

Preset reference 1.50

selected indicator

Jog acceleration
1 2.19
rate
2

3
4 Jog selected
1.13
indicator
5
6
7 Reverse Forward
8 accel. rate accel. rate
N N

t t

Acceleration

Ramp control

2.03 Ramp hold

Pre-ramp speed Ramp mode

reference 1.03 2.04
select*

*For more information, refer to section 11.22.2 Braking Modes on page 165.
**For more information, refer to section 11.22.3 S ramps on page 165.

88 Digitax ST User Guide

Deceleration rate select bits

2.37 2.36 2.35

Deceleration
rate selector

2.20

Deceleration rates 1 ~ 8

2.21 Deceleration rate 1

2.22 Deceleration rate 2

2.23 Deceleration rate 3

2.24 Deceleration rate 4

2.25 Deceleration rate 5

2.26 Deceleration rate 6

2.27 Deceleration rate 7

2.28 Deceleration rate 8

Preset reference
1.50
selected indicator

2.29 Jog deceleration 1

rate
2

3
Jog selected 4
1.13
indicator
5
6

Forward Reverse 7
Decel. rate Decel. rate 8
N N

t t
2.02 Ramp enable
Deceleration
Post-ramp
Ramp control reference

2.06 S-Ramp enable**

2.01
S-Ramp acceleration
2.07
limit

2.08 Standard ramp voltage*

d/dt 2.38

Inertia compensation
torque

Digitax ST User Guide 89

Parameter Range(Ú) Default(Ö) Type

2.01 Post ramp reference ±SPEED_MAX Hz/rpm RO Bi NC PT
2.02 Ramp enable {0.16} OFF (0) or On (1) On (1) RW Bit US
2.03 Ramp hold OFF (0) or On (1) OFF (0) RW Bit US
FASt (0)
2.04 Ramp mode select {0.15} Std (1) RW Txt US
Std (1)
2.06 S ramp enable OFF (0) or On (1) OFF (0) RW Bit US
2.07 S ramp acceleration limit 0.000 to 100.000 s2/1000rpm 0.030 RW Uni US
200V drive: 375
2.08 Standard ramp voltage 0 to DC_VOLTAGE_SET_MAX V 400V drive: EUR> 750 RW Uni RA US
USA> 775
2.10 Acceleration rate selector 0 to 9 0 RW Uni US
2.11 Acceleration rate 1 {0.03} 0.000 to 3,200.000 s/1,000rpm 0.200 RW Uni US
2.12 Acceleration rate 2 0.000 to 3,200.000 s/1,000rpm 0.200 RW Uni US
2.13 Acceleration rate 3 0.000 to 3,200.000 s/1,000rpm 0.200 RW Uni US
2.14 Acceleration rate 4 0.000 to 3,200.000 s/1,000rpm 0.200 RW Uni US
2.15 Acceleration rate 5 0.000 to 3,200.000 s/1,000rpm 0.200 RW Uni US
2.16 Acceleration rate 6 0.000 to 3,200.000 s/1,000rpm 0.200 RW Uni US
2.17 Acceleration rate 7 0.000 to 3,200.000 s/1,000rpm 0.200 RW Uni US
2.18 Acceleration rate 8 0.000 to 3,200.000 s/1,000rpm 0.200 RW Uni US
2.19 Jog acceleration rate 0.000 to 3,200.000 s/1,000rpm 0.000 RW Uni US
2.20 Deceleration rate selector 0 to 9 0 RW Uni US
2.21 Deceleration rate 1 {0.04} 0.000 to 3,200.000 s/1,000rpm 0.200 RW Uni US
2.22 Deceleration rate 2 0.000 to 3,200.000 s/1,000rpm 0.200 RW Uni US
2.23 Deceleration rate 3 0.000 to 3,200.000 s/1,000rpm 0.200 RW Uni US
2.24 Deceleration rate 4 0.000 to 3,200.000 s/1,000rpm 0.200 RW Uni US
2.25 Deceleration rate 5 0.000 to 3,200.000 s/1,000rpm 0.200 RW Uni US
2.26 Deceleration rate 6 0.000 to 3,200.000 s/1,000rpm 0.200 RW Uni US
2.27 Deceleration rate 7 0.000 to 3,200.000 s/1,000rpm 0.200 RW Uni US
2.28 Deceleration rate 8 0.000 to 3,200.000 s/1,000rpm 0.200 RW Uni US
2.29 Jog deceleration rate 0.000 to 3,200.000 s/1,000rpm 0.000 RW Uni US
2.32 Acceleration select bit 0 OFF (0) or On (1) OFF (0) RW Bit NC
2.33 Acceleration select bit 1 OFF (0) or On (1) OFF (0) RW Bit NC
2.34 Acceleration select bit 2 OFF (0) or On (1) OFF (0) RW Bit NC
2.35 Deceleration select bit 0 OFF (0) or On (1) OFF (0) RW Bit NC
2.36 Deceleration select bit 1 OFF (0) or On (1) OFF (0) RW Bit NC
2.37 Deceleration select bit 2 OFF (0) or On (1) OFF (0) RW Bit NC
2.38 Inertia compensation torque ± 1,000.0 % RO Bi NC PT

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

90 Digitax ST User Guide

Digitax ST User Guide 91

11.3 Menu 3: Frequency slaving, speed feedback and speed control

Figure 11-3 Menu 3 logic diagram

Hard speed
reference 3.22

Hard speed
reference
selector
3.23

Reference
enabled
indicator
1.11
Post-ramp Final speed
reference + reference

2.01
+ 3.01

15 way sub-D
connector Drive encoder
Drive encoder speed feedback
ENCODER INTERFACE
filter
Drive encoder
3.38 type 3.42 3.27
Speed feedback
Drive encoder lines selector
A 3.34 per revolution
1 3.26
A Drive encoder
Encoder 2 3.39 termination disable
B Feedback from the
3 Drive encoder
B option modules set-up
4 3.36 supply voltage** in Menus 15 and 16
Z Encoder phase
5
Z 3.25 angle*
6 Speed feedback
U from option 15.03
7
U DRIVE ENCODER POSITION module in slot 1
8
V 9 Position feedback
3.50 lock
V 10 Speed feedback
W from option 16.03
11 Drive encoder
W 3.28 module in slot 2
12 revolution counter

Drive encoder
3.29 position Drive encoder
Maximum drive
3.43 encoder reference
destination 3.46
reference (rpm)
Drive encoder
3.30 fine position Any unprotected
variable parameter
Drive encoder
reference scaling ??.??
Drive
encoder 3.45 3.44
reference
??.??

NOTE **If Ab encoder voltage is greater than 5V, then the termination resistors must be disabled Pr 3.39 to 0.

92 Digitax ST User Guide

Speed controller
gain select
3.16

Speed loop gains

Speed
3.10 (Kp1) controller
Speed
error output
3.11 (Ki1)
+ 3.03
+ 3.04 Menu 4
_ _ 3.13 (Kp2)

3.14 (Ki2)

(Kd1) (Kd2)
Speed controller
differential 3.12 3.15
feedback gains

Zero speed At zero speed Bipolar reference

threshold indicator select
Speed feedback
3.05 + 1.10
10.03
_
3.02 At or below min.
Minimum speed indicator
speed
1.07 +5min
-1
+ 10.04
_

+
Max reference clamp Overspeed trip
1.06 +20%
_ (O.SPd)

Overspeed threshold
3.08
3.08 >0
Below at-speed
At speed window indicator
Pre ramp lower limit 3.06 +
10.05
reference _ At speed
_ indicator
1.03
+
NOR 10.06

+
3.09 10.07
3.07
_ Above at-speed
Absolute at-speed
detect mode window indicator
At speed
upper limit Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default settings

Digitax ST User Guide 93

Parameter Range(Ú) Default(Ö) Type

3.01 Final speed reference ±SPEED_MAX rpm RO Bi FI NC PT
3.02 Speed feedback {0.10} ±SPEED_MAX rpm RO Bi FI NC PT
3.03 Speed error ±SPEED_MAX rpm RO Bi FI NC PT
3.04 Speed controller output ±Torque_prod_current_max % RO Bi FI NC PT
3.05 Zero speed threshold 0 to 200 rpm 5 RW Uni US
3.06 At speed lower limit 0 to 40,000 rpm 5 RW Uni US
3.07 At speed upper limit 0 to 40,000 rpm 5 RW Uni US
3.08 Overspeed threshold {0.26} 0 to 40,000 rpm 0 RW Uni US
3.09 Absolute ‘at speed’ detect OFF (0) or On (1) OFF (0) RW Bit US
3.10 Speed controller proportional gain (Kp1) {0.07} 0.0000 to 6.5535 1/rad s-1 0.0100 RW Uni US
3.11 Speed controller integral gain (Ki1) {0.08} 0.00 to 655.35 s/rad s-1 1.00 RW Uni US
Speed controller differential feedback gain -1 -1
3.12 {0.09} 0.00000 to 0.65535 s /rad s 0.00000 RW Uni US
(Kd1)
3.13 Speed controller proportional gain (Kp2) 0.0000 to 6.5535 1/rad s-1 0.0100 RW Uni US
3.14 Speed controller integral gain (Ki2) 0.00 to 655.35 1/rad 1.00 RW Uni US
3.15 Speed controller differential feedback gain (Kd2) 0.00000 to 0.65535 s 0.00000 RW Uni US
3.16 Speed controller gain select OFF (0) or On (1) OFF (0) RW Bit US
3.17 Speed controller set-up method 0 to 3 0 RW Uni US
3.18 Motor and load inertia 0.00010 to 90.00000 kg m2 0.00000 RW Uni US
3.19 Compliance angle 0.0 to 359.9 ° 4.0 RW Uni US
3.20 Bandwidth 0 to 255 Hz 10 RW Uni US
3.21 Damping factor 0.0 to 10.0 1.0 RW Uni US
3.22 Hard speed reference ±SPEED_FREQ_MAX rpm 0.0 RW Bi US
3.23 Hard speed reference selector OFF (0) or On (1) OFF (0) RW Bit US
3.25 Encoder phase angle* {0.43} 0.0 to 359.9 ° 0.0 RW Uni US
3.26 Speed feedback selector drv (0), SLot1 (1), SLot2 (2) drv (0) RW Txt US
3.27 Drive encoder speed feedback ±40,000.0 rpm RO Bi FI NC PT
3.28 Drive encoder revolution counter 0 to 65,535 revolutions RO Uni FI NC PT
3.29 Drive encoder position {0.11} 0 to 65,535 1/216ths of a revolution RO Uni FI NC PT
3.30 Drive encoder fine position 0 to 65,535 1/232nds of a revolution RO Uni FI NC PT
Drive encoder marker position reset
3.31 OFF (0) or On (1) OFF (0) RW Bit US
disable
3.32 Drive encoder marker flag OFF (0) or On (1) OFF (0) RW Bit NC
Drive encoder turn bits / Linear encoder
3.33 0 to 255 16 RW Uni US
comms to sine wave ratio
3.34 Drive encoder lines per revolution {0.27} 0 to 50,000 4096 RW Uni US
Drive encoder single turn comms bits /
3.35 0 to 32 bits 0 RW Uni US
Linear encoder comms bits / Marker mode
3.36 Drive encoder supply voltage** 5V (0), 8V (1), 15V (2) 5V (0) RW Txt US
100 (0), 200 (1), 300 (2), 400 (3), 500 (4),
3.37 Drive encoder comms baud rate 300 (2) RW Txt US
1000 (5), 1500 (6), 2000 (7) kBaud
Ab (0), Fd (1), Fr (2), Ab.SErvo (3),
Fd.SErvo (4), Fr.SErvo (5), SC (6),
3.38 Drive encoder type Ab.SErvo (3) RW Txt US
SC.Hiper (7), EndAt (8), SC.EndAt (9),
SSI (10), SC.SSI (11)
Drive encoder termination select / Rotary encoder
3.39 0 to 2 1 RW Uni US
select / Comms only encoder mode
Bit 0 (LSB) = Wire break detect
Bit 1 = Phase error detect
3.40 Drive encoder error detection level 1 RW Uni US
Bit 2 (MSB) = SSI power supply bit monitor
Value is binary sum
Drive encoder auto-configuration / SSI
3.41 OFF (0) or On (1) OFF (0) RW Bit US
binary format select
3.42 Drive encoder filter 0 (0), 1 (1), 2 (2), 4 (3), 8 (4), 16 (5) ms 0 RW Txt US
3.43 Maximum drive encoder reference 0 to 40,000 rpm 3000 RW Uni US
3.44 Drive encoder reference scaling 0.000 to 4.000 1.000 RW Uni US
3.45 Drive encoder reference ±100.0% RO Bi FI NC PT
3.46 Drive encoder reference destination Pr 0.00 to 21.50 Pr 0.00 RW Uni DE PT US
3.47 Re-initialise position feedback OFF (0) or On (1) OFF (0) RW Bit NC
3.48 Position feedback initialised OFF (0) or On (1) RO Bit NC PT
Full motor object electronic nameplate
3.49 OFF (0) or On (1) OFF (0) RW Bit US
transfer
3.50 Position feedback lock OFF (0) or On (1) OFF (0) RW Bit NC
3.52 Encoder simulation ratio numerator 0.0000 to 1.0000 1.0000 RW Uni US
3.54 Encoder simulation mode 0 to 4 0 RW Uni US

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

*Encoder phase angle NOTE

The encoder phase angles in Pr 3.25 and Pr 21.20 are copied **If Ab encoder voltage is greater than 5V, then the termination resistors
to the SMARTCARD when using any of the SMARTCARD must be disabled Pr 3.39 to 0.
transfer methods.
WARNING

94 Digitax ST User Guide

11.4 Menu 4: Torque and current control

Figure 11-4 Menu 4 logic diagram

Inertia
compensation
torque
Current Current
2.38 demand demand
Speed
filter 1 filter 2
feedback
Inertia 4.12 4.23
3.02 4.22 compensation
enable
Speed controller
Torque mode gain select
Speed loop 4.11 3.16
_ output selector
+
Final + +
speed 3.01 3.04 0 Torque Current Current controller
demand demand demand
1 Current loop
+ 4.13 P gain
2 4.03 4.04
+ + Current loop
3 _ 4.14 I gain
4 Filter

Speed +
Pre-
ramp 1.03 over-ride
reference level

Coiler/uncoiler
speed
Zero over-ride
speed 3.05 level
threshold User current
Percentage max scaling Motor active
load current
Torque + 4.20 4.24 4.02
reference* 4.08

+
Torque
reference
4.10
offset
enable
4.09
Torque reference
offset

Current limits Over-riding Motor thermal Motor protection Low speed

Drive rated current limit time constant mode protection mode
4.05 Motoring
continuous 11.32
current 4.18 4.15 4.16 4.25
4.06 Regenerating
Motor rated
5.07
current 4.07 Symmetrical

Overload detection

Key

X Input Read-write (RW) 10.08 10.09 10.39 4.19 10.17

X terminals 0.XX
parameter
At 100% Current limit Braking energy Motor Motor current
X Output 0.XX Read-only (RO) load active overload overload overload alarm
X
terminals parameter indicator indicator indicator accumulator indicator

The parameters are all shown at their default settings

*For more information, refer to section 11.22.4 Torque modes on page 166.

Digitax ST User Guide 95

Parameter Range(Ú) Default(Ö) Type

4.01 Current magnitude {0.12} 0 to DRIVE_CURRENT_MAX A RO Uni FI NC PT
4.02 Active current ±DRIVE_CURRENT_MAX A RO Bi FI NC PT
4.03 Torque demand ±TORQUE_PROD_CURRENT_MAX % RO Bi FI NC PT
4.04 Current demand ±TORQUE_PROD_CURRENT_MAX % RO Bi FI NC PT
4.05 Motoring current limit 0 to MOTOR1_CURRENT_LIMIT_MAX % 300.0 RW Uni RA US
4.06 Regen current limit 0 to MOTOR1_CURRENT_LIMIT_MAX % 300.0 RW Uni RA US
4.07 Symmetrical current limit {0.06} 0 to MOTOR1_CURRENT_LIMIT_MAX % 300.0 RW Uni RA US
4.08 Torque reference ±USER_CURRENT_MAX % 0.00 RW Bi US
4.09 Torque offset ±USER_CURRENT_MAX % 0.0 RW Bi US
4.10 Torque offset select OFF (0) or On (1) OFF (0) RW Bit US
4.11 Torque mode selector {0.14} 0 to 4 0 RW Uni US
4.12 Current demand filter 1 {0.17} 0.0 to 25.0 ms 0.0 RW Uni US
200V drive: 75
4.13 Current controller Kp gain {0.38} 0 to 30,000 RW Uni US
400V drive: 150
200V drive: 1000
4.14 Current controller Ki gain {0.39} 0 to 30,000 RW Uni US
400V drive: 2000
4.15 Thermal filter {0.45} 0.0 to 3000.0 20.0 RW Uni US
4.16 Thermal protection mode 0 to 1 0 RW Bit US
4.17 Reactive current ±DRIVE_CURRENT_MAX A RO Bi FI NC PT
4.18 Overriding current limit ±TORQUE_PROD_CURRENT_MAX % RO Uni NC PT
4.19 Overload accumulator 0 to 100.0 % RO Uni NC PT
4.20 Percentage load ±USER_CURRENT_MAX % RO Bi FI NC PT
4.22 Inertia compensation enable OFF (0) or On (1) OFF (0) RW Bit US
4.23 Current demand filter 2 0.0 to 25.0 ms 0.0 RW Uni US
User current maximum
4.24 0.0 to TORQUE_PROD_CURRENT_MAX % 300.0 RW Uni RA US
scaling
Low speed thermal protection
4.25 OFF (0) or On (1) OFF (0) RW Bit US
mode

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

96 Digitax ST User Guide

Digitax ST User Guide 97

11.5 Menu 5: Motor control

Figure 11-5 Menu 5 logic diagram

Flux Calculator
Motor rated
5.07 current
Motor number
5.11 of poles
5.17 Motor stator
resistance
5.24 Motor transient
inductance
Motor rated
Position 5.06 frequency
feedback Flux angle Reference
∫
Speed Motor full load
3.02 5.08 rated speed frame
feedback
transformation
Motor rated
5.09 voltage
Encoder phase
3.25 angle

Current Flux
references magnitude

Current control
Menu 4
Speed-loop
controller 3.04 Current limits
output Overload detection
Current loop gains
Current demand filter
Torque reference

Current
feedback

5.12 Auto-tune

5.15 Low frequency voltage boost

5.26 High dynamic performance enable

5.31 Voltage controller gain

Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default settings

98 Digitax ST User Guide

DC bus
voltage

5.05

Voltage reference

Modulator U
Maximum switching
5.18 frequency V
Disable auto W
5.35 switching
frequencychange

Flux Controller
Motor rated
5.09 voltage
Output
Field gain 5.02 voltage
5.21 reduction
High speed Output
5.22 servo mode power
enable
Power calculation (V x 1) 5.03

Motor
Motor active current
current magnitude

4.02 4.01

4.17
Reactive current

Digitax ST User Guide 99

Parameter Range(Ú) Default(Ö) Type

5.01 Output frequency {0.11} ±1,250.0 Hz RO Bi FI NC PT
5.02 Output voltage 0 to AC_voltage_max V RO Uni FI NC PT
5.03 Output power ±Power_max kW RO Bi FI NC PT
5.05 D.C bus voltage 0 to +DC_voltage_max V RO Uni FI NC PT
5.07 Motor rated current {0.46} 0 to Rated_current_max A Drive rated current [11.32] RW Uni RA US
5.08 Rated speed 0.00 to 40,000.00 rpm 3,000.00 RW Uni US
200V drive: 230
5.09 Rated voltage {0.44} 0 to AC_VOLTAGE_SET_MAX V RW Uni RA US
400V drive: EUR> 400, USA> 460
5.11 Number of motor poles {0.42} Auto to 120 Pole (0 to 60) 6 POLE (3) RW Txt US
5.12 Autotune {0.40} SV> 0 to 6 0 RW Uni NC
5.14 Action on enable nonE (0), Ph EnL (1), Ph Init (2) nonE(0) RW Txt US
5.17 Motor stator resistance 0.000 to 65.000 x 10 Ω 0.0 RW Uni RA US
Maximum switching
5.18 {0.41} 0 to 4 (3, 4, 6, 8, 12 kHz) 2 (6 kHz) RW Txt RA US
frequency
5.21 Field gain reduction OFF (0) or On (1) OFF (0) RW Bit US
High speed servo mode
5.22 OFF (0) or On (1) 0 RW Bit US
enable
5.24 Transient inductance (σLs) 0.000 to 500.000 mH 0.000 RW Uni RA US
High dynamic performance
5.26 OFF (0) or On (1) OFF (0) RW Bit US
enable
5.31 Voltage controller gain 0 to 30 1 RW Uni US
5.32 Motor torque per amp, Kt 0.00 to 500.00 N m A-1 1.60 RW Uni US
5.33 Motor volts per 1,000 rpm, Ke 0 to 10,000 V 98 RW Uni US
Disable auto switching
5.35 OFF (0) or On (1) OFF (0) RW Bit US
frequency change
5.36 Motor pole pitch 0 to 655.35 mm 0.00 RW Uni US
3 (0), 4 (1), 6 (2), 8 (3), 12 (4), 16 (5), 6 rEd (6),
5.37 Actual switching frequency RO Txt NC PT
12 rEd (7)
5.38 Minimal movement phasing test angle 0.0 to 25.5° 5.0 RW Uni US
Minimal movement phasing
5.39 0 to 3 0 RW Uni US
test pulse length

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

100 Digitax ST User Guide

11.6 Menu 6: Sequencer and clock

Figure 11-6 Menu 6 logic diagram
Control word
6.43
enable

Stop / Start Control word

select*** 6.42 Sequencer
6.04
Drive enable
Stop mode
6.15 6.01
selector
Run forward Mains loss
6.03
T25 digital I/O 2 6.30 mode**

Jog forward Hold zero

6.08
speed enable*
6.31
Catch a
6.09
Run reverse spinning motor
T26 digital I/O 3 6.32 Enable sequencer
6.40
latching***
Forward / Reverse
Menu 8 6.33
1.11 Reference
Run enabled indicator
T27 digital input 4
6.34
Jog reverse
6.37
Not stop 1.12 Reverse selected
indicator
6.39

Hardware
enable 6.29
1.13 Jog selected
indicator
Limit switch 1 6.35

Limit switch 2 6.36

*
Logic RUN
1
Inverter enable
STOP/ RESET
RESET

*
FWD/REV Menu 2
*
Keypad Plus Ramp enable
only Logic 1 Menu 3
Hard speed
Pr 1.49 = 4? 0 1 reference enable
1.49 Yes
No
Reference
selected
indicator 6.12
Keypad STOP
key enable

6.13 Clock control

Keypad FWD/REV
key enable Electricity cost 6.24
6.16 Power meter
per kWh 6.25
Power-up 6.20
time 6.21 Power consumption
6.17
meter reset

6.18 Time interval between

filter changes 6.26 Running cost
Run-time 6.22
6.23
6.19 Filter change
required/done
6.27 Time before filter
Total motor 6.28 Select clock for trip change due
5.03 log time stamp
power

6.49 Disable multi module

drive module number
storing
DC link voltage 5.05

Drive power supply monitor 6.44 Active supply

Low voltage supply

Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter
The parameters are all shown at their default settings

Digitax ST User Guide 101

Parameter Range(Ú) Default(Ö) Type

6.01 Stop mode COASt (0), rP (1), no.rP (2) no.rP (2) RW Txt US
6.03 Line power supply loss mode diS (0), StoP (1), ridE.th (2) diS (0) RW Txt US
6.04 Start / stop logic select 0 to 4 4 RW Uni US
6.08 Hold zero speed OFF (0) or On (1) On (1) RW Bit US
6.09 Catch a spinning motor 0 to 1 1 RW Uni US
6.12 Enable stop key OFF (0) or On (1) OFF (0) RW Bit US
6.13 Enable forward / reverse key {0.28} OFF (0) or On (1) OFF (0) RW Bit US
6.15 Drive enable OFF (0) or On (1) On (1) RW Bit US
6.16 Electricity cost per kWh 0.0 to 600.0 currency units per kWh 0 RW Uni US
6.17 Reset energy meter OFF (0) or On (1) OFF (0) RW Bit NC
6.18 Time between filter changes 0 to 30,000 hrs 0 RW Uni US
Filter change required /
6.19 OFF (0) or On (1) OFF (0) RW Bit PT
change done
6.20 Powered-up time: years.days 0 to 9.364 years.days RW Uni NC PT
Powered-up time:
6.21 0 to 23.59 hours.minutes RW Uni NC PT
hours.minutes
6.22 Run time: years.days 0 to 9.364 years.days RO Uni NC PT PS
6.23 Run time: hours.minutes 0 to 23.59 hours.minutes RO Uni NC PT PS
6.24 Energy meter: MWh ±999.9 MWh RO Bi NC PT PS
6.25 Energy meter: kWh ±99.99 kWh RO Bi NC PT PS
6.26 Running cost ±32,000 RO Bi NC PT
6.27 Time before filter change due 0 to 30,000 hrs RO Uni NC PT PS
Select clock for trip log time
6.28 OFF (0) or On (1) OFF (0) RW Bit US
sampling
6.29 Hardware enable OFF (0) or On (1) RO Bit NC PT
6.30 Sequencing bit: Run forward OFF (0) or On (1) OFF (0) RW Bit NC
6.31 Sequencing bit: Jog forward OFF (0) or On (1) OFF (0) RW Bit NC
6.32 Sequencing bit: Run reverse OFF (0) or On (1) OFF (0) RW Bit NC
Sequencing bit: Forward /
6.33 OFF (0) or On (1) OFF (0) RW Bit NC
reverse
6.34 Sequencing bit: Run OFF (0) or On (1) OFF (0) RW Bit NC
6.35 Forward limit switch OFF (0) or On (1) OFF (0) RW Bit NC
6.36 Reverse limit switch OFF (0) or On (1) OFF (0) RW Bit NC
6.37 Sequencing bit: Jog reverse OFF (0) or On (1) OFF (0) RW Bit NC
6.39 Sequencing bit: Not stop OFF (0) or On (1) OFF (0) RW Bit NC
6.40 Enable sequencer latching OFF (0) or On (1) OFF (0) RW Bit US
6.41 Drive event flags 0 to 65,535 0 RW Uni NC
6.42 Control word 0 to 32,767 0 RW Uni NC
6.43 Control word enable OFF (0) or On (1) OFF (0) RW Bit US
6.44 Active supply OFF (0) or On (1) RO Bit NC PT
Force cooling fan to run at full
6.45 OFF (0) or On (1) OFF (0) RW Bit US
speed
6.46 Normal low voltage supply 48V to 72V 48 RW Uni PT US
Disable line power supply/
6.47 phase loss detection from OFF (0) or On (1) OFF (0) RW Bit US
input rectifier
Line power supply loss ride
6.48 0 to DC_VOLTAGE_SET_MAX V 200V drive: 205, 400V drive: 410 RW Uni RA US
through detection level
Disable multi-module drive
6.49 OFF (0) or On (1) OFF (0) RW Bit US
module number storing on trip
6.50 Drive comms state drv (0), SLot 1(1), SLot 2 (2) RO Txt NC PT
6.51 External rectifier not active OFF (0) or On (1) OFF (0) RW Bit

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

*For more information, refer to section 11.22.5 Stop modes on page 167.
**For more information, refer to section 11.22.6 Line power supply loss modes on page 167.
***For more information, refer to section 11.22.7 Start / stop logic modes on page 168.

102 Digitax ST User Guide

11.7 Menu 7: Analog I/O

Figure 11-7 Menu 7 logic diagram

Analog
input 1 Analog input 1
Analog input Analog input destination
1 offset trim 1 offset parameter Any
7.01 unprotected
Analog input 1 7.07 7.30 7.10
variable
parameter
+ + Analog
5 ??.?? ref. 1
+ + 7.08
V/f
6 1.36
Analog
7.26 input 1 x(-1) ??.??
scaling
V/f sample
7.09 Analog
time
input 1 invert

7.25
Analog input 2
Calibrate current loop loss Analog
analog input 1 input 2 Analog input 2
full scale Analog input destination
7.28 2 offset parameter
7.02 Any
7.14 unprotected
7.31
Analog input 2 variable
parameter
+ Analog
??.?? ref. 2
7.11 + 7.12
7 A/D
1.37
Analog input 2 Analog
mode selector input 2 x(-1) ??.??
scaling
7.13 Analog
input 2 invert
Analog input 3
Analog
current loop loss Analog input 3
input 3
Analog input destination
7.29 3 offset parameter
7.03 Any
7.18 unprotected
7.31
7.32
Analog input 3 variable
parameter
+ ??.??
7.15 + 7.16
8 A/D
Analog input 3 Analog
mode selector input 3 x(-1) ??.??
Analog Analog output 1 scaling
7.17 Analog
output 1 control source parameter input 3 invert
7.33 7.19
Any variable Analog output 1
parameter
??.??

3.02 7.20 7.21 9

Speed ??.?? Analog Analog
feedback output 1 output 1
scaling mode
selector

Analog output 2
source parameter Key
Any 7.22
variable X Input Read-write (RW)
Analog output 2 X 0.XX
Motor parameter terminals parameter
active ??.??
current X Read-only (RO)
X Output 0.XX
4.02 7.23 7.24 10 terminals parameter
??.?? Analog Analog
output 2 output 2
scaling mode The parameters are all shown at their default settings
selector

Digitax ST User Guide 103

Parameter Range(Ú) Default(Ö) Type

7.01 T5/6 analog input 1 level ±100.00 % RO Bi NC PT
7.02 T7 analog input 2 level ±100.0 % RO Bi NC PT
7.03 T8 analog input 3 level ±100.0 % RO Bi NC PT
Power circuit temperature 1
7.04 -128 to 127 °C RO Bi NC PT
(Highest IGBT)
Power circuit temperature 2
7.05 -128 to 127 °C RO Bi NC PT
(Highest SMPS)
7.06 Control board temperature -128 to 127 °C RO Bi NC PT
7.07 T5/6 analog input 1 offset trim {0.13} ±10.000 % 0.000 RW Bi US
7.08 T5/6 analog input 1 scaling 0 to 4.000 1.000 RW Uni US
7.09 T5/6 analog input 1 invert OFF (0) or On (1) OFF (0) RW Bit US
T5/6 analog input 1
7.10 Pr 0.00 to 21.51 Pr 1.36 RW Uni DE PT US
destination
0-20 (0), 20-0 (1), 4-20.tr (2), 20-4.tr (3),
7.11 T7 analog input 2 mode {0.19} VOLt (6) RW Txt US
4-20 (4), 20-4 (5), VOLt (6)
7.12 T7 analog input 2 scaling 0 to 4.000 1.000 RW Uni US
7.13 T7 analog input 2 invert OFF (0) or On (1) OFF (0) RW Bit US
7.14 T7 analog input 2 destination {0.20} Pr 0.00 to 21.51 Pr 1.37 RW Uni DE PT US
0-20 (0), 20-0 (1), 4-20.tr (2), 20-4.tr (3),
7.15 T8 analog input 3 mode {0.21} 4-20 (4), 20-4 (5), VOLt (6), th.SC (7), th (8) RW Txt US
th (8), th.diSP (9)
7.16 T8 analog input 3 scaling 0 to 4.000 1.000 RW Uni US
7.17 T8 analog input 3 invert OFF (0) or On (1) OFF (0) RW Bit US
7.18 T8 analog input 3 destination Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
7.19 T9 analog output 1 source Pr 0.00 to 21.51 Pr 3.02 RW Uni PT US
7.20 T9 analog output 1 scaling 0.000 to 4.000 1.000 RW Uni US
7.21 T9 analog output 1 mode VOLt (0), 0-20 (1), 4-20 (2), H.SPd (3) VOLt (0) RW Txt US
7.22 T10 analog output 2 source Pr 0.00 to 21.51 Pr 4.02 RW Uni PT US
7.23 T10 analog output 2 scaling 0.000 to 4.000 1.000 RW Uni US
7.24 T10 analog output 2 mode VOLt (0), 0-20 (1), 4-20 (2), H.SPd (3) VOLt (0) RW Txt US
Calibrate T5/6 analog input 1
7.25 OFF (0) or On (1) OFF (0) RW Bit NC
full scale
T5/6 analog input 1 sample
7.26 0 to 8.0 ms 4.0 RW Uni US
time
T7 analog input 2 current loop
7.28 OFF (0) or On (1) RO Bit NC PT
loss
T8 analog input 3 current loop
7.29 OFF (0) or On (1) RO Bit NC PT
loss
7.30 T5/6 analog input 1 offset ±100.00 % 0.00 RW Bi US
7.31 T7 analog input 2 offset ±100.0 % 0.0 RW Bi US
7.32 T8 analog input 3 offset ±100.0 % 0.0 RW Bi US
7.33 T9 analog output 1 control Fr (0), Ld (1), AdV (2) AdV (2) RW Txt US
7.34 IGBT junction temperature ±200 °C RO Bi NC PT
Drive thermal protection
7.35 0 to 100.0 % RO Uni NC PT
accumulator
Power circuit temperature 3
7.36 -128 to 127 °C RO Bi NC PT
(Rectifier)

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

104 Digitax ST User Guide

Digitax ST User Guide 105

11.8 Menu 8: Digital I/O

Figure 11-8 Menu 8 logic diagram

T24 digital
I/O 1 state At zero
T24 output ??.?? speed
select
8.01 8.31 10.03

x(-1) ??.??
Any bit
T24 digital I/O 1 T24 digital parameter
8.21
I/O 1 source/
destination
8.29 8.30
8.11 T24 digital
I/O polarity Open collector Any
I/O 1 invert
select output unprotected
bit parameter
??.??

x(-1) ??.??

Any bit
T25 digital parameter
I/O 2 state T25 output
select ??.??

8.02 8.32

x(-1) ??.??

T25 digital I/O 2 T25 digital

Start/stop 6.04 8.22 I/O 2 source/
logic select destination
8.29 8.30
T25 digital Any
I/O polarity Open collector 8.12 unprotected
I/O 2 invert
select output bit
parameter

??.?? Drive reset

10.33
x(-1) ??.??

Any bit
T26 digital parameter
I/O 3 state T26 output
??.??
select
8.03 8.33

x(-1) ??.??

T26 digital I/O 3 T26 digital

Start/stop 6.04 8.23 I/O 3 source/
8.29 logic select destination
8.30
T26 digital Any
I/O polarity Open collector 8.13
I/O 3 invert unprotected
select output bit
parameter
??.?? Run forward
6.30
x(-1) ??.??

*For more information, please refer to 11.22.1Reference modes on page 164.

106 Digitax ST User Guide

T27 digital Stop/start T27 digital input 4

T27 digital input 4 invert logic select destination
input 4 state
8.04 8.14 6.04 8.24 Any
unprotected
bit
T27 digital input 4 parameter
??.?? Run reverse
27 8.29
6.32
I.O polarity
x(-1)
select ??.??

8.39 T28 & T29 digital

input auto-selection
Reference disable*
selector*
1.14 T28 digital
T28 digital input 5
T28 digital input 5 invert destination Any
input 5 state unprotected
8.05 8.15 8.25 bit
T28 digital input 5 parameter
Analog input 1 /
??.?? input 2 select
28 8.29
1.41
I.O polarity
x(-1)
select ??.??

T29 digital
T29 digital input 6
T29 digital input 6 invert destination
input 6 state
8.06 8.16 8.26 Any
unprotected
bit
T29 digital input 6 parameter
??.?? Jog forward
29 8.29
6.31
I.O polarity x(-1)
select ??.??

T22 24V output T22 24V output source

T22 24V source invert
output 8.28 Any
state 8.08 8.18 unprotected
bit
parameter
T22 24V output ??.??

0.00
22
x(-1) ??.??

Drive enable
Drive enable mode select
indicator 8.09 8.10

Key
Drive enable
External trip
X X Input Read-write (RW)
x(-1) 10.32 terminals 0.XX
parameter
31
Drive enable
X Output 0.XX Read-only (RO)
X
terminals parameter
Relay source Relay
invert source
8.17 8.27 This logic diagram applies only when all
parameters are at their default settings
Any bit
parameter
Relay Drive
state ??.?? OK
10.01
41 8.07
x(-1) ??.??

42
0V

Digitax ST User Guide 107

Parameter Range(Ú) Default(Ö) Type

8.01 T24 digital I/O 1 state OFF (0) or On (1) RO Bit NC PT
8.02 T25 digital I/O 2 state OFF (0) or On (1) RO Bit NC PT
8.03 T26 digital I/O 3 state OFF (0) or On (1) RO Bit NC PT
8.04 T27 digital input 4 state OFF (0) or On (1) RO Bit NC PT
8.05 T28 digital input 5 state OFF (0) or On (1) RO Bit NC PT
8.06 T29 digital input 6 state OFF (0) or On (1) RO Bit NC PT
8.07 Relay state OFF (0) or On (1) RO Bit NC PT
8.08 T22 24V output state OFF (0) or On (1) RO Bit NC PT
8.09 Drive enable indicator OFF (0) or On (1) RO Bit NC PT
8.10 Drive enable mode select OFF (0) or On (1) OFF (0) RW Bit US
8.11 T24 digital I/O 1 invert OFF (0) or On (1) OFF (0) RW Bit US
8.12 T25 digital I/O 2 invert OFF (0) or On (1) OFF (0) RW Bit US
8.13 T26 digital I/O 3 invert OFF (0) or On (1) OFF (0) RW Bit US
8.14 T27 digital input 4 invert OFF (0) or On (1) OFF (0) RW Bit US
8.15 T28 digital input 5 invert OFF (0) or On (1) OFF (0) RW Bit US
8.16 T29 digital input 6 invert OFF (0) or On (1) OFF (0) RW Bit US
8.17 Relay source invert OFF (0) or On (1) OFF (0) RW Bit US
8.18 T22 24V output source invert OFF (0) or On (1) On (1) RW Bit US
8.20 Digital I/O read word 0 to 511 RO Uni NC PT
T24 digital I/O 1 source/
8.21 Pr 0.00 to 21.51 Pr 10.03 RW Uni DE PT US
destination
T25 digital I/O 2 source/
8.22 Pr 0.00 to 21.51 Pr 10.33 RW Uni DE PT US
destination
T26 digital I/O 3 source/
8.23 Pr 0.00 to 21.51 Pr 6.30 RW Uni DE PT US
destination
8.24 T27 digital input 4 destination Pr 0.00 to 21.51 Pr 6.32 RW Uni DE PT US
8.25 T28 digital input 5 destination Pr 0.00 to 21.51 Pr 1.41 RW Uni DE PT US
8.26 T29 digital input 6 destination Pr 0.00 to 21.51 Pr 6.31 RW Uni DE PT US
8.27 Relay source Pr 0.00 to 21.51 Pr 10.01 RW Uni PT US
8.28 T22 24V output source Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
8.29 Positive logic select {0.18} OFF (0) or On (1) On (1) RW Bit PT US
8.30 Open collector output OFF (0) or On (1) OFF (0) RW Bit US
8.31 T24 digital I/O 1 output select OFF (0) or On (1) On (1) RW Bit US
8.32 T25 digital I/O 2 output select OFF (0) or On (1) OFF (0) RW Bit US
8.33 T26 digital I/O 3 output select OFF (0) or On (1) OFF (0) RW Bit US
T28 & T29 digital input auto-
8.39 OFF (0) or On (1) OFF (0) RW Bit US
selection disable
8.40 Freeze flag OFF (0) or On (1) OFF (0) RW Bit PT

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

108 Digitax ST User Guide

11.9 Menu 9: Programmable logic, motorized pot, binary sum and timers
Figure 11-9 Menu 9 logic diagram: Programmable logic

Any bit Function-1

parameter 9.05
input-1 invert Function-1
??.?? output Function-1
indicator destination
Function-1 parameter
output invert 9.01 9.10
??.?? x(-1) Any
9.08 unprotected
bit
parameter
9.04 Function-1 input-1
source parameter ??.??

9.09
Any bit Function-1
parameter 9.07 x(-1) Function-1
input-2 invert ??.??
delay
??.??

??.?? x(-1)

9.06 Function-1 input-2

source parameter

Any bit Function-2

parameter 9.15
input-1 invert Function-2
??.?? output Function-2
indicator destination
Function-2 parameter
output invert 9.02 9.20
??.?? x(-1) Any
9.18 unprotected
bit
parameter
9.14 Function-2 input-1
source parameter ??.??

9.19
Any bit Function-2
parameter 9.17 x(-1) Function-2
input-2 invert ??.??
delay
??.??

??.?? x(-1)

9.16 Function-2 input-2

source parameter

Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default settings

Digitax ST User Guide 109

Figure 11-10 Menu 9 logic diagram: Motorized pot and binary sum
Motorized
pot. bipolar Motorized pot. Motorized pot.
Motorized output indicator destination
select
pot. rate parameter
9.22
9.23 9.03 9.25
Motorized pot. Any
up unprotected
variable
9.26 parameter
??.??

M 9.24
Motorized pot. ??.??
output scale
9.27

Motorized pot.
down

9.28 9.21 Motorized pot.

mode
Motorized pot.
reset to zero

Binary-sum
logic output Binary-sum
Binary-sum value logic destination
offset parameter
9.34 9.32 9.33
9.29
Any
unprotected
Binary-sum bit
logic ones (LSB) parameter
+ ??.??
+
9.30 Σ
??.??
Binary-sum
logic twos

9.31

Key
Binary-sum
logic fours (MSB)
Input Read-write (RW)
terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default settings

110 Digitax ST User Guide

Parameter Range(Ú) Default(Ö) Type

9.01 Logic function 1 output OFF (0) or On (1) RO Bit NC PT
9.02 Logic function 2 output OFF (0) or On (1) RO Bit NC PT
9.03 Motorized pot output ±100.00 % RO Bi NC PT PS
9.04 Logic function 1 source 1 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
Logic function 1 source 1
9.05 OFF (0) or On (1) OFF (0) RW Bit US
invert
9.06 Logic function 1 source 2 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
Logic function 1 source 2
9.07 OFF (0) or On (1) OFF (0) RW Bit US
invert
9.08 Logic function 1 output invert OFF (0) or On (1) OFF (0) RW Bit US
9.09 Logic function 1 delay ±25.0 s 0.0 RW Bi US
9.10 Logic function 1 destination Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
9.14 Logic function 2 source 1 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
Logic function 2 source 1
9.15 OFF (0) or On (1) OFF (0) RW Bit US
invert
9.16 Logic function 2 source 2 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
Logic function 2 source 2
9.17 OFF (0) or On (1) OFF (0) RW Bit US
invert
9.18 Logic function 2 output invert OFF (0) or On (1) OFF (0) RW Bit US
9.19 Logic function 2 delay ±25.0 s 0.0 RW Bi US
9.20 Logic function 2 destination Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
9.21 Motorized pot mode 0 to 3 2 RW Uni US
9.22 Motorized pot bipolar select OFF (0) or On (1) OFF (0) RW Bit US
9.23 Motorized pot rate 0 to 250 s 20 RW Uni US
9.24 Motorized pot scale factor 0.000 to 4.000 1.000 RW Uni US
9.25 Motorized pot destination Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
9.26 Motorized pot up OFF (0) or On (1) OFF (0) RW Bit NC
9.27 Motorized pot down OFF (0) or On (1) OFF (0) RW Bit NC
9.28 Motorized pot reset OFF (0) or On (1) OFF (0) RW Bit NC
9.29 Binary sum ones input OFF (0) or On (1) OFF (0) RW Bit NC
9.30 Binary sum twos input OFF (0) or On (1) OFF (0) RW Bit NC
9.31 Binary sum fours input OFF (0) or On (1) OFF (0) RW Bit NC
9.32 Binary sum output 0 to 255 RO Uni NC PT
9.33 Binary sum destination Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
9.34 Binary sum offset 0 to 248 0 RW Uni US

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

Digitax ST User Guide 111

11.10 Menu 10: Status and trips

Parameter Range(Ú) Default(Ö) Type
10.01 Drive ok OFF (0) or On (1) RO Bit NC PT
10.02 Drive active OFF (0) or On (1) RO Bit NC PT
10.03 Zero speed OFF (0) or On (1) RO Bit NC PT
Running at or below minimum
10.04 OFF (0) or On (1) RO Bit NC PT
speed
10.05 Below set speed OFF (0) or On (1) RO Bit NC PT
10.06 At speed OFF (0) or On (1) RO Bit NC PT
10.07 Above set speed OFF (0) or On (1) RO Bit NC PT
10.08 Load reached OFF (0) or On (1) RO Bit NC PT
10.09 Drive output is at current limit OFF (0) or On (1) RO Bit NC PT
10.10 Regenerating OFF (0) or On (1) RO Bit NC PT
10.11 Braking IGBT active OFF (0) or On (1) RO Bit NC PT
10.12 Braking resistor alarm OFF (0) or On (1) RO Bit NC PT
10.13 Direction commanded OFF (0) or On (1) [0 = FWD, 1 = REV] RO Bit NC PT
10.14 Direction running OFF (0) or On (1) [0 = FWD, 1 = REV] RO Bit NC PT
10.15 Line power supply loss OFF (0) or On (1) RO Bit NC PT
10.16 Under voltage active OFF (0) or On (1) RO Bit NC PT
10.17 Overload alarm OFF (0) or On (1) RO Bit NC PT
10.18 Drive over temperature alarm OFF (0) or On (1) RO Bit NC PT
10.19 Drive warning OFF (0) or On (1) RO Bit NC PT
10.20 Trip 0 0 to 230* RO Txt NC PT PS
10.21 Trip 1 0 to 230* RO Txt NC PT PS
10.22 Trip 2 0 to 230* RO Txt NC PT PS
10.23 Trip 3 0 to 230* RO Txt NC PT PS
10.24 Trip 4 0 to 230* RO Txt NC PT PS
10.25 Trip 5 0 to 230* RO Txt NC PT PS
10.26 Trip 6 0 to 230* RO Txt NC PT PS
10.27 Trip 7 0 to 230* RO Txt NC PT PS
10.28 Trip 8 0 to 230* RO Txt NC PT PS
10.29 Trip 9 0 to 230* RO Txt NC PT PS
10.30 Full power braking time 0.00 to 400.00 s See Table 11-5 RW Uni US
10.31 Full power braking period 0.0 to 1500.0 s See Table 11-5 RW Uni US
10.32 External trip OFF (0) or On (1) OFF (0) RW Bit NC
10.33 Drive reset OFF (0) or On (1) OFF (0) RW Bit NC
10.34 No. of auto-reset attempts 0 to 5 0 RW Uni US
10.35 Auto-reset delay 0.0 to 25.0 s 1.0 RW Uni US
Hold drive ok until last
10.36 OFF (0) or On (1) OFF (0) RW Bit US
attempt
10.37 Action on trip detection 0 to 15 0 RW Uni US
10.38 User trip 0 to 255 0 RW Uni NC
Braking energy overload
10.39 0.0 to 100.0 % RO Uni NC PT
accumulator
10.40 Status word 0 to 32,767 RO Uni NC PT
10.41 Trip 0 time: years.days 0.000 to 9.365 years.days RO Uni NC PT PS
Module number for trip 0, or, Trip 0
10.42 00.00 to 23.59 hours.minutes RO Uni NC PT PS
time: hours.minutes
10.43 Module number for trip 1, or, Trip 1 time 0 to 600.00 hours.minutes RO Uni NC PT PS
10.44 Module number for trip 2, or, Trip 2 time 0 to 600.00 hours.minutes RO Uni NC PT PS
10.45 Module number for trip 3, or, Trip 3 time 0 to 600.00 hours.minutes RO Uni NC PT PS
10.46 Module number for trip 4, or, Trip 4 time 0 to 600.00 hours.minutes RO Uni NC PT PS
10.47 Module number for trip 5, or, Trip 5 time 0 to 600.00 hours.minutes RO Uni NC PT PS
10.48 Module number for trip 6, or, Trip 6 time 0 to 600.00 hours.minutes RO Uni NC PT PS
10.49 Module number for trip 7, or, Trip 7 time 0 to 600.00 hours.minutes RO Uni NC PT PS
10.50 Module number for trip 8, or, Trip 8 time 0 to 600.00 hours.minutes RO Uni NC PT PS
10.51 Module number for trip 9, or, Trip 9 time 0 to 600.00 hours.minutes RO Uni NC PT PS

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

*The value given for the range is that obtained via serial communication. For the text string displayed on the drive, see Chapter 13 Diagnostics on
page 181.

112 Digitax ST User Guide

Braking resistor overload protection parameter settings

Failure to observe the following information may damage the resistor.
The drive’s software contains an overload protection function for a braking resistor. On Digitax ST this function is enabled at default to
protect the internally mounted resistor. Below are the parameter settings.
CAUTION
Table 11-5 Defaults for Pr 10.30 and Pr 10.31

Digitax ST
Parameter 200V drive 400V drive
Default
Pr 10.30 - Full power braking time 0.06 0.01
Pr 10.31 - Full power braking period 2.6 1.7

For more information on the braking resistor software overload protection, see Pr 10.30 and Pr 10.31 full descriptions in the Advanced
User Guide.
If the internally mounted braking resistor is to be used at more than half of its average power rating then the drive's cooling fan must be
at full speed, controlled by setting Pr 6.45 to On (1).

Digitax ST User Guide 113

11.11 Menu 11: General drive set-up

Parameter Range(Ú) Default(Ö) Type
11.01 Parameter 0.11 set up Pr 3.29 RW Uni PT US
11.02 Parameter 0.12 set up Pr 4.01 RW Uni PT US
11.03 Parameter 0.13 set up Pr 7.07 RW Uni PT US
11.04 Parameter 0.14 set up Pr 4.11 RW Uni PT US
11.05 Parameter 0.15 set up Pr 2.04 RW Uni PT US
11.06 Parameter 0.16 set up Pr 2.02 RW Uni PT US
11.07 Parameter 0.17 set up Pr 4.12 RW Uni PT US
11.08 Parameter 0.18 set up Pr 8.29 RW Uni PT US
11.09 Parameter 0.19 set up Pr 7.11 RW Uni PT US
11.10 Parameter 0.20 set up Pr 7.14 RW Uni PT US
Pr 1.00 to Pr 21.51
11.11 Parameter 0.21 set up Pr 7.15 RW Uni PT US
11.12 Parameter 0.22 set up Pr 1.10 RW Uni PT US
11.13 Parameter 0.23 set up Pr 1.05 RW Uni PT US
11.14 Parameter 0.24 set up Pr 1.21 RW Uni PT US
11.15 Parameter 0.25 set up Pr 1.22 RW Uni PT US
11.16 Parameter 0.26 set up Pr 3.08 RW Uni PT US
11.17 Parameter 0.27 set up Pr 3.34 RW Uni PT US
11.18 Parameter 0.28 set up Pr 6.13 RW Uni PT US
11.19 Parameter 0.29 set up Pr 11.36 RW Uni PT US
11.20 Parameter 0.30 set up Pr 11.42 RW Uni PT US
11.21 Parameter scaling 0.000 to 9.999 1.000 RW Uni US
11.22 Parameter displayed at power-up Pr 0.00 to 00.50 Pr 0.10 RW Uni PT US
11.23 Serial address {0.37} 0 to 247 1 RW Uni US
11.24 Serial mode {0.35} AnSI (0), rtU (1), Lcd (2) rtU (1) RW Txt PT US
300 (0), 600 (1), 1200 (2), 2400 (3), 4800 (4),
11.25 Baud rate {0.36} 9600 (5), 19200 (6), 38400 (7), 19200 (6) RW Txt US
57600 (8)*, 115200 (9)* *Modbus RTU only
11.26 Minimum comms transmit delay 0 to 250ms 2 RW Uni US
11.28 Drive derivative 0 to 16 RO Uni NC PT
11.29 Software version {0.50} 1.00 to 99.99 RO Uni NC PT
11.30 User security code {0.34} 0 to 999 0 RW Uni NC PT PS
11.32 Maximum current rating {0.32} 0.00 to 9999.99A RO Uni NC PT
11.33 Drive voltage rating {0.31} 200 (0), 400 (1), 575 (2), 690 (3) RO Txt NC PT
11.34 Software sub-version 0 to 99 RO Uni NC PT
11.35 Number of modules 0 to 10 0 RW Uni PT US
SMARTCARD parameter
11.36 {0.29} 0 to 999 0 RO Uni NC PT US
data previously loaded
11.37 SMARTCARD data number 0 to 1003 0 RW Uni NC
11.38 SMARTCARD data type / mode 0 to 18 RO Txt NC PT
11.39 SMARTCARD data version 0 to 9,999 0 RW Uni NC
11.40 SMARTCARD data checksum 0 to 65,335 RO Uni NC PT
11.41 Status mode timeout 0 to 250s 240 RW Uni US
nonE (0), rEAd (1), Prog (2), AutO (3),
11.42 Parameter copying {0.30} nonE (0) RW Txt NC *
boot (4)
11.43 Load defaults nonE (0), Eur (1), USA (2) nonE (0) RW Txt NC
11.44 Security status {0.49} L1 (0), L2 (1), Loc (2) RW Txt PT US
11.45 Select motor 2 parameters OFF (0) or On (1) OFF (0) RW Bit US
11.46 Defaults previously loaded 0 to 2000 RO Uni NC PT US
Halt program (0)
11.47 Drive Onboard PLC program enable Run program: out of range = clip (1) Run program: out of range = trip (2) RW Uni US
Run program: out of range = trip (2)
11.48 Drive Onboard PLC program status -128 to +127 RO Bi NC PT
Drive Onboard PLC programming
11.49 0 to 65,535 RO Uni NC PT PS
events
Drive Onboard PLC program average
11.50 0 to 65,535 ms RO Uni NC PT
scan time
11.51 Drive Onboard PLC program first run OFF (0) or On (1) RO Bit NC PT
Drive serial number least significant 9
11.52 0 to 999999999 RO Uni NC PT
digits
Drive serial number most significant
11.53 0 to 65535 RO Uni NC PT
digits
* Modes 1 and 2 are not user saved, Modes 0, 3 and 4 are user saved

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

114 Digitax ST User Guide

11.12 Menu 12: Threshold detectors, variable selectors and brake control function
Figure 11-11 Menu 12 logic diagram
Threshold Threshold Threshold
Detector 1 Threshold Detector 1 Detector 1
Detector 1 output indicator output
threshold level destination
parameter Any
Any variable 12.04 12.01 unprotected
Threshold 12.07
parameter Detector 1 bit parameter
??.?? ??.??

??.?? x(-1) ??.??

12.03 12.05 12.06

Threshold Threshold Threshold
Detector 1 Detector 1 Detector 1
input source hysteresis output invert

Threshold Threshold Threshold

Detector 2 Threshold Detector 2 Detector 2
Detector 2 output indicator output
threshold level destination
parameter Any
Any variable 12.24 12.02 unprotected
Threshold 12.27
parameter Detector 2 bit parameter
??.?? ??.??

??.?? x(-1) ??.??

12.23 12.25 12.26 All parameters are shown

Threshold Threshold Threshold at their default setting
Detector 2 Detector 2 Detector 2
input source hysteresis output invert

Key
Hysteresis
Input Read-write (RW) Threshold
terminals 0.XX
parameter level
t
Output 0.XX Read-only (RO)
terminals parameter
Threshold
output
t

Digitax ST User Guide 115

Figure 11-12 Menu 12 logic diagram (continued)

Variable Selector 1
Any variable Variable
parameter selector 1 Variable
Variable selector 1 output selector 1
??.?? input 1 scaling indicator output Any
12.13 destination unprotected
variable
12.12 12.11
??.?? parameter
Variable selector 1 ??.??
Variable selector 1 12.10
12.08 mode
input 1 source
Any variable Variable selector 1
12.15 ??.??
parameter control
Variable selector 1
??.?? input 2 scaling
12.14
??.??

Variable selector 1
12.09
input 2 source

Variable Selector 2
Any variable Variable
parameter selector 2 Variable
Variable selector 2 output selector 2
??.?? input 1 scaling Any
indicator output
destination unprotected
12.33
variable
12.32 12.31 parameter
??.??
Variable selector 2 ??.??
Variable selector 2 12.30
12.28 mode
input 1 source
Any variable Variable selector 2
12.35 ??.??
parameter control
Variable selector 2
??.?? input 2 scaling
12.34
??.??

Variable selector 2
12.29
input 2 source
Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

116 Digitax ST User Guide

The brake control functions are provided to allow well co-ordinated operation of an external brake with the drive. While both hardware and
software are designed to high standards of quality and robustness, they are not intended for use as safety functions, i.e. where a fault or failure
would result in a risk of injury. In any application where the incorrect operation of the brake release mechanism could result in injury,
WARNING independent protection devices of proven integrity must also be incorporated.

The control terminal relay can be selected as an output to release a brake. If a drive is set up in this manner and a drive replacement takes
place, prior to programming the drive on initial power up, the brake may be released.
When drive terminals are programmed to non default settings the result of incorrect or delayed programming must be considered. The use of
WARNING
a Smartcard in boot mode or an SM-Applications module can ensure drive parameters are immediately programmed to avoid this situation.

Figure 11-13 Brake function

Enable position Position
controller during control
13.10
brake release mode
( = 1)
12.49

Post-brake
release delay 12.47 Ramp
2.03
hold

Drive active

Brake
10.02 12.40
Brake apply release
12.48
delay

Brake Hold zero

controller 12.41 6.08
Reference speed
on enable

1.11 T25 digital

OR 8.12
I/O 2 invert
Brake apply Relay source
8.17
Speed speed delay 12.46 invert
feedback T25 digital I/O 2
8.22
source / destination
3.02 + 8.27 Relay source
_
T25 digital I/O 2
8.32
output select
Brake apply
speed
input output
Key i o
12.45
LAT
Input reset
0.XX Read-write (RW) r
terminals parameter

Output 0.XX Read-only (RO) If the reset input is 1, the output is 0.

terminals parameter If the reset input is 0, the output latches
at 1 if the input is 1.

Digitax ST User Guide 117

Figure 11-14 Brake sequence

Pr 12.45 Brake apply speed

Pr 3.02 Speed feedback

Pr 10.02 Drive active

Pr 1.11 Reference on

Pr 12.40 Brake release

Pr 2.03 Ramp hold

Pr 13.10 Position control mode

Pr 6.08 Hold zero speed

1 2 3 4

Pr 12.47 Pr 12.46 Pr 12.48

1. Post-brake release delay

2. Wait for speed threshold
3. Wait for brake apply speed delay
4. Brake apply delay

118 Digitax ST User Guide

Parameter Range(Ú) Default(Ö) Type

12.01 Threshold detector 1 output OFF (0) or On (1) RO Bit NC PT
12.02 Threshold detector 2 output OFF (0) or On (1) RO Bit NC PT
12.03 Threshold detector 1 source Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
12.04 Threshold detector 1 level 0.00 to 100.00 % 0.00 RW Uni US
Threshold detector 1
12.05 0.00 to 25.00 % 0.00 RW Uni US
hysteresis
Threshold detector 1 output
12.06 OFF (0) or On (1) OFF (0) RW Bit US
invert
Threshold detector 1
12.07 Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
destination
12.08 Variable selector 1 source 1 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
12.09 Variable selector 1 source 2 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
Select input 1 (0), select input 2 (1), add (2),
subtract (3), multiply (4), divide (5),
12.10 Variable selector 1 mode filter (6), linear ramp (7), absolute value (8), Select input 1 (0) RW Uni US
powers (9), sectional control (10),
external rectifier monitor (11)
Variable selector 1
12.11 Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
destination
12.12 Variable selector 1 output ±100.00 % RO Bi NC PT
Variable selector 1 source 1
12.13 ±4.000 1.000 RW Bi US
scaling
Variable selector 1 source 2
12.14 ±4.000 1.000 RW Bi US
scaling
12.15 Variable selector 1 control 0.00 to 100.00 s 0.00 RW Uni US
12.23 Threshold detector 2 source Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
12.24 Threshold detector 2 level 0.00 to 100.00 % 0.00 RW Uni US
Threshold detector 2
12.25 0.00 to 25.00 % 0.00 RW Uni US
hysteresis
Threshold detector 2 output
12.26 OFF (0) or On (1) OFF (0) RW Bit US
invert
Threshold detector 2
12.27 Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
destination
12.28 Variable selector 2 source 1 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
12.29 Variable selector 2 source 2 Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
Select input 1 (0), select input 2 (1), add (2),
subtract (3), multiply (4), divide (5),
12.30 Variable selector 2 mode filter (6), linear ramp (7), absolute value (8), Select input 1 (0) RW Uni US
powers (9), sectional control (10),
external rectifier monitor (11)
Variable selector 2
12.31 Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
destination
12.32 Variable selector 2 output ±100.00 % RO Bi NC PT
Variable selector 2 source 1
12.33 ±4.000 1.000 RW Bi US
scaling
Variable selector 2 source 2
12.34 ±4.000 1.000 RW Bi US
scaling
12.35 Variable selector 2 control 0.00 to 100.00 s 0.00 RW Uni US

The brake control functions are provided to allow well co-ordinated operation of an external brake with the drive. While both hardware
and software are designed to high standards of quality and robustness, they are not intended for use as safety functions, i.e. where a
fault or failure would result in a risk of injury. In any application where the incorrect operation of the brake release mechanism could
WARNING
result in injury, independent protection devices of proven integrity must also be incorporated.

12.40 Brake release indicator OFF (0) or On (1) RO Bit NC PT

12.41 Brake controller enable dis (0), rEL (1), d IO (2), USEr (3) dis (0) RW Txt US
12.43 Lower current threshold 0 to 200 % 10 RW Uni US
12.45 Brake apply frequency / speed 0 to 200 rpm 5 RW Bit US
12.46 Brake apply speed delay 0.0 to 25.0 s 1.0 RW Uni US
12.47 Post brake release delay 0.0 to 25.0 s 1.0 RW Uni US
12.48 Brake apply delay 0.0 to 25.0 s 1.0 RW Uni US
Enable position controller
12.49 OFF (0) or On (1) OFF (0) RW Bit US
during brake release

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

Digitax ST User Guide 119

11.13 Menu 13: Position control

Figure 11-15 Menu 13 logic diagram

Relative Relative
jog reverse jog enable
13.19 13.18
Relative
jog reference
Position control reference position
13.17
Revolution Position
Position x(-1)
counter fine

Drive Position
Encoder 3.28 3.29 3.30 controller
reference 13.04 Position
source reference
invert
Slot 1 15.04 15.05 15.06 13.06

Ratio +
Δ Position
Slot 2 16.04 16.05 16.06 13.07
13.08
+
∫ +

x(-1) _

Position
13.16
error reset

Local 13.20 13.21 13.22

reference
∫
Ignore local
13.24
reference turns
Local
13.23 reference
disable

Position control feedback position

Revolution Position Position

Position
counter fine controller
feedback
Drive source
Encoder 3.28 3.29 3.30
13.05

Slot 1 15.04 15.05 15.06

Δ Position _
Slot 2 16.04 16.05 16.06
+
Limited to
±1/2 rev
Orientation
position 13.13
reference

120 Digitax ST User Guide

Pre-ramp Post-ramp
reference reference Final speed
Speed reference
1.01
reference Menu 2 +
selected 1.03 2.01 3.01
Ramp Control
+
Velocity
feed- 1.39
forward Velocity feed
1.40 -forward
select
Position Hard speed
controller reference
mode** selector
13.10 = 13.10 = 13.10 =
13.10 3.23
5 or 6 1 or 3 1 to 6

Position loop
disabled

Hard speed
reference 3.22
Hold zero
6.08
speed

Position
Position loop error
controller
P gain
13.01 13.02 13.03 13.09

Revolution Position Fine

Position
13.12
Position
Position loop controller
enabled* speed clamp

Orientation
acceptance
window
13.14

Key
Orientation
Input Read-write (RW)
terminals 0.XX
parameter

Orientation Output 0.XX Read-only (RO)

position 13.15 terminals parameter
complete
This logic diagram applies only when all
parameters are at their default settings

* For more information, refer to section 11.22.9 Position modes on page 169.
** The position controller is disabled and the error integrator is also reset under the following conditions:
1. If the drive is disabled (i.e. inhibited, ready or tripped)
2. If the position controller mode (Pr 13.10) is changed. The position controller is disabled transiently to reset the error integrator.
3. The absolute mode parameter (Pr 13.11) 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 initialised parameter (Pr 3.48) is zero.

Digitax ST User Guide 121

Parameter Range(Ú) Default(Ö) Type

13.01 Revolutions error -32,768 to +32,767 RO Bi NC PT
13.02 Position error -32,768 to +32,767 RO Uni NC PT
13.03 Fine position error -32,768 to +32,767 RO Uni NC PT
13.04 Position controller reference source drv (0), Slot1 (1), Slot2 (2), LocAL (4) drv (0) RW Uni US
13.05 Position controller feedback source drv (0), Slot1 (1), Slot2 (2) drv (0) RW Uni US
13.06 Position reference invert OFF (0) or On (1) OFF (0) RW Bit US
13.07 Ratio numerator 0.000 to 4.000 1.000 RW Uni US
13.08 Ratio denominator 0.000 to 1.000 1.000 RW Uni US
13.09 Position controller P gain 0.00 to 100.00 rad s-1/rad 25.00 RW Uni US
Position controller disabled (0)
Rigid position control - feed fwd (1)
Rigid position control (2)
13.10 Position controller mode Non-rigid position control - feed fwd (3) Position controller disabled (0) RW Uni US
Non-rigid position control (4)
Orientation on stop (5)
Orientation on stop and when drive enabled (6)
13.11 Absolute mode enable OFF (0) or On (1) OFF (0) RW Bit US
13.12 Position controller speed clamp 0 to 250 150 RW Uni US
13.13 Orientation position reference 0 to 65,535 0 RW Uni US
13.14 Orientation acceptance window 0 to 4,096 256 RW Uni US
13.15 Orientation position complete OFF (0) or On (1) RO Bit NC PT
13.16 Position error reset OFF (0) or On (1) OFF (0) RW Bit NC
13.17 Relative jog reference 0.0 to 4,000.0 rpm 0.0 RW Uni NC
13.18 Relative jog enable OFF (0) or On (1) OFF (0) RW Bit NC
13.19 Relative jog reverse OFF (0) or On (1) OFF (0) RW Bit NC
13.20 Local reference turns 0 to 65,535 0 RW Uni NC
13.21 Local reference position 0 to 65,535 0 RW Uni NC
13.22 Local reference fine position 0 to 65,535 0 RW Uni NC
13.23 Local reference disable OFF (0) or On (1) OFF (0) RW Bit NC
13.24 Ignore local reference turns OFF (0) or On (1) OFF (0) RW Bit US

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

122 Digitax ST User Guide

Digitax ST User Guide 123

11.14 Menu 14: User PID controller

Figure 11-16 Menu 14 Logic diagram

Main reference
source parameter
14.02
Any variable
parameter PID Main
reference
??.??
14.19
??.??

PID reference
source parameter PID reference
14.03 source invert

Any variable 14.05

parameter PID
reference PID
??.?? PID reference error
14.20 slew-rate limit
+
??.?? 14.07 14.22
x(-1) _
PID feedback
source parameter PID feedback
14.04 source invert

Any variable 14.06

parameter PID
feedback
??.??
14.21
??.??
x(-1)

PID
enable
14.08

Drive normal
indicator

10.01 &
Logic 1
Any bit
parameter
??.??

??.??

Source
14.09
not used
Optional PID
enable source
parameter

124 Digitax ST User Guide

PID output
14.13
high limit
PID hold PID output
integrator enable PID output
14.14 destination
low limit
14.17 parameter*
14.10
PID symmetrical 14.16 Any
PID proportional 14.18 unprotected
gain limits enable
variable
14.11 PID controller parameter
output PID output
scale factor
+ ??.??
PID integral
gain +
14.01 14.15
14.12
??.??
PID derivative
gain

Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default settings

*The PID controller is only enabled if Pr 14.16 is set to a non Pr xx.00 and unprotected destination parameter.

Digitax ST User Guide 125

Parameter Range(Ú) Default(Ö) Type

14.01 PID control output ±100.00 % RO Bi NC PT
14.02 PID main reference source Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
14.03 PID reference source Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
14.04 PID feedback source Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
14.05 PID reference source invert OFF (0) or On (1) OFF (0) RW Bit US
14.06 PID feedback source invert OFF (0) or On (1) OFF (0) RW Bit US
14.07 PID reference slew-rate limit 0.0 to 3,200.0 s 0.0 RW Uni US
14.08 PID enable OFF (0) or On (1) OFF (0) RW Bit US
14.09 PID optional enable source Pr 0.00 to 21.51 Pr 0.00 RW Uni PT US
14.10 PID proportional gain 0.000 to 4.000 1.000 RW Uni US
14.11 PID integral gain 0.000 to 4.000 0.500 RW Uni US
14.12 PID derivative gain 0.000 to 4.000 0.000 RW Uni US
14.13 PID upper limit 0.00 to 100.00 % 100.00 RW Uni US
14.14 PID lower limit ±100.00 % -100.00 RW Bi US
14.15 PID output scaling factor 0.000 to 4.000 1.000 RW Uni US
14.16 PID output destination Pr 0.00 to 21.51 Pr 0.00 RW Uni DE PT US
14.17 PID hold integrator enable OFF (0) or On (1) OFF (0) RW Bit NC
14.18 PID symmetrical limits enable OFF (0) or On (1) OFF (0) RW Bit US
14.19 PID main reference ±100.00 % RO Bi NC PT
14.20 PID reference ±100.00 % RO Bi NC PT
14.21 PID feedback ±100.00 % RO Bi NC PT
14.22 PID error ±100.00 % RO Bi NC PT

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

126 Digitax ST User Guide

11.15 Menus 15 and 16: Solutions Module set-up

Figure 11-17 Location of Solutions Module slots and their Solutions Module software
corresponding menu numbers Most Solutions Modules contain software. The software version of the
module can be checked by looking at Pr x.02 and Pr x.51.
The software version takes the form of xx.yy.zz, where Pr x.02 displays
xx.yy and Pr x.51 displays zz. I.e. for software version 01.01.00, Pr x.02
would display 1.01 and Pr x.51 would display 0

Solutions Module The SM-Resolver, SM-Encoder Plus, SM-Encoder Output Plus and SM-
slot 2 (Menu 16) I/O Plus modules do not contain any software.

Solutions Module
slot 1 (Menu 15)

Pr 15.01 and Pr 16.01 indicate the type of module that is installed in the
corresponding slot.

Solutions
Module Category
Module ID
0 No module installed
101 SM-Resolver
102 SM-Universal Encoder Plus
Feedback
SM-Encoder Plus /
104
SM-Encoder Output Plus
201 SM-I/O Plus
203 SM-I/O Timer
204 SM-I/O PELV
Automation
205 SM-I/O 24V Protected
(I/O Expansion)
206 SM-I/O 120V
207 SM-I/O Lite
208 SM-I/O 32
301 SM-Applications*
302 SM-Applications Lite*
303 SM-EZMotion* Automation
304 SM-Applications Plus* (Applications)
305 SM-Applications Lite V2*
306 SM-Register
401 SM-LON
403 SM-PROFIBUS-DP-V1
404 SM-INTERBUS
406 SM-CAN
407 SM-DeviceNet Fieldbus
408 SM-CANopen
409 SM-SERCOS
410 SM-Ethernet
421 SM-EtherCAT
501 SM-SLM SLM

* Features provided by this option are integrated within the product.

Digitax ST User Guide 127

11.15.1 Feedback module category

Figure 11-18 SM-Universal Encoder Plus logic diagram

Reference / feedback encoder input

Encoder setup

Non marker position information

Incremental

SC EnDAt

xx.SErVO
SC.Hiper
encoder

encoder

encoder
Comms
SC SSI
Fine

SC
Parameter Position Revolution
feedback counter Position position
Error
detection initialised
Solutions x.29 x.30 x.31
Module x.17 x.09 Encoder turns / Linear encoder 9 9 9 9 9 9 x.45
comms to sinewave ratio
15-way x.10 Equivalent lines per rev 9 9 9 9 9
D-type Single turn comms resolution /
x.11 9 9 9 9 9
.. .. .. .. .. Linear encoder comms bits
SK2 ..... x.13 Encoder supply voltage 9 9 9 9 9 9 Marker position information
x.14 Encoder comms baud rate 9 9
x.15 Encoder type 9 9 9 9 9 9 Revolution Fine
Comms encoder mode / counter Position position
x.16 9 9 9 9
Rotary select / Terminations
x.16 x.18 Auto-config / SSI format # # # x.32 x.33 x.34
x.44 Disable encoder position check 9 9 9 9 9
Termination x.45 Position feedback initialised X X X X X X
disable x.46 Lines per revolution divider # # # # #

Key:
9 - Information required from user x.07
# - Configuration dependant / User selectable
X - Parameter can be set-up by the user or the drive automatically Marker Encoder type Marker
flag x.08 position
Pr x.15 = 0 to 12
disable

Marker
input
Solutions
Module
15-way Encoder
D-type SK2
Term Ab Fd Fr Ab.SErVO Fd.SErVO Fr.SErVO SC SC.HIPEr EndAt SC.EndAt SSI SC.SSI SC.SErVO
(0) (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12)
.. .. .. .. .. 1 A F F A F F Cos Cos Cos
..... 2 A\ F\ F\ A\ F\ F\ Cosref Cosref Cosref
3 B D R B D R Sin Sin Sin
4 B\ D\ R\ B\ D\ R\ Sinref Sinref Sinref
5 Z Encoder input - Data (input/output)
6 Z\ Encoder input - Data\ (input/output)
7 Aout, Fout, Data SSI (output) U Simulated encoder: Aout, Fout, Data SSI (output) U 7
8 Aout\, Fout\, Data\ SSI (output) U\ Simulated encoder: Aout\, Fout\, Data\ SSI (output) U\ 8
9 Bout, Dout,Clock\ SSI (input) V Simulated encoder: Bout, Dout,Clock\ SSI (input) V 9
10 Bout\, Dout\, Clock SSI (input) V\ Simulated encoder: Bout\, Dout\, Clock SSI (input) V\ 10
11 W Encoder input - Clock (output) W
12 W\ Encoder input - Clock\ (output) W\
13 +V
14 0V common
15 th

Hard wired connections inside the module

Solutions
Module Freeze inputs / Encoder outputs
Freeze input
terminal PL1 Term Freeze RS485 Freeze +24V mode selection
block Ab output Fd output SSI output Marker output
input input x.38
1 Freeze
2 0V common
A F Data 24V
3
4 A\ F\ Data\
9-Way 5 B D Clock\ (input) RS485
6 B\ D\ Clock (input)
7 0V common Drive /slot
8 Freeze Z bus input
9 Freeze\ Z\

128 Digitax ST User Guide

Speed feedback
selector
3.26

Speed feedback
selector
Motor map 2
21.21

Feedback Speed
+ filter 16ms
x.19 internal x.03
_ filter

x.49
Lock position Feedback
feedback reference
Feedback destination
reference/ x.23
motor
Revolution Fine Maximum thermistor Feedback
counter Position position feedback resistance reference
reference (rpm) scaling xx.xx
x.04 x.05 x.06 x.20 x.21 x.22
xx.xx
Positional information

Encoder Simulated encoder

simulation
mode
x.28 SSI output
x.47
turns
SSI
SSI output only
x.48 comms Simulation
resolution encoder
source
Ab
Fd
Simulated
Numerator
SSI.Gray encoder
xx.xx
resolution x.25
SSI.Bin Ab, Fd
x.27
Ab.L only
x.26 xx.xx
Fd.L
Denominator

H.drv .. .. .. .. ..
.....
H.int
Drive or
Solutions
Module

Freeze
input mode
selection Freeze input
x.38

SM-Applications
SM-Encoder Plus
Drive / Slot Main drive
24V input 485 input Pass freeze
bus input
to drive and
Marker output other slots
Yes Marker output x.40
Yes
Marker
Yes Freeze
Marker output Yes flag
Freeze x.35 Freeze revolution counter
x.39 x.36 Freeze position
Yes Marker output Yes
x.37 Freeze fine position
x(-1)
Yes
Yes
x.41
Freeze
invert

Digitax ST User Guide 129

SM-Universal Encoder Plus parameters

Parameter Range(Ú) Default(Ö) Type

x.01 Solutions Module ID 0 to 599 102 RO Uni PT US
x.02 Solutions Module software version 0.00 to 99.99 RO Uni NC PT
x.03 Speed ±40,000.0 rpm RO Bi FI NC PT
x.04 Revolution counter 0 to 65,535 revolutions RO Uni FI NC PT
x.05 Position 0 to 65,535 (1/216ths of a revolution) RO Uni FI NC PT
x.06 Fine position 32 RO Uni FI NC PT
0 to 65,535 (1/2 nds of a revolution)
x.07 Marker position reset disable OFF (0) or On (1) OFF (0) RW Bit US
x.08 Marker flag OFF (0) or On (1) OFF (0) RW Bit NC
Encoder turns/ linear encoder comms
x.09 0 to 16 bits 16 RW Uni US
to sine wave ratio
x.10 Equivalent lines per revolution 0 to 50,000 4096 RW Uni US
Single turn comms bits/ linear encoder
x.11 0 to 32 bits 0 RW Uni US
comms bits
x.12 Motor thermistor check enable OFF (0) or On (1) OFF (0) RW Bit US
x.13 Encoder supply voltage 5V (0), 8V (1), 15V (2) 5V (0) RW Uni US
100 (0), 200 (1), 300 (2), 400 (3), 500 (4),
x.14 Encoder comms baud rate 300 (2) RW Txt US
1,000 (5), 1,500 (6), 2,000 (7)
Ab (0), Fd (1), Fr (2), Ab.SErVO (3),
Fd.SErVO (4), Fr.SErVO (5), SC (6),
x.15 Encoder type Ab (0) RW Uni US
SC.HiPEr (7), EndAt (8), SC.EndAt (9),
SSI (10), SC.SSI (11), SC.UVW (12)
Rotary encoder select/ comms only
x.16 0 to 2 1 RW Uni US
encoder mode/ terminations
x.17 Error detection level 0 to 7 1 RW Uni US
Auto configuration/ SSI binary format
x.18 OFF (0) or On (1) OFF (0) RW Bit US
select
x.19 Feedback filter 0 to 5 (0 to 16 ms) 0 RW Uni US
x.20 Maximum feedback reference 0.0 to 40,000.0 rpm 1500.0 RW Uni US
Feedback reference/ motor thermistor
x.21 ±100.0 % RO Bi NC PT
resistance
x.22 Feedback reference scaling 0.000 to 4.000 1.000 RW Uni US
x.23 Feedback reference destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.24 Encoder simulation source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.25 Encoder simulation ratio numerator 0.0000 to 3.0000 0.2500 RW Uni US
x.26 Encoder simulation ratio denominator 0.0000 to 3.0000 1.0000 RW Uni US
x.27 Encoder simulation resolution select OFF (0) or On (1) OFF (0) RW Bit NC
Ab (0), Fd (1), SSI.Gray (2), SSI.Bin (3),
x.28 Encoder simulation mode Ab (0) RW Txt US
Ab.L (4), Fd.L (5), H-drv (6), H-int (7)
x.29 Non-marker reset revolution counter 0 to 65,535 revolutions RO Uni NC PT
x.30 Non-marker reset position 0 to 65,535 (1/216ths of a revolution) RO Uni NC PT
x.31 Non-marker reset fine position 0 to 65,535 (1/232nds of a revolution) RO Uni NC PT
x.32 Marker revolution counter 0 to 65,535 revolutions RO Uni NC PT
x.33 Marker position 0 to 65,535 (1/216ths of a revolution) RO Uni NC PT
x.34 Marker fine position 0 to 65,535 (1/232nds of a revolution) RO Uni NC PT
x.35 Freeze revolution counter 0 to 65,535 revolutions RO Uni NC PT
x.36 Freeze position 0 to 65,535 (1/216ths of a revolution) RO Uni NC PT
x.37 Freeze fine position 0 to 65,535 (1/232nds of a revolution) RO Uni NC PT
Bit 0 (LSB) = 24V input
x.38 Freeze input mode selection Bit 1 = EIA485 input 1 RW Uni US
Bit 2 (MSB) = From another Solutions Module
x.39 Freeze flag OFF (0) or On (1) OFF (0) RW Bit NC
x.40 Pass freeze to drive and other slots OFF (0) or On (1) OFF (0) RW Bit NC US
x.41 Freeze invert OFF (0) or On (1) OFF (0) RW Bit US
Encoder comms transmit register/ Sin
x.42 0 to 65,535 0 RW Uni NC
signal value
Encoder comms receive register/ Cos
x.43 0 to 65,535 0 RW Uni NC
signal value
x.44 Disable encoder position check OFF (0) or On (1) OFF (0) RW Bit NC
x.45 Position feedback initialised OFF (0) or On (1) RO Bit NC PT
x.46 Lines per revolution divider 1 to 1024 1 RW Uni US
x.47 SSI output turns 0 to 16 bits 16 RW Uni US
x.48 SSI output comms resolution 0 to 32 bits 0 RW Uni US
x.49 Lock position feedback OFF (0) or On (1) OFF (0) RW Bit
x.50 Solutions Module error status* 0 to 255 RO Uni NC PT
x.51 Solutions Module software sub-version 0 to 99 RO Uni NC PT

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save
*See trip SLX.Er, .Feedback module category on page 189

130 Digitax ST User Guide

Digitax ST User Guide 131

Figure 11-19 SM-Resolver logic diagram

Term Resolver connections Equivalent

9 SIN LOW x.10 lines per
10 SIN HIGH revolution
11 COS LOW
12 COS HIGH Resolver
x.13
9-Way 13 REF HIGH (excitation) excitation
14 REF LOW (excitation) Resolver
15 0V x.15
poles
16 0V
17 0V

x.17
Error detection
level

Freeze positional
information
Freeze input Freeze
Freeze
flag x.35 revolution
SM-Applications
counter
SM-Universal x.39
Encoder Plus Freeze
x.36 position

132 Digitax ST User Guide

Positional information
Key
Revolution
counter Position Input Read-write (RW)
terminals 0.XX
parameter
x.04 x.05
Output 0.XX Read-only (RO)
Resolver terminals parameter
selected as
drive feedback
Lock position (Pr 3.26) The parameters are all shown at their default settings
feedback
x.49
Speed
Feedback feedback
filter
x.19 x.03

Revolution
counter Position

x.29 x.30
Encoder
simulation
Non marker reset source
positional information
Position Ratio x.24
numerator
Resolver Simulated encoder
x.05 x.25 Term
source output connections
1 A
2 A\
3 0V
Encoder 4 B
3.29
source 5 B\
6 0V
7 Z
8 Z\
x.xx

SM-Resolver parameters

Parameter Range(Ú) Default(Ö) Type

x.01 Solutions Module ID 0 to 599 101 RO Uni PT US
x.03 Speed ±40,000.0 rpm RO Bi FI NC PT
x.04 Revolution counter 0 to 65,535 revolutions RO Uni FI NC PT
x.05 Position 0 to 65,535 1/216ths of a revolution RO Uni FI NC PT
x.10 Equivalent lines per revolution 0 to 50,000 4096 RW Uni US
x.13 Resolver excitation 3:1 (0), 2:1 (1 or 2) 3:1 (0) RW Uni US
2 pole (0), 4 pole (1), 6 pole (2),
x.15 Resolver poles 2 pole (0) RW Uni US
8 pole (3 to 11)
Bit 0 (LSB) = Wire break detect
Bit 1 = Phase error detect
x.17 Error detection level 1 RW Uni US
Bit 2 (MSB) = SSI power supply bit monitor
Value is binary sum
x.19 Feedback filter 0 (0), 1 (1), 2 (2), 4 (3), 8 (4), 16 (5) ms 0 RW Txt US
x.24 Encoder simulation source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.25 Encoder simulation ratio numerator 0.0000 to 3.0000 0.25 RW Uni US
x.29 Non-marker reset revolution counter 0 to 65,535 revolutions RO Uni NC PT
x.30 Non-marker reset position 0 to 65,535 1/216ths of a revolution RO Uni NC PT
x.35 Freeze revolution counter 0 to 65,535 revolutions RO Uni NC PT
x.36 Freeze position 0 to 65,535 1/216ths of a revolution RO Uni NC PT
x.39 Freeze flag OFF (0) or On (1) OFF (0) RW Bit NC
x.45 Position feedback initialized OFF (0) or On (1) RO Bit NC PT
x.49 Lock position feedback OFF (0) or On (1) OFF (0) RW Bit NC
x.50 Solutions Module error status* 0 to 255 RO Uni NC PT

Digitax ST User Guide 133

Figure 11-20 SM-Encoder Plus logic diagram

Non marker position information

Position Revolution
feedback counter Position
initialised
Term Encoder x.29 x.30
connections
x.45
1 A Equivalent
2 A\ x.10 lines per
3 B
+
revolution
4 B\
8-Way 5 Z x.16 Encoder Marker position information _
6 Z\ termination
7 0V Encoder Revolution
x.15 counter Position
8 Not used type

x.32 x.33

Marker x.08 x.07

input
Marker Marker
flag position
disable

Freeze positional
information
Freeze input Freeze
Freeze
flag x.35 revolution
SM-Applications
counter
SM-Universal x.39
Encoder Plus Freeze
x.36 position

134 Digitax ST User Guide

Feedback Speed
filter
x.19 x.03

x.49
Lock position
feedback

Revolution
counter Position

x.04 x.05

Positional information

Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default settings

SM-Encoder Plus parameters

Parameter Range(Ú) Default(Ö) Type
x.01 Solutions Module ID 0 to 599 101 RO Uni PT US
x.03 Speed ±40,000.0 rpm RO Bi FI NC PT
x.04 Revolution counter 0 to 65,535 revolutions RO Uni FI NC PT
x.05 Position 0 to 65,535 1/216ths of a revolution RO Uni FI NC PT
x.07 Marker position reset disable OFF (0) or On (1) OFF (0) RW Bit US
x.08 Marker flag OFF (0) or On (1) OFF (0) RW Bit NC
x.10 Equivalent lines per revolution 0 to 50,000 4096 RW Uni US
x.15 Encoder type Ab (0), Fd (1), Fr (2), AB (0) RW Uni US
x.16 Encoder termination 0 to 2 1 RW Uni US
x.19 Feedback filter 0 (0), 1 (1), 2 (2), 4 (3), 8 (4), 16 (5) ms 0 RW Txt US
x.29 Non-marker reset revolution counter 0 to 65,535 revolutions RO Uni NC PT
x.30 Non-marker reset position 0 to 65,535 1/216ths of a revolution RO Uni NC PT
x.32 Marker revolution counter 0 to 65,535 revolutions RO Uni NC PT
x.33 Marker position 0 to 65,535 1/216ths of a revolution RO Uni NC PT
x.35 Freeze revolution counter 0 to 65,535 revolutions RO Uni NC PT
x.36 Freeze position 0 to 65,535 1/216ths of a revolution RO Uni NC PT
x.39 Freeze flag OFF (0) or On (1) OFF (0) RW Bit NC
x.45 Position feedback initialized OFF (0) or On (1) RO Bit NC PT
x.49 Lock position feedback OFF (0) or On (1) OFF (0) RW Bit NC
x.50 Solutions Module error status* 0 to 255 RO Uni NC PT

Digitax ST User Guide 135

11.15.2 Automation module category

Figure 11-21 SM-I/O Plus analog logic diagram

T9 Analog
input 4 T9 Analog
input 4
destination Any
X.40 unprotected
X.43
variable
T9 Analog input 4 parameter
??.??
X.41
T9 Analog
input 4 x(-1) ??.??
scaling
X.42
T9 Analog
input 4 invert
T10 Analog
input 5 T10 Analog
input 5
destination Any
X.44 unprotected
X.47
variable
T10 Analog input 5 parameter
??.??
X.45
T10 Analog
input 5 x(-1) ??.??
scaling
X.46
T10 Analog
input 5 invert

T12 Analog
output 3

Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default settings

136 Digitax ST User Guide

Figure 11-22 SM-I/O Plus digital logic diagram 1

T2 digital
I/O 1 state T2 output ??.??
select
X.09 X.31

x(-1) ??.??
Any bit
T2 digital I/O 1 T2 digital I/O parameter
X.21
1 destination
/ source

X.11 T2 digital
I/O 1 invert Any
unprotected
Positive bit parameter
X.29
logic select
??.??

x(-1) ??.??

Any bit
T3 digital parameter
I/O 2 state T3 output ??.??
select
X.10 X.32

x(-1) ??.??

T3 digital I/O 2 T3 digital I/O

X.22
2 destination
/ source
T3 digital Any
X.12 unprotected
I/O 2 invert
bit
Positive parameter
X.29
logic select
??.??

x(-1)
??.??

Any bit
T4 digital parameter
I/O 3 state T4 output ??.??
select
X.03 X.33

x(-1) ??.??

T4 digital I/O 3
T4 digital I/O X.23
3 destination
/ source
T4 digital Any
X.13
I/O 3 invert unprotected
bit
Positive X.29 parameter
logic select
??.??

Key
x(-1)
??.??
Input Read-write (RW)
terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default setting

Digitax ST User Guide 137

Figure 11-23 SM-I/O Plus digital logic diagram 2

T6 digital input 4
state indicator T6 digital T6 digital input 4
input 4 invert destination
X.04 X.14 X.24 Any
unprotected
bit
T6 digital input 4 parameter
??.??
X.29
Positive
logic select x(-1) ??.??

T7 digital input 5
state indicator T7 digital T7 digital input 5
input 5 invert destination
X.05 X.15 X.25 Any
unprotected
bit
T7 digital input 5 parameter
??.??
X.29
Positive
logic select x(-1) ??.??

T8 digital input 6
state indicator T8 digital T8 digital input 6
input 6 invert destination
X.06 X.16 X.26 Any
unprotected
bit
T8 digital input 6 parameter
??.??
X.29
Positive
logic select x(-1) ??.??

X.17

Relay 1

Key

Input
terminals

Output
terminals

Read-write
0.XX (RW)
Relay 2 parameter
Read-only
0.XX (RO)
parameter

The parameters are all shown

at their default setting

138 Digitax ST User Guide

SM-I/O Plus parameters

Parameter Range(Ú) Default(Ö) Type

x.01 Solutions Module ID 0 to 599 201 RO Uni PT US
x.03 T4 digital I/O 3 state OFF (0) or On (1) RO Bit NC PT
x.04 T6 digital input 4 state OFF (0) or On (1) RO Bit NC PT
x.05 T7 digital input 5 state OFF (0) or On (1) RO Bit NC PT
x.06 T8 digital input 6 state OFF (0) or On (1) RO Bit NC PT
x.07 Relay 1 state OFF (0) or On (1) RO Bit NC PT
x.08 Relay 2 state OFF (0) or On (1) RO Bit NC PT
x.09 T2 digital I/O 1 state OFF (0) or On (1) RO Bit NC PT
x.10 T3 digital I/O 2 state OFF (0) or On (1) RO Bit NC PT
x.11 T2 digital I/O 1 invert OFF (0) or On (1) OFF (0) RW Bit US
x.12 T3 digital I/O 2 invert OFF (0) or On (1) OFF (0) RW Bit US
x.13 T4 digital I/O 3 invert OFF (0) or On (1) OFF (0) RW Bit US
x.14 T6 digital input 4 invert OFF (0) or On (1) OFF (0) RW Bit US
x.15 T7 digital input 5 invert OFF (0) or On (1) OFF (0) RW Bit US
x.16 T8 digital input 6 invert OFF (0) or On (1) OFF (0) RW Bit US
x.17 Relay 1 invert OFF (0) or On (1) OFF (0) RW Bit US
x.18 Relay 2 invert OFF (0) or On (1) OFF (0) RW Bit US
x.20 Digital I/O read word 0 to 511 RO Uni NC PT
T2 digital I/O 1 source/
x.21 Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
destination
T3 digital I/O 2 source/
x.22 Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
destination
T4 digital I/O 3 source/
x.23 Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
destination
x.24 T6 digital input 4 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.25 T7 digital input 5 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.26 T8 digital input 6 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.27 Relay 1 source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.28 Relay 2 source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.29 Input polarity select OFF (0) or On (1) On (1) (positive logic) RW Bit PT US
x.31 T2 digital I/O 1 output select OFF (0) or On (1) OFF (0) RW Bit US
x.32 T3 digital I/O 2 output select OFF (0) or On (1) OFF (0) RW Bit US
x.33 T4 digital I/O 3 output select OFF (0) or On (1) OFF (0) RW Bit US
x.40 Analog input 1 ±100.0% RO Bi NC PT
x.41 Analog input 1 scaling 0 to 4.000 1.000 RW Uni US
x.42 Analog input 1 invert OFF (0) or On (1) OFF (0) RW Bit US
x.43 Analog input 1 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.44 Analog input 2 ±100.0% RO Bi NC PT
x.45 Analog input 2 scaling 0.000 to 4.000 1.000 RW Uni US
x.46 Analog input 2 invert OFF (0) or On (1) OFF (0) RW Bit US
x.47 Analog input 2 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.48 Analog output 1 source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.49 Analog output 1 scaling 0.000 to 4.000 1.000 RW Uni US
x.50 Solutions Module error status* 0 to 255 RO Uni NC PT

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

*See trip SLX.Er, Automation (I/O Expansion) module category on page 192.

Digitax ST User Guide 139

Figure 11-24 SM-I/O Lite & SM-I/O Timer digital I/O logic diagram
Destination
Invert
x.24
T5 digital input 1 x.14

State
0.00
Any
5 x.04 unprotected
parameter
21.51

Destination
Invert
x.25
T6 digital input 2 x.15

State
3 0.00
Any
6 x.05 unprotected
parameter
21.51

Destination
Invert
x.26
T7 digital input 3 x.16

State
3 0.00
Any
7 x.06 unprotected
parameter
21.51

Relay
source
x.27 Invert
x.17

0.00 State
Default
source
Pr 0.00 x.07 21
21.51
22

23
0V

Key

X Input Read-write (RW)

X terminals 0.XX
parameter

X Output 0.XX Read-only (RO)

X
terminals parameter

The parameters are all shown at their default settings

140 Digitax ST User Guide

Figure 11-25 SM-I/O Lite & SM-I/O Timer analog I/O logic diagram
Destination
Invert
x.43
T2 Analog Input 1 x.42

Level
Mode Scaling 0.00
x.38 x.40 x.41 Default
destination
Current Pr 0.00
x(-1) 21.51
mode and
protection

x.03
200R
Current loop
0V loss indicator

Source
x.48

0.00 Scaling Voltage

Default or current
source x.49
Pr 0.00 x.39 Mode
21.51

Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default settings

Figure 11-26 SM-I/O Timer real time clock logic diagram

Real time
clock update
mode
x.30
Minutes/seconds
Real time
clock daylight x.34
saving mode Days/hours
x.19 x.35
User Month/date
Real time
clock normal x.36
operation Years
Real time
clock x.37
Real time
clock
+1 hour

Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default settings

Digitax ST User Guide 141

SM-I/O Timer & SM-I/O Lite parameters

SM-I/O
Parameter Range(Ú) Default(Ö) Type
Lite Timer
x.01 Solutions Module ID 0 to 599 SM-I/O Lite: 207 RO Uni PT US 9 9
x.02 Solutions Module software version 0.00 to 99.99 RO Uni NC PT 9 9
x.03 Current loop loss indicator OFF (0) or On (1) RO Bit NC PT 9 9
x.04 T5 digital input 4 state OFF (0) or On (1) RO Bit NC PT 9 9
x.05 T6 digital input 5 state OFF (0) or On (1) RO Bit NC PT 9 9
x.06 T7 digital input 6 state OFF (0) or On (1) RO Bit NC PT 9 9
x.07 Relay 1 state OFF (0) or On (1) RO Bit NC PT 9 9
x.14 T5 digital input 4 invert OFF (0) or On (1) OFF (0) RW Bit US 9 9
x.15 T6 digital input 5 invert OFF (0) or On (1) OFF (0) RW Bit US 9 9
x.16 T7 digital input 6 invert OFF (0) or On (1) OFF (0) RW Bit US 9 9
x.17 Relay 1 invert OFF (0) or On (1) OFF (0) RW Bit US 9 9
x.20 Digital I/O read word 0 to 255 RO Uni NC PT 9 9
x.24 T5 digital input 4 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US 9 9
x.25 T6 digital input 5 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US 9 9
x.26 T7 digital input 6 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US 9 9
x.27 Relay 1 source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US 9 9
x.30 Real time clock update mode 0 to 2 0 RW Uni 9
x.34 Real time clock minutes/seconds 00.00 to 59.59 00.00 RW Uni PT 9
x.35 Real time clock days/hours 1.00 to 7.23 0.00 RW Uni PT 9
x.36 Real time clock month/date 00.00 to 12.31 00.00 RW Uni PT 9
x.37 Real time clock years 2000 to 2099 2000 RW Uni PT 9
0-20 (0), 20-0 (1), 4-20.tr (2),
x.38 Analog input 1 mode 20-4.tr (3), 4-20 (4), 20-4 (5), 0-20 (0) RW Txt US 9 9
VOLt(6)
0-20 (0), 20-0 (1), 4-20 (2), 20-4 (3),
x.39 Analog output mode 0-20 (0) RW Txt US 9 9
VOLt (4)
x.40 Analog input 1 ±100.0% RO Bi NC PT 9 9
x.41 Analog input 1 scaling 0 to 4.000 1.000 RW Uni US 9 9
x.42 Analog input 1 invert OFF (0) or On (1) OFF (0) RW Bit US 9 9
x.43 Analog input 1 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US 9 9
x.48 Analog output 1 source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US 9 9
x.49 Analog output 1 scaling 0.000 to 4.000 1.000 RW Uni US 9 9
x.50 Solutions Module error status* 0 to 255 RO Uni NC PT 9 9
Solutions Module software sub-
x.51 0 to 99 RO Uni NC PT 9 9
version

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

*See trip SLX.Er, Automation (I/O Expansion) module category on page 192.

142 Digitax ST User Guide

Figure 11-27 SM-I/O PELV digital I/O logic diagram

T3 digital
I/O 1 state T3 digital I/O ??.??
1 output select
X.09 X.31

x(-1) ??.??
Any bit or
T3 digital I/O 1 T3 digital I/O integer
X.21
1 source/ parameter
destination

X.11 T3 digital
I/O 1 invert Any
unprotected
bit parameter
??.??

x(-1) ??.??

T4 digital
I/O 2 state T4 digital I/O ??.??
2 output select
X.10 X.32
x(-1) ??.??
Any bit or
T4 digital I/O 2 T4 digital I/O integer
X.22
2 source/ parameter
destination
T4 digital
X.12
I/O 2 invert Any
unprotected
bit parameter
??.??

x(-1) ??.??

T5 digital
I/O 3 state T5 digital I/O ??.??
3 output select
X.03 X.33

x(-1) ??.??
Any bit or
T5 digital I/O 3 integer
T5 digital I/O X.23 parameter
3 source/
destination
X.13 T5 digital
I/O 3 invert Any
unprotected
bit parameter
??.??

x(-1) ??.??

T6 digital
I/O 4 state T6 digital I/O ??.??
4 output select
X.04 X.29

x(-1) ??.??
Any bit or
T6 digital I/O 4 integer
T6 digital I/O X.24 parameter
4 source/
destination
X.14 T6 digital
I/O 4 invert Any
unprotected
bit parameter
??.??

Key
x(-1) ??.??
Input Read-write (RW)
terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default setting

Digitax ST User Guide 143

Figure 11-28 SM-I/O PELV digital input logic diagram

T7 digital
input 5 state T7 digital T7 digital input 5
input 5 invert destination
X.05 X.15 X.25 Any
unprotected
bit
T7 digital input 5 parameter
??.??

x(-1) ??.??

Figure 11-29 SM-I/O PELV relay logic diagram

X.17

Relay 1

Relay 2

Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default setting

144 Digitax ST User Guide

Figure 11-30 SM-I/O PELV analog input logic diagram

Analog input
1 level Analog
input 1
destination Any
X.40 unprotected
Analog input 1 X.43
variable
parameter

8 + ??.??
X.38 X.41
_
9 Analog Analog
input 1 input 1 x(-1) ??.??
mode selector scaling
X.42
Analog input 1
invert

Figure 11-31 SM-I/O PELV analog output logic diagram

T10 Analog output 1

T12 Analog output 2

Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default settings

Digitax ST User Guide 145

SM-I/O PELV parameters

Parameter Range(Ú) Default(Ö) Type

x.01 Solutions Module ID 0 to 599 204 RO Uni PT US
x.02 Solutions Module software version 0.00 to 99.99 RO Uni NC PT
x.03 T5 digital I/O 3 state OFF (0) or On (1) RO Bit NC PT
x.04 T6 digital I/O 4 state OFF (0) or On (1) RO Bit NC PT
x.05 T7 digital input 5 state OFF (0) or On (1) RO Bit NC PT
x.07 Relay 1 state OFF (0) or On (1) RO Bit NC PT
x.08 Relay 2 state OFF (0) or On (1) RO Bit NC PT
x.09 T3 digital I/O 1 state OFF (0) or On (1) RO Bit NC PT
x.10 T4 digital I/O 2 state OFF (0) or On (1) RO Bit NC PT
x.11 T3 digital I/O 1 invert OFF (0) or On (1) OFF (0) RW Bit US
x.12 T4 digital I/O 2 invert OFF (0) or On (1) OFF (0) RW Bit US
x.13 T5 digital I/O 3 invert OFF (0) or On (1) OFF (0) RW Bit US
x.14 T6 digital I/O 4 invert OFF (0) or On (1) OFF (0) RW Bit US
x.15 T7 digital input 5 invert OFF (0) or On (1) OFF (0) RW Bit US
Disable PELV User power
x.16 OFF (0) or On (1) OFF (0) RW Bit US
supply absent trip
x.17 Relay 1 invert OFF (0) or On (1) OFF (0) RW Bit US
x.18 Relay 2 invert OFF (0) or On (1) OFF (0) RW Bit US
x.19 Freeze flag OFF (0) or On (1) OFF (0) RW Bit US
x.20 Digital I/O read word 0 to 255 RO Uni NC PT
x.21 T3 digital I/O 1 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.22 T4 digital I/O 2 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.23 T5 digital I/O 3 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.24 T6 digital I/O 4 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.25 T7 digital input 5 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.27 Relay 1 source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.28 Relay 2 source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.29 T6 digital I/O 4 output select OFF (0) or On (1) On (1) RW Bit US
x.31 T3 digital I/O 1 output select OFF (0) or On (1) OFF (0) RW Bit US
x.32 T4 digital I/O 2 output select OFF (0) or On (1) OFF (0) RW Bit US
x.33 T5 digital I/O 3 output select OFF (0) or On (1) OFF (0) RW Bit US
0-20 (0), 20-0 (1), 4-20.tr (2), 20-4.tr (3),
x.38 Analog input 1 mode 0-20 (0) RW Txt US
4-20 (4), 20-4 (5)
x.39 Analog output mode 0-20 (0), 20-0 (1), 4-20 (2), 20-4 (3) 0-20 (0) RW Txt US
x.40 Analog input 1 level 0.0 to 100.0% RO Bi NC PT
x.41 Analog input 1 scaling 0.000 to 4.000 1.000 RW Uni US
x.42 Analog input 1 invert OFF (0) or On (1) OFF (0) RW Bit US
x.43 Analog input 1 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.45 Analog output 2 scaling 0.000 to 4.000 1.000 RW Uni US
x.47 Analog output 2 source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.48 Analog output 1 source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.49 Analog output 1 scaling 0.000 to 4.000 1.000 RW Uni US
x.50 Solutions Module error status* 0 to 255 RO Uni NC PT
x.51 Solutions Module software sub-version 0 to 99 RO Uni NC PT

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

*See trip SLX.Er, Automation (I/O Expansion) module category on page 192.

146 Digitax ST User Guide

Figure 11-32 SM-I/O 24V Protected digital I/O logic diagram

T3 digital
I/O 1 state T3 digital I/O ??.??
1 output select
X.09 X.31

x(-1) ??.??
Any valid
T3 digital I/O 1 T3 digital I/O parameter
X.21
1 source/
destination

X.11 T3 digital
I/O 1 invert
Any unprotected
parameter
??.??

x(-1) ??.??

T4 digital
I/O 2 state T4 digital I/O ??.??
2 output select
X.10 X.32
x(-1) ??.??
Any valid
T4 digital I/O 2 T4 digital I/O parameter
X.22
2 source/
destination
T4 digital
X.12
I/O 2 invert
Any unprotected
parameter
??.??

x(-1) ??.??

T5 digital
I/O 3 state T5 digital I/O ??.??
3 output select
X.03 X.33

x(-1) ??.??
Any valid
T5 digital I/O 3 parameter
T5 digital I/O X.23
3 source/
destination
X.13 T5 digital
I/O 3 invert
Any unprotected
parameter
??.??

x(-1)
??.??

T6 digital
I/O 4 state T6 digital I/O ??.??
4 output select
X.04 X.29

x(-1) ??.??
Any valid
T6 digital I/O 4 parameter
T6 digital I/O X.24
4 source/
destination
X.14 T6 digital
I/O 4 invert
Any unprotected
parameter
??.??

Key
x(-1)
??.??
Input Read-write (RW)
terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default setting

Digitax ST User Guide 147

Figure 11-33 SM-I/O 24V Protected digital I/O logic diagram

T7 digital
input 5 state T7 digital T7 digital input 5
input 5 invert destination
X.05 X.15 X.25
Any
unprotected
T7 digital input 5 parameter
??.??

x(-1) ??.??

T8 digital
input 6 state T8 digital T8 digital input 6
input 6 invert destination
X.06 X.16 X.26
Any
unprotected
T8 digital input 6 parameter

??.??

x(-1) ??.??

T9 digital
input 7 state T9 digital T9 digital input 7
input 7 invert destination
X.07 X.17 X.27
Any
unprotected
T9 digital input 7 parameter
??.??

x(-1) ??.??

Figure 11-34 SM-I/O 24V Protected relay logic diagram

Any bit or
integer
parameter

Relay 1

Any bit or
integer
parameter

Relay 2

Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default setting

148 Digitax ST User Guide

Figure 11-35 SM-I/O 24V Protected analog output logic diagram

T10 Analog output 1

T12 Analog output 2

Key

Input Read-write (RW)

terminals 0.XX
parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default settings

SM-I/O 24V Protected parameters

Parameter Range(Ú) Default(Ö) Type
x.01 Solutions Module ID 0 to 599 205 RO Uni PT US
x.02 Solutions Module Main Software Version 0.00 to 99.99 RO Uni NC PT
x.03 T5 digital I/O 3 state OFF (0) or On (1) RO Bit NC PT
x.04 T6 digital I/O 4 state OFF (0) or On (1) RO Bit NC PT
x.05 T7 digital input 5 state OFF (0) or On (1) RO Bit NC PT
x.06 T8 digital input 6 state OFF (0) or On (1) RO Bit NC PT
x.07 T9 digital input 7 state OFF (0) or On (1) RO Bit NC PT
x.08 Relay 1 state OFF (0) or On (1) RO Bit NC PT
x.09 T3 digital I/O 1 state OFF (0) or On (1) RO Bit NC PT
x.10 T4 digital I/O 2 state OFF (0) or On (1) RO Bit NC PT
x.11 T3 digital I/O 1 invert OFF (0) or On (1) OFF (0) RW Bit US
x.12 T4 digital I/O 2 invert OFF (0) or On (1) OFF (0) RW Bit US
x.13 T5 digital I/O 3 invert OFF (0) or On (1) OFF (0) RW Bit US
x.14 T6 digital I/O 4 invert OFF (0) or On (1) OFF (0) RW Bit US
x.15 T7 digital input 5 invert OFF (0) or On (1) OFF (0) RW Bit US
x.16 T8 digital input 6 invert OFF (0) or On (1) OFF (0) RW Bit US
x.17 T9 digital input 7 invert OFF (0) or On (1) OFF (0) RW Bit US
x.18 Relay 1 invert OFF (0) or On (1) OFF (0) RW Bit US
x.20 Digital I/O read word 0 to 255 RO Uni NC PT
x.21 T3 digital I/O 1 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE US
x.22 T4 digital I/O 2 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE US
x.23 T5 digital I/O 3 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE US
x.24 T6 digital I/O 4 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE US
x.25 T7 digital input 5 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE US
x.26 T8 digital input 6 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE US
x.27 T9 digital input 7 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE US
x.28 Relay 1 source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni US
x.29 T6 digital I/O 4 output select OFF (0) or On (1) On (1) RW Bit US
x.31 T3 digital I/O 1 output select OFF (0) or On (1) OFF (0) RW Bit US
x.32 T4 digital I/O 2 output select OFF (0) or On (1) OFF (0) RW Bit US
x.33 T5 digital I/O 3 output select OFF (0) or On (1) OFF (0) RW Bit US
x.39 Analog output mode 0-20, 20-0, 4-20, 20-4 0-20 RW Uni US
x.40 Relay 2 state 0.0 or 100.0 % RO Bit NC PT
x.42 Relay 2 invert OFF (0) or On (1) OFF (0) RW Bit US
x.43 Relay 2 source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni US
x.45 Analog output 2 scaling 0.000 to 4.000 1.000 RW Uni US
x.47 Analog output 2 source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni US
x.48 Analog output 1 source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni US
x.49 Analog output 1 scaling 0.000 to 4.000 1.000 RW Uni US
x.50 Solutions Module error status 0 to 255 RO Uni NC PT
x.51 Solutions Module software sub-version 0 to 99 RO Uni NC PT

Digitax ST User Guide 149

Figure 11-36 SM-I/O 120V digital input logic diagram

Destination
Invert
x.21
T1 digital Input 1 x.11

State
0.00
1 x.09 Any
unprotected
parameter
x(-1) 21.51

Destination
Invert
x.22
T2 digital Input 2 x.12

State
0.00
2 x.10 Any
unprotected
parameter
x(-1) 21.51

Destination
Invert
x.23
T4 digital Input 3 x.13

State
0.00
4 x.03 Any
unprotected
parameter
x(-1) 21.51

Destination
Invert
x.24
T5 digital Input 4 x.14

State
0.00
5 x.04 Any
unprotected
parameter
x(-1) 21.51

Destination
Invert
x.25
T7 digital Input 5 x.15

State
0.00
7 x.05 Any
unprotected
parameter
x(-1) 21.51

Destination
Invert
x.26
T8 digital Input 6 x.16

State
0.00
8 x.06 Any
unprotected
parameter
x(-1) 21.51

Key

X Input Read-write (RW)

X terminals 0.XX
parameter

X Output 0.XX Read-only (RO)

X
terminals parameter

The parameters are all shown at their default settings

150 Digitax ST User Guide

Figure 11-37 SM-I/O 120V relay diagram

Relay 1
source
Relay 1
invert x.27

x.17 Any
parameter
Relay 1
Relay 1 state ??.??

10 x.07

x(-1)
??.??

11
0V
Relay 2
source
Relay 2
invert x.28

x.18 Any
parameter
Relay 2
Relay 2 state ??.??

12 x.08

x(-1)
??.??

11
0V

Key

X Input Read-write (RW)

X terminals 0.XX
parameter

X Output 0.XX Read-only (RO)

X
terminals parameter

The parameters are all shown at their default settings

SM-I/O 120V parameters

Parameter Range(Ú) Default(Ö) Type
x.01 Solutions Module ID 0 to 599 206 RO Uni PT US
x.02 Solutions Module software version 0.00 to 99.99 RO Uni NC PT
x.03 T4 digital input 3 state OFF (0) or On (1) RO Bit NC PT
x.04 T5 digital input 4 state OFF (0) or On (1) RO Bit NC PT
x.05 T7 digital input 5 state OFF (0) or On (1) RO Bit NC PT
x.06 T8 digital input 6 state OFF (0) or On (1) RO Bit NC PT
x.07 Relay 1 state OFF (0) or On (1) RO Bit NC PT
x.08 Relay 2 state OFF (0) or On (1) RO Bit NC PT
x.09 T1 digital input 1 state OFF (0) or On (1) RO Bit NC PT
x.10 T2 digital input 2 state OFF (0) or On (1) RO Bit NC PT
x.11 T1 digital input 1 invert OFF (0) or On (1) OFF (0) RW Bit US
x.12 T2 digital input 2 invert OFF (0) or On (1) OFF (0) RW Bit US
x.13 T4 digital input 3 invert OFF (0) or On (1) OFF (0) RW Bit US
x.14 T5 digital input 4 invert OFF (0) or On (1) OFF (0) RW Bit US
x.15 T7 digital input 5 invert OFF (0) or On (1) OFF (0) RW Bit US
x.16 T8 digital input 6 invert OFF (0) or On (1) OFF (0) RW Bit US
x.17 Relay 1 invert OFF (0) or On (1) OFF (0) RW Bit US
x.18 Relay 2 invert OFF (0) or On (1) OFF (0) RW Bit US
x.20 Digital I/O read word 0 to 255 RO Uni NC PT
x.21 T1 digital input 1 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.22 T2 digital input 2 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.23 T4 digital input 3 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.24 T5 digital input 4 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.25 T7 digital input 5 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.26 T8 digital input 6 destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni DE PT US
x.27 Relay 1 source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.28 Relay 2 source Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.50 Solutions Module error status* 0 to 255 RO Uni NC PT
x.51 Solutions Module software sub-version 0 to 99 RO Uni NC PT

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

*See trip SLX.Er, Automation (I/O Expansion) module category on page 192.

Digitax ST User Guide 151

Figure 11-38 SM-I/O 32 logic diagram

I/O state Output
select Source/
X.0y** X.3y* destination
X.2y
x(-1)
Any unprotected
parameter
??.??

X.1y I/O invert

??.??

Key

Input x(-1)
0.XX Read-write (RW)
terminals parameter

Output 0.XX Read-only (RO)

terminals parameter

The parameters are all shown at their default setting

* Except: Digital I/O 1 is Pr x.09 and Digital I/O 2 is Pr x.10
** Except: Digital I/O 4 is Pr x.29
SM-I/O 32 parameters
Parameter Range(Ú) Default(Ö) Type
x.01 Solutions Module ID 0 to 599 208 RO Uni PT US
x.02 Solutions Module software version 0.00 to 99.99 RO Uni NC PT
x.03 I/O 3 state OFF (0) or On (1) RO Bit NC PT
x.04 I/O 4 state OFF (0) or On (1) RO Bit NC PT
x.05 I/O 5 state OFF (0) or On (1) RO Bit NC PT
x.06 I/O 6 state OFF (0) or On (1) RO Bit NC PT
x.07 I/O 7 state OFF (0) or On (1) RO Bit NC PT
x.08 I/O 8 state OFF (0) or On (1) RO Bit NC PT
x.09 I/O 1 state OFF (0) or On (1) RO Bit NC PT
x.10 I/O 2 state OFF (0) or On (1) RO Bit NC PT
x.11 I/O 1 invert OFF (0) or On (1) OFF (0) RW Bit US
x.12 I/O 2 invert OFF (0) or On (1) OFF (0) RW Bit US
x.13 I/O 3 invert OFF (0) or On (1) OFF (0) RW Bit US
x.14 I/O 4 invert OFF (0) or On (1) OFF (0) RW Bit US
x.15 I/O 5 invert OFF (0) or On (1) OFF (0) RW Bit US
x.16 I/O 6 invert OFF (0) or On (1) OFF (0) RW Bit US
x.17 I/O 7 invert OFF (0) or On (1) OFF (0) RW Bit US
x.18 I/O 8 invert OFF (0) or On (1) OFF (0) RW Bit US
x.20 Digital I/O read word 0 to 255 RO Uni NC PT
x.21 I/O 1 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.22 I/O 2 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.23 I/O 3 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.24 I/O 4 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.25 I/O 5 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.26 I/O 6 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.27 I/O 7 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.28 I/O 8 source/destination Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.29 Digital output 4 select OFF (0) or On (1) OFF (0) RW Bit PT US
x.31 Digital output 1 select OFF (0) or On (1) OFF (0) RW Bit PT US
x.32 Digital output 2 select OFF (0) or On (1) OFF (0) RW Bit PT US
x.33 Digital output 3 select OFF (0) or On (1) OFF (0) RW Bit PT US
x.43 Fast update method direction marker Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.47 Fast update method read register Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.48 Fast update method write register Pr 0.00 to Pr 21.51 Pr 0.00 RW Uni PT US
x.50 Solutions Module error status* 0 to 255 RO Uni NC PT
x.51 Solutions Module software sub-version 0 to 99 RO Uni NC PT

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

*See trip SLX.Er, Automation (I/O Expansion) module category on page 192.

152 Digitax ST User Guide

11.15.3 Fieldbus module category

Fieldbus module parameters

Parameter Range(Ú) Default(Ö) Type

x.01 Solutions Module ID 0 to 599 RO Uni PT US
x.02 Solutions Module software version 0.00 to 99.99 RO Uni NC PT
x.03 Fieldbus Node Address 65,535 65,535 RW Uni US
x.04 Fieldbus Baud Rate -128 to +127 0 RW Bi US
x.05 Mode 65,535 4 RW Uni US
x.06 Fieldbus Diagnostic ±9,999 RO Bi NC PT
x.07 Trip Delay Time 0 to 3,000 200 RW Uni US
x.08 Little endianism select OFF (0) or On (1) On (1) RW Bit US
x.09 Register control OFF (0) or On (1) OFF (0) RW Bit US
x.10 to
‘I’ data registers 0 - 9 -32,768 to +32,767 RW Bi
x.19
x.20 to
‘O’ data registers 0 - 9 -32,768 to +32,767 RW Bi
x.29
Load Solutions Module
x.30 OFF (0) or On (1) OFF (0) RW Bit US
defaults
Save Solutions Module
x.31 OFF (0) or On (1) OFF (0) RW Bit US
parameters
x.32 Request to reinitialise OFF (0) or On (1) OFF (0) RW Bit
Download from Fieldbus
x.33 OFF (0) or On (1) OFF (0) RW Bit
Solutions Module
x.34 Compression OFF (0) or On (1) OFF (0) RW Bit US
x.35 Serial number -2,147,483,648 to 2,147,483,647 RO Bi NC PT
x.36 to
Fieldbus specific OFF (0) or On (1) OFF (0) RW Bit US
x.37
Fieldbus specific defined
x.38 0 to 255 0 RW Uni US
mode
x.39 Cyclic input configuration 0 to 255 0 RW Uni US
x.40 Cyclic output configuration 0 to 255 0 RW Uni US
x.41 to
Fieldbus specific 0 to 255 0 RW Uni US
x.43
x.44 to
Fieldbus specific 0 to 255 0 RO Uni PT
x.48
x.49 Mapping error status 0 to 255 0 RO Uni PT
x.50 Solutions Module error status* 0 to 255 RO Uni NC PT

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

*See trip SLX.Er, Fieldbus module category on page 192.

Digitax ST User Guide 153

11.15.4 SM-LON
Parameter Range(Ú) Default(Ö) Type
x.01 Solutions Module ID 0 to 599 401 RO Uni PT US
x.02 Solutions Module software version 0.00 to 99.99 RO Uni NC PT
x.03 Node ID 0 to 127 0 RW Uni
Solutions Module diagnostic
x.06 -9999 to 9999 0 RW Uni
information
x.07 Network loss trip 0 to 1 0 RW Uni
x.10 Subnet ID 0 to 255 0 RW Uni
x.11 Domain ID length 0 to 6 0 RW Uni
x.12 Domain ID byte 1 0 to 255 0 RW Uni
x.13 Domain ID byte 2 0 to 255 0 RW Uni
x.14 Domain ID byte 3 0 to 255 0 RW Uni
x.15 Domain ID byte 4 0 to 255 0 RW Uni
x.16 Domain ID byte 5 0 to 255 0 RW Uni
x.17 Domain ID byte 6 0 to 255 0 RW Uni
x.30 Load Option Defaults Off (0) or On (1) Off (0) RW Bit
x.31 Save option parameters Off (0) or On (1) Off (0) RW Bit
x.32 Request to re-initialise Off (0) or On (1) Off (0) RW Bit
Restore parameters from Solutions
x.33 Off (0) or On (1) Off (0) RW Bit
Module
x.34 Initialise drive reference selectors Off (0) or On (1) Off (0) RW Bit
x.35 Solutions Module serial number -2147483648 to 2147483647 RO Bi NC PT
x.36 Transmit service pin message Off (0) or On (1) Off (0) RW Bit
x.37 Wink active Off (0) or On (1) Off (0) RW Bit
x.38 Unconfigure Solutions Module 0 to 1 0 RW Uni
x.39 Default configuration property storage 0 to 1 0 RW Uni
x.50 Module error status 0 to 255 RO Uni NC PT
x.51 Module software sub-version 0 to 99 RO Uni NC PT

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

154 Digitax ST User Guide

Digitax ST User Guide 155

11.15.5 SLM module category

Figure 11-39 SM-SLM logic diagram

Host mode
performance
Normal
performance
Normal
High performance
5-way terminal

Isolated 0V / screen (SLM) 5 Back-up battery

Host mode
Idle
set externally
Parameters valid or
Pulse test tuning
Full tuning
Reset
connection
Battery 24Vdc input 4 (if required) 0 1 2 Parameters
transferred
Isolated 0V / screen (SLM) 3
x.28
Not used 2
Not used 1

RJ45 MC port 0 1 2 3 4 Autotune

Operating
mode mode
RS485 DriveLink COM 1
x.07 x.26
RS485 DriveLink COM/ 2
Encoder
Drive status 3 lines Action
Enable (SLM) 4 per rev autotune
x.10 and saving
Not connected 5 Torque parameters
mode
Isolated 0V (SLM) 6 selector x.29
24Vdc (SLM) 7 4.11 0 1
Not connected 8
1 Host mode

RJ45 SLM port

0 Encoder only
RS485 DriveLink COM 1 1 0 mode
RS485 DriveLink COM/ 2 x.30
Drive status 3 Auto basic 1 0
Enable (SLM) 4 drive set-up x.29
24Vdc (SLM) 5 x.12 Action save to
Isolated 0V (SLM) 6 SLM power-
SLM EEPROM
(CT Coder)
Not connected 7 up delay Autotune Saving
Not connected 8 mode mode
x.26 x.27
Pr 5.18 = 8kHz
Pr 3.26 = SM-SLM slot
0 1 2 3 4 0 1 2
Encoder only mode

Encoder only mode

Idle

Read data from SLM

Idle
Idle
Reset

Idle
performance
Normal
High performance
EEPROM (CT Coder)

SAVE
Key

X Input Read-write (RW)

X terminals 0.XX
parameter

X Output 0.XX Read-only (RO)

X
terminals parameter

The parameters are all shown in their default settings

156 Digitax ST User Guide

Sequencer
state x.14

0 Power-up
1 Normal comms mode set-up
2 Normal comms mode set-up wait
3 Axis initialisation
4 Axis initialisation wait
5 SP comms mode set-up
6 SP comms mode set-up wait
7 Wait for hardware enable
8 Auto flux angle
9 Auto flux angle wait
10 Complete autoflux angle
11 Auto L's Option module SLM converted Axis Marker pulse
12 Auto L's wait error status flux offset initialised received
13 Auto current loop gains
14 Auto current loop gains wait
15 Running x.50 x.09 x.45 x.08
16 Trip

Speed

x.03

Lock position
feedback

1 0 x.49

x.29 1 0

Action read from

SLM EEPROM Revolution Fine
(CT Coder) counter Position position
Autotune
mode
x.04 x.05 x.06
x.26

0 1 2 3 4
Encoder only mode
Idle

Read data from SLM

Idle
Idle
Reset
EEPROM (CT Coder)

Parameters
transferred
x.28

0 1 2
Encoder only mode
performance
Normal
performance
Normal
High performance

LOAD

Digitax ST User Guide 157

SM-SLM parameters

Parameter Range(Ú) Default(Ö) Type

x.01 Solutions Module ID 0 to 499 RO Uni PT US
x.02 Solutions Module software version 0.0 to 99.99 RO Uni NC PT
x.03 Speed ±40,000.0 rpm RO Bi FI NC PT
x.04 Revolution counter 0 to 65,535 revolutions RO Uni FI NC PT
x.05 Position 0 to 65,535 (1/216ths of a revolution) RO Uni FI NC PT
x.06 Fine position 0 to 65,535 (1/232nds of a revolution) RO Uni FI NC PT
x.07 Operating mode HoSt (0), Enc.Only (1) HoSt (0) RW Txt US
x.08 Marker pulse received indicator OFF (0) or On (1) OFF (0) RO Bit NC
x.09 SLM converted flux offset 0 to 65,535 0 RO Uni
x.10 Encoder lines per revolution 0 to 50,000 1024 RW Uni US
x.11 SLM software version 0.000 to 9.999 0.000 RO Uni NC PT
0.000 (0), 0.250 (1), 0.500 (2),
x.12 SLM power-up delay 0.750 (3), 1.000 (4), 1.250 (5), 0.250 (1) RW Txt US
1.500 (6) s
x.13 Not used*
x.14 Sequencer status 0 to 16 RO Uni NC PT
x.15 Not used*
x.16 Not used*
x.17 Not used*
x.18 Not used*
x.19 Feedback filter 0 (0), 1 (1), 2 (2), 4 (3), 8 (4), 16 (5) ms 0 (0) RW Txt US
x.20 Not used*
x.21 Not used*
x.22 Not used*
x.23 Not used*
x.24 Not used*
x.26 Autotune mode 0 to 4 0 RW Uni US
x.27 Saving mode 0 to 2 0 RW Uni US
x.28 Parameters transferred 0 to 2 0 RW Uni US
Action the tuning and saving
x.29 OFF (0) or On (1) OFF (0) RW Bit US
parameters
x.30 Automatic basic drive set-up request 0 to 1 0 RW Uni US
x.32 Not used*
x.33 Not used*
x.34 Not used*
x.35 Not used*
x.36 Not used*
x.37 Not used*
x.38 Not used*
x.39 Not used*
x.40 Not used*
x.41 Not used*
x.42 Not used*
x.43 Not used*
x.44 Not used*
x.45 Axis initialised OFF (0) or On (1) RO Bit PT
x.46 Not used*
x.47 Not used*
x.48 Not used*
x.49 Lock position feedback OFF (0) or On (1) OFF (0) RW Bit PT
x.50 Solutions Module error status** 0 to 255 RO Uni NC PT
Solutions Module software sub-
x.51 0 to 99 RO Uni NC PT
version

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

* Some of the parameters which are not used will be introduced in scheduled product enhancement.
**See trip SLX.Er, SLM module category on page 193.

158 Digitax ST User Guide

11.16 Menu 17: Motion processors

Menu 17 parameter functions are dependant on the Digitax ST variant.
11.16.1 Digitax ST Base
Menu 17 not available.

11.16.2 Digitax ST Indexer

Table 11-6 Digitax ST Indexer
Parameter Range(Ú) Default(Ö) Type
17.01 Motion processor ID 0 to 599 RO Uni PT US
17.02 Motion processor software version 0.00 to 99.99 RO Uni NC PT
17.03 DPL program status None (0), Stop (1), Run (2), Trip (3) RO Txt NC PT
17.04 Available system resource 0 to 100 RO Uni NC PT
17.10 DPL Print Routing SYPT: OFF (0), RS485: On (1) SYPT: OFF (0) RW Bit US
17.11 Clock tick time (ms) 0 to 200 10 RW Uni US
dISAbLEd (0), 0.25 ms (1), 0.5 ms (2), 1 ms (3),
17.12 Motion engine sample rate dISAbLEd (0) RW Txt US
2 ms (4), 4 ms (5), 8 ms (6)
17.13 Enable autorun OFF (0) or On (1) On (1) RW Bit US
17.14 Global run time trip enable OFF (0) or On (1) OFF (0) RW Bit US
17.15 Disable reset on trip cleared OFF (0) or On (1) OFF (0) RW Bit US
17.16 Encoder data update rate 0 to 3 0 RW Uni US
17.17 Enable parameter over range trips OFF (0) or On (1) OFF (0) RW Bit US
17.18 Watchdog enable OFF (0) or On (1) OFF (0) RW Bit US
17.19 Save request OFF (0) or On (1) OFF (0) RW Bit NC
17.20 Enable power down save OFF (0) or On (1) OFF (0) RW Bit US
Enable menu 20 save and
17.21 OFF (0) or On (1) OFF (0) RW Bit US
restore
17.37 Reject download if drive enabled OFF (0) or On (1) OFF (0) RW Bit US
17.38 Do not trip drive on APC run-time error OFF (0) or On (1) OFF (0) RW Bit US
17.39 Inter-UT70 synchronization status 0 to 3 0 RO Uni NC
17.40 Inter-UT70 master transfer mode 0 to 10 1 RW Uni US
17.41 Indexer control 0 to 3 0 RW Uni NC
17.42 Freeze main drive position OFF (0) or On (1) OFF (0) RW Bit US
17.43 Freeze invert OFF (0) or On (1) OFF (0) RW Bit US
17.44 Task priority level 0 to 255 0 RW Uni US
17.45 User set-up parameter 1 0 RO Uni NC PT
17.46 User set-up parameter 2 0 RO Uni NC PT
17.47 User set-up parameter 3 0 RO Uni NC PT
17.48 DPL line number in error 0 to 2,147,483,647 0 RO Uni NC PT
17.49 User program ID -32,767 to +32,768 0 RO Bi NC PT
17.50 Motion processor error status* 0 to 255 RO Uni NC PT
17.51 Motion processor software sub-version 0 to 99 RO Uni NC PT

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

*See trip SLX.Er, Automation (I/O Expansion) module category on page 192.

Digitax ST User Guide 159

11.16.3 Digitax ST Plus

Table 11-7 Digitax ST Plus
Parameter Range(Ú) Default(Ö) Type
17.01 Motion processor ID 0 to 599 RO Uni PT US
17.02 Motion processor software version 0.00 to 99.99 RO Uni NC PT
17.03 DPL program status None (0), Stop (1), Run (2), Trip (3) RO Txt NC PT
17.04 Available system resource 0 to 100 RO Uni NC PT
17.05 RS485 address 0 to 255 11 RW Uni US
17.06 RS485 mode 0 to 255 1 RW Uni US
300 (0), 600 (1), 1200 (2), 2400 (3), 4800 (4),
17.07 RS485 baud rate 9600 (5), 19200 (6), 38400 (7), 57600 (8), 4800 (4) RW Txt US
115200 (9) baud
17.08 RS485 Turnaround delay 0 to 255 ms 2 RW Uni US
17.09 RS485 Tx enable delay 0 to 1 ms 0 RW Uni US
17.10 DPL Print Routing SYPT: OFF (0), RS485: On (1) SYPT: OFF (0) RW Bit US
17.11 Clock tick time (ms) 0 to 200 10 RW Uni US
dISAbLEd (0), 0.25 ms (1), 0.5 ms (2), 1 ms (3),
17.12 Motion engine sample rate dISAbLEd (0) RW Txt US
2 ms (4), 4 ms (5), 8 ms (6)
17.13 Enable autorun OFF (0) or On (1) On (1) RW Bit US
17.14 Global run time trip enable OFF (0) or On (1) OFF (0) RW Bit US
17.15 Disable reset on trip cleared OFF (0) or On (1) OFF (0) RW Bit US
17.16 Encoder data update rate 0 to 3 0 RW Uni US
17.17 Enable parameter over range trips OFF (0) or On (1) OFF (0) RW Bit US
17.18 Watchdog enable OFF (0) or On (1) OFF (0) RW Bit US
17.19 Save request OFF (0) or On (1) OFF (0) RW Bit NC
17.20 Enable power down save OFF (0) or On (1) OFF (0) RW Bit US
Enable menu 20 save and
17.21 OFF (0) or On (1) OFF (0) RW Bit US
restore
17.22 CTNet Token Ring ID 0 to 255 0 RW Uni US
17.23 CTNet node address 0 to 255 0 RW Uni US
17.24 CTNet baud rate 5.000 (0), 2.500 (1), 1.250 (2), 0.625 (3) 2.500 (1) RW Txt US
17.25 CTNet sync setup 0,000 to 9,999 0,000 RW Uni US
CTNet easy mode - first cyclic
17.26 0 to 25,503 0 RW Uni US
parameter destination node
CTNet easy mode - first cyclic source
17.27 0 to 9,999 0 RW Uni US
parameter
CTNet easy mode - second cyclic
17.28 0 to 25,503 0 RW Uni US
parameter destination node
CTNet easy mode - second cyclic
17.29 0 to 9,999 0 RW Uni US
source parameter
CTNet easy mode - third cyclic
17.30 0 to 25,503 0 RW Uni US
parameter destination node
CTNet easy mode - third cyclic source
17.31 0 to 9,999 0 RW Uni US
parameter
CTNet easy mode set-up - Transfer
17.32 0 to 9,999 0 RW Uni US
slot 1 destination parameter
CTNet easy mode set-up - Transfer
17.33 0 to 9,999 0 RW Uni US
slot 2 destination parameter
CTNet easy mode set-up - Transfer
17.34 motion processor destination 0 to 9,999 0 RW Uni US
parameter
Disabled (0), Event (1), Event1 (2), Event2 (3),
17.35 CTNet sync event task ID Disabled (0) RW Txt US
Event3 (4)
17.36 CTNet diagnostic parameter RO Uni NC PT
17.37 Reject download if drive enabled OFF (0) or On (1) OFF (0) RW Bit US
17.38 Do not trip drive on APC run-time error OFF (0) or On (1) OFF (0) RW Bit US
17.39 Inter-UT70 synchronization status 0 to 3 0 RO Uni NC
17.40 Inter-UT70 master transfer mode 0 to 10 1 RW Uni US
17.41 Indexer control 0 to 3 0 RW Uni NC
17.42 Freeze main drive position OFF (0) or On (1) OFF (0) RW Bit US
17.43 Freeze invert OFF (0) or On (1) OFF (0) RW Bit US
17.44 Task priority level 0 to 255 0 RW Uni US
17.45 User set-up parameter 1 0 RO Uni NC PT
17.46 User set-up parameter 2 0 RO Uni NC PT
17.47 User set-up parameter 3 0 RO Uni NC PT
17.48 DPL line number in error 0 to 2,147,483,647 0 RO Uni NC PT
17.49 User program ID -32,767 to +32,768 0 RO Bi NC PT
17.50 Solutions Module error status* 0 to 255 RO Uni NC PT
17.51 Solutions Module software sub-version 0 to 99 RO Uni NC PT

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

*See trip SLX.Er, Automation (I/O Expansion) module category on page 192.

160 Digitax ST User Guide

11.16.4 Digitax ST EZMotion

Table 11-8 Digitax ST EZMotion
Parameter Range(Ú) Default(Ö) Type
17.01 Motion processor code 303 303 RO PT US
17.02 Motion processor software version OFF (0) or On (1) RO Bit NC PT
17.13 EZ output 1 status OFF (0) or On (1) RO Bit NC PT
17.14 EZ output 2 status OFF (0) or On (1) RO Bit NC PT
17.17 EZ input 1 status OFF (0) or On (1) RO Bit NC PT
17.18 EZ input 2 status OFF (0) or On (1) RO Bit NC PT
17.19 EZ input 3 status OFF (0) or On (1) RO Bit NC PT
17.20 EZ input 4 status OFF (0) or On (1) RO Bit NC PT
17.48 System status OFF (0) or On (1) RO Bit NC PT
17.50 Motion processor error status 0 to 255 RO NC PT
17.51 Motion processor software sub-version 0 to 99 RO NC PT

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

11.17 Menu 18: Application menu 1

Parameter Range(Ú) Default(Ö) Type
Application menu 1 power-down
18.01 -32,768 to +32,767 0 RW Bi NC PS
saved integer
18.02 to
Application menu 1 read-only integer -32,768 to +32,767 0 RO Bi NC
18.10
18.11 to
Application menu 1 read-write integer -32,768 to +32,767 0 RW Bi US
18.30
18.31 to 0
Application menu 1 read-write bit OFF (0) or On (1) RW Bit US
18.50

11.18 Menu 19: Application menu 2

Parameter Range(Ú) Default(Ö) Type
Application menu 2 power-down
19.01 -32,768 to +32,767 0 RW Bi NC PS
saved integer
19.02 to
Application menu 2 read-only integer -32,768 to +32,767 0 RO Bi NC
19.10
19.11 to
Application menu 2 read-write integer -32,768 to +32,767 0 RW Bi US
19.30
19.31 to
Application menu 2 read-write bit OFF (0) or On (1) 0 RW Bit US
19.50

11.19 Menu 20: Application menu 3

Parameter Range(Ú) Default(Ö) Type
20.01 to
Application menu 3 read-write integer -32,768 to +32,767 0 RW Bi NC
20.20
20.21 to Application menu 3 read-write long
20.40 integer -231 to 231-1 0 RW Bi NC

Menu 20 parameters are transferred to the SMARTCARD when a 4yyy transfer is performed. See section 9.2.1 Writing to the SMARTCARD on
page 71 for more information.

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

Digitax ST User Guide 161

11.20 Menu 21: Second motor parameters

Parameter Range(Ú) Default(Ö) Type
21.01 Maximum reference clamp {0.02}* SPEED_LIMIT_MAX rpm 3,000.0 RW Uni US
21.02 Minimum reference clamp {0.01}* ±SPEED_LIMIT_MAX rpm 0.0 RW Bi PT US
21.03 Reference selector {0.05}* A1.A2 (0), A1.Pr (1), A2.Pr (2), Pr (3), PAd (4), Prc (5) A1.A2 (0) RW Txt US
0.000 to 3,200.000
21.04 Acceleration rate {0.03}* 0.200 RW Uni US
s/1000rpm
0.000 to 3,200.000
21.05 Deceleration rate {0.04}* 0.200 RW Uni US
s/1000rpm
21.07 Rated current {0.46}* 0 to RATED_CURRENT_MAX A Drive rated current (Pr 11.32) RW Uni RA US
21.08 Rated speed 0.00 to 40,000.00 rpm 3,000.00 RW Uni US
200V rating drive: 230V
21.09 Rated voltage {0.44}* 0 to AC_VOLTAGE_SET_MAX V RW Uni RA US
400V rating drive: EUR> 400V, USA> 460V
21.11 Number of motor poles {0.42}* Auto to 120 pole (0 to 60) 6 POLE (3) RW Txt US
21.12 Stator resistance 0.000 to 65.000 x 10 Ω 0.0 RW Uni RA US
21.14 Transient inductance (σLs) 0.000 to 500.000mH 0.000 RW Uni RA US
21.15 Motor 2 active OFF (0) or On (1) RO Bit NC PT
21.16 Thermal filter {0.45}* 0.0 to 3000.0 20.0 RW Uni US
21.17 Speed controller Kp gain {0.07}* 0.000 to 6.5535 rad s-1 0.0100 RW Uni US
21.18 Speed controller Ki gain {0.08}* 0.00 to 655.35 s/rad s-1 1.00 RW Uni US
0.00000 to 0.65535
21.19 Speed controller Kd gain {0.09}* 0.00000 RW Uni US
s-1/rad s-1
21.20 Encoder phase angle** {0.43}* 0.0 to 359.9 ° electrical 0.0 RW Uni US
21.21 Speed feedback selector drv (0), SLot1 (1), SLot2 (2), SLot3 (3) drv (0) RW Txt US
21.22 Current controller Kp gain {0.38}* 0 to 30,000 200V: 75, 400V: 150, RW Uni US
21.23 Current controller Ki gain {0.39}* 0 to 30,000 200V: 1,000, 400V: 2,000, RW Uni US
21.27 Motoring current limit 0 to MOTOR2_CURRENT_LIMIT_MAX % 300.0 RW Uni RA US
21.28 Regen current limit 0 to MOTOR2_CURRENT_LIMIT_MAX % 300.0 RW Uni RA US
21.29 Symmetrical current limit {0.06}* 0 to MOTOR2_CURRENT_LIMIT_MAX % 300.0 RW Uni RA US
21.30 Motor volts per 1,000 rpm, Ke SV> 0 to 10,000 V 98 RW Uni US
21.31 Motor pole pitch 0.00 to 655.35 mm 0.00 RW Uni US

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

* The menu 0 references are only valid when the second motor map parameters have been made active by setting Pr 11.45 to 1. (The second motor
map only becomes effective when the output stage of the drive is not enabled, i.e. inh, rdY, or trip states.)
When the second motor map parameters are active, the symbol ‘Mot2’ will appear in the lower left hand corner of the LCD display or the decimal point
that is second from the right on the first row of the LED display is lit.

**Encoder phase angle

The encoder phase angles in Pr 3.25 and Pr 21.20 are copied
to the SMARTCARD when using any of the SMARTCARD
transfer methods.
WARNING

162 Digitax ST User Guide

11.21 Menu 22: Additional Menu 0 set-up

Parameter Range(Ú) Default(Ö) Type
22.01 Parameter 0.31 set-up Pr 1.00 to Pr 21.51 Pr 11.33 RW Uni PT US
22.02 Parameter 0.32 set-up Pr 1.00 to Pr 21.51 Pr 11.32 RW Uni PT US
22.03 Parameter 0.33 set-up Pr 1.00 to Pr 21.51 Pr 0.00 RW Uni PT US
22.04 Parameter 0.34 set-up Pr 1.00 to Pr 21.51 Pr 11.30 RW Uni PT US
22.05 Parameter 0.35 set-up Pr 1.00 to Pr 21.51 Pr 11.24 RW Uni PT US
22.06 Parameter 0.36 set-up Pr 1.00 to Pr 21.51 Pr 11.25 RW Uni PT US
22.07 Parameter 0.37 set-up Pr 1.00 to Pr 21.51 Pr 11.23 RW Uni PT US
22.10 Parameter 0.40 set-up Pr 1.00 to Pr 21.51 Pr 5.12 RW Uni PT US
22.11 Parameter 0.41 set-up Pr 1.00 to Pr 21.51 Pr 5.18 RW Uni PT US
22.18 Parameter 0.48 set-up Pr 1.00 to Pr 21.51 Pr 11.31 RW Uni PT US
22.20 Parameter 0.50 set-up Pr 1.00 to Pr 21.51 Pr 11.29 RW Uni PT US
22.21 Parameter 0.51 set-up Pr 1.00 to Pr 21.51 Pr 10.37 RW Uni PT US
22.22 Parameter 0.52 set-up Pr 1.00 to Pr 21.51 Pr 0.00 RW Uni PT US
22.23 Parameter 0.53 set-up Pr 1.00 to Pr 21.51 Pr 0.00 RW Uni PT US
22.24 Parameter 0.54 set-up Pr 1.00 to Pr 21.51 Pr 0.00 RW Uni PT US
22.25 Parameter 0.55 set-up Pr 1.00 to Pr 21.51 Pr 0.00 RW Uni PT US
22.26 Parameter 0.56 set-up Pr 1.00 to Pr 21.51 Pr 0.00 RW Uni PT US
22.27 Parameter 0.57 set-up Pr 1.00 to Pr 21.51 Pr 0.00 RW Uni PT US
22.28 Parameter 0.58 set-up Pr 1.00 to Pr 21.51 Pr 0.00 RW Uni PT US
22.29 Parameter 0.59 set-up Pr 1.00 to Pr 21.51 Pr 0.00 RW Uni PT US

RW Read / Write RO Read only Uni Unipolar Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not copied RA Rating dependent PT Protected US User save PS Power down save

Digitax ST User Guide 163

11.22 Advanced features 1.15 Preset reference selector

This section gives information on some of the advanced functions of the RW Uni NC US
drive. For additional information see the Advanced User Guide.
Ú 0 to 9 Ö 0
Reference modes Pr 1.14, Pr 1.15 and Pr 8.39
Braking modes Pr 2.04 and Pr 2.08
8.39 T28 and T29 auto-selection disable
S ramps Pr 2.06 and Pr 2.07
RW Bit US
Torque modes Pr 4.08 and Pr 4.11
Stop modes Pr 6.01 and Pr 6.08 Ú OFF (0) or On (1) Ö OFF (0)
Main loss modes Pr 6.03, Pr 6.48, Pr 4.13 and Pr 4.14
If Pr 8.39 is set to OFF (0), then the setting of Pr 1.14 automatically
Start/stop logic modes Pr 6.04 and Pr 6.40 changes the operation of digital inputs T28 and T29 by configuring the
Position loop modes Pr 13.10 destination parameters Pr 8.25 and Pr 8.26. To allow Pr 8.25 and Pr 8.26
Fast disable Pr 6.29 to be changed manually by the user, the automatic set-up must be
disabled by setting Pr 8.39 to 1.
If Pr 8.39 is 0 and Pr 1.14 is changed, then a drive reset is required
before the function of terminal T28 or T29 will become active.

11.22.1 Reference modes

1.14 Reference selector
RW Txt NC US
A1.A2 (0), A1.Pr (2), A2.Pr (2),
Ú Pr (3), PAd (4), Prc (5)
Ö A1.A2 (0)

Table 11-9 Active reference

Digital Input T28 Digital Input T29

Pr 1.14 Pr 1.15 Pr 1.49 Pr 1.50 Active Reference
State Function State Function
0 1 1 Analog input 1
0 or 1 Local Remote
1 2 1 Analog input 2
2 to 8 No function 1 or 2 2 to 8 Preset reference 2 to 8
A1.A2 (0) Jog forward**
0 1 1 Analog input 1
Local Remote
9* 1 2 1 Analog input 2
No function 1 or 2 2 to 8 Preset reference 2 to 8
0 1 Analog input 1
0
1 2 Preset reference 2
0 Preset select bit 0 Preset select bit 1
0 3 Preset reference 3
1
1 4 Preset reference 4
A1.Pr (1) 1
1 1 Analog input 1
2 to 8 2 to 8 Preset reference 2 to 8
No function No function
1 Analog input 1
9*
2 to 8 Preset reference 2 to 8
0 1 Analog input 2
0
1 2 Preset reference 2
0 Preset select bit 0 Preset select bit 1
0 3 Preset reference 3
1
1 4 Preset reference 4
A2.Pr (2) 2
1 1 Analog input 2
2 to 8 2 to 8 Preset reference 2 to 8
No function No function
1 Analog input 2
9*
2 to 8 Preset reference 2 to 8
0 1 Preset reference 1
0
1 2 Preset reference 2
0 Preset select bit 0 Preset select bit 1
0 3 Preset reference 3
Pr (3) 1 3
1 4 Preset reference 4
1 to 8 1 to 8 Preset reference 1 to 8
No function No function
9* 1 to 8 Preset reference 1 to 8
PAd (4) No function No function 4 Keypad reference
Prc (5) No function No function 5 Precision reference
* Setting Pr 1.15 to 9 enables the Preset reference scan timer. With the ** Jog forward can only be selected when the drive is in either the ready
scan timer enabled the preset references are selected automatically in (rdy), inhibit (inh) or trip states.
turn. Pr 1.16 defines the time between each change.

164 Digitax ST User Guide

Preset references 2: Standard ramp with motor voltage boost

Preset references 1 to 8 are contained in Pr 1.21 to Pr 1.28. This mode is the same as normal standard ramp mode except that the
Keypad reference motor voltage is boosted by 20%. This increases the losses in the motor
If Keypad reference is selected the drive sequencer is controlled directly giving faster deceleration.
by the keypad keys and the keypad reference parameter (Pr 1.17) is
selected. The sequencing bits, Pr 6.30 to Pr 6.34, and Pr 6.37 have no 2.08 Standard ramp voltage
effect and jog is disabled.
RW Uni RA US
Precision reference
200V drive: 375
If Precision reference is selected the speed reference is given Pr 1.18 0 to
and Pr 1.19. Ú DC_VOLTAGE_SET_MAX V
Ö 400V drive: EUR> 750
USA> 775
11.22.2 Braking Modes
This voltage is used as the control level for standard ramp mode. If this
2.04 Ramp mode select parameter is set too low the machine will coast to rest, and if it is set too
high and no braking resistor is used the drive may give an over-volt ‘OV’
RW Txt US
trip. The minimum level should be greater than the voltage produced on
FASt (0), Std (1), the DC bus by the highest supply voltage. Normally the DC bus voltage
OL
Ú Std.hV (2) Ö Std (1) will be approximately the rms supply line voltage x √2.
CL FASt (0), Std (1)
Care should be taken in the setting of this parameter. It is
This parameter does not affect the acceleration ramp, as the ramp recommended that the setting should be at least 50V higher
output always rises at the programmed acceleration rate subject to the than the maximum expected level of the DC bus voltage. If
current limits. It is possible in under some unusual circumstances in this is not done, the motor may fail to decelerate on a STOP
WARNING command.
open-loop mode (i.e. highly inductive supply) for the motor to reach a low
speed in standard ramp mode, but not completely stop. It is also
possible if the drive attempts to stop the motor with an overhauling load 11.22.3 S ramps
in any mode that the motor will not stop when standard ramp mode or
fast ramp mode is used. If the drive is in the deceleration state the rate of 2.06 S ramp enable
fall of the frequency or speed is monitored. If this does not fall for 10
RW Bit US
seconds the drive forces the frequency or the speed reference to zero.
This only applies when the drive is in the deceleration state and not Ú OFF (0) or On (1) Ö OFF (0)
when the reference is simply set to zero.
Setting this parameter enables the S ramp function. S ramp is disabled
0: Fast ramp during deceleration using standard ramp. When the motor is accelerated
Fast ramp is used where the deceleration follows the programmed again after decelerating in standard ramp the acceleration ramp used by
deceleration rate subject to current limits. the S ramp function is reset to zero.

1: Standard ramp
Standard ramp is used. During deceleration, if the voltage rises to the 2.07 S ramp acceleration limit
standard ramp level (Pr 2.08) it causes a controller to operate, the output RW Uni US
of which changes the demanded load current in the motor. As the 0.000 to 100.000
controller regulates the DC bus voltage, the motor deceleration Ú Ö 0.030
s2/1000rpm
increases as the speed approaches zero speed. When the motor
deceleration rate reaches the programmed deceleration rate the This parameter defines the maximum rate of change of acceleration/
controller ceases to operate and the drive continues to decelerate at the deceleration. The default values have been chosen such that for the
programmed rate. If the standard ramp voltage (Pr 2.08) is set lower default ramps and maximum speed, the curved parts of the S will be
than the nominal DC bus level the drive will not decelerate the motor, but 25% of the original ramp if S ramp is enabled.
it will coast to rest. The output of the ramp controller (when active) is a
current demand that is fed to the torque producing current controller
Demanded Speed
modes. The gain of these controllers can be modified with Pr 4.13 and Acceleration
Pr 4.14. Actual Speed

Controller
operational

DC bus voltage Programmed

ramp rate

S ramp
acceleration
ramp

Motor Speed T/2 T/2 T/2 T/2 t

T T
Programmed
deceleration
rate Since the ramp rate is defined in s/100Hz or s/1000rpm and the S ramp
parameter is defined in s2/100Hz or s2/1000rpm, the time T for the
'curved' part of the S can be determined from:
T = S ramp rate of change / Ramp rate
t Enabling S ramp increases the total ramp time by the period T since an
additional T/2 is added to each end of the ramp in producing the S.

Digitax ST User Guide 165

11.22.4 Torque modes torque the four areas of operation shown below are possible.

4.08 Torque reference + final speed demand - final speed demand

+ resultant torque + resultant torque
RW Bi US
Ú ±USER_CURRENT_MAX % Ö 0.00

Parameter for main torque reference. The normal update rate for the
torque reference is 4ms. However if analog inputs 2 or 3 on the drive are
used as the source of the reference, the drive is in closed-loop vector or
servo mode and the analog inputs are in voltage mode with zero offset,
the sample time is reduced to 250μs.

4.11 Torque mode selector + final speed demand - final speed demand
-resultant torque - resultant torque
RW Uni US
Ú 0 to 4 Ö 0
This mode of operation can be used where torque control is required, but
the maximum speed must be limited by the drive.
When this parameter is set to 1, 2 or 3 the ramps are not active while the
drive is in the run state. When the drive is taken out of the run state, but 3: Coiler/uncoiler mode
not disabled, the appropriate stopping mode is used. It is recommended Positive final speed demand:
that coast stopping or stopping without ramps are used. However, if A positive resultant torque will give torque control with a positive
ramp stop mode is used the ramp output is pre-loaded with the actual speed limit defined by the final speed demand. A negative resultant
speed at the changeover point to avoid unwanted jumps in the speed torque will give torque control with a negative speed limit of -5rpm.
reference. Negative final speed demand:
0: Speed control mode A negative resultant torque will give torque control with a negative
The torque demand is equal to the speed loop output. speed limit defined by the final speed demand. A positive resultant
torque will give torque control with a positive speed limit of +5rpm.
1: Torque control
The torque demand is given by the sum of the torque reference and Example of coiler operation:
the torque offset, if enabled. The speed is not limited in any way, This is an example of a coiler operating in the positive direction. The final
however, the drive will trip at the overspeed threshold if runaway speed demand is set to a positive value just above the coiler reference
occurs. speed. If the resultant torque demand is positive the coiler operates with
a limited speed, so that if the material breaks the speed does not exceed
2: Torque control with speed override
a level just above the reference. It is also possible to decelerate the
The output of the speed loop defines the torque demand, but is
coiler with a negative resultant torque demand. The coiler will decelerate
limited between 0 and the resultant torque reference (Pr 4.08 and Pr
down to -5rpm until a stop is applied. The operating area is shown in the
4.09 (if enabled)). The effect is to produce an operating area as
following diagram.
shown below if the final speed demand and the resultant torque
reference are both positive. The speed controller will try and
accelerate the machine to the final speed demand level with a Area for coiler operation, speed
limited to ref and positve torque
torque demand defined by the resultant torque reference. However,
the speed cannot exceed the reference because the required torque Torque Final speed
demand
would be negative, and so it would be clamped to zero.

Current
Speed

Pr 4.08 +
Pr 4.09 (if enabled) -5rpm

Area for decelerating the coiler, reverse

speed limited and negative torque
Speed
Pr 3.01
Example of uncoiler operation:
This is an example for an uncoiler operating in the positive direction. The
Depending on the sign of the final speed demand and the resultant final speed demand should be set to a level just above the maximum
normal speed. When the resultant torque demand is negative the
uncoiler will apply tension and try and rotate at 5rpm in reverse, and so
take up any slack. The uncoiler can operate at any positive speed
applying tension. If it is necessary to accelerate the uncoiler a positive
resultant torque demand is used. The speed will be limited to the final
speed demand. The operating area is the same as that for the coiler and
is shown overleaf:

166 Digitax ST User Guide

2: ridE.th
The drive detects line power supply loss when the DC bus voltage falls
Area for accelerating below Vml1. The drive then enters a mode where a closed-loop
uncoiler: positive torque,
limited speed controller attempts to hold the DC bus level at Vml1. This causes the
Torque Speed reference motor to decelerate at a rate that increases as the speed falls. If the line
power supply is re-applied it will force the DC bus voltage above the
detection threshold Vml3 and the drive will continue to operate normally.
The output of the line power supply loss controller is a current demand
Speed that is fed into the current control system and therefore the gain Pr 4.13
and Pr 4.14 must be set up for optimum control. See parameters Pr 4.13
and Pr 4.14 for set-up details.
The following table shows the voltage levels used by drives with each
-5rpm Area for normal uncoiler voltage rating.
operation: negative torque,
limited to low speed in reverse Voltage level 200V drive 400V drive
Vuu 175 330
4: Speed control with torque feed-forward
The drive operates under speed control, but a torque value may be Vml1 205* 410*
added to the output of the speed controller. This can be used to improve Vml2 Vml1 - 10V Vml1 - 20V
the regulation of systems where the speed loop gains need to be low for
stability. Vml3 Vml1 + 10V Vml1 + 15V

11.22.5 Stop modes Vuu Restart 215 425

6.01 Stop mode * Vml1 is defined by Pr 6.48. The values in the table above are the
default values.
RW Txt US
Ú COASt (0), rP (1), no.rP (2) Ö no.rP (2)
6.48 Line power supply loss ride through detection level
RW Uni RA US
Only one stopping phases exists and the ready state is entered as soon
0 to 200V drive: 205
as the single stopping action is complete. Ú DC_VOLTAGE_SET_MAX V
Ö 400V drive: 410
Stopping Mode Action
The line power supply loss detection level can be adjusted using this
0: Coast Inhibits the inverter parameter. If the value is reduced below the default value, the default
1: Ramp Stop with ramp value is used by the drive. If the level is set too high, so that the line
2: No ramp Stop with no ramp power supply loss detection becomes active under normal operating
conditions, the motor will coast to a stop.
The motor can be stopped with position orientation after stopping. This
mode is selected with the position controller mode parameter (Pr 13.10).
4.13 Current loop P gain
When this mode is selected Pr 6.01 has no effect.
RW Uni US
200V drive: 75
6.08 Hold zero speed Ú 0 to 30,000 Ö 400V drive: 150
RW Bit US
Ú OFF (0) or On (1) Ö On (1)
4.14 Current loop I gain
When this bit is set the drive remains active even when the run RW Uni US
command has been removed and the motor has reached standstill.
200V drive: 1,000
11.22.6 Line power supply loss modes Ú 0 to 30,000 Ö 400V drive: 2,000

6.03 Line power supply loss mode

The Kp and Ki gains are used in the voltage based current controller.
RW Txt US The default values give satisfactory operation with most motors.
Ú diS (0), StoP (1), ridE.th (2) Ö diS (0) However it may be necessary to change the gains to improve the
performance. The proportional gain (Pr 4.13) is the most critical value in
0: diS controlling the performance. Either the value can be set by auto-tuning
There is no line power supply loss detection and the drive operates (see Pr 5.12) or it can be set by the user so that
normally only as long as the DC bus voltage remains within specification Pr 4.13 = Kp = (L / T) x (Ifs / Vfs) x (256 / 5)
(i.e. >Vuu). Once the voltage falls below Vuu an under-voltage ‘UV’ trip
Where:
occurs. This will reset itself if the voltage rises above Vuu Restart, as
T is the sample time of the current controllers. The drive
stated in the table below.
compensates for any change of sample time, and so it should be
assumed that the sample time is equivalent to the lowest sample
1: StoP
rate of 167μs.
The speed reference is set to zero and the ramps are disabled allowing
the drive to decelerate the motor to a stop under current limit. If the line L is the motor inductance. For a servo motor this is half the phase to
power supply is re-applied while the motor is stopping any run signal is phase inductance that is normally specified by the manufacturer. For
ignored until the motor has stopped. If the current limit value is set very an induction motor this is the per phase transient inductance (σLs).
low level the drive may trip UV before the motor has stopped. This is the inductance value stored in Pr 5.24 after the autotune test

Digitax ST User Guide 167

is carried out. If σLs cannot be measured it can be calculated from

Pr 6.04 T25 (Pr 8.22) T26 (Pr 8.23) T27 (Pr 8.24) Pr 6.40
the steady state per-phase equivalent circuit of the motor as follows:
2 Pr 6.29 Pr 6.30 Pr 6.32 0
⎛ Lm ⎞ 0
σL s = L s – ⎜ ----------⎟ (Fast Disable) (Run Forward) (Run Reverse) (Non Latching)
⎝ Lr ⎠ Pr 6.39 Pr 6.30 Pr 6.32 1
1
Ifs is the peak full scale current feedback = KC x √2 / 0.45. Where KC (Run Permit) (Run Forward) (Run Reverse) (Latching)
is defined in Pr 11.32. Pr 6.29 Pr 6.34 Pr 6.33 0
2
(Fast Disable) (Run) (Fwd/Rev) (Non Latching)
Vfs is the maximum DC bus voltage.
Pr 6.39 Pr 6.34 Pr 6.33 1
Therefore: 3
(Run Permit) (Run) (Fwd/Rev) (Latching)
Pr 4.13 = Kp = (L / 167μs) x (KC x √2 / 0.45 / Vfs) x (256 / 5)
User User User User
= K x L x KC 4
programmable programmable programmable programmable
Where:
K = [√2 / (0.45 x Vfs x 167μs)] x (256 / 5) If Pr 6.04 has been set to a value of 0 to 3, then setting Pr 6.04 to 4 does
not automatically reconfigure terminals T25, T26 and T27 to their default
Drive voltage rating Vfs K functions. To return terminals T25, T26 and T27 to their default
200V 415V 2322 functions, one of the following operations should be performed.
400V 830V 1161 • Drive defaults should be restored. See section 4.8 Restoring
parameter defaults on page 105 for details.
This set-up will give a step response with minimum overshoot after a
• Manually set Pr 6.04 to 4, Pr 6.40 to 0, Pr 8.22 to 10.33, Pr 8.23 to
step change of current reference. The approximate performance of the
6.30, and Pr 8.24 to 6.32.
current controllers will be as given below. The proportional gain can be
increased by a factor of 1.5 giving a similar increase in bandwidth, Figure 11-40 Digital input connections when Pr 6.04 is set
however, this gives at step response with approximately 12.5% to 0 to 3
overshoot.
Pr 6.04 is set to 0 Pr 6.04 is set to 1
Switching Current control Gain Phase
frequency sample time bandwidth delay 21 21
kHz μs Hz μs +24V 22 +24V 22
3 167 TBA 1160 23 23
4 125 TBA 875 24 24
6 83 TBA 581 25 Run Permit 25
8 125 TBA 625 Run Fwd 26 Run Fwd 26
12 83 TBA 415 Run Rev 27 Run Rev 27

The integral gain (Pr 4.14) is less critical and should be set so that 28 28
29 29
Pr 4.14 = Ki = Kp x 256 x T / τm
30 30
Where:
31 31
τm is the motor filter (L / R).
R is the per phase stator resistance of the motor (i.e. half the
resistance measured between two phases). Pr 6.04 is set to 2 Pr 6.04 is set to 3
Therefore
Pr 4.14 = Ki = (K x L x KC) x 256 x 167μs x R / L 21 21
= 0.0427 x K x R x KC +24V 22 +24V 22

The above equation gives a conservative value of integral gain. In some 23 23

applications where it is necessary for the reference frame used by the 24 24
drive to dynamically follow the flux very closely (i.e. high speed closed- 25 Run Permit 25
loop induction motor applications) the integral gain may need to have a Run 26 Run 26
significantly higher value.
Fwd/Rev 27 Fwd/Rev 27
11.22.7 Start / stop logic modes 28 28
29 29
6.04 Start / stop logic select
30 30
RW Uni US
31 31
Ú 0 to 4 Ö 0
Key
This parameter is provided to allow the user to select several predefined Continuous contact
digital input routing macros to control the sequencer. When a value
Momentary contact
between 0 and 3 is selected the drive processor continuously updates
the destination parameters for digital I/O T25, T26 and T27, and the
enable sequencer latching bit (Pr 6.40). When a value of 4 is selected
the destination parameters for these digital I/O and Pr 6.40 can be 6.40 Enable sequencer latching
modified by the user.
RW Bit US
If Pr 6.04 is changed then a drive reset is required before the function of
T25, T26 or T27 will become active. Ú OFF (0) or On (1) Ö OFF (0)

168 Digitax ST User Guide

This parameter enables sequencer latching. When sequencer latching is Non-rigid position control
used, a digital input must be used as a run permit or not stop input. The In non-rigid position control the position loop is only active when the 'At
digital input should write to Pr 6.39. The run permit or not stop input must Speed' condition is met (see Pr 3.06). This allows slippage to occur while
be made active to allow the drive to run. Making the run permit or not the speed error is high.
stop input inactive resets the latch and stops the drive.
Speed
11.22.8 Catch a spinning motor
6.09 Catch a spinning motor Reference
RW Uni US
Ú 0 to 1 Ö 1
Actual

When the drive is enabled with this bit at zero, the post ramp reference
(Pr 2.01) starts at zero and ramps to the required reference. When the
drive is enabled with this bit at one, the post ramp reference is set to the
motor speed.
When closed-loop vector mode is used without position feedback, and
catch a spinning motor is not required, this parameter should be set to
Velocity feed forward
zero as this avoids unwanted movement of the motor shaft when zero
The position controller can generate a velocity feed forwards value from
speed is required. When closed-loop vector mode without position
the speed of the reference encoder. The feed-forwards value is passed
feedback is used with larger motors it may be necessary to increase
to menu, and so ramps may be included if required. Because the
Pr 5.40 Spin start boost from its default value of 1.0 for the drive to
position controller only has a proportional gain, it is necessary to use
successfully detect the motor speed.
velocity feed-forwards to prevent a constant position error that would be
11.22.9 Position modes proportional to the speed of the reference position.
If for any reason the user wishes to provide the velocity feed forward
13.10 Position controller mode from a source other than the reference position, the feed forward system
RW Uni US can be made inactive, i.e. Pr 13.10 = 2 or 4. The external feed forward
can be provided via Menu 1 from any of the frequency/speed references.
Ú 0 to 6 Ö 0
However, if the feed forward level is not correct a constant position error
will exist.
This parameter is used to set the position controller mode as shown in
the table below. Relative jogging
If relative jogging is enabled the feedback position can be made to move
Parameter Feed forward relative the reference position at the speed defined by Pr 13.17.
Mode
value active Orientation
0 Position controller disabled If Pr 13.10 is 5 the drive orientates the motor following a stop command.
If hold zero speed is enabled (Pr 6.08 = 1) the drive remains in position
1 Rigid position control 9 control when orientation is complete and hold the orientation position. If
2 Rigid position control hold zero speed is not enabled the drive is disabled when orientation is
3 Non-rigid position control 9 complete.
4 Non-rigid position control If Pr 13.10 is 6 the drive orientates the motor following a stop command
5 Orientation on stop and whenever the drive is enabled provided that hold zero speed is
enabled (Pr 6.08 = 1). This ensures that the spindle is always in the
Orientation on stop and when
6 same position following the drive being enabled.
drive enabled
When orientating from a stop command the drive goes through the
Rigid position control following sequence:
In rigid position control the position error is always accumulated. This 1. The motor is decelerated or accelerated to the speed limit
means that, if for example, the slave shaft is slowed down due to programmed in Pr 13.12, using ramps if these are enabled, in the
excessive load, the target position will eventually be recovered by direction the motor was previously running.
running at a higher speed when the load is removed. 2. When the ramp output reaches the speed set in Pr 13.12, ramps are
disabled and the motor continues to rotate until the position is found
to be close to the target position (i.e. within 1/32 of a revolution). At
Speed Actual this point the speed demand is set to 0 and the position loop is
closed.
3. When the position is within the window defined by Pr 13.14, the
Reference orientation complete indication is given in Pr 13.15.
The stop mode selected by Pr 6.01 has no effect if orientation is
enabled.

Equal Areas

Digitax ST User Guide 169

11.22.10 Fast Disable

6.29 Hardware enable
RO Bit NC PT
Ú OFF (0) or On (1) Ö
This bit is a duplicate of parameter Pr 8.09 and reflects the state of the
enable input. With software V01.10.00 and later, if the destination of one
of the drive digital I/O (Pr 8.21 to Pr 8.26) is set to Pr 6.29 and the I/O is
set as an input, the state of the input does not affect the value of this
parameter as it is protected, however, it does provide a fast disable
function.
The SAFE TORQUE OFF input to the drive (T31) disables the drive in
hardware by removing the gate drive signals from the inverter IGBTs and
also disables the drive via the software system. When the drive is
disabled by de-activating the SAFE TORQUE OFF input (T31) there can
be a delay of up to 20ms (typically 8ms) before the drive is disabled.
However, if a digital I/O is set up to provide the fast disable function it is
possible to disable the drive within 600μs of de-activating the input. To
do this an enable signal should be given to both the SAFE TORQUE
OFF input (T31) and to the digital I/O selected for the fast disable
function. The state of the digital I/O including the effect of its associated
invert parameter is ANDed with the SAFE TORQUE OFF (T31) to
enable the drive.

If the safety function of the SAFE TORQUE OFF input is

required then there must not be a direct connection between
the SAFE TORQUE OFF input (T31) and any other digital I/
O on the drive. If the safety function of the SAFE TORQUE
WARNING
OFF input and the fast disable function is required then the
drive should be given two separate independent enable
signals. A safety related enable from a safe source
connected to the SAFE TORQUE OFF input on the drive. A
second enable connected to the digital I/O on the drive
selected for the fast disable function. The circuit must be
arranged so that a fault which causes the fast input to be
forced high cannot cause the SAFE TORQUE OFF input to
be forced high, including the case where a component such
as a blocking diode has failed.

170 Digitax ST User Guide

12 Technical Data
12.1 Drive technical data
12.1.1 Power and current ratings (Derating for switching frequency)
12.1.2 Typical pulse duty
The following tables give examples of load profiles that indicate the performance of the drive.
The profiles simulate the drive accelerating from standstill to full speed.
12.1.3 Repetitive profile with defined level of Ipeak
Figure 12-1 Repetitive profile with defined level of Ipeak
Current (A)

IMax
Ipeak

Tpeak Time

Speed
Tduty

Time
This is a profile with acceleration/deceleration periods where the peak output current from the drive (Ipeak) is given as a proportion of the nominal
current (In) for a defined period of time. (Tpeak).
For example accelerating/decelerating for 10s with a current of 2.0 x In.
The ratio between accelerating/decelerating period (Tpeak) and the total profile period (Tduty) is always 1:10.
The profile shows the level of current that can be provided during the running/stopped period when the maximum peak current is used for
accelerating/decelerating.
Ibase is the drive output current during the constant speed segment of the profile.
Table 12-1 Repetitive profile with defined level of Ipeak at 6kHz switching frequency, ≤230Vac supply for DST120X and ≤400Vac supply for
DST140X
Overloads
In 1.5 x In for 60s 1.75 x In for 40s 2.0 x In for 10s 2.5 x In for 2s 3.0 x In for 0.25s
Model
Ibase Ipeak Ibase Ipeak Ibase Ipeak Ibase Ipeak Ibase Ipeak
A
DST1201 1.7 1.7 2.6 1.7 3.0 1.7 3.4 1.7 4.3 1.7 5.1
DST1202 3.8 3.8 5.7 3.8 6.7 3.8 7.6 3.8 9.5 3.8 11.4
DST1203 5.4 5.4 8.1 5.4 9.5 5.4 10.8 5.4 13.5 5.4 16.2
DST1204 7.6 7.6 11.4 7.6 13.3 7.6 15.2 7.6 19.0 7.6 22.8
DST1401 1.5 1.5 2.3 1.5 2.6 1.5 3.0 1.5 3.8 1.5 4.5
DST1402 2.7 2.7 4.1 2.7 4.7 2.7 5.4 2.7 6.8 2.7 8.1
DST1403 4.0 4.0 6.0 4.0 7.0 4.0 8.0 4.0 10.0 4.0 12.0
DST1404 5.9 5.9 8.9 5.9 10.3 5.9 11.8 5.9 14.8 5.9 17.7
DST1405 8.0 6.5 12.0 8.0 14.0 8.0 16.0 8.0 20.0 8.0 24.0

Digitax ST User Guide 171

Table 12-2 Repetitive profile with defined level of Ipeak at 8kHz switching frequency, ≤230Vac supply for DST120X and ≤400Vac supply for
DST140X
Overloads
In 1.5 x In for 60s 1.75 x In for 40s 2.0 x In for 10s 2.5 x In for 2s 3.0 x In for 0.25s
Model
Ibase Ipeak Ibase Ipeak Ibase Ipeak Ibase Ipeak Ibase Ipeak
A
DST1201 1.7 1.7 2.6 1.7 3.0 1.7 3.4 1.7 4.3 1.7 5.1
DST1202 3.8 3.8 5.7 3.8 6.7 3.8 7.6 3.8 9.5 3.8 11.4
DST1203 5.4 5.4 8.1 5.4 9.5 5.4 10.8 5.4 13.5 5.4 16.2
DST1204 7.6 7.6 11.4 7.6 13.3 7.6 15.2 7.6 19.0 7.6 22.8
DST1401 1.5 1.5 2.3 1.5 2.6 1.5 3.0 1.5 3.8 1.5 4.5
DST1402 2.7 2.7 4.1 2.7 4.7 2.7 5.4 2.7 6.8 2.7 8.1
DST1403 4.0 4.0 6.0 4.0 7.0 4.0 8.0 4.0 10.0 4.0 12.0
DST1404 5.9 5.9 8.9 5.7 10.3 5.9 11.8 5.9 14.8 5.9 17.7
DST1405 8.0 4.1 12.0 4.3 14.0 8.0 16.0 8.0 20.0 7.8 24.0

Table 12-3 Repetitive profile with defined level of Ipeak at 6kHz switching frequency, ≤240Vac supply for DST120X and ≤480Vac supply for
DST140X
Overloads
In 1.5 x In for 60s 1.75 x In for 40s 2.0 x In for 10s 2.5 x In for 2s 3.0 x In for 0.25s
Model
Ibase Ipeak Ibase Ipeak Ibase Ipeak Ibase Ipeak Ibase Ipeak
A
DST1201 1.7 1.7 2.6 1.7 3.0 1.7 3.4 1.7 4.3 1.7 5.1
DST1202 3.8 3.8 5.7 3.8 6.7 3.8 7.6 3.8 9.5 3.8 11.4
DST1203 5.4 5.4 8.1 5.4 9.5 5.4 10.8 5.4 13.5 5.4 16.2
DST1204 7.6 7.6 11.4 7.6 13.3 7.6 15.2 7.6 19.0 7.6 22.8
DST1401 1.5 1.5 2.3 1.5 2.6 1.5 3.0 1.5 3.8 1.5 4.5
DST1402 2.7 2.7 4.1 2.7 4.7 2.7 5.4 2.7 6.8 2.7 8.1
DST1403 4.0 4.0 6.0 4.0 7.0 4.0 8.0 4.0 10.0 4.0 12.0
DST1404 5.9 5.9 8.9 5.9 10.3 5.9 11.8 5.9 14.8 5.9 17.7
DST1405 8.0 8.0 12.0 8.0 14.0 8.0 16.0 8.0 20.0 8.0 24.0

Table 12-4 Repetitive profile with defined level of Ipeak at 8kHz switching frequency, ≤240Vac supply for DST120X and ≤480Vac supply for
DST140X
Overloads
In 1.5 x In for 60s 1.75 x In for 40s 2.0 x In for 10s 2.5 x In for 2s 3.0 x In for 0.25s
Model
Ibase Ipeak Ibase Ipeak Ibase Ipeak Ibase Ipeak Ibase Ipeak
A
DST1201 1.7 1.7 2.6 1.7 3.0 1.7 3.4 1.7 4.3 1.7 5.1
DST1202 3.8 3.8 5.7 3.8 6.7 3.8 7.6 3.8 9.5 3.8 11.4
DST1203 5.4 5.4 8.1 5.4 9.5 5.4 10.8 5.4 13.5 5.4 16.2
DST1204 7.6 7.6 11.4 7.6 13.3 7.6 15.2 7.6 19.0 7.6 22.8
DST1401 1.5 1.5 2.3 1.5 2.6 1.5 3.0 1.5 3.8 1.5 4.5
DST1402 2.7 2.7 4.1 2.7 4.7 2.7 5.4 2.7 6.8 2.7 8.1
DST1403 4.0 4.0 6.0 4.0 7.0 4.0 8.0 4.0 10.0 4.0 12.0
DST1404 5.9 5.5 8.9 5.0 10.3 5.9 11.8 5.9 14.8 5.9 17.7
DST1405 8.0 3.6 12.0 3.8 14.0 7.2 16.0 7.3 20.0 6.9 24.0

172 Digitax ST User Guide

12.1.4 Repetitive profile with defined ratio between Ibase to Ipeak

Figure 12-2 Repetitive profile with defined ratio between Ibase to Ipeak
Current (A)

IMax
Ipeak

Tpeak Time

Speed
Tduty

Time
This is a profile with acceleration/deceleration periods where the peak output current from the drive (Ipeak) is given as a proportion of the base current
(Ibase) for a defined period of time. (Tpeak).
For example accelerating/decelerating for 10s with a current of 2.0 x Ibase.
The ratio between accelerating/decelerating period (Tpeak) and the total profile period (Tduty) is always 1:10.
The profile shows the highest Ibase ratings possible for the given Ipeak/Ibase ratio.
Table 12-5 Repetitive profile with defined ratio between Ibase to Ipeak at 6kHz switching frequency, ≤230Vac supply for DST120X and
≤400Vac supply for DST140X
Overloads
In 1.5 x Ibase for 60s 1.75 x Ibase for 40s 2.0 x Ibase for 10s 2.5 x Ibase for 2s 3.0 x Ibase for 0.25s
Model
Ibase Ipeak Ibase Ipeak Ibase Ipeak Ibase Ipeak Ibase Ipeak
A
DST1201 1.7 1.7 2.6 1.7 3.0 1.7 3.4 1.7 4.3 1.7 5.1
DST1202 3.8 3.8 5.7 3.8 6.7 3.8 7.6 3.8 9.5 3.8 11.4
DST1203 5.4 5.4 8.1 5.4 9.5 5.4 10.8 5.4 13.5 5.4 16.2
DST1204 7.6 7.6 11.4 7.6 13.3 7.6 15.2 7.6 19.0 7.6 22.8
DST1401 1.5 1.5 2.3 1.5 2.6 1.5 3.0 1.5 3.8 1.5 4.5
DST1402 2.7 2.7 4.1 2.7 4.7 2.7 5.4 2.7 6.8 2.7 8.1
DST1403 4.0 4.0 6.0 4.0 7.0 4.0 8.0 4.0 10.0 4.0 12.0
DST1404 5.9 5.9 8.9 5.9 10.3 5.9 11.8 5.9 14.8 5.9 17.7
DST1405 8.0 8.0 12.0 8.0 14.0 8.0 16.0 8.0 20.0 8.0 24.0

Table 12-6 Repetitive profile with defined ratio between Ibase to Ipeak at 8kHz switching frequency, ≤230Vac supply for DST120X and
≤400Vac supply for DST140X
Overloads
In 1.5 x Ibase for 60s 1.75 x Ibase for 40s 2.0 x Ibase for 10s 2.5 x Ibase for 2s 3.0 x Ibase for 0.25s
Model
Ibase Ipeak Ibase Ipeak Ibase Ipeak Ibase Ipeak Ibase Ipeak
A
DST1201 1.7 1.7 2.6 1.7 3.0 1.7 3.4 1.7 4.3 1.7 5.1
DST1202 3.8 3.8 5.7 3.8 6.7 3.8 7.6 3.8 9.5 3.8 11.4
DST1203 5.4 5.4 8.1 5.4 9.5 5.4 10.8 5.4 13.5 5.4 16.2
DST1204 7.6 7.6 11.4 7.6 13.3 7.6 15.2 7.6 19.0 7.6 22.8
DST1401 1.5 1.5 2.3 1.5 2.6 1.5 3.0 1.5 3.8 1.5 4.5
DST1402 2.7 2.7 4.1 2.7 4.7 2.7 5.4 2.7 6.8 2.7 8.1
DST1403 4.0 4.0 6.0 4.0 7.0 4.0 8.0 4.0 10.0 4.0 12.0
DST1404 5.9 5.9 8.9 5.9 10.3 5.9 11.8 5.9 14.8 5.9 17.7
DST1405 8.0 7.2 10.8 7.2 12.6 8.0 16.0 8.0 20.0 8.0 24.0

Digitax ST User Guide 173

Table 12-7 Repetitive profile with defined ratio between Ibase to Ipeak at 6kHz switching frequency, ≤240Vac supply for DST120X and
≤480Vac supply for DST140X
Overloads
In 1.5 x Ibase for 60s 1.75 x Ibase for 40s 2.0 x Ibase for 10s 2.5 x Ibase for 2s 3.0 x Ibase for 0.25s
Model
Ibase Ipeak Ibase Ipeak Ibase Ipeak Ibase Ipeak Ibase Ipeak
A
DST1201 1.7 1.7 2.6 1.7 3.0 1.7 3.4 1.7 4.3 1.7 5.1
DST1202 3.8 3.8 5.7 3.8 6.7 3.8 7.6 3.8 9.5 3.8 11.4
DST1203 5.4 5.4 8.1 5.4 9.5 5.4 10.8 5.4 13.5 5.4 16.2
DST1204 7.6 7.6 11.4 7.6 13.3 7.6 15.2 7.6 19.0 7.6 22.8
DST1401 1.5 1.5 2.3 1.5 2.6 1.5 3.0 1.5 3.8 1.5 4.5
DST1402 2.7 2.7 4.1 2.7 4.7 2.7 5.4 2.7 6.8 2.7 8.1
DST1403 4.0 4.0 6.0 4.0 7.0 4.0 8.0 4.0 10.0 4.0 12.0
DST1404 5.9 5.9 8.9 5.9 10.3 5.9 11.8 5.9 14.8 5.9 17.7
DST1405 8.0 8.0 12.0 8.0 14.0 8.0 16.0 8.0 20.0 8.0 24.0

Table 12-8 Repetitive profile with defined ratio between Ibase to Ipeak at 8kHz switching frequency, ≤240Vac supply for DST120X and
≤480Vac supply for DST140X
Overloads
In 1.5 x Ibase for 60s 1.75 x Ibase for 40s 2.0 x Ibase for 10s 2.5 x Ibase for 2s 3.0 x Ibase for 0.25s
Model
Ibase Ipeak Ibase Ipeak Ibase Ipeak Ibase Ipeak Ibase Ipeak
A
DST1201 1.7 1.7 2.6 1.7 3.0 1.7 3.4 1.7 4.3 1.7 5.1
DST1202 3.8 3.8 5.7 3.8 6.7 3.8 7.6 3.8 9.5 3.8 11.4
DST1203 5.4 5.4 8.1 5.4 9.5 5.4 10.8 5.4 13.5 5.4 16.2
DST1204 7.6 7.6 11.4 7.6 13.3 7.6 15.2 7.6 19.0 7.6 22.8
DST1401 1.5 1.5 2.3 1.5 2.6 1.5 3.0 1.5 3.8 1.5 4.5
DST1402 2.7 2.7 4.1 2.7 4.7 2.7 5.4 2.7 6.8 2.7 8.1
DST1403 4.0 4.0 6.0 4.0 7.0 4.0 8.0 4.0 10.0 4.0 12.0
DST1404 5.9 5.9 8.9 5.6 9.8 5.9 11.8 5.9 14.8 5.9 17.7
DST1405 8.0 7.2 10.8 6.8 11.9 7.6 15.2 7.6 19.0 7.6 22.8

12.1.5 Continuous rating

Table 12-9 Continuous rating with no overload, ≤230Vac supply Table 12-10 Continuous rating with no overload, ≤240Vac supply
for DST120X and ≤400Vac supply for DST140X for DST120X and ≤480Vac supply for DST140X
6kHz 8kHz 12kHz 6kHz 8kHz 12kHz
In Icont at Icont at Icont at Icont at Icont at Icont at In Icont at Icont at Icont at Icont at Icont at Icont at
Model Model
150Hz 0Hz 150Hz 0Hz 150Hz 0Hz 150Hz 0Hz 150Hz 0Hz 150Hz 0Hz
A A
DST1201 1.7 1.7 DST1201 1.7 1.7
DST1202 3.8 3.8 DST1202 3.8 3.8
DST1203 5.4 5.4 DST1203 5.4 5.4
DST1204 7.6 7.6 DST1204 7.6 7.6
DST1401 1.5 1.5 DST1401 1.5 1.5
DST1402 2.7 2.7 DST1402 2.7 2.7
DST1403 4.0 4.0 DST1403 4.0 4.0 3.4
DST1404 5.9 5.9 4.2 DST1404 5.9 5.9 5.4 3.4
DST1405 8.0 8.0 7.0 7.9 5.0 DST1405 8.0 8.0 7.5 8.0 6.2 6.4 4.0

NOTE
The power available from a rectifier may limit these figures.
The drive will automatically reduce the output switching frequency so that the highest possible output current can be supported without a thermal trip.
This allows the drive to support the highest possible current at standstill while operating at a higher switching frequency under normal running
conditions.
This feature can be disabled using drive Pr 5.35, see the Advanced User Guide for further details.

174 Digitax ST User Guide

12.1.6 Maximum power ratings 12.1.7 Power dissipation

For the models shown, the protection systems limit the output rating of Table 12-13 Maximum drive losses
the drive.
6kHz 8kHz 12kHz
The ratings are based on the following operating conditions: Model
W W W
• Ambient temperature = 40°C
DST1201 64 65 69
• Altitude = 1000m
DST1202 79 82 88
Table 12-11 Maximum rectifier power, ≤230Vac supply for
DST120X and ≤400Vac supply for DST140X DST1203 102 109 122
DST1204 107 110 118
Power at supply voltage
DST1401 79 87 101
No. of Input Without line
Model With line reactor DST1402 77 81 90
phases reactor
DST1403 124 142 177
kW kW
DST1404 127 143 175
DST1201 1 0.329 DST1405 150 169 207
DST1202 1 0.714
DST1203 1 0.864
12.1.8 Supply requirements
DST1204 1 1.391 Table 12-14 Supply requirements
DST1201 3 0.51 Frequency
Model Voltage
range
DST1202 3 1.13
DST120X 200V to 240V ±10% single phase 48Hz to 65Hz
DST1203 3 1.61
DST120X 200V to 240V ±10% three phase* 48Hz to 65Hz
DST1204 3 1.77 1.98
DST140X 380V to 480V ±10% three phase* 48Hz to 65Hz
DST1401 3 0.77
DST1402 3 1.36 *Maximum supply in-balance: 2% negative phase sequence (equivalent
DST1403 3 2.04 to 3% voltage in-balance between phases).
DST1404 3 2.93 2.99 Frequency range: 48 to 65 Hz
DST1405 3 2.77 3.05 For UL compliance only, the maximum supply symmetrical fault current
must be limited to 100kA
Table 12-12 Maximum rectifier power, ≤240Vac supply for
DST120X and ≤480Vac supply for DST140X 12.1.9 Line reactors
Input line reactors reduce the risk of damage to the drive resulting from
Power at supply voltage poor phase balance or severe disturbances on the supply network.
No. of Input Without line Where line reactors are to be used, reactance values of approximately
Model With line reactor
phases reactor 2% are recommended. Higher values may be used if necessary, but may
kW kW result in a loss of drive output (reduced torque at high speed) because of
the voltage drop.
DST1201 1 0.394
DST1202 1 0.857 For all drive ratings, 2% line reactors permit drives to be used with a
supply imbalance of up to 3.5% negative phase sequence (equivalent to
DST1203 1 1.03
5% voltage imbalance between phases).
DST1204 1 1.66
Severe disturbances may be caused by the following factors, for
DST1201 3 0.609 example:
DST1202 3 1.35
• Power factor correction equipment connected close to the drive
DST1203 3 1.92 • Large DC drives having no or inadequate line reactors connected to
DST1204 3 2.12 2.38 the supply
DST1401 3 0.924 • Direct-on-line started motor(s) connected to the supply such that
DST1402 3 1.63 when any of these motors are started, the voltage dip exceeds 20%

DST1403 3 2.44 Such disturbances may cause excessive peak currents to flow in the
input power circuit of the drive. This may cause nuisance tripping, or in
DST1404 3 3.51 3.58
extreme cases, failure of the drive.
DST1405 3 3.32 3.65
Drives of low power rating may also be susceptible to disturbance when
connected to supplies with a high rated capacity.
When required, each drive must have its own reactor(s). Three individual
reactors or a single three-phase reactor should be used.
Reactor current ratings
Continuous current:
Not less than the continuous input current rating of the drive.
Repetitive peak current:
Not less than three times the continuous input current rating of the drive.

Digitax ST User Guide 175

12.1.10 Input inductor calculation Table 12-15 IP Rating degrees of protection

To calculate the inductance required (at Y%), use the following equation:
First digit Second digit
Y V 1 Protection against contact and Protection against ingress of water
L = ---------- × ------- × ------------
100 3 2πfI ingress of foreign bodies
Where: 0 No protection 0 No protection
I = drive rated input current (A) Protection against large
L = inductance (H) foreign bodies φ > 50mm Protection against vertically
f = supply frequency (Hz) 1 1
(large area contact with the falling drops of water
V = voltage between lines hand)
Protection against medium
Protection against spraywater
12.1.11 Motor requirements 2 size foreign bodies φ > 12mm 2
(up to 15° from the vertical)
No. of phases: 3 (finger)
Maximum voltage: Protection against small
Protection against spraywater
Digitax ST (200V): 240V 3 foreign bodies φ > 2.5mm 3
(up to 60° from the vertical)
Digitax ST (400V): 480V (tools, wires)
12.1.12 Temperature, humidity and cooling method Protection against granular
Protection against splashwater
4 foreign bodies φ > 1mm (tools, 4
Ambient temperature operating range: (from all directions)
wires)
0°C to 50°C (32°F to 122°F).
Output current derating must be applied at ambient temperatures Protection against dust Protection against heavy
>40°C (104°F). 5 deposit, complete protection 5 splash water (from all
Minimum temperature at power-up: against accidental contact. directions, at high pressure)
-15°C (5°F), the supply must be cycled when the drive has warmed Protection against dust
Protection against deckwater
up to 0°C (32°F). 6 ingress, complete protection 6
(e.g. in heavy seas)
Cooling method: Forced convection against accidental contact.
7 - 7 Protection against immersion
Maximum humidity: 95% non-condensing at 40°C (104°F)
8 - 8 Protection against submersion
12.1.13 Storage
-40oC (-40oF) to +50oC (122oF) for long term storage, or to +70°C Table 12-16 UL enclosure ratings
(158°F) for short term storage. UL rating Description
Storage time is 2 years. Enclosures are intended for indoor use, primarily
Electrolytic capacitors in any electronic product have a storage period Type 1 to provide a degree of protection against limited
after which they require reforming or replacing. amounts of falling dirt.
The DC bus capacitors have a storage period of 10 years. Enclosures are intended for indoor use, primarily
Type 12 to provide a degree of protection against dust,
The low voltage capacitors on the control supplies typically have a
falling dirt and dripping non-corrosive liquids.
storage period of 2 years and are thus the limiting factor.
Low voltage capacitors cannot be reformed due to their location in the 12.1.16 Corrosive gasses
circuit and thus may require replacing if the drive is stored for a period of Concentrations of corrosive gases must not exceed the levels given in:
2 years or greater without power being applied. • Table A2 of EN 50178:1998
It is therefore recommended that drives are powered up for a minimum • Class 3C2 of IEC 60721-3-3
of 1 hour after every 2 years of storage. This corresponds to the levels typical of urban areas with industrial
This process allows the drive to be stored for a further 2 years. activities and/or heavy traffic, but not in the immediate neighborhood of
industrial sources with chemical emissions.
12.1.14 Altitude
Altitude range: 0 to 3,000m (9,900 ft), subject to the following conditions: 12.1.17 RoHS compliance
The drive meets EU directive 2002-95-EC for RoHS compliance.
1,000m to 3,000m (3,300 ft to 9,900 ft) above sea level: de-rate the
maximum output current from the specified figure by 1% per 100m 12.1.18 Vibration
(330 ft) above 1,000m (3,300 ft) Maximum recommended continuous vibration level 0.14 g r.m.s. broad-
For example at 3,000m (9,900ft) the output current of the drive would band 5 to 200 Hz.
have to be de-rated by 20%. NOTE

12.1.15 IP / UL Rating This is the limit for broad-band (random) vibration. Narrow-band
The drive is rated to IP20 pollution degree 2 (dry, non-conductive vibration at this level which coincides with a structural resonance could
contamination only) (NEMA 1). result in premature failure.
The IP rating of a product is a measure of protection against ingress and Bump Test
contact to foreign bodies and water. It is stated as IP XX, where the two digits Testing in each of three mutually perpendicular axes in turn.
(XX) indicate the degree of protection provided as shown in Table 12-15. Referenced standard:IEC 60068-2-29: Test Eb:
Severity: 18g, 6ms, half sine
No. of Bumps: 600 (100 in each direction of each axis)
Random Vibration Test
Testing in each of three mutually perpendicular axes in turn.
Referenced standard:IEC 60068-2-64: Test Fh:
Severity: 1.0 m²/s³ (0.01 g²/Hz) ASD from 5 to 20 Hz
-3 dB/octave from 20 to 200 Hz
Duration: 30 minutes in each of 3 mutually perpendicular axes.

176 Digitax ST User Guide

Sinusoidal Vibration Test speed at which the fan runs based on the temperature of the heatsink and
Testing in each of three mutually perpendicular axes in turn. the drive's thermal model system.
Referenced standard: IEC 60068-2-6: Test Fc: Fan at high speed: 65dB
Frequency range: 2* to 500 Hz Fan at low speed: 53dB
Severity: 3.5 mm peak displacement from 2* to 9 Hz
10 m/s² peak acceleration from 9 to 200 Hz
15 m/s² peak acceleration from 200 to 500 Hz 12.1.24 Overall dimensions
Sweep rate: 1 octave/minute H Height including surface mounting brackets
Duration: 15 minutes in each of 3 mutually perpendicular axes. W Width
D Projection forward of panel when surface mounted
* Or lowest achievable on an electromagnetic shaker.
Table 12-17 Overall drive dimensions
12.1.19 Starts per hour Dimension
By electronic control: unlimited
By interrupting the AC supply: ≤60 (equally spaced) H W D
322mm (12.677in) 62mm (2.441in) 226mm (8.898in)
12.1.20 Start up time
This is the time taken from the moment of applying power to the drive, to 12.1.25 Weight
the drive being ready to run the motor:: 4s 2.1 kg (4.6 Ib)
12.1.21 Output speed range 12.1.26 Input current, fuse and cable size ratings
0 to 40,000rpm The input current is affected by the supply voltage and impedance.
Typical input current
12.1.22 Accuracy and resolution
The values of typical input current are given to aid calculations for power
Speed:
flow and power loss.
The absolute frequency and speed accuracy depends on the accuracy
of the crystal used with the drive microprocessor. The accuracy of the The values of typical input current are stated for a balanced supply.
crystal is 100ppm, and so the absolute frequency/speed accuracy is Maximum continuous input current
100ppm (0.01%) of the reference, when a preset speed is used. If an The values of maximum continuous input current are given to aid the
analog input is used the absolute accuracy is further limited by the selection of cables and fuses. These values are stated for the worst case
absolute accuracy of the analog input. condition with the unusual combination of stiff supply with bad balance.
The following data applies to the drive only; it does not include the The value stated for the maximum continuous input current would only
performance of the source of the control signals. be seen in one of the input phases. The current in the other two phases
would be significantly lower.
Preset speed reference: 0.1rpm
Precision speed reference: 0.001rpm The values of maximum input current are stated for a supply with a 2%
Analog input 1: 16bit plus sign negative phase-sequence imbalance and rated at the maximum supply
Analog input 2: 10bit plus sign fault current given in Table 12-18.
Current: Table 12-18 Supply fault current used to calculate maximum input currents
The resolution of the current feedback is 10bit plus sign.
Model Symmetrical fault level (kA)
Accuracy: typical 2%
All 100
worst case 5%
12.1.23 Acoustic noise Fuses
The heatsink fan generates the majority of the acoustic noise produced by
The AC supply to the drive must be installed with suitable
the drive. The heatsink fan is a dual speed fan. The drive controls the
protection against overload and short-circuits. Table 12-19
shows recommended fuse ratings. Failure to observe this
WARNING
requirement will cause risk of fire.
Table 12-19 Fuse ratings and cable sizes
Typical input Maximum Fuse rating Cable size
No of
current continuous input Input Output
Model input IEC class
current Class CC
phases gG
A A mm2 AWG mm2 AWG
DST1201 1 4.0 6 10 0.75 16 0.75 24
DST1202 1 7.6 10 10 1 16 0.75 22
DST1203 1 9.0 16 15 2.5 14 0.75 20
DST1204 1 13.4 16 20 2.5 12 0.75 18
DST1201 3 3.1 3.5 6 10 0.75 16 0.75 24
DST1202 3 6.4 7.3 10 10 1 16 0.75 22
DST1203 3 8.6 9.4 16 15 2.5 14 0.75 20
DST1204 3 11.8 13.4 16 20 2.5 12 0.75 18
DST1401 3 2.6 2.8 4 10 0.75 16 0.75 24
DST1402 3 4.2 4.3 6 10 0.75 16 0.75 24
DST1403 3 5.9 6.0 8 10 0.75 16 0.75 22
DST1404 3 7.9 8.0 10 10 1 16 0.75 20
DST1405 3 9.9 9.9 12 15 1.5 14 0.75 18
Control cable ≥0.5 20

Digitax ST User Guide 177

NOTE power connections:

PVC insulated cable should be used. • AC supply to external EMC filter (when used)
• AC supply (or external EMC filter) to drive
Installation class (ref: IEC60364-5-52:2001)
B1 - Separate cables in conduit. • Drive to motor
• Drive to braking resistor
B2 - Multicore cable in conduit
• When operating in ambient >45°C UL 75°C cable should be used.
C - Multicore cable in free air.
Cable sizes are given for guidance only and may be changed depending
NOTE
on the application and the method of installation of the cables.
Cable sizes are from IEC60364-5-52:2001 table A.52.C with correction
The mounting and grouping of cables affect their current capacity, in
factor for 40°C ambient of 0.87 (from table A52.14) for cable installation
some cases a larger cable is required to avoid excessive temperature or
method B2 (multicore cable in conduit).
voltage drop.
Cable size may be reduced if a different installation method is used, or if
Input cable sizes should generally be regarded as a minimum, since
the ambient temperature is lower. they have been selected for co-ordination with the recommended fuses.
The recommended cable sizes above are only a guide. The mounting Output cable sizes assume that the maximum motor current matches
and grouping of cables affects their current-carrying capacity, in some that of the drive.
cases smaller cables may be acceptable but in other cases a larger
Where a motor of reduced rating is used the cable rating may be chosen
cable is required to avoid excessive temperature or voltage drop. Refer
to match that of the motor.
to local wiring regulations for the correct size of cables.
To ensure that the motor and cable are protected against overload, the
NOTE N drive must be programmed with the correct motor rated current.
The recommended output cable sizes assume that the motor maximum • Cable lengths in excess of the specified values may be used only
current matches that of the drive. Where a motor of reduced rating is when special techniques are adopted; refer to the supplier of the
used the cable rating may be chosen to match that of the motor. To drive.
ensure that the motor and cable are protected against overload, the • The default switching frequency is 6kHz.
drive must be programmed with the correct motor rated current. The drive power terminals are designed for a maximum cable size of
NOTE N 4.0mm2 (minimum 0.2mm / 24 AWG).
UL listing is dependent on the use of the correct type of UL-listed fuse, Where more than one cable per terminal is used the combined
and applies when symmetrical short-circuit current does not exceed diameters should not exceed the maximum.
100kA. See Chapter 14 UL listing information on page 198 for sizing
The terminals are suitable for both solid and stranded wires.
information.
Table 12-21 Motor cable size and maximum lengths
An MCB (miniature circuit breaker) may be used in place of fuses under
the following conditions: Output cable 6kHz 8kHz 12kHz
Model
• The fault-clearing capacity must be sufficient for the installation mm2 AWG m m m
• The I2T rating of the MCB must be less than or equal to that of the fuse DST1201 24
rating listed above.
DST1202 22
A fuse or other protection must be included in all live connections to the
AC supply. DST1203 20
For a parallel DC bus system the maximum AC input fusing is shown in DST1204 18
Table 12-20 below. DST1401 0.75 50
24
Table 12-20 Maximum AC input fusing DST1402
Fuse rating Fuse rating DST1403 22
Input cable size
IEC class gG class CC DST1404 20
Model DST1405 18
A A
mm2 AWG 12.1.28 Braking resistor values
All 20 20 4.0 12 Table 12-22 Minimum resistance and power ratings
Peak Average
NOTE Minimum Continuous
power power for
Refer to the supplier of your drive for further information regarding DC Model resistance* power rating
rating 0.25s
bus paralleling.
Ω kW kW kW
Inrush current
The drive will have an inrush current during power-up, the peak inrush is DST1201 0.5 1.6
limited to the value shown below: DST1202 23 6.6 1.2 3.5
DST120X 18 A peak DST1203 1.6 4.9
DST140X 35 A peak DST1204 16 9.3 2.3 7.0
DST1401 0.8 2.3
NOTE 111 5.5
DST1402 1.4 4.1
The inrush current for all drives after a brown-out can be larger than the
power-up inrush. DST1403 75 8.1 2.0 6.1
DST1404 3.0 9.0
12.1.27 Motor cable size and maximum lengths 28 21.7
Since capacitance in the motor cable causes loading on the output of the DST1405 4.1 12.2
drive, ensure the cable length does not exceed the values given in Table
* Resistor tolerance: ±10%
12-21.
Use 105°C (221°F) (UL 60/75°C temp rise) PVC-insulated cable with
copper conductors having a suitable voltage rating, for the following

178 Digitax ST User Guide

12.1.29 Terminal torque settings Table 12-26 DST120X (200V) emission compliance (single and
Table 12-23 Torque settings three phase drives
Terminals Torque setting* Motor cable length Switching frequency (kHz)
Power terminals 1.0 N m (12.1 lb in) (m) 3 4 6 8 12
Control terminals 0.2 N m (1.7 lb in) Using internal filter:
Status relay terminals 0.5 N m (4.5 lb in) 0 to 7 E2U
Ground terminals 4 N m (35 lb in) 7 to 9 E2U E2R
Small ground terminal screws 2 N m (17.7 lb in) 9 to 11 E2U E2R
*Torque tolerance = 10% >11 E2R
Using external filter:
Table 12-24 Plug-in terminal block maximum cable sizes
0 to 20 R I
Model size Terminal block description Max cable size
20 to 100 I
All 11 way control connectors 1.5 mm2 (16 AWG)
Table 12-27 DST140X (400V) emission compliance
All 2 way relay connector 2.5 mm2 (12 AWG) Switching frequency (kHz)
Motor cable length
(m) 3 4 6 8 12
12.1.30 Elecromagnetic compatibility (EMC) Using internal filter:
This is a summary of the EMC performance of the drive. For full details, 0 to 6 E2U E2R
refer to the EMC Data Sheet which can be obtained from the supplier of 6 to 12 E2U E2R
the drive.
12 to 14 E2U E2R
Table 12-25 Immunity compliance >14 E2R
Type of Using external filter:
Standard Test specification Application Level
immunity
0 to 20 R I
6kV contact
IEC61000-4-2 Electrostatic Module Level 3 20 to 70 I
discharge
EN61000-4-2 discharge enclosure (industrial)
8kV air discharge 70 to 100 I Do not use
10V/m prior to
Radio modulation Key to Table 12-26 and Table 12-27
IEC61000-4-3 Module Level 3
frequency 80 - 1000MHz (shown in decreasing order of permitted emission level):
EN61000-4-3 enclosure (industrial)
radiated field 80% AM (1kHz)
modulation E2R EN 61800-3:2004 second environment, restricted distribution
5/50ns 2kV transient (Additional measures may be required to prevent interference)
Level 4
at 5kHz repetition E2U EN 61800-3:2004 second environment, unrestricted distribution
Control lines (industrial
frequency via
harsh)
IEC61000-4-4 Fast transient coupling clamp I Industrial generic standard EN 61000-6-4:2007
EN61000-4-4 burst 5/50ns 2kV transient EN 61800-3:2004 first environment restricted distribution (The
at 5kHz repetition Level 3 following caution is required by EN 61800-3:2004)
Power lines
frequency by direct (industrial)
injection This is a product of the restricted distribution class according
AC supply to IEC 61800-3. In a residential environment this product may
Common mode 4kV
lines: Level 4
1.2/50μs waveshape cause radio interference in which case the user may be
line to ground
CAUTION required to take adequate measures.
IEC61000-4-5 Differential mode AC supply
Surges
EN61000-4-5 2kV lines: Level 3 R Residential generic standard EN 61000-6-3:2007
1.2/50μs waveshape line to line
EN 61800-3:2004 first environment unrestricted distribution
Signal ports
Lines to ground Level 2
to ground EN 61800-3:2004 defines the following:
10V prior to • The first environment is one that includes residential premises. It
Conducted modulation also includes properties directly connected without intermediate
IEC61000-4-6 Control and Level 3
radio 0.15 - 80MHz
EN61000-4-6 power lines (industrial) transformers to a low-voltage power supply network which supplies
frequency 80% AM (1kHz)
modulation buildings used for residential purposes.
-30% 10ms • The second environment is one that includes all establishments
Voltage dips other than those directly connected to a low-voltage power supply
IEC61000-4-11 +60% 100ms AC power
and
EN61000-4-11
interruptions
-60% 1s ports network which supplies buildings used for residential purposes.
<-95% 5s Restricted distribution is defined as a mode of sales distribution in
IEC61000-6-1 Generic immunity standard for the which the manufacturer restricts the supply of equipment to suppliers,
EN61000-6- residential, commercial and light - Complies
customers or users who separately or jointly have technical competence in
1:2007 industrial environment
the EMC requirements of the application of drives.
IEC61000-6-2
Generic immunity standard for the
EN61000-6- Complies
industrial environment
2:2005
EN 61800- Product standard for adjustable Meets immunity
3:2004 speed power drive systems requirements for first and
IEC61800-3 (immunity requirements) second environments

Emission
The drive contains an in-built filter for basic emission control. An
additional optional external filter provides further reduction of emission.
The requirements of the following standards are met, depending on the
motor cable length and switching frequency.

Digitax ST User Guide 179

IEC 61800-3:2004 and EN 61800-3:2004

The 2004 revision of the standard uses different terminology to align the
requirements of the standard better with the EC EMC Directive.
Power drive systems are categorized C1 to C4:

Corresponding
Category Definition code used
above
Intended for use in the first or second
C1 R
environments
Not a plug-in or movable device, and
intended for use in the first environment
C2 I
only when installed by a professional, or
in the second environment
Intended for use in the second
C3 E2U
environment, not the first environment
Rated at over 1000V or over 400A,
C4 intended for use in complex systems in E2R
the second environment
Note that category 4 is more restrictive than E2R, since the rated current
of the PDS must exceed 400A or the supply voltage exceed 1000V, for
the complete PDS.

12.2 Optional external EMC filters

12.2.1 EMC filter ratings
Table 12-28 External EMC filter ratings
Power Worst Filter
Maximum Operational
losses case terminal
Filter part number continuous Weight leakage
Number at rated leakage tightening
current IP current
Used with of current current torque
rating
phases @40°C @50°C
CT Schaffner (104°F) (122°F) W Kg lb mA mA Nm lb ft
A A
DST120X 1 4200-6000 FS23072-19-07 19 17.3 11 1.2 2.64 29.5 56.9 0.8 0.6
DST120X 3 4200-6001 FS23073-17-07 17 15.5 13 20 1.2 2.64 8 50 0.8 0.6
DST140X 3 4200-6002 FS23074-11-07 11 10 10 1.2 2.64 16 90 0.8 0.6

12.3 Overall EMC filter dimensions

Figure 12-3 External EMC filter dimensions
359mm (14.13in)
339mm (13.35in)
304mm (11.97in)

M5 M5 38mm 61mm
(1.50in) (2.40in)

∅ 5.3mm (M5) ∅ 5.3mm (M5)

(0.21in) Torque settings of connector = 0.8 N m (0.21in)

29mm (1.14in)

180 Digitax ST User Guide

13 Diagnostics Figure 13-1 Keypad status modes

Status Mode
The display on the drive gives various information about the status of the
drive. These fall into three categories:
Healthy Status Alarm Status Trip Status
• Trip indications
• Alarm indications
• Status indications Drive status =
tripped
Trip type (UU =
Users must not attempt to repair a drive if it is faulty, nor undervolts)
carry out fault diagnosis other than through the use of the
diagnostic features described in this chapter.
If a drive is faulty, it must be returned to an authorized
WARNING Figure 13-2 Location of the status LED
Control Techniques distributor for repair.
Status LED
13.1 Trip indications
If the drive trips, the output of the drive is disabled so that the drive stops
controlling the motor. The upper display indicates that a trip has
occurred and the lower display shows the trip. If this is a multi-module
drive and a power module has indicated a trip, then the lower display will
alternate between the trip string and the module number.
Trips are listed alphabetically in Table 13-1 based on the trip indication
shown on the drive display. Refer to Figure 13-1.
If a display is not used, the drive LED Status indicator will flash if the
drive has tripped. Refer to Figure 13-2.
The trip indication can be read in Pr 10.20 providing a trip number. Trip Flashing:
numbers are listed in numerical order in Table 13-2 so the trip indication
Non flashing:
can be cross referenced and then diagnosed using Table 13-1. Normal status Trip status
Example
1. Trip code 3 is read from Pr 10.20 via serial communications.
2. Checking Table 13-2 shows Trip 3 is an OI.AC trip.

Comms No. Trip Keypad

code display
3 OI.AC

3. Look up OI.AC in Table 13-1.

Perform checks detailed under Diagnosis.

Digitax ST User Guide 181

Table 13-1 Trip indications

Trip Diagnosis
br.th Braking resistor thermistor temperature monitoring fail
If no brake resistor is installed, set Pr 0.51 (or Pr 10.37) to 8 to disable this trip.
If a brake resistor is installed:
10 Ensure that the braking resistor thermistor is connected correctly
Ensure that the fan in the drive is working correctly
Replace the braking resistor
C.Acc SMARTCARD trip: SMARTCARD Read / Write fail
Check SMARTCARD is installed / located correctly
185 Ensure SMARTCARD is not writing data to data location 500 to 999
Replace SMARTCARD
SMARTCARD trip: The menu 0 parameter modification cannot be saved to the SMARTCARD because the necessary file has
C.boot
not been created on the SMARTCARD
A write to a menu 0 parameter has been initiated via the keypad with Pr 11.42 set to auto(3) or boot(4), but the necessary file on the
SMARTCARD has not bee created
177
Ensure that Pr 11.42 is correctly set and reset the drive to create the necessary file on the SMARTCARD
Re-attempt the parameter write to the menu 0 parameter
C.bUSY SMARTCARD trip: SMARTCARD can not perform the required function as it is being accessed by a Solutions Module
178 Wait for the Solutions Module to finish accessing the SMARTCARD and then re-attempt the required function
C.Chg SMARTCARD trip: Data location already contains data
Erase data in data location
179
Write data to an alternative data location
C.cPr SMARTCARD trip: The values stored in the drive and the values in the data block on the SMARTCARD are different
188 Press the red reset button
C.dAt SMARTCARD trip: Data location specified does not contain any data
183 Ensure data block number is correct
C.Err SMARTCARD trip: SMARTCARD data is corrupted
Ensure the card is located correctly
182 Erase data and retry
Replace SMARTCARD
C.Full SMARTCARD trip: SMARTCARD full
184 Delete a data block or use different SMARTCARD
cL2 Analog input 2 current loss (current mode)
28 Check analog input 2 (terminal 7) current signal is present (4-20mA, 20-4mA)
cL3 Analog input 3 current loss (current mode)
29 Check analog input 3 (terminal 8) current signal is present (4-20mA, 20-4mA)
CL.bit Trip initiated from the control word (Pr 6.42)
35 Disable the control word by setting Pr 6.43 to 0 or check setting of Pr 6.42
C.OPtn SMARTCARD trip: Solutions Modules installed are different between source drive and destination drive
Ensure correct Solutions Modules are installed
180 Ensure Solutions Modules are in the same Solutions Module slot
Press the red reset button
C.Prod SMARTCARD trip: The data blocks on the SMARTCARD are not compatible with this product

175 Erase all data on the SMARTCARD by setting Pr xx.00 to 9999 and pressing the red reset button
Replace SMARTCARD
C.rdo SMARTCARD trip: SMARTCARD has the Read Only bit set
Enter 9777 in Pr xx.00 to allow SMARTCARD Read / Write access
181
Ensure card is not writing to data locations 500 to 999

182 Digitax ST User Guide

Trip Diagnosis
C.rtg SMARTCARD trip: The voltage and/or current rating of the source and destination drives are different
Drive rating dependent parameters (parameters with the RA coding) are likely to have different values and ranges with drives of
different voltage and current ratings. Parameters with this attribute will not be transferred to the destination drive by SMARTCARDs
when the rating of the destination drive is different from the source drive and the file is a parameter file. Drive rating dependent
parameters will be transferred if only the current rating is different and the file is a differences from default type file.
Press the red reset button
Drive rating parameters are:
Parameter Function
2.08 Standard ramp voltage
4.05/6/7, 21.27/8/9 Current limits
186 4.24 User current maximum scaling
5.07, 21.07 Motor rated current
5.09, 21.09 Motor rated voltage
5.17, 21.12 Stator resistance
5.18 Switching frequency
5.23, 21.13 Voltage offset
5.24, 21.14 Transient inductance
6.48 Line power supply loss ride through detection level
The above parameters will be set to their default values.
An error has occurred when attempting to transfer a user program from a Solutions Module to a SMARTCARD and vice
C.SLX
versa
See section 9.2.8 SM-Applications Modules And Motion Processors program to/from SMARTCARD transfer system on page 73 for
172,173,174
more information.
C.TyP SMARTCARD trip: SMARTCARD parameter set not compatible with drive
Press the reset button
187
Ensure destination drive type is the same as the source parameter file drive type
dESt Two or more parameters are writing to the same destination parameter
199 Set Pr xx.00 = 12001 check all visible parameters in the menus for duplication
EEF EEPROM data corrupted - Serial comms will timeout with remote keypad on the drive RS485 comms port.
31 This trip can only be cleared by loading default parameters and saving parameters
Enc1 Drive encoder trip: Encoder power supply overload
Check encoder power supply wiring and encoder current requirement
189
Maximum current = 200mA @ 15V, or 300mA @ 8V and 5V
Enc2 Drive encoder trip: Wire break (Drive encoder terminals 1 & 2, 3 & 4, 5 & 6)
Check cable continuity
Check encoder cable is plugged into the encoder input port and not the buffered encoder output port (see Figure 2-3 Features of the
drive on page 10).
190 Check wiring of feedback signals is correct
Check encoder power is set correctly
Replace feedback device
If wire break detection on the main drive encoder input is not required, set Pr 3.40 = 0 to disable the Enc2 trip
Enc3 Drive encoder trip: Phase offset incorrect While running
Check the encoder signal for noise
Check encoder shielding
191
Check the integrity of the encoder mechanical mounting
Repeat the offset measurement test
Enc4 Drive encoder trip: Feedback device comms failure
Ensure encoder power supply is correct
Ensure baud rate is correct
192
Check encoder wiring
Replace feedback device
Enc5 Drive encoder trip: Checksum or CRC error
Check the encoder signal for noise
193 Check the encoder cable shielding
With EnDat encoders, check the comms resolution and/or carry out the auto-configuration Pr 3.41

Digitax ST User Guide 183

Trip Diagnosis
Enc6 Drive encoder trip: Encoder has indicated an error
Replace feedback device
194
With SSI encoders, check the wiring and encoder supply setting
Enc7 Drive encoder trip: Initialisation failed
Re-set the drive
Check the correct encoder type is entered into Pr 3.38
Check encoder wiring
195
Check encoder power supply is set correctly
Carry out the auto-configuration Pr 3.41
Replace feedback device
Enc8 Drive encoder trip: Auto configuration on power up has been requested and failed
Change the setting of Pr 3.41 to 0 and manually enter the drive encoder turns (Pr 3.33) and the equivalent number of lines per
196 revolution (Pr 3.34)
Check the comms resolution
Drive encoder trip: Position feedback selected is selected from a Solutions Module slot which does not have a speed /
Enc9
position feedback Solutions Module installed
197 Check setting of Pr 3.26 (or Pr 21.21 if the second motor parameters have been enabled)
Enc10 Drive encoder trip: Phasing failure because encoder phase angle (Pr 3.25 or Pr 21.20) is incorrect
Check the encoder wiring.
Perform an autotune to measure the encoder phase angle or manually enter the correct phase angle into Pr 3.25 (or Pr 21.20).
198 Spurious Enc10 trips can be seen in very dynamic applications. This trip can be disabled by setting the overspeed threshold in
Pr 3.08 to a value greater than zero. Caution should be used in setting the over speed threshold level as a value which is too large
may mean that an encoder fault will not be detected.
Drive encoder trip: A failure has occurred during the alignment of the analog signals of a SINCOS encoder with the digital
Enc11 count derived from the sine and cosine waveforms and the comms position (if applicable). This fault is usually due to noise
on the sine and cosine signals.
Check encoder cable shield.
161
Examine sine and cosine signals for noise.
Enc12 Drive encoder trip: Hiperface encoder - The encoder type could not be identified during auto-configuration
Check encoder type can be auto-configured.
162 Check encoder wiring.
Enter parameters manually.
Drive encoder trip: EnDat encoder - The number of encoder turns read from the encoder during auto-configuration is not a
Enc13
power of 2
163 Select a different type of encoder.
Drive encoder trip: EnDat encoder - The number of comms bits defining the encoder position within a turn read from the
Enc14
encoder during auto-configuration is too large.
Select a different type of encoder.
164
Faulty encoder.
Drive encoder trip: The number of periods per revolution calculated from encoder data during auto-configuration is either
Enc15
less than 2 or greater than 50,000.
Linear motor pole pitch / encoder ppr set up is incorrect or out of parameter range
165 i.e. Pr 5.36 = 0 or Pr 21.31 = 0.
Faulty encoder.
Enc16 Drive encoder trip: EnDat encoder - The number of comms bits per period for a linear encoder exceeds 255.
Select a different type of encoder.
166
Faulty encoder.
Drive encoder trip: The periods per revolution obtained during auto-configuration for a rotary SINCOS encoder is not a
Enc17
power of two.
Select a different type of encoder.
167
Faulty encoder.
ENP.Er Data error from electronic nameplate stored in selected position feedback device
176 Replace feedback device

184 Digitax ST User Guide

Trip Diagnosis
Et External trip from input on terminal 31
Check terminal 31 signal
Check value of Pr 10.32
6
Enter 12001 in Pr xx.00 and check for parameter controlling Pr 10.32
Ensure Pr 10.32 or Pr 10.38 (=6) are not being controlled by serial comms
HF01 Data processing error: CPU address error
Hardware fault - return drive to supplier
HF02 Data processing error: DMAC address error
Hardware fault - return drive to supplier
HF03 Data processing error: Illegal instruction
Hardware fault - return drive to supplier
HF04 Data processing error: Illegal slot instruction
Hardware fault - return drive to supplier
HF05 Data processing error: Undefined exception
Hardware fault - return drive to supplier
HF06 Data processing error: Reserved exception
Hardware fault - return drive to supplier
HF07 Data processing error: Watchdog failure
Hardware fault - return drive to supplier
HF08 Data processing error: Level 4 crash
Hardware fault - return drive to supplier
HF09 Data processing error: Heap overflow
Hardware fault - return drive to supplier
HF10 Data processing error: Router error
Hardware fault - return drive to supplier
HF11 Data processing error: Access to EEPROM failed
Hardware fault - return drive to supplier
HF12 Data processing error: Main program stack overflow
Hardware fault - return drive to supplier
HF13 Data processing error: Software incompatible with hardware
Hardware or software fault - return drive to supplier
HF17 Multi-module system thermistor short circuit or open circuit
217 Hardware fault - return drive to supplier
HF18 Multi-module system interconnect cable error
218 Hardware fault - return drive to supplier
HF19 Temperature feedback multiplexing failure
219 Hardware fault - return drive to supplier
HF20 Power stage recognition: serial code error
220 Hardware fault - return drive to supplier
HF21 Power stage recognition: unrecognised frame size
221 Hardware fault - return drive to supplier
HF22 Power stage recognition: multi module frame size mismatch
222 Hardware fault - return drive to supplier
HF23 Power stage recognition: multi module voltage rating mismatch
223 Hardware fault - return drive to supplier
HF24 Power stage recognition: unrecognised drive size
224 Hardware fault - return drive to supplier

Digitax ST User Guide 185

Trip Diagnosis
HF25 Current feedback offset error
225 Hardware fault - return drive to supplier
HF26 Soft start relay failed to close, soft start monitor failed or braking IGBT short circuit at power up
226 Hardware fault - return drive to supplier
HF27 Power stage thermistor 1 fault
227 Hardware fault - return drive to supplier
HF29 Control board thermistor fault
229 Hardware fault - return drive to supplier
HF30 DCCT wire break trip from power module
230 Hardware fault - return drive to supplier
It.AC Output current overload timed out (I2t) - accumulator value can be seen in Pr 4.19
Ensure the load is not jammed / sticking
Ensure that the motor rated current is not set to zero
Check the load on the motor has not changed If seen during an autotune in servo mode, ensure that the motor rated current Pr 0.46
20 (Pr 5.07) or Pr 21.07 is current rating of the drive
Tune the rated speed parameter
Check feedback device signal for noise
Check the feedback device mechanical coupling
It.br Braking resistor overload timed out (I2t) – accumulator value can be seen in Pr 10.39
Ensure the values entered in Pr 10.30 and Pr 10.31 are correct
Increase the power rating of the braking resistor and change Pr 10.30 and Pr 10.31
19
If an external thermal protection device is being used and the braking resistor software overload is not required, set Pr 10.30 or
Pr 10.31 to 0 to disable the trip
O.CtL Drive control board over temperature
Check enclosure / drive fans are still functioning correctly
Check enclosure ventilation paths
23 Check enclosure door filters
Check ambient temperature
Reduce drive switching frequency
O.ht1 Power device over temperature based on thermal model
Reduce drive switching frequency
Reduce duty cycle
21
Decrease acceleration / deceleration rates
Reduce motor load
O.ht2 Heatsink over temperature
Check enclosure / drive fans are still functioning correctly
Check enclosure ventilation paths
Check enclosure door filters
Increase ventilation
22
Decrease acceleration / deceleration rates
Reduce drive switching frequency
Reduce duty cycle
Reduce motor load
O.ht3 Drive over-temperature based on thermal model
The drive will attempt to stop the motor before tripping. If the motor does not stop in 10s the drive trips immediately.
Check DC bus ripple
27 Decrease acceleration / deceleration rates
Reduce duty cycle
Reduce motor load

186 Digitax ST User Guide

Trip Diagnosis
OI.AC Instantaneous output over current detected
Over current threshold is Kc/0.45 (see the Digitax ST Advanced User Guide for Kc values)
Acceleration /deceleration rate is too short.
If seen during autotune reduce voltage boost Pr 5.15
Check for short circuit on output cabling
Check integrity of motor insulation
Check feedback device wiring
3
Check feedback device mechanical coupling
Check feedback signals are free from noise
Is motor cable length within limits
Reduce the values in speed loop gain parameters – Pr 3.10, Pr 3.11 and Pr 3.12
Has offset measurement test been completed?
Reduce the values in current loop gain parameters - Pr 4.13 and Pr 4.14
OI.br Braking transistor over-current detected: short circuit protection for the braking transistor activated
Check braking resistor wiring
4 Check braking resistor value is greater than or equal to the minimum resistance value
Check braking resistor insulation
O.Ld1 Digital output overload: total current drawn from 24V supply and digital outputs exceeds 200mA
26 Check total load on digital outputs (terminals 24,25,26)and +24V rail (terminal 22)
O.SPd Motor speed has exceeded the over speed threshold
Increase the over speed trip threshold in Pr 3.08
7
Reduce the speed loop P gain (Pr 3.10) to reduce the speed overshoot
OV DC bus voltage has exceeded the peak level or the maximum continuous level for 15 seconds
Increase deceleration ramp (Pr 0.04)
Decrease braking resistor value (staying above the minimum value)
Check nominal AC supply level
Check for supply disturbances which could cause the DC bus to rise – voltage overshoot after supply recovery from a notch induced
by DC drives.
2
Check motor insulation
Drive voltage rating Peak voltage Maximum continuous voltage level (15s)
200 415 400
400 830 800
If the drive is operating in low voltage DC mode the overvoltage trip level is 1.45 x Pr 6.46.
PAd Keypad has been removed when the drive is receiving the speed reference from the keypad
Instal keypad and reset
34
Change speed reference selector to select speed reference from another source
PH AC voltage input phase loss or large supply imbalance detected
Ensure all three phases are present and balanced
Check input voltage levels are correct (at full load)
32 NOTE N
Load level must be between 50 and 100% for the drive to trip under phase loss conditions. The drive will attempt to stop the motor
before this trip is initiated.
PS Internal power supply fault
Remove any Solutions Modules and reset
5
Hardware fault - return drive to supplier
PS.10V 10V user power supply current greater than 10mA
Check wiring to terminal 4
8
Reduce load on terminal 4
PS.24V 24V internal power supply overload
The total user load of the drive and Solutions Modules has exceeded the internal 24V power supply limit.
The user load consists of the drive’s digital outputs, the SM-I/O Plus digital outputs, the drive’s main encoder supply and the SM-
Universal Encoder Plus encoder supply.
9
• Reduce load and reset
• Provide an external 24V >50W power supply
• Remove any Solutions Modules and reset
PSAVE.Er Power down save parameters in the EEPROM are corrupt
Indicates that the power was removed when power down save parameters were being saved.
The drive will revert back to the power down parameter set that was last saved successfully.
37
Perform a user save (Pr xx.00 to 1000 or 1001 and reset the drive) or power down the drive normally to ensure this trip does or occur
the next time the drive is powered up.

Digitax ST User Guide 187

Trip Diagnosis
rS Failure to measure resistance during autotune
33 Check motor power connection continuity
SAVE.Er User save parameters in the EEPROM are corrupt
Indicates that the power was removed when user parameters were being saved.
The drive will revert back to the user parameter set that was last saved successfully.
36
Perform a user save (Pr xx.00 to 1000 or 1001 and reset the drive) to ensure this trip does or occur the next time the drive is
powered up.
SCL Drive RS485 serial comms loss to remote keypad
Re-instal the cable between the drive and keypad
Check cable for damage
30
Replace cable
Replace keypad
SLX.dF Solutions Module slot X trip: Solutions Module type installed in slot X changed
204,209 Save parameters and reset

188 Digitax ST User Guide

Trip Diagnosis
SLX.Er Solutions Module slot X trip: Solutions Module in slot X has detected a fault
Feedback module category
Check value in Pr 15/16.50. The following table lists the possible error codes for the SM-Universal Encoder Plus, SM-Encoder Plus
and SM-Resolver. See the Diagnostics section in the relevant Solutions Module User Guide for more information.
Error code Module Trip Description Diagnostic
0 All No trip No fault detected
Check encoder power supply wiring and encoder current
SM-Universal
Encoder power supply overload requirement Maximum current = 200mA @ 15V, or 300mA
1 Encoder Plus
@ 8V and 5V
SM-Resolver Excitation output short circuit Check the excitation output wiring.
Check cable continuity
SM-Universal
Check wiring of feedback signals is correct
2 Encoder Plus & Wire break
Check supply voltage or excitation output level
SM-Resolver
Replace feedback device
Check the encoder signal for noise
SM-Universal Phase offset incorrect while Check encoder shielding
3
Encoder Plus running Check the integrity of the encoder mechanical mounting
Repeat the offset measurement test
Ensure encoder power supply is correct
SM-Universal Feedback device communications Ensure baud rate is correct
4
Encoder Plus failure Check encoder wiring
Replace feedback device
SM-Universal Check the encoder signal for noise
5 Checksum or CRC error
Encoder Plus Check the encoder cable shielding
SM-Universal
6 Encoder has indicated an error Replace encoder
Encoder Plus
Check the correct encoder type is entered into Pr 15/16/17.15
SM-Universal Check encoder wiring
7 Initialisation failed
Encoder Plus Check supply voltage level
Replace feedback device
Change the setting of Pr 15/16/17.18 and manually enter
202,207,212 SM-Universal Auto configuration on power up
8 the number of turns (Pr 15/16/17.09) and the equivalent
Encoder Plus has been requested and failed
number of lines per revolution (Pr 15/16/17.10)
SM-Universal Check motor temperature
9 Motor thermistor trip
Encoder Plus Check thermistor continuity
SM-Universal Check motor thermistor wiring
10 Motor thermistor short circuit
Encoder Plus Replace motor / motor thermistor
Failure of the sincos analog
SM-Universal Check encoder cable shield.
position alignment during encoder
Encoder Plus Examine sine and cosine signals for noise.
11 initialisation
Check that the correct number of resolver poles has been
SM-Resolver Poles not compatible with motor
set in Pr 15/16/17.15.
Check encoder type can be auto-configured.
SM-Universal Encoder type could not be
12 Check encoder wiring.
Encoder Plus identified during auto-configuration
Enter parameters manually.
Number of encoder turns read from
SM-Universal
13 the encoder during auto- Select a different type of encoder.
Encoder Plus
configuration is not a power of 2
Number of comms bits defining the
SM-Universal encoder position within a turn read Select a different type of encoder.
14
Encoder Plus from the encoder during auto- Faulty encoder.
configuration is too large.
The number of periods per
Linear motor pole pitch / encoder ppr set up is incorrect or
SM-Universal revolution calculated from encoder
15 out of parameter range i.e. Pr 5.36 = 0 or Pr 21.31 = 0.
Encoder Plus data during auto-configuration is
Faulty encoder.
either <2 or >50,000.
The number of comms bits per
SM-Universal Select a different type of encoder.
16 period for a linear encoder
Encoder Plus Faulty encoder.
exceeds 255.
Check ambient temperature
74 All Solutions Module has overheated
Check enclosure ventilation

Digitax ST User Guide 189

Trip Diagnosis
SLX.Er Solutions Module slot X trip: Solutions Module in slot X or Digitax ST Plus/Indexer has detected a fault
Automation (Applications) module category
Check value in Pr 17.50. The following table lists the possible error codes for the Digitax ST Plus and Digitax ST Indexer. See the
Diagnostics section in the SM-Applications Modules and Motion Processors manual for more information.
Error Code Trip Description
39 User program stack overflow
40 Unknown error - please contact supplier
41 Parameter does not exist
42 Attempt to write to a read-only parameter
43 Attempt to read from a write-only parameter
44 Parameter value out of range
45 Invalid synchronisation modes
46 Unused
47 Synchronisation lost with CTSync Master
48 RS485 not in user mode
49 Invalid RS485 configuration
50 Maths error - divide by zero or overflow
51 Array index out of range
52 Control word user trip
53 DPL program incompatible with target
54 DPL task overrun
55 Unused
56 Invalid timer unit configuration
57 Function block does not exist
58 Flash PLC Storage corrupt
59 Drive rejected application module as Sync master
202,207,212
60 CTNet hardware failure. Please contact your supplier
61 CTNet invalid configuration
62 CTNet invalid baud-rate
63 CTNet invalid node ID
64 Digital Output overload
65 Invalid function block parameter(s)
66 User heap too large
67 RAM file does not exist or a non-RAM file id has been specified
68 The RAM file specified is not associated to an array
69 Failed to update drive parameter database cache in Flash memory
70 User program downloaded while drive enabled
71 Failed to change drive mode
72 Invalid CTNet buffer operation
73 Fast parameter initialisation failure
74 Over-temperature
75 Hardware unavailable
76 Module type cannot be resolved. Module is not recognised.
77 Inter-Solutions Module comms error with module in slot 1
78 Inter-Solutions Module comms error with module in slot 2
79 Inter-Solutions Module comms error with module in slot 3
80 Inter-Solutions Module comms error with module unknown slot
81 APC internal error
82 Communications to drive faulty

190 Digitax ST User Guide

Trip Diagnosis
SLX.Er Solutions Module slot X trip: Solutions Module in slot X or Digitax ST EZMotion has detected a fault
Automation (EZMotion) module category
Check value in Pr 17.50. The following table lists the possible error codes for the Digitax ST EZMotion. See the Advanced parameter
section in the Digitax ST Advanced User Guide for more information.
Error Code Trip Description
41 Digitax ST parameter access error - Parameter does not exist
42 Digitax ST parameter access error - Parameter is read-only
43 Digitax ST parameter access error - Parameter is write-only
44 Digitax ST parameter access error - Written value out of range
73 Digitax ST database set-up error
74 Module overheat error
101 Invalid configuration error
102 NVM invalid error
103 Power up test failure error
104 Following error
105 Travel limit plus
106 Travel limit minus
107 No program error
108 Motion trajectory error
109 Trajectory update overrun error
120
121 File corruption error - Consult factory
122
123 Program error - Buffer overrun
124 Program error - Call stack overflow
125
File corruption error - Consult factory
126
127 Flash error
128 File corruption error - Consult factory
129 Program error - illegal command
130
131
132 File corruption error - Consult factory
202,207,212 133
134
135 Program error - Math addition overflow
136 Program error - Math divide by zero
137 Program error - Math divide operand too large
138 Program error - Math multiplication normalization failed
139 Program error - Math divide operand too large
140 Program error - Overflow
141 Program error - Math subtraction overflow
142 Program error - Math stack overflow
143
144
File corruption error - Consult factory
145
146
147 Program error - Flash memory size exceeded
148 Program error - RAM memory size exceeded
153
154 File corruption error - Consult factory
155
156 Program error - Too many wait for instructions
157
158
159
160
161 File corruption error - Consult factory
162
163
164
165
166 Program error - EZMotion parameter write out of range
171 Invalid slot 1 selection
172 Invalid slot 2 selection
173 Invalid motion processor
174 File corruption error - Consult factory
175 Module output overload

Digitax ST User Guide 191

Trip Diagnosis
SLX.Er Solutions Module slot X trip: Solutions Module in slot X has detected a fault
Automation (I/O Expansion) module category
Check value in Pr 15/16.50. The following table lists the possible error codes for the SM-I/O Plus, SM-I/O Lite, SM-I/O Timer, SM-I/O
PELV, SM-I/O 120V and SM-I/O 24V Protected. See the Diagnostics section in the relevant Solutions Module User Guide for more
information.
Error code Module Reason for fault
0 All No errors
1 All Digital output overload
202,207,212 SM-I/O Lite, SM-I/O Timer Analog input 1 current input too high (>22mA) or too low (<3mA)
2
SM-I/O PELV, SM-I/O 24V Protected Digital input overload
SM-I/O PELV, SM-I/O 24V Protected Analog input 1 current input too low (<3mA)
3
SM-I/O 24V Protected Communications error
4 SM-I/O PELV User power supply absent
5 SM-I/O Timer Real time clock communication error
74 All Module over temperature

SLX.Er Solutions Module slot X trip: Solutions Module in slot X has detected a fault
Fieldbus module category
Check value in Pr 15/16.50. The following table lists the possible error codes for the Fieldbus modules. See the Diagnostics section
in the relevant Solutions Module User Guide for more information.
Error code Module Trip Description
0 All No trip
SM-PROFIBUS-DP-V1, SM-Interbus,
52 User control word trip
SM-DeviceNet, SM-CANOpen
SM-PROFIBUS-DP-V1, SM-Interbus,
61 Configuration error
SM-DeviceNet, SM-CANOpen, SM-SERCOS
64 SM-DeviceNet Expected packet rate timeout
SM-PROFIBUS-DP-V1, SM-Interbus,
65 Network loss
SM-DeviceNet, SM-CANOpen, SM-SERCOS
SM-PROFIBUS-DP-V1 Critical link failure
66
SM-CAN, SM-DeviceNet, SM-CANOpen Bus off error
69 SM-CAN No acknowledgement
202,207,212 All (except SM-Ethernet) Flash transfer error
70
SM-Ethernet No valid menu data available for the module from the drive
74 All Solutions module over temperature
75 SM-Ethernet The drive is not responding
76 SM-Ethernet The Modbus connection has timed out
80 All (except SM-SERCOS) Inter-option communications error
81 All (except SM-SERCOS) Communications error to slot 1
82 All (except SM-SERCOS) Communications error to slot 2
83 All (except SM-SERCOS) Communications error to slot 3
84 SM-Ethernet Memory allocation error
85 SM-Ethernet File system error
86 SM-Ethernet Configuration file error
87 SM-Ethernet Language file error
98 All Internal watchdog error
99 All Internal software error

192 Digitax ST User Guide

Trip Diagnosis
SLX.Er Solutions Module slot X trip: Solutions Module in slot X has detected a fault
SLM module category
Check value in Pr 15/16.50. The following table lists the possible error codes for the SM-SLM. See the Diagnostics section in the
SM-SLM User Guide for more information.
Error Code Trip Description
0 No fault detected
1 Power supply overloaded
2 SLM version is too low
3 DriveLink error
4 Incorrect switching frequency selected
5 Feedback source selection incorrect
6 Encoder error
7 Motor object number of instances error
202,207,212 8 Motor object list version error
9 Performance object number of instances error
10 Parameter channel error
11 Drive operating mode incompatible
12 Error writing to the SLM EEPROM
13 Motor object type incorrect
14 Digitax ST object error
15 Encoder object CRC error
16 Motor object CRC error
17 Performance object CRC error
18 Digitax ST object CRC error
19 Sequencer timeout
74 Solutions module over temperature

SLX.HF Solutions Module slot X trip: Solutions Module X hardware fault

Ensure Solutions Module is installed correctly
200,205,210
Return Solutions Module to supplier
SLX.nF Solutions Module slot X trip: Solutions Module has been removed
Ensure Solutions Module is installed correctly
203,208,213 Re-instal Solutions Module
Save parameters and reset drive
SL.rtd Solutions Module trip: Drive mode has changed and Solutions Module parameter routing is now incorrect
Press reset.
215
If the trip persists, contact the supplier of the drive.
SLX.tO Solutions Module slot X trip: Solutions Module watchdog timeout
Press reset.
201,206,211
If the trip persists, contact the supplier of the drive.
t010 User trip defined in 2nd processor Solutions Module code
10 SM-Applications program must be interrogated to find the cause of this trip
t038 User trip defined in 2nd processor Solutions Module code
38 SM-Applications program must be interrogated to find the cause of this trip
t040 to t089 User trip defined in 2nd processor Solutions Module code
40 to 89 SM-Applications program must be interrogated to find the cause of this trip
t099 User trip defined in 2nd processor Solutions Module code
99 SM-Applications program must be interrogated to find the cause of this trip
t101 User trip defined in 2nd processor Solutions Module code
101 SM-Applications program must be interrogated to find the cause of this trip
t112 to t160 User trip defined in 2nd processor Solutions Module code
112 to 160 SM-Applications program must be interrogated to find the cause of this trip

Digitax ST User Guide 193

Trip Diagnosis
t168 to t171 User trip defined in 2nd processor Solutions Module code
168 to 171 SM-Applications program must be interrogated to find the cause of this trip
t216 User trip defined in 2nd processor Solutions Module code
216 SM-Applications program must be interrogated to find the cause of this trip
th Motor thermistor trip
Check motor temperature
24 Check thermistor continuity
Set Pr 7.15 = VOLt and reset the drive to disable this function
thS Motor thermistor short circuit
Check motor thermistor wiring
25 Replace motor / motor thermistor
Set Pr 7.15 = VOLt and reset the drive to disable this function
tunE* Autotune stopped before completion
The drive has tripped out during the autotune
18 The red stop key has been pressed during the autotune
The SAFE TORQUE OFF signal (terminal 31) was active during the autotune procedure
tunE1* The position feedback did not change or required speed could not be reached during the inertia test (see Pr 5.12)
Ensure the motor is free to turn i.e. brake was released. Check feedback device wiring is correct
11 Check feedback parameters are set correctly
Check encoder coupling to motor
tunE2* Position feedback direction incorrect or motor could not be stopped during the inertia test (see Pr 5.12)
Check motor cable wiring is correct. Check feedback device wiring is correct
12
Swap any two motor phases
tunE3* Drive encoder commutation signals connected incorrectly or measured inertia out of range (see Pr 5.12)
13 Check motor cable wiring is correct. Check feedback device U,V and W commutation signal wiring is correct
tunE4* Drive encoder U commutation signal fail during an autotune
Check feedback device U phase commutation wires continuity
14
Replace encoder
tunE5* Drive encoder V commutation signal fail during an autotune
Check feedback device V phase commutation wires continuity
15
Replace encoder
tunE6* Drive encoder W commutation signal fail during an autotune
Check feedback device W phase commutation wires continuity
16
Replace encoder
tunE7* Motor number of poles set incorrectly
Check lines per revolution for feedback device
17
Check the number of poles in Pr 5.11 is set correctly
UP ACC Onboard PLC program: cannot access Onboard PLC program file on drive
Disable drive - write access is not allowed when the drive is enabled
98
Another source is already accessing Onboard PLC program - retry once other action is complete
UP div0 Onboard PLC program attempted divide by zero
90 Check program
UP OFL Onboard PLC program variables and function block calls using more than the allowed RAM space (stack overflow)
95 Check program
UP ovr Onboard PLC program attempted out of range parameter write
94 Check program
UP PAr Onboard PLC program attempted access to a non-existent parameter
91 Check program
UP ro Onboard PLC program attempted write to a read-only parameter
92 Check program
UP So Onboard PLC program attempted read of a write-only parameter
93 Check program

194 Digitax ST User Guide

Trip Diagnosis
UP udF Onboard PLC program un-defined trip
97 Check program
UP uSEr Onboard PLC program requested a trip
96 Check program
UV DC bus under voltage threshold reached
Check AC supply voltage level
Drive voltage rating (Vac) Under voltage threshold (Vdc) UV reset voltage (Vdc)
1
200 175 215V
400 330 425V
*If a tunE through tunE7 trip occurs, then after the drive is reset the drive cannot be made to run unless it is disabled via the SAFE TORQUE OFF
input (terminal 31), drive enable parameter (Pr 6.15) or the control word (Pr 6.42 and Pr 6.43).
Table 13-2 Serial communications look-up table
No. Trip No. Trip No. Trip
1 UV 90 UP div0 181 C.rdo
2 OV 91 UP PAr 182 C.Err
3 OI.AC 92 UP ro 183 C.dAt
4 OI.br 93 UP So 184 C.FULL
5 PS 94 UP ovr 185 C.Acc
6 Et 95 UP OFL 186 C.rtg
7 O.SPd 96 UP uSEr 187 C.TyP
8 PS.10V 97 UP udF 188 C.cPr
9 PS.24V 98 UP ACC 189 EnC1
10 br.th 99 t099 190 EnC2
11 tunE1 100 Reserved 191 EnC3
12 tunE2 101 t101 192 EnC4
13 tunE3 102 Reserved 193 EnC5
14 tunE4 103 Reserved 194 EnC6
15 tunE5 104 Reserved 195 EnC7
16 tunE6 105 Reserved 196 EnC8
17 tunE7 106 Reserved 197 EnC9
18 tunE 107 Reserved 198 EnC10
19 It.br 108 Reserved 199 dESt
20 It.AC 109 Reserved 200 SL1.HF
21 O.ht1 110 Reserved 201 SL1.tO
22 Reserved 111 Reserved 202 SL1.Er
23 Reserved 112 to 160 t112 to t160 203 SL1.nF
24 th 161 Enc11 204 SL1.dF
25 thS 162 Enc12 205 SL2.HF
26 O.Ld1 163 Enc13 206 SL2.tO
27 O.ht3 164 Enc14 207 SL2.Er
28 cL2 165 Enc15 208 SL2.nF
29 cL3 166 Enc16 209 SL2.dF
30 SCL 167 Enc17 210 SL3.HF
31 EEF 168 to 171 t168 to t171 211 SL3.tO
32 PH 172 C.SL1 212 SL3.Er
33 rS 173 C.SL2 213 SL3.nF
34 PAd 174 C.SL3 214 SL3.dF
35 CL.bit 175 C.Prod 215 SL.rtd
36 SAVE.Er 176 EnP.Er 216 t216
37 PSAVE.Er 177 C.boot 217 to 232 HF17 to HF232
38 t038 178 C.bUSY
39 Reserved 179 C.Chg
40 to 89 t040 to t089 180 C.OPtn
The trips can be grouped into the following categories. It should be noted that a trip can only occur when the drive is not tripped or is already tripped
but with a trip with a lower priority number.

Digitax ST User Guide 195

Table 13-3 Trip categories

Priority Category Trips Comments

These indicate serious internal problems and cannot be reset. The
1 Hardware faults HF01 to HF16 drive is inactive after one of these trips and the display shows
HFxx.
HF17 to HF32, SL1.HF, SL2.HF,
2 Non-resetable trips Cannot be reset.
SL3.HF
Cannot be reset unless a code to load defaults is first entered in
3 EEF trip EEF
Pr x.00 or Pr 11.43.
C.Boot, C.Busy, C.Chg, C.Optn,
C.RdO, C.Err, C.dat, C.FULL,
4 SMARTCARD trips SMARTCARD trips have priority 5 during power up.
C.Acc, C.rtg, C.Typ, C.cpr,
C.Prod
These trips can only override the following priority 5 trips: EnC2 -
4 Encoder power supply trips PS.24V, EnC1
EnC8 or Enc11 - En17
Normal trips with extended OI.AC, OI.br, OIAC.P, OIbr.P,
5 Can be reset after 10.0s
reset OidC.P
All other trips not included in this
5 Normal trips
table
5 Non-important trips Old1, cL2, cL3, SCL If bit 0 of Pr 10.37 is 1 the drive will stop before tripping.
5 Phase loss PH The drive attempts to stop before tripping.
Drive over-heat based on The drive attempts to stop before tripping, but if it does not stop
5 O.ht3
thermal model within 10s the drive will automatically trip.
Under voltage trip cannot be reset by the user, but is automatically
6 Self resetting trips UV
reset by the drive when the supply voltage is with specification.
Unless oterwise stated, trips cannot be reset until 1.0s after the trip has been accepted by the drive.
Although the UV trip operates in a similar way to all other trips, all drive Table 13-4 Alarm indications
functions can still operate but the drive cannot be enabled. The following
differences apply to the UV trip: Lower
Description
display
1. Power-down save user parameters are saved when UV trip is
activated except when the main high voltage supply is not active br.rS Braking resistor overload
(i.e. operating in Low Voltage DC Supply Mode, Pr 6.44 = 1). Braking resistor I2t accumulator (Pr 10.39) in the drive has reached
2. The UV trip is self-resetting when the DC bus voltage rises above 75.0% of the value at which the drive will trip and the braking IGBT is
the drive restart voltage level. If another trip is active instead of UV at active.
this point, the trip is not reset. Heatsink or control board or inverter IGBT over
Hot
3. The drive can change between using the main high voltage supply temperature alarms are active
and low voltage DC supply only when the drive is in the under • The drive heatsink temperature has reached a threshold and the
voltage condition (Pr 10.16 = 1). The UV trip can only be seen as drive will trip O.ht2 if the temperature continues to rise (see the
active if another trip is not active in the under voltage condition. O.ht2 trip).
4. When the drive is first powered up a UV trip is initiated if the supply Or
voltage is below the restart voltage level and another trip is not • The ambient temperature around the control PCB is approaching
active. This does not cause save power down save parameters to be the over temperature threshold (see the O.CtL trip).
saved at this point.
OVLd Motor overload
13.2 Alarm indications 2
The motor I t accumulator (Pr 4.19) in the drive has reached 75% of
the value at which the drive will be tripped and the load on the drive is
In any mode an alarm flashes alternately with the data displayed when
>100%
one of the following conditions occur. If action is not taken to eliminate
any alarm except "Autotune", "Lt" and "PLC" the drive may eventually Auto tune Autotune in progress
trip. Alarms flash once every 640ms except "PLC" which flashes once The autotune procedure has been initialised. 'Auto' and 'tunE' will flash
every 10s. Alarms are not displayed when a parameter is being edited. alternatively on the display.
Lt Limit switch is active
Indicates that a limit switch is active and that it is causing the motor to
be stopped (i.e. forward limit switch with forward reference etc.)
PLC Onboard PLC program is running
An Onboard PLC program is installed and running. The lower display
will flash 'PLC' once every 10s.

196 Digitax ST User Guide

Drive cooling fan Table 13-6 Solutions Module and SMARTCARD status indications
The drive cooling fan is controlled by the temperature from monitoring at power-up
points and other actions as follows:
Lower
If the "hot" alarm is active or the IGBT temperature (Pr 7.34) is greater Description
display
than the upper threshold then the fan will run at full speed. It will continue
to run at full speed until the IGBT temperature is below the lower boot
threshold. See the table below for the upper and lower thresholds. A parameter set is being transferred from the SMARTCARD to the
drive during power-up. For further information, refer to the User Guide.
Model Upper threshold Lower threshold
cArd
DST1201 to DST1204
120 ºC 75 ºC The drive is writing a parameter set to the SMARTCARD during power-
DST1401 to DST1404
up.
DST1405 145 ºC 90 ºC For further information, refer to the User Guide.
If a Solutions Module indicates that it is too hot the fan runs at full speed. loAding
The fan will continue to run at full speed for 10 seconds after the The drive is writing information to a Solutions Module.
Solutions Module has cooled down.
The fan can still be forced to run at full speed at all times if Pr 6.45 is set
to one. The fan will continue to run at full speed for 10 seconds after
Pr 6.45 has been set to zero.
For all other conditions the fan runs at low speed.

13.3 Status indications

Table 13-5 Status indications
Upper Drive output
Description
display stage
ACUU AC Supply loss
The drive has detected that the AC supply has been
Enabled
lost and is attempting to maintain the DC bus voltage
by decelerating the motor.
dc DC applied to the motor
Enabled
The drive is applying DC injection braking.
dEC Decelerating
Enabled
The drive is decelerating the motor.
inh Inhibit
The drive is inhibited and cannot be run. Disabled
The drive enable signal is not applied to terminal 31 or
Pr 6.15 is set to 0.
POS Positioning
Enabled
The drive is positioning/orientating the motor shaft.
rdY Ready
Disabled
The drive is ready to be run.
run Running
Enabled
The drive is running.
SCAn Scanning
Regen> The drive is enabled and is synchronising to Enabled
the line.
StoP Stop or holding zero speed
The drive is holding zero speed.Regen> The drive is Enabled
enabled but the AC voltage is too low, or the DC bus
voltage is still rising or falling.
triP Trip condition
The drive has tripped and is no longer controlling the Disabled
motor. The trip code appears on the lower display.

Digitax ST User Guide 197

14 UL listing information 14.2 AC supply specification

The drive is suitable for use in a circuit capable of delivering not more
Digitax ST drives have been assessed to comply with both ULus and than 100,000 RMS symmetrical Amperes at 264Vac RMS maximum
cUL requirements. (200V drives), 528Vac RMS maximum (400V drives).
The Control Techniques UL file number is E171230. Confirmation of UL
listing can be found on the UL website: www.ul.com.
14.3 Maximum continuous output current
The drive models are listed as having the maximum continuous output
14.1 Common UL information currents (FLC) shown in Table 14-1 and Table 14-2.

Conformity: The drive conforms to UL listing requirements only when the Table 14-1 Maximum continuous output current (200V drives)
following are observed: Model FLC (A)
• Class 1 60/75°C (140/167°F) copper wire only is used in the DST1201 1.7
installation DST1202 3.8
• The surrounding air temperature does not exceed 45°C (113°F) DST1203 5.4
when the drive is operating DST1204 7.6
• The terminal tightening torques specified in section 7.2 Quick Start
set-up are used Table 14-2 Maximum continuous output current (400V drives)
• The drive is installed in a type 1 enclosure, or better, as defined by Model FLC(A)
UL50. The drive has a UL ‘opentype’ enclosure rating. DST1401 1.5
• The correct UL listed class CC fast acting fuses e.g. Bussman
DST1402 2.7
Limitron KTK series, Gould Amp-Trap ATM series or equivalent are
used in the AC supply. The drive does not comply with UL if MCBs DST1403 4.0
are used in place of fuses. DST1404 5.9
• If the drive control stage is supplied by an external power supply DST1405 8.0
(+24V), the external power supply must be a UL Class 2 power
supply. 14.4 Common DC bus
Motor overload protection The drive can also be used with common DC bus for UL applications as
All models incorporate an internal overload protection model for the follows: -
motor load that does not require the use of an external or remote Drives can be connected so as to have a common DC bus from a single
overload protection device. Overload protection is provided at 105% the feed. The power rating of the main fed drive shall not be exceeded.
FLA of the device. The duration of the overload is dependent on the Fusing is not required between the DC bus fed drives, only the main
motor's thermal filter (a value up to 3000 seconds that is able to be supplied drive is required to be fused. The maximum capacitance to be
entered into the drive - default value is 89 seconds). Refer to ‘Menu 4 connected together for the 480Vac drives is 880μF and for the 230Vac
advanced parameter descriptions’ in the Digitax ST Advanced User drives is 2200μF (the capacitance includes the mains supplied drive).
Guide for further information.
Overspeed protection
The drive provides overspeed protection. However, it does not provide
the level of protection afforded by an independent high integrity
overspeed protection device.

14.5 DC Supplied drive

The drive can also have DC feed for UL applications as follows: -
Supply connected to -DC and +DC terminals.
Table 14-3 DC fusing
Fuse
Volts DC
Model current R/C JFHR2 fuse manufacturer, type, Amps
nominal
rating
DST1201 340 25 Ferraz, 6,9xx CP GRC, 25 Siba URZ14x51 gR 690, 25
DST1202 340 32 Ferraz, 6,9xx CP GRC, 32 Siba URZ14x51 gR 690, 40
DST1203 340 40 Ferraz, 6,9xx CP GRC, 40 Siba URZ14x51 gR 690, 40
DST1204 340 50 Ferraz, 6,9xx CP GRC, 50 Siba URZ14x51 gR 690, 50
DST1401 680 25 Ferraz, 6,9xx CP GRC, 25 Siba URZ14x51 gR 690, 25
DST1402 680 25 Ferraz, 6,9xx CP GRC, 25 Siba URZ14x51 gR 690, 25
DST1403 680 25 Ferraz, 6,9xx CP GRC, 25 Siba URZ14x51 gR 690, 25
DST1404 680 25 Ferraz, 6,9xx CP GRC, 25 Siba URZ14x51 gR 690, 25
DST1405 680 25 Ferraz, 6,9xx CP GRC, 25 Siba URZ14x51 gR 690, 25

NOTE
In the table above, Ferraz xx may be 00 (fuse with no trip indicator installed) or 21 (fuse installed with trip indicator).

198 Digitax ST User Guide

14.6 UL listed accessories

• Digitax ST Keypad • SM-PROFIBUS-DP-V1
• Digitax ST Braking resistor • SM-DeviceNet
• SM-Keypad Plus • SM-I/O Timer
• SM-I/O Plus • SM-CAN
• SM-Ethernet • SM-INTERBUS
• SM-CANopen • SM-Applications Lite
• SM-Universal Encoder Plus • SM-Applications Lite V2
• SM-Resolver • SM-SLM
• SM-Encoder Plus • SM-Applications
• SM-I/O Lite • SM-I/O PELV
• SM-I/O 120V • SM-I/O 24V Protected
• SM-LON • SM-I/O 32
• SM-Applications Plus • SM-SERCOS
• 15-way D-type converter • SM-I/O Timer
• SM-Encoder Output Plus • SM-EtherCAT
• SM-LON

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List of figures
Figure 2-1 Model code explanation .....................................9 Figure 11-7 Menu 7 logic diagram .....................................103
Figure 2-2 Typical drive label ...............................................9 Figure 11-8 Menu 8 logic diagram .....................................106
Figure 2-3 Features of the drive ........................................10 Figure 11-9 Menu 9 logic diagram: Programmable logic ...109
Figure 2-4 Options available with Digitax ST .....................11 Figure 11-10 Menu 9 logic diagram: Motorized pot and
Figure 2-5 Accessory box contents ...................................14 binary sum ......................................................110
Figure 3-1 Fire enclosure bottom layout ............................15 Figure 11-11 Menu 12 logic diagram ...................................115
Figure 3-2 Fire enclosure baffle construction ....................15 Figure 11-12 Menu 12 logic diagram (continued) ................116
Figure 3-3 Installation of a Solutions Module .....................16 Figure 11-13 Brake function .................................................117
Figure 3-4 Installation of a keypad .....................................16 Figure 11-14 Brake sequence ..............................................118
Figure 3-5 Dimensions .......................................................17 Figure 11-15 Menu 13 logic diagram ...................................120
Figure 3-6 New ingress protective label ............................17 Figure 11-16 Menu 14 Logic diagram ..................................124
Figure 3-7 Minimum mounting clearances .........................17 Figure 11-17 Location of Solutions Module slots and their
Figure 3-8 DIN rail mounting ..............................................18 corresponding menu numbers .......................127
Figure 3-9 Bookcase mounting ..........................................18 Figure 11-18 SM-Universal Encoder Plus logic diagram .....128
Figure 3-10 Footprint mounting ...........................................18 Figure 11-19 SM-Resolver logic diagram .............................132
Figure 3-11 External EMC filter dimensions ........................19 Figure 11-20 SM-Encoder Plus logic diagram .....................134
Figure 3-12 Installing an optional internal braking Figure 11-21 SM-I/O Plus analog logic diagram ..................136
resistor (top view of drive) ................................19 Figure 11-22 SM-I/O Plus digital logic diagram 1 .................137
Figure 4-1 Power terminal connections .............................21 Figure 11-23 SM-I/O Plus digital logic diagram 2 .................138
Figure 4-2 Ground connection ...........................................22 Figure 11-24 SM-I/O Lite & SM-I/O Timer digital I/O logic
Figure 4-3 Cable construction influencing the diagram ...........................................................140
capacitance ......................................................25 Figure 11-25 SM-I/O Lite & SM-I/O Timer analog I/O logic
Figure 4-4 Removing the internal EMC filter and line to diagram ...........................................................141
ground varistors ................................................27 Figure 11-26 SM-I/O Timer real time clock logic diagram ....141
Figure 4-5 Drive cable clearances .....................................28 Figure 11-27 SM-I/O PELV digital I/O logic diagram ............143
Figure 4-6 Grounding bracket at the top of the drive .........29 Figure 11-28 SM-I/O PELV digital input logic diagram .........144
Figure 4-7 Grounding bracket at the bottom of the drive ...29 Figure 11-29 SM-I/O PELV relay logic diagram ...................144
Figure 4-8 Multiple drives with single grounding bracket ...29 Figure 11-30 SM-I/O PELV analog input logic diagram .......145
Figure 4-9 Location of the RJ45 serial comms connector .30 Figure 11-31 SM-I/O PELV analog output logic diagram .....145
Figure 4-10 Default terminal functions .................................33 Figure 11-32 SM-I/O 24V Protected digital I/O logic
Figure 4-11 Encoder ...........................................................36 diagram ...........................................................147
Figure 4-12 Access to encoder connections ........................36 Figure 11-33 SM-I/O 24V Protected digital I/O logic
Figure 4-13 Connecting the encoder ground tab to the diagram ...........................................................148
EMC bracket .....................................................36 Figure 11-34 SM-I/O 24V Protected relay logic diagram .....148
Figure 4-14 Feedback Cable, Twisted Pairs ........................36 Figure 11-35 SM-I/O 24V Protected analog output logic
Figure 4-15 Location of encoder connectors on underside diagram ...........................................................149
of drive ..............................................................37 Figure 11-36 SM-I/O 120V digital input logic diagram .........150
Figure 4-16 Drive encoder input converter connector .........37 Figure 11-37 SM-I/O 120V relay diagram ............................151
Figure 4-19 Digitax ST Plus terminals view .........................40 Figure 11-38 SM-I/O 32 logic diagram .................................152
Figure 5-1 Digitax ST Keypad ............................................ 43 Figure 11-39 SM-SLM logic diagram ...................................156
Figure 5-2 SM-Keypad Plus (remote mount only) ............. 43 Figure 11-40 Digital input connections when Pr 6.04 is
Figure 5-3 Display modes ..................................................43 set to 0 to 3 .....................................................168
Figure 5-4 Mode examples ................................................44 Figure 12-1 Repetitive profile with defined level of Ipeak ...171
Figure 5-5 Parameter navigation .......................................44 Figure 12-2 Repetitive profile with defined ratio between
Figure 5-6 Menu structure .................................................44 Ibase to Ipeak .................................................173
Figure 6-1 Menu 0 logic diagram .......................................50 Figure 12-3 External EMC filter dimensions .......................180
Figure 7-1 Minimum connections to get the motor Figure 13-1 Keypad status modes .....................................181
running via Serial Communications Figure 13-2 Location of the status LED .............................181
(e.g. CTSoft) .....................................................59
Figure 7-2 Minimum connections to get the motor
running via keypad ...........................................60
Figure 7-3 Minimum connections to get the motor
running via terminal mode (analog input) .........61
Figure 9-1 Installation of the SMARTCARD ......................70
Figure 9-2 Basic SMARTCARD operation .........................71
Figure 10-1 Digitax ST Onboard PLC program scheduling .77
Figure 11-1 Menu 1 logic diagram .......................................84
Figure 11-2 Menu 2 logic diagram .......................................88
Figure 11-3 Menu 3 logic diagram .......................................92
Figure 11-4 Menu 4 logic diagram .......................................95
Figure 11-5 Menu 5 logic diagram .......................................98
Figure 11-6 Menu 6 logic diagram .....................................101

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List of tables
Table 2-1 Maximum ratings ................................................8 Table 12-1 Repetitive profile with defined level of Ipeak
Table 2-2 Solutions Module identification .........................11 at 6kHz switching frequency, ≤230Vac
Table 2-3 Keypad identification .........................................13 supply for DST120X and ≤400Vac supply
Table 2-4 Other options ....................................................14 for DST140X .................................................. 171
Table 3-1 External EMC filter ratings ................................18 Table 12-2 Repetitive profile with defined level of Ipeak
Table 3-2 Torque settings .................................................19 at 8kHz switching frequency, ≤230Vac
Table 3-3 Plug-in terminal block maximum cable sizes ....19 supply for DST120X and ≤400Vac supply
Table 4-1 Supply requirements .........................................22 for DST140X .................................................. 172
Table 4-2 Behavior of the drive in the event of a Table 12-3 Repetitive profile with defined level of Ipeak
motor circuit ground (earth) fault with an at 6kHz switching frequency, ≤240Vac
IT supply ...........................................................22 supply for DST120X and ≤480Vac
Table 4-3 DC bus data ......................................................23 supply for DST140X ....................................... 172
Table 4-4 Low voltage DC levels ......................................23 Table 12-4 Repetitive profile with defined level of Ipeak
Table 4-5 High voltage DC levels .....................................23 at 8kHz switching frequency, ≤240Vac supply
Table 4-6 Control supply voltage levels ............................23 for DST120X and ≤480Vac supply
Table 4-7 Fuse ratings and cable sizes ............................24 for DST140X .................................................. 172
Table 4-8 Maximum AC input fusing .................................24 Table 12-5 Repetitive profile with defined ratio between
Table 4-9 Motor cable size and maximum lengths ...........25 Ibase to Ipeak at 6kHz switching frequency,
Table 4-10 Internal braking resistor data ............................26 ≤230Vac supply for DST120X and
Table 4-11 Minimum resistance and power ratings ............26 ≤400Vac supply for DST140X ........................ 173
Table 4-12 Ground leakage current with internal Table 12-6 Repetitive profile with defined ratio between
EMC filter installed ............................................26 Ibase to Ipeak at 8kHz switching frequency,
Table 4-13 Immunity compliance ........................................29 ≤230Vac supply for DST120X and
Table 4-14 DST120X (200V) emission compliance ≤400Vac supply for DST140X ........................ 173
(single and three phase drives ..........................30 Table 12-7 Repetitive profile with defined ratio between
Table 4-15 DST140X (400V) emission compliance ............30 Ibase to Ipeak at 6kHz switching frequency,
Table 4-16 Connection details for RJ45 connector .............31 ≤240Vac supply for DST120X and ≤480Vac
Table 4-17 Isolated serial comms lead details ....................31 supply for DST140X ....................................... 174
Table 4-18 The control connections consist of: ..................31 Table 12-8 Repetitive profile with defined ratio between
Table 4-20 Encoder types ...................................................37 Ibase to Ipeak at 8kHz switching frequency,
Table 4-21 Feedback resolution based on frequency ≤240Vac supply for DST120X and
and voltage level ...............................................39 ≤480Vac supply for DST140X ........................ 174
Table 4-22 Encoder output types ........................................39 Table 12-9 Continuous rating with no overload, ≤230Vac
Table 4-23 Buffered encoder connections ..........................39 supply for DST120X and ≤400Vac
Table 4-24 Digitax ST Plus connector details .....................40 supply for DST140X ....................................... 174
Table 4-26 Digitax EZMotion connector details ..................40 Table 12-10 Continuous rating with no overload, ≤240Vac
Table 5-1 User interface compatibility ...............................42 supply for DST120X and ≤480Vac
Table 7-1 Minimum control connection requirements supply for DST140X ....................................... 174
for each control mode .......................................58 Table 12-11 Maximum rectifier power, ≤230Vac supply for
Table 7-2 Minimum control connection requirements .......58 DST120X and ≤400Vac supply
Table 7-3 Parameters required for feedback device for DST140X .................................................. 175
set-up ................................................................63 Table 12-12 Maximum rectifier power, ≤240Vac supply
Table 7-4 Restrictions of drive encoder lines per for DST120X and ≤480Vac supply
revolution with software version for DST140X .................................................. 175
V01.06.01 and later ..........................................65 Table 12-13 Maximum drive losses ................................... 175
Table 7-5 Buffered encoder output type ...........................66 Table 12-14 Supply requirements ...................................... 175
Table 9-1 SMARTCARD data blocks ................................71 Table 12-15 IP Rating degrees of protection ..................... 176
Table 9-2 SMARTCARD codes ........................................71 Table 12-16 UL enclosure ratings ...................................... 176
Table 9-3 Key to parameter table coding ..........................73 Table 12-17 Overall drive dimensions ................................ 177
Table 9-4 Trip conditions ..................................................75 Table 12-18 Supply fault current used to calculate
Table 9-5 SMARTCARD status indications ......................76 maximum input currents ................................. 177
Table 11-1 Menu descriptions .............................................79 Table 12-19 Fuse ratings and cable sizes ......................... 177
Table 11-2 Key to parameter table coding ..........................79 Table 12-20 Maximum AC input fusing .............................. 178
Table 11-3 Feature look-up table ........................................80 Table 12-21 Motor cable size and maximum lengths ......... 178
Table 11-4 Definition of parameter ranges & variable Table 12-22 Minimum resistance and power ratings ......... 178
maximums ........................................................82 Table 12-23 Torque settings .............................................. 179
Table 11-5 Defaults for Pr 10.30 and Pr 10.31 .................113 Table 12-24 Plug-in terminal block maximum cable sizes . 179
Table 11-6 Digitax ST Indexer ..........................................159 Table 12-25 Immunity compliance ..................................... 179
Table 11-7 Digitax ST Plus ...............................................160 Table 12-26 DST120X (200V) emission compliance
Table 11-8 Digitax ST EZMotion .......................................161 (single and three phase drives ....................... 179
Table 11-9 Active reference ..............................................164 Table 12-27 DST140X (400V) emission compliance ......... 179
Table 12-28 External EMC filter ratings ............................. 180

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Table 13-1 Trip indications ...............................................182
Table 13-2 Serial communications look-up table ..............195
Table 13-3 Trip categories ................................................196
Table 13-4 Alarm indications ............................................196
Table 13-5 Status indications ...........................................197
Table 13-6 Solutions Module and SMARTCARD status
indications at power-up ..................................197
Table 14-1 Maximum continuous output current
(200V drives) ..................................................198
Table 14-2 Maximum continuous output current
(400V drives) ..................................................198
Table 14-3 DC fusing ........................................................ 198

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Index
Symbols D
+10V user output .....................................................................34 DC bus design ........................................................................ 23
+24V external input .................................................................34 DC bus voltage ........................................53, 82, 165, 167, 168
+24V user output .....................................................................35 DC drive voltage levels ........................................................... 23
DC Supplied drive ................................................................. 198
Numerics Deceleration ................................. 48, 52, 53, 62, 90, 162, 165
0V common .............................................................................34 Default terminal functions ....................................................... 33
Defaults (restoring parameter) ................................................ 45
A Derating ................................................................................ 171
AC supply requirements ..........................................................22 Destination parameter ............................................................ 31
AC supply specification .........................................................198 Diagnostics ................................................................... 181, 198
Acceleration ........................................................ 48, 52, 62, 90 Digital I/O 1 ............................................................................. 35
Access .....................................................................................15 Digital I/O 2 ............................................................................. 35
Access Level ...........................................................................45 Digital I/O 3 ............................................................................. 35
Accuracy ...............................................................................177 Digital Input 1 .......................................................................... 35
Acoustic noise .......................................................................177 Digital input 2 .......................................................................... 35
Advanced menus ....................................................................45 Digital input 3 .......................................................................... 35
Advanced parameters .............................................................79 Digitax ST EZMotion additional connections .......................... 40
Alarm .....................................................................................196 Digitax ST Plus additional connections .................................. 40
Alarm indications ...................................................................196 Dimensions (overall) ............................................................. 177
Altitude ..................................................................................176 Display .................................................................................... 43
Analog input 1 .......................................................................104 Display messages ........................................................ 196, 197
Analog input 2 ................................................................ 34, 104 Drive cooling fan ................................................................... 197
Analog input 3 ................................................................ 34, 104 Drive dimensions .................................................................... 17
Analog output 1 .............................................................. 35, 104 Drive enable ........................................................................... 36
Analog output 2 .............................................................. 35, 104 Drive model numbers ............................................................... 9
Autotune ..................................................................................67 Drive nameplate description ..................................................... 9
Drive ratings ............................................................................. 8
B
Basic parameters ....................................................................48 E
Basic requirements .......................................................... 58, 59 Electrical installation ................................................................. 6
Braking ........................................................................... 25, 165 Electrical safety .................................................................. 6, 15
Braking Modes ......................................................................165 Electrochemical corrosion of grounding terminals .................. 22
Braking modes ......................................................................165 Electromagnetic compatibility (EMC) ...................................... 16
Braking resistor values ..........................................................178 EMC (Electromagnetic compatibility) ...................................... 27
Buffered encoder output .............................................39, 66, 92 EMC filter dimensions ............................................................. 19
EMC filter ratings .................................................................. 180
C EMC filter torque settings ............................................... 18, 180
Cable clearances ....................................................................28 EMC filters (optional external) .............................................. 180
Cable lengths (maximum) .....................................................178 Emission ............................................................................... 179
Cable size and lengths ............................................................24 Encoder ................................................ 50, 53, 62, 92, 94, 120
Cable size ratings ..................................................................177 Encoder connections .............................................................. 36
Catch a spinning motor .........................................................169 Encoder In connector details .................................................. 38
Cautions ....................................................................................6 Encoder terminals ................................................................... 37
Common DC bus ...................................................................198 Encoder types ......................................................................... 37
Common UL information .......................................................198 Environmental protection ........................................................ 15
Control 24Vdc supply ..............................................................23 External braking resistor ......................................................... 26
Control connections ................................................................31 External EMC filter .................................................................. 18
Control terminal specification ..................................................34 External EMC filter rating ........................................................ 18
Control terminals .....................................................................61
Cooling ....................................................................................15
Cooling method .....................................................................176
Corrosive gasses ..................................................................176
Current limit .............................................................................52
Current loop gains ...................................................................68
Current ratings ......................................................................171

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F M
Fast Disable ..........................................................................170 Maximum continuous output current .....................................198
Features of the drive ...............................................................10 Maximum drive losses ...............................................................9
Feedback cable .......................................................................36 Maximum power ratings ........................................................175
Feedback cable connections ..................................................37 Mechanical installation ............................................................15
Feedback device ...................... 50, 53, 62, 63, 65, 92, 94, 120 Menu 01 - Frequency / speed reference .................................84
Fieldbus module category parameters ..................................153 Menu 02 - Ramps ....................................................................88
Fire protection .........................................................................15 Menu 03 - Slave frequency, speed feedback and
Full descriptions ......................................................................52 speed control .....................................................................92
Further EMC precautions ........................................................27 Menu 04 - Torque and current control .....................................95
Fuse ratings ..........................................................................177 Menu 05 - Motor control ..........................................................98
Menu 06 - Sequencer and clock ...........................................101
G Menu 07 - Analog I/O ............................................................103
Getting started ........................................................................ 14 Menu 08 - Digital I/O .............................................................106
Ground connections ................................................................22 Menu 09 - Programmable logic, motorized pot and
Ground leakage ......................................................................26 binary sum .......................................................................109
Ground terminals ....................................................................19 Menu 10 - Status and trips ....................................................112
Grounding bracket ..................................................................29 Menu 11 - General drive set-up ............................................114
Menu 12 - Threshold detectors and variable selectors .........115
H Menu 13 - Position control ....................................................120
Hazardous areas .....................................................................16 Menu 14 - User PID controller ...............................................124
High voltage DC levels ............................................................23 Menu 15 and 16 - Solutions Module set-up ..........................127
Humidity ................................................................................176 Menu 17 - Motion processors ................................................159
Menu 18 - Application menu 1 ..............................................127
I Menu 19 - Application menu 2 ..............................................161
I/O module category parameters .......................................... 136 Menu 20 - Application menu 3 ..............................................161
Input current ratings ..............................................................177 Menu 21 - Second motor parameters ...................................162
Input inductor calculation ........................................................22 Menu 22 - Additional Menu 0 set-up .....................................163
Installation of a keypad ...........................................................16 Menu structure ........................................................................44
Installation of the SMARTCARD .............................................70 Minimum connections to get the motor running ......................59
Internal and external conducted emissions conformity ...........29 Mode parameter ......................................................................31
Internal braking resistor .......................................................... 26 Motor map parameters ............................................................67
Internal EMC filter ...................................................................27 Motor number of poles ............................................................67
IP / UL Rating ........................................................................176 Motor parameters ....................................................................57
IP Rating (Ingress protection) ...............................................176 Motor rated current ..................................................................67
Items supplied with the drive ...................................................14 Motor requirements ...............................................................176
Motor winding voltage .............................................................25
K
Keypad and display .................................................................43 N
Keypad operation ....................................................................43 NEMA rating ..........................................................................176
Notes .........................................................................................6
L
Line power supply loss modes ..............................................167 O
Line reactors .................................................................. 22, 175 Onboard PLC ..........................................................................77
Low voltage DC operation .......................................................23 Optimization ............................................................................67
Optional braking resistor .........................................................19
Options ....................................................................................11
Output circuit and motor protection .........................................24
Output contactor ......................................................................25
Output frequency ...................................................................177
Overall dimensions ................................................................177

204 Digitax ST User Guide

www.controltechniques.com Issue: 3
P T
Parameter access level ...........................................................45 Technical data ...................................................................... 171
Parameter ranges ...................................................................82 Temperature ......................................................................... 176
Parameter security ..................................................................45 Terminal torque settings ......................................................... 19
Parameter x.00 ........................................................................52 Torque modes ...................................................................... 166
Planning the installation ..........................................................15 Trip ....................................................................................... 181
Position feedback ....................................................................58 Trip categories ...................................................................... 196
Position feedback module category parameters ...................128 Trip indications ..................................................................... 181
Power cables ...........................................................................36 Typical pulse duty ................................................................. 171
Power ratings ........................................................................171
Power terminal connections ....................................................21 U
Precision reference Analog input 1 .........................................34 UL listed accessories ............................................................ 199
Product information ...................................................................8 UL listing information ............................................................ 198
Use of residual current device (RCD) ..................................... 26
Q User security ........................................................................... 46
Quick Start set-up ...................................................................62
V
R Variable maximums ................................................................ 82
Ramps .....................................................................................52 Vibration ............................................................................... 176
Ratings ....................................................................................24
Recommended cable management ........................................28 W
Relay contacts .........................................................................36 Warnings .................................................................................. 6
Resolution .............................................................................177 Weight .................................................................................. 177
RJ45 connector - connection details .......................................31 Writing to the SMARTCARD ................................................... 71
RoHS compliance .................................................................176
Routine maintenance ..............................................................19
Running the motor ...................................................................58

S
SAFE TORQUE OFF ..............................................................40
SAFE TORQUE OFF/drive enable ..........................................36
Safety information ...................................................................15
Saving parameters ..................................................................45
Serial comms lead ...................................................................31
Serial communications connections ........................................30
Serial communications look-up table .....................................195
Serial communications port isolation .......................................31
Single line descriptions ...........................................................48
SMARTCARD codes ...............................................................71
SMARTCARD data blocks ......................................................71
SMARTCARD Operation .........................................................70
SMARTCARD parameters ......................................................73
SMARTCARD trips ..................................................................75
Solutions Module .....................................................................11
Solutions Module / keypad installation / removal ....................16
Source parameter ...................................................................31
Speed and position feedback ..................................................58
Speed limits .............................................................................52
Speed loop gains ....................................................................69
Speed range ..........................................................................177
Speed reference selection ......................................................52
Start up time ..........................................................................177
Starts per hour ......................................................................177
Status ............................................................................. 44, 197
Status indications ..................................................................197
Status information ...................................................................57
Stop modes ...........................................................................167
Storage ..................................................................................176
Supply requirements .............................................................175
Supply types ............................................................................22
SYPTLite .................................................................................77

Digitax ST User Guide 205

Issue: 3 www.controltechniques.com
0475-0001-03

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