Atv71 programming

Programming manual
Altivar 71
Variable speed drives
for asynchronous motors

3
Table of contents
Warnings____________________________________________________________________________________________________ 4
Steps for setting up the drive ____________________________________________________________________________________ 5
Factory configuration __________________________________________________________________________________________ 6
Your application functions_______________________________________________________________________________________ 7
Setup - Preliminary recommendations ____________________________________________________________________________ 11
Graphic display terminal _______________________________________________________________________________________ 12
Description of the terminal _______________________________________________________________________________ 12
Description of the graphic screen __________________________________________________________________________ 13
First power-up - [5. LANGUAGE] menu _____________________________________________________________________ 16
Subsequent power-ups__________________________________________________________________________________ 17
Programming: Example of accessing a parameter_____________________________________________________________ 18
Quick navigation _______________________________________________________________________________________ 19
Integrated display terminal _____________________________________________________________________________________ 22
Functions of the display and the keys_______________________________________________________________________ 22
Accessing menus ______________________________________________________________________________________ 23
Accessing menu parameters _____________________________________________________________________________ 24
[2. LEVEL ACCESS] (LAC-) ____________________________________________________________________________________ 25
Structure of parameter tables ___________________________________________________________________________________ 27
[1.1 - SIMPLY START] (SIM-)___________________________________________________________________________________ 28
[1.2 - MONITORING] (SUP-) ___________________________________________________________________________________ 36
[1.3 - SETTINGS] (SEt-) _______________________________________________________________________________________ 42
[1.4 - MOTOR CONTROL] (drC-) ________________________________________________________________________________ 54
[1.5 - INPUTS / OUTPUTS CFG] (I-O-) ___________________________________________________________________________ 65
[1.6 - COMMAND] (CtL-) ______________________________________________________________________________________ 86
[1.7 - APPLICATION FUNCT.] (FUn-) ____________________________________________________________________________ 99
[1.8 - FAULT MANAGEMENT] (FLt-) ____________________________________________________________________________ 171
[1.9 - COMMUNICATION] (COM-) ______________________________________________________________________________ 184
[1.11 - IDENTIFICATION]_____________________________________________________________________________________ 187
[1.12 - FACTORY SETTINGS] (Fst-) ____________________________________________________________________________ 188
[1.13 - USER MENU] ________________________________________________________________________________________ 190
[1.14 - PROG. CARD]________________________________________________________________________________________ 191
[3. OPEN / SAVE AS] ________________________________________________________________________________________ 192
[4. PASSWORD] (COd-)______________________________________________________________________________________ 194
[6. DISPLAY CONFIG. ] ______________________________________________________________________________________ 196
[7. MONITORING CONFIG.] __________________________________________________________________________________ 200
[MULTIPOINT SCREEN] _____________________________________________________________________________________ 205
Maintenance _______________________________________________________________________________________________ 206
Faults - Causes - Remedies ___________________________________________________________________________________ 207
User settings tables _________________________________________________________________________________________ 210
Index of functions ___________________________________________________________________________________________ 211
Index of parameter codes_____________________________________________________________________________________ 212

4
Warnings
When the drive is powered up, the power components and some of the control
components are connected to the line supply. It is extremely dangerous to touch
them. The drive cover must be kept closed.
In general, the drive power supply must be disconnected before any operation on
either the electrical or mechanical parts of the installation or machine.
After the ALTIVAR has been switched off, wait for 15 minutes and allow the
indicator light to go out before working on the equipment. This is the time
required for the capacitors to discharge.
The motor can be stopped during operation by inhibiting start commands or the
speed reference while the drive remains powered up. If personnel safety requires
prevention of sudden restarts, electronic locking is performed by the Altivar 71's
"Power Removal" function and the use of connection diagrams conforming to
category 3 of standard EN954-1 and integrity level 2 according to IEC/EN 61508.
The drive is fitted with safety devices which, in the event of a fault, can shut down
the drive and consequently the motor. The motor itself may be stopped by a
mechanical blockage. Finally, voltage variations, especially line supply failures,
can also cause shutdowns.
Unless the "Power Removal" safety function has been activated, if the cause of
the shutdown disappears, there is a risk of restarting, which may endanger
certain machines or installations, especially those, which must conform to safety
regulations.
In this case the user must take precautions against the possibility of restarts, in
particular by using a low speed detector to cut off power to the drive if the motor
performs an unprogrammed shutdown.
The drive must be installed and set up in accordance with both international IEC
and national standards. Bringing the device into conformity is the responsibility
of the systems integrator who must observe the EMC directive and the LV
directive within the European Union.
The Altivar 71 must be considered as a component: it is neither a machine nor a
device ready for use in accordance with European directives (machinery
directive and electromagnetic compatibility directive). It is the responsibility of
the end user to ensure that the machine meets reference standards.
The drive must not be used as a safety device for machines posing a potential
risk of material damage or personal injury (lifting equipment, for example). In
such applications, overspeed checks and checks to ensure that the trajectory
remains under constant control must be made by separate devices, which are
independent of the drive.
The products and equipment described in this document may be changed or
modified at any time, either from a technical point of view or in the way they are
operated. Their description can in no way be considered contractual.

5
Steps for setting up the drive
INSTALLATION
v 1 Consult the Installation Manual
PROGRAMMING
b 2 Power-up without run command
b 3 Select the language, if the drive
has a graphic display terminal
b 4 Configure the [SIMPLY START]
menu
Tips:
• Before you start programming, complete
the user settings tables (page xx).
• Perform an auto-tuning operation to
optimize performance (page xx).
• If you get lost, revert to the factory settings
(page xx).

6
Factory configuration
Drive factory settings
The Altivar 71 is factory-set for the most common operating conditions:
• Macro-configuration: Start/Stop
• Motor frequency (bFr): 50 Hz
• Constant torque application with sensorless flux vector control (Ctt = UUC)
• Normal stop mode on deceleration ramp (Stt = rMP)
• Stop mode in the event of a fault: Freewheel
• Linear ramps (ACC, dEC): 3 seconds
• Low speed (LSP): 0 Hz
• High speed (HSP): 50 Hz
• Motor thermal current (ItH) = Rated motor current (value depending on drive rating)
• Standstill injection braking current (SdC1) = 0.7 x rated drive current, for 0.5 seconds
• No automatic restarting after a fault
• Switching frequency 4 kHz for drives up to 18 kW; 2.5 kHz for higher power ratings
• Logic inputs:
- LI1, LI2 (2 directions of operation): 2-wire control on transition, LI1 = forward, LI2 = reverse
- LI3, LI4, LI5, LI6: Inactive (not assigned)
• Analog inputs:
- AI1: Speed reference 0 -10 V
- AI2: 4-20 mA inactive (not assigned)
• Relay R1: The contact opens in the event of a fault (or drive off)
• Relay R2: Inactive (not assigned)
• Analog output AO1: 0-10 V, inactive (not assigned)
If the above values are compatible with the application, the drive can be used without changing the settings.
Option card factory settings
The option card inputs/outputs are not factory-set.

7
Your application functions
The tables on the following pages list the most common function/application combinations in order to assist you in making your selections.
The applications listed in these tables concern the following machines in particular:
• Hoisting: Cranes, overhead cranes, gantries (vertical lifting, translation, slewing), lifting platforms
• Elevators: Elevator in retrofit up to 1.2 ms
• Handling: Palletizers/depalletizers, conveyors, roller tables
• Packing: Carton packers, labeling machines
• Textiles: Weaving looms, cards, washing machines, spinners, drawing frames
• Wood: Automatic lathes, saws, milling
• High inertia: Centrifuges, mixers, unbalanced machines (beam pumps, presses)
• Process
The combinations listed are neither mandatory nor exhaustive. Every machine has its own particular features.
Some functions have been designed specifically for a given application. In this case, the application is identified by a tab in the
margin on the relevant programming pages.
Motor control functions
Functions Page
Applications
Hoisting
Elevators
Handling
Packing
Textiles
Wood
Highinertia
Process
V/f ratio b b b
Sensorless flux vector control b b b b b b b b
Flux vector control with sensor b b b b b b b b
2-point vector control b b
Open-loop synchronous motor b
Output frequency 1000 Hz b b
Stressless PWM b b
DC bus connection b b
Reversible module connection b b b
Motor fluxing via logic input b b b
Switching frequency up to 16 kHz. b b b
Auto-tune b b b b b b b b

8
Functions on speed references
Functions Page
Applications
Hoisting
Elevators
Handling
Packing
Textiles
Wood
Highinertia
Process
Differential bipolar reference b b b
Reference delinearization (magnifying glass effect) b b
Frequency control input b b
Reference switching b
Reference summing b
Reference subtraction b
Reference multiplication b
S ramps b b b
Jog operation b b b
Preset speeds b b b b b
+/- speed via single-action buttons b
+/- speed via double-action buttons b
+/- speed around a reference b b
Save reference b

9
Specific application functions
Functions Page
Applications
Hoisting
Elevators
Handling
Packing
Textiles
Wood
Highinertia
Process
Fast stop b b
Management of limit switches b b b
Brake control b b b
Load measurement b b
High-speed hoisting b
PID regulator b
Torque regulation b b b
Limitation of motor/generator torque b b b b
Load sharing b b
Line contactor control b b b
Output contactor control b
Positioning on limit switches b b
ENA system b
Multiparameter
Multimotor b b b
Multiconfiguration
Traverse control b
Configuration of stops b b b b

10
Safety/fault management functions
Communication functions
Functions Page
Applications
Hoisting
Elevators
Handling
Packing
Textiles
Wood
Highinertia
Process
Power Removal (safety function) b b b b b b b b
Alarm handling b b b b b b b b
Fault management
IGBT tests b b b b b b b b
Catch on the fly b b b
Thermal protection for braking resistors b b b b
Motor protection with PTC probes b b b b b b b b
Undervoltage management b b b
Loss follower b b b b b b
Uncontrolled output cut b
Automatic restart
Functions Page
Applications
Hoisting
Elevators
Handling
Packing
Textiles
Wood
Highinertia
Process
Modbus b b b b b b b b
CANopen b b b b b b b b
Communication scanner b b b b b b b b

11
Setup - Preliminary recommendations
Switching on and configuring the drive
Power switching via line contactor
User settings and extension of functions
• The display unit and buttons can be used to modify the settings and to extend the functions described on the following pages.
• Reverting to factory settings is made easy by the [1.12 FACTORY SETTINGS] (FCS-) menu, see page xx.
• There are three types of parameter:
- Display: Values displayed by the drive
- Setting: Can be changed during operation or when stopped
- Configuration: Can only be modified when stopped and no braking is taking place. Can be displayed during operation.
Starting
Important:
• In the following cases, the motor can only be supplied with power after first resetting the “forward”, “reverse” and “DC injection stop”
commands:
- In factory settings mode
- On power-up or a manual fault reset or after a stop command
If they have not been reset, the drive will display "nSt" but will not start.
• These commands are taken into account without a reset being necessary if the automatic restart function has been configured
([Automatic restart] (Atr) parameter in the [1.8-FAULT MANAGEMENT] (FLt-) menu, see page 173),
Test on a low-power motor or without a motor
• In factory settings mode, [Output phase loss] detection is active (OPL = YES), see page xx. To check the drive in a test or
maintenance environment without having to switch to a motor with the same rating as the drive (particularly useful in the case of high
power drives), deactivate "output phase loss" detection (OPL = NO).
• Configure [Motor control type] (Ctt) = [V/F 2pts] (UF2) or [V/f 5pts] (UF5) ([1.4-MOTOR CONTROL] (drC-) menu, see page 56).
Using motors in parallel
• Configure [Motor control type] (Ctt) = [V/F 2pts] (UF2) or [V/f 5pts] (UF5) ([1.4-MOTOR CONTROL] (drC-) menu, see page 56).
Before switching on and configuring the drive:
- Check that the line voltage is compatible with the supply voltage range of the drive (see pages 3 and 4 of the
ATV 71 Installation Manual). The drive may be damaged if the line voltage is not compatible.
- Ensure the logic inputs are switched off (state 0) to prevent accidental starting. Otherwise, an input assigned
to the run command may cause the motor to start immediately on exiting the configuration menus.
- Use inputs LI1 to LI6 to control the drive.
Avoid operating the contactor frequently (premature ageing of the filter capacitors).
- These instructions are vital for cycles < 60 s, otherwise the load resistor may be damaged.
• If possible, changes should only be made when the drive is at a standstill.
• If changes to settings have to be made during operation, make sure that they do not endanger equipment or
personnel in any way.
• Motor thermal protection will not be provided by the drive if the motor current is less than 0.2 times the rated drive current.
• Motor thermal protection is no longer provided by the drive. Provide an alternative means of thermal protection on every
motor.

12
Graphic display terminal
Although the graphic terminal is optional for low-power drives, it is a standard component on high-power drives (see catalog). The terminal
can be disconnected and connected remotely (on the door of an enclosure for example) using the cables and accessories available as
options (see catalog).
Description of the terminal
1. Graphic display
2. Function keys F1, F2, F3, F4, see page 13.
3. STOP/RESET button
4. RUN button
5. Button for reversing the direction of rotation of the motor
7. ESC button: To clear a value, a parameter or a menu and revert to the previous selection
Note: Buttons 3, 4 and 6 can be used to control the drive directly.
6. Navigation button • Press: - To save the current value (ENT)
• Turn CW/
CCW:
- To increment or decrement a value
- To switch to the next or previous line
1
4
2
3
5
7
6

13
Description of the graphic screen
1. Display line. Its content is configurable. In factory settings mode, it indicates:
• The drive status (see page 14)
• The active control channel:
- Term: Terminals
- LCC: Graphic display terminal
- MDB: Modbus
- CAN: CANopen
- NET: Communication card
- APP: Programmable card
• Frequency reference
• Current in the motor
2. Menu line. Indicates the name of the current menu or sub-menu
3. Menus, sub-menus, parameters, values, bar charts, etc. are displayed in dropdown window format on a maximum of 5 lines.
The line or value selected by the navigation button is displayed in reverse video.
4. Display functions assigned to keys F1 to F4, aligned with these keys, for example:
• Code (F1): Displays the code of the selected parameter, i.e. the code corresponding to the 7-segment display.
• >> (F3): Navigate horizontally to the right or switch to next menu/sub-menu (switching to the [2-LEVEL ACCESS] menu in this
example) or, for a value, switch to the next digit down, displayed in reverse video (see the example below).
• << (F2): Navigate horizontally to the left, or switch to previous menu/sub-menu or, for a value, switch to the next digit up, displayed
in reverse video (see the example below).
• Quick (F4): Quick navigation, see page 19.
• HELP: Contextual help
The function keys are dynamic and contextual.
Other functions (application functions) can be assigned to these keys via the [1.6-COMMAND] menu.
5. Indicates that there are no more levels below this display window.
Indicates that there are more levels below this display window.
6. Indicates that there are no more levels above this display window.
Indicates that there are more levels above this display window.
F1 F2 F3 F4
RDY Term +0.00 Hz 0 A
1. DRIVE MENU
1.1 SIMPLY START
1.2 MONITORING
1.3 SETTINGS
1.4 MOTOR CONTROL
1.5 INPUTS / OUTPUTS CFG
Code << >> Quick
1
2
3
4
6
5

14
Drive status codes:
- ACC: Acceleration
- CLI: Current limit
- CTL: Controlled stop on input phase loss
- DCB: DC injection braking in progress
- DEC: Deceleration
- FLU: Motor fluxing in progress
- FST: Fast stop
- NLP: No line power (no line supply on L1, L2, L3)
- NST: Freewheel stop
- OBR: Auto-adapted deceleration
- PRA: Power Removal function active (drive locked)
- RDY: Drive ready
- SOC: Controlled output cut in progress
- TUN: Auto-tuning in progress
- USA: Undervoltage alarm

15
Example configuration windows:
Example configuration window for one value:
When only one possible selection can be made, that selection is indicated by
When a number of possible selections can be made, these selections are indicated by
5. LANGUAGE
ENGLISH
FRANCAIS
DEUTSCH
ESPANOL
ITALIANO
<< >> Quick
CHINESE
PARAMETER SELECTION
1.3 SETTINGS
Ramp increment
Acceleration
Deceleration
Acceleration 2
Deceleration 2
Edit
ACCELERATION
9.51 s
Min = 0.01 Max = 9999
<< >> Quick
>>
ACCELERATION
9.51 s
Min = 0.01 Max = 9999
<< >> Quick

16
First power-up - [5. LANGUAGE] menu
The first time the drive is powered up, the user will automatically be guided through the menus as far as [1. DRIVE MENU].
The parameters in the [1.1 SIMPLY START] sub-menu must be configured and auto-tuning performed before the motor is started up.
Display for 3 seconds following power-up
3 seconds
Switches to [5. LANGUAGE] menu
automatically 3 seconds later.
Select the language and press ENT.
ESC
Switches to [2. LEVEL ACCESS] menu
(see page 25)
Select the access level and press ENT.
ESC
Switches to [1. DRIVE MENU]
(see page 21)
ESC
Press ESC to return to [MAIN MENU]
ATV71HU22N4
2.2kW/3HP 380/480V
5. LANGUAGE
ENGLISH
FRANCAIS
DEUTSCH
ESPANOL
ITALIANO
<< >> Quick
CHINESE
2. LEVEL ACCESS
BASIC
ADVANCED
ADVANCED GRAPHIC
EXPERT
<< >> Quick
1. DRIVE MENU
1.1 SIMPLY START
1.2. MONITORING
1.3. SETTINGS
1.4. MOTOR CONTROL
1.5. INPUTS / OUTPUTS CFG
Code << >> Quick
MAIN MENU
1. DRIVE MENU
2. LEVEL ACCESS
3. OPEN / SAVE AS
4. PASSWORD
5. LANGUAGE
Code Quick

17
Subsequent power-ups
Switches to [1. DRIVE MENU] 3 seconds later.
If no operator inputs are made, switches to "Display"
automatically 10 seconds later (the display will vary
depending on the selected configuration).
May revert to [MAIN MENU] by pressing ENT or ESC.
3 seconds
10 seconds
ENT or ESC
ATV71HU22N4
2.2kW/3HP 380/480V
RDY Term +38 Hz 0 A
1. DRIVE MENU
1.1 SIMPLY START
1.2 MONITORING
1.3 SETTINGS
1.4 MOTOR CONTROL
Code << >> Quick
RDY Term +38 Hz 0 A
Frequency ref
Min=0 Max=60
Quick
RDY Term +38 Hz 0 A
MAIN MENU
1. DRIVE MENU
2. LEVEL ACCESS
3. OPEN / SAVE AS
4. PASSWORD
5. LANGUAGE
Code << >> Quick
38 Hz

18
Programming: Example of accessing a parameter
Accessing the acceleration ramp
Note:
• To select a parameter:
- Turn the navigation button to scroll vertically.
• To modify a parameter:
- Use << and >> to scroll horizontally and select the digit to be modified.
- Turn the navigation button to modify the digit.
• To cancel the modification:
- Press ESC.
• To save the modification:
- Press the navigation button (ENT).
1. DRIVE MENU
1.1 SIMPLY START
1.2. MONITORING
1.3. SETTINGS
1.4. MOTOR CONTROL
1.5. INPUTS/OUTPUTS CFG
Code << >> Quick
ENT
ESC
1.3 SETTINGS
Acceleration 9.51 s
Deceleration: 9.67 s
Acceleration 2: 12.58 s
Deceleration 2: 13.45 s
Begin Acc round 1: 2.3 s
Code << >> Quick
ENT
ENT or
ESC
ACCELERATION
9.51 s
Min = 0.01 Max = 99.99
<< >> Quick

19
Quick navigation
If the "Quick" function is displayed above the F4 key, you can gain quick access to a parameter from any screen.
Example:
Press F4 to access the Quick screen.
There are 4 options.
• [HOME]: Return to [MAIN MENU].
• [DIRECT ACCESS TO]: Opens the direct access window, which
will contain the text "1.1": sub-menu 1 of menu 1. The function keys
<< and >> can be used to select each of the numbers and the
navigation button to increment or decrement the numbers: 1.3 in
the example below.
• [10 last modifications]: Opens a window in which the last 10
parameters modified can be accessed directly.
RDY Term +0.00
Hz
0 A
* 1.4 MOTOR CONTROL *
Standard mot. freq: 50 Hz IEC
Rated motor power: 0.37 kW
Rated motor volt.: 206 V
Rated mot. current: 1.0 A
Rated motor speed: 1480 rpm
<< >> Quick
ENT
* QUICK NAVIGATION *
RETURN TO MAIN MENU
DIRECT ACCESS TO
10 LAST MODIFICATIONS
RETURN MULTIPOINT SCREEN
Code
See page xx
MAIN MENU
1.DRIVE MENU
2. LEVEL ACCESS
3. OPEN / SAVE AS
4. PASSWORD
5. LANGUAGE
Code Quick
* DIRECT ACCESS TO *
1.3
<< >>
ENT
1.3 SETTINGS
Acceleration 9.51 s
Code << >> Quick
* 10 LAST MODIFICATIONS *
Acceleration: 10 s
ENA prop. gain: 1,2
Rated mot. current: 15 A
Preset speed 4: 20 Hz
Preset speed 5: 30 Hz
Code
ESC
ENT
* RATED MOT. CURRENT *
15.0 A
<< >>

20
[MAIN MENU] - Menu mapping
Content of [MAIN MENU] menus
[1. DRIVE MENU] See over
[2. LEVEL ACCESS] Defines which menus can be accessed (level of complexity)
[3. OPEN / SAVE AS] Can be used to save and recover drive configuration files
[4. PASSWORD] Password protection for configuration
[5. LANGUAGE] Language selection
[6. DISPLAY CONFIG. ] • Customization of parameters
• Creation of a customized user menu
• Customization of the visibility of protection mechanisms for menus and parameters
[7. MONITORING CONFIG.] Customization of information displayed on the graphic terminal during operation
MAIN MENU
1.DRIVE MENU
2. LEVEL ACCESS
3. OPEN / SAVE AS
4. PASSWORD
5. LANGUAGE
Code << >> Quick
6. DISPLAY CONFIG.
7. MONITORING CONFIG.
1. DRIVE MENU
1.1 SIMPLY START
1.2 MONITORING
1.3 SETTINGS
1.4 MOTOR CONTROL
Code << >> Quick
1.6 COMMAND
1.7 APPLICATION FUNCT.
1.8 FAULT MANAGEMENT
1.9 COMMUNICATION
1.10 DIAGNOSTICS
1.11 IDENTIFICATION
1.12 FACTORY SETTINGS
1.13 USER MENU
1.14 PROG. CARD

21
[1. DRIVE MENU]
Content of [1. DRIVE MENU] menus
1. DRIVE MENU
1.1 SIMPLY START
1.2 MONITORING
1.3 SETTINGS
1.4 MOTOR CONTROL
Code << >> Quick
1.6 COMMAND
1.9 COMMUNICATION
1.10 DIAGNOSTICS
1.11 IDENTIFICATION
1.13 USER MENU
1.14 PROG. CARD
[1.1 SIMPLY START]: Simplified menu for fast startup
[1.2 MONITORING]: Visualization of current, motor and input/output values
[1.3 SETTINGS]: Setting parameters, can be modified during operation
[1.4 MOTOR CONTROL]: Motor parameters (motor rating plate, auto-tuning, switching frequency, control algorithms, etc.)
[1.5 INPUTS / OUTPUTS CFG]: I/O configuration (scaling, filtering, 2-wire control, 3-wire control, etc.)
[1.6 COMMAND: Configuration of command and reference channels (terminals, display terminal, bus, etc.)
[1.7 APPLICATION FUNCT.]: Configuration of application functions (e.g.: preset speeds, PID, brake logic control, etc.)
[1.8 FAULT MANAGEMENT]: Configuration of fault management
[1.9 COMMUNICATION]: Communication parameters (fieldbus)
[1.10 DIAGNOSTICS]: Motor/drive diagnostics
[1.11 IDENTIFICATION]: Identification of drive and internal options
[1.12 FACTORY SETTINGS]: Access to configuration files and return to factory settings
[1.13 USER MENU]: Specific menu set up by the user in the [6. DISPLAY CONFIG.] menu
[1.14 PROG. CARD]: Configuration of optional programmable card

22
Integrated display terminal
Low-power Altivar 71 drives (see catalog) feature an integrated display terminal with a 7-segment 4-digit display. The graphic display
terminal described on the previous pages can also be connected to these drives as an option.
Functions of the display and the keys
• Pressing or does not store the selection.
• Press and hold down (>2 s) or to scroll through the data quickly.
Save and store the selection: ENT
The display flashes when a value is stored.
Normal display, with no fault present and no starting:
- 43.0: Display of the parameter selected in the SUP menu (default selection: motor frequency).
In current limit mode, the display flashes.
- dCb: DC injection braking in progress
- FLU: Motor fluxing in progress
- FSt: Fast stop
- nLP: No line power (no line supply on L1, L2, L3)
- nSt: Freewheel stop
- PrA: Power Removal function active (drive locked)
- rdY: Drive ready
- SOC: Controlled output cut in progress
- tUn: Auto-tuning in progress.
If there is a fault, the display flashes.
• 4 7-segment displays
• Enters a menu or a
parameter, or saves the
displayed parameter or
value
• Returns to the previous
menu or parameter, or
increases the displayed
value
• Exits a menu or parameter,
or aborts the displayed
value to return to the
previous value in the
memory
• Goes to the next
menu or parameter, or
decreases the
displayed value
• 2 CANopen status LEDs
• 2 Modbus status LEDs

23
Integrated terminal
Accessing menus
A dash appears after menu and sub-menu codes to differentiate them from parameter codes.
Examples: FUn- menu, ACC parameter.
The grayed-out menus may not be accessible depending on the level access configuration (LAC).
XXX
CtL-
FUn-
SIM-
I-O-
SEt-
SUP-
ESC
ESC
ESC
ESC
ESC
ESC
ESC
ESC
ENT
ENT
ESC
ENT
ESC
ENT
ESC
ENT
ESC
ENT
ESC
ENT
ESC
ENT
ESC
FCS-
COd-
CON-
FLt-
ESC
ESC
ESC
ESC
ENT
ESC
ENT
ESC
ENT
ESC
ENT
ESC
ENT
ESC
USr-
ESC
ENT
ESC
drC-
LAC-
Displays the drive status
SETTINGS
APPLICATION FUNCT.
INPUTS / OUTPUTS CFG
FAULT MANAGEMENT
SIMPLY START
Menus
MONITORING
MOTOR CONTROL
CONTROL
Power-up
FACTORY SETTINGS
LEVEL ACCESS
PASSWORD
COMMUNICATION
(page xx) Setting parameters, can be modified during operation
(page 99) Configuration of application functions (e.g.: preset
speeds, PID, brake logic control, etc.)
(page 65) I/O configuration (scaling, filtering, 2-wire control, 3-
wire control, etc.)
(page 171) Configuration of fault management
(page 28) Simplified menu for fast startup
(page 36) Visualization of current, motor and input/output values
(page 54) Motor parameters (motor rating plate, auto-tuning,
switching frequency, control algorithms, etc.)
(page 86) Configuration of command and reference channels
(terminals, display terminal, bus, etc.)
(page xx) Access to configuration files and return to factory
settings
(page 25)
(page 194)
(page xx) Communication parameters (fieldbus)
(page xx) Specific menu, set up by the user using the graphic
display terminal.
USER MENU

24
Integrated terminal
Accessing menu parameters
Save and store the selection:
The display flashes when a value is stored.
All the menus are "drop-down" type menus, which means that after the last parameter, if
you continue to press , you will return to the first parameter and, conversely, you can
switch from the first parameter to the last parameter by pressing .
If, after modifying any of the parameters (nth), you quit a menu and return to this menu
without having accessed another menu in the meantime, you will be taken directly to the
nth parameter (see below). If, in the meantime, you have accessed another menu or have
restarted the system, you will always be taken to the first parameter in the menu (see
above).
Selection of multiple assignments for one parameter
Example: List of group 1 alarms in [INPUTS / OUTPUTS CFG]
menu (I-O-)
A number of alarms can be selected by "checking" them as
follows.
The digit on the right indicates: selected,
not selected.
The same principle is used for all multiple selections.
ENT
ACC 15.0
ENT
ESC
ENT
ESC
26.0 26.0
ESC
dEC ENT
SEt-
Menu Value or assignment
1 flash
(save)
Parameter
(Next parameter)
ENT
ESC
1st
nth
last
Menu
ENT
ESC
1st
nth
last
Menu
ENT
ESC
I-O-
Alarm not selected
Alarm selected

25
[2. LEVEL ACCESS] (LAC-)
With graphic display terminal
With integrated display terminal:
BASIC
Access to 5 menus only, and access to 6 sub-menus only in the
[1. DRIVE MENU] menu
ADVANCED
Access to 6 menus only, and access to all sub-menus in the
[1. DRIVE MENU]
ADVANCED GRAPHIC
Access to all menus and sub-menus
EXPERT
Access to all menus and sub-menus as for [ADVANCED GRAPHIC] level, and
access to additional parameters.
Code Name/Description Factory setting
LAC- AdU
• bAS: Limited access to SIM, SUP, SEt, FCS, USr, COd and LAC menus
• AdU: Access to all menus on the integrated terminal
• EPt: Access to all menus on the integrated terminal and access to additional parameters
LEVEL ACCESS
BASIC
ADVANCED
ADVANCED GRAPHIC
EXPERT
<< >> Quick
MAIN MENU
1. DRIVE MENU
2. LEVEL ACCESS
3. OPEN / SAVE AS
4. PASSWORD
5. LANGUAGE
Code Quick
1. DRIVE MENU
1.1 SIMPLY START
1.2. MONITORING
1.3. SETTINGS
1.11. IDENTIFICATION
1.12. FACTORY SETTINGS
Code Quick
1.13 USER MENU
MAIN MENU
1. DRIVE MENU
2. LEVEL ACCESS
3. OPEN / SAVE AS
4. PASSWORD
5. LANGUAGE
Code Quick
1. DRIVE MENU
1.1 SIMPLY START
1.2 MONITORING
1.3 SETTINGS
1.4 MOTOR CONTROL
Code << >> Quick
1.6 COMMAND
1.9 COMMUNICATION
1.10 DIAGNOSTICS
1.11 IDENTIFICATION
1.13 USER MENU
1.14 PROG. CARD
MAIN MENU
1. DRIVE MENU
2. LEVEL ACCESS
3. OPEN / SAVE AS
4. PASSWORD
5. LANGUAGE
Code << >> Quick
6. DISPLAY CONFIG.
MAIN MENU
1. DRIVE MENU
2. LEVEL ACCESS
3. OPEN / SAVE AS
4. PASSWORD
5. LANGUAGE
Code << >> Quick
6. DISPLAY CONFIG.

26
[2. LEVEL ACCESS] (LAC-)
Comparison of the menus that can be accessed on the graphic terminal/integrated
terminal
Graphic display terminal Integrated display terminal Level access
[2. LEVEL ACCESS] LAC- (Level access)
BASICbAS
ADVANCEDAdU
ADVANCEDGRAPHIC(graphicterminalonly)
EXPERTEPt
[3. OPEN / SAVE AS] -
[4. PASSWORD] COd- (Password)
[5. LANGUAGE] -
[1. DRIVE MENU] 1.1 SIMPLY START SIN- (Simply start)
1.2 MONITORING SUP- (Monitoring)
1.3 SETTINGS SEt- (Settings)
1.11 IDENTIFICATION -
1.12 FACTORY SETTINGS FCS- (Factory settings)
1.13 USER MENU -
1.4 MOTOR CONTROL drC- (Motor control)
1.5 INPUTS / OUTPUTS CFG I-O- (I/O configuration)
1.6 COMMAND CtL- (Command)
1.7 APPLICATION FUNCT. FUn- (Application functions)
1.8 FAULT MANAGEMENT FLt- (Fault management)
1.9 COMMUNICATION CON- (Communication)
1.10 DIAGNOSTICS -
1.14 PROG. CARD -
[6. DISPLAY CONFIG. ] -
[7. MONITORING CONFIG.] -
Expert parameters Expert parameters

27
Structure of parameter tables
The parameter tables in the descriptions of the various menus can be used with both the graphic terminal and the integrated terminal. They
therefore contain information for these two terminals in accordance with the description below:
Example:
Note: The text in square brackets [ ] indicates what you will see on the graphic display terminal.
[1.7 - APPLICATION FUNCT.] (FUn-)
Code Name/Description Adjustment range Factory setting
UPd- b [+/- SPEED]
Function can be accessed for reference channel [Ref.2 channel] (Fr2) = [+/- speed] (UPd) see page 96
USP
no
LII
M [+Speed assign.] [No] (nO)
v [No] (nO): Function inactive
v [LI1] (LI1)
5
2
3
1
4
6
8
7
1. Name of menu on 4-digit "7-segment" display
2. Sub-menu code on 4-digit "7-segment" display
3. Parameter code on 4-digit "7-segment" display
4. Parameter value on 4-digit "7-segment" display
5. Name of menu on graphic display terminal
6. Name of sub-menu on graphic display terminal
7. Name of parameter on graphic display terminal
8. Value of parameter on graphic display terminal

28
[1.1 - SIMPLY START] (SIM-)
The [1.1-SIMPLY START] (SIM-) menu can be used for fast startup, which is sufficient for the majority of applications.
• The parameters in this menu can only be modified when the drive is stopped and no run command is present. Auto-tuning may cause
the motor to start up.
• With the exception of the [Macro configuration] (CFG), the parameters in this menu can be accessed in other menus.
Macro configuration
Macro configuration provides a means of speeding up the configuration of functions for a specific application domain.
7 macro configurations are available:
• Handling
• Hoisting
• General use
• PID regulator
• Communication bus
• Master/slave
• Run/stop (factory configuration)
Selecting a macro configuration forces the parameters in this macro configuration.
Each macro configuration can still be modified in the other menus.

29
Macro configuration parameters
Assignment of the inputs/outputs
Note: These assignments are forced every time the macro configuration changes.
Input /
output
Start/stop [M. handling.] [Gen. Use] [Hoisting] [PID regul.] [Network
C.]
[Mast./
slave]
AI1 [Ref. 1
channel]
[Ref. 1 channel] [Ref. 1 channel ] [Ref. 1 channel ] PID reference [Ref. 2 channel]
([Ref.1channel]
from bus)
[Ref. 1
channel]
AI2 [Not assigned] [Summing ref. 2] [Summing ref. 2] [Not assigned] [PID feedback] [Not assigned] [Torque
ref. channel]
AO1 [Motor freq.] [Motor freq.] [Motor freq.] [Motor freq.] [Motor freq.] [Motor freq.] [Signed torq]
R1 [Faulty] [Faulty] [Faulty] [Faulty] [Faulty] [Faulty] [Faulty]
R2 [Not assigned] [Not assigned] [Not assigned] [Brk control] [Not assigned] [Not assigned] [Not assigned]
LI1 (2-wire) Forward Forward Forward Forward Forward Forward Forward
LI2 (2-wire) [Reverse] [Reverse] [Reverse] [Reverse] [Reverse] [Reverse] [Reverse]
LI3 (2-wire) [Not assigned] [2 preset speeds] [JOG] [Fault reset] [PID integral
reset]
[Ref2.
switching]
[Channel
switching]
LI4 (2-wire) [Not assigned] [4 preset speeds] [Fault reset] [Ext. fault assign.] [2 PID
presets]
[Fault reset] [Fault reset]
LI5 (2-wire) [Not assigned] [8 preset speeds] [Torque limitation] [Not assigned] [4 PID
presets]
[Not assigned] [Not assigned]
LI6 (2-wire) [Not assigned] [Fault reset] [Not assigned] [Not assigned] [Not assigned] [Not assigned] [Not assigned]
LI1 (3-wire) Stop Stop Stop Stop Stop Stop Stop
LI2 (3-wire) Forward Forward Forward Forward Forward Forward Forward
LI3 (3-wire) [Reverse] [Reverse] [Reverse] [Reverse] [Reverse] [Reverse] [Reverse]
LI4 (3-wire) [Not assigned] [2 preset speeds] [JOG] [Fault reset] [PID integral
reset]
[Ref2.
switching]
[Channel
switching]
LI5 (3-wire) [Not assigned] [4 preset speeds] [Fault reset] [Ext. fault assign.] [2 PID
presets]
[Fault reset] [Fault reset]
LI6 (3-wire) [Not assigned] [8 preset speeds] [Torque limitation] [Not assigned] [4 PID
presets]
[Not assigned] [Not assigned]
Option cards
LI7 (2-wire) [Not assigned] [Not assigned] [Not assigned] [Not assigned] [Not assigned] [Not assigned] [Not assigned]
LI7 (3-wire) [Not assigned] [Fault reset] [Not assigned] [Not assigned] [Not assigned] [Not assigned] [Not assigned]
LI8 to LI14 [Not assigned] [Not assigned] [Not assigned] [Not assigned] [Not assigned] [Not assigned] [Not assigned]
LO1 to
LO4
[Not assigned] [Not assigned] [Not assigned] [Not assigned] [Not assigned] [Not assigned] [Not assigned]
R3/R4 [Not assigned] [Not assigned] [Not assigned] [Not assigned] [Not assigned] [Not assigned] [Not assigned]
AI3, AI4 [Not assigned] [Not assigned] [Not assigned] [Not assigned] [Not assigned] [Not assigned] [Not assigned]
Pulse in [Not assigned] [Not assigned] [Not assigned] [Not assigned] [Not assigned] [Not assigned] [Not assigned]
AO2 [I motor] [I motor] [I motor] [I motor] [I motor] [I motor] [I motor]
AO3 [Not assigned] [Signed torq] [Not assigned] [Signed torq] [PID error] [Not assigned] [Motor freq.]
Keys on the graphic display terminal
Key F1 [Not assigned] [Not assigned] [Not assigned] [Not assigned] [Not assigned] Command via
graphic terminal
[Not assigned]
Keys
F2,F3, F4
[Not assigned] [Not assigned] [Not assigned] [Not assigned] [Not assigned] [No
In 3-wire control, the assignment of inputs LI1 to LI7 shifts.

30
Macro configuration parameters
Other configurations and settings
In addition to the assignment of inputs/outputs, other parameters are forced only in the Hoisting and Mast./slave macro configurations.
Hoisting:
• [Movement type] (bSt) = [Hoisting] (UEr) page 126
• [Brake contact] (bCI) = [No] (nO) page 126
• [Brake impulse] (bIP) = [No] (nO) page 126
• [Brake release I FW] (Ibr) = [Rated mot. current] (nCr) page 126
• [Brake Release time] (brt) = 0.5 s page 126
• [Brake release freq] (bIr) = [Auto] (AUtO) page 126
• [Brake engage freq] (bEn) = [Auto] (AUto) page 127
• [Brake engage time] (bEt) = 0.5 s page 127
• [Engage at reversal] (bEd) = [No] (nO) page 127
• [Jump at reversal] (JdC) = [Auto] (AUtO) page 127
• [Time to restart] (ttr) = 0 s page127
• [Current ramp time] (brr) = 0 s page 128
• [Low speed] (LSP) = Rated motor slip calculated by the drive, page xx
• [Output Phase Loss] (OPL) = [Yes] (YES) page 176. No further modifications can be made to this parameter.
• [Catch on the fly] (FLr) = [No] (nO) page 174. No further modifications can be made to this parameter.
Mast./slave:
• [Motor control type] (Ctt) = [SVC I] (CUC) page 56
Note: These assignments are forced every time the macro configuration changes.
Return to factory settings:
Returning to factory settings with [Config. Source] (?) = [Macro configuration] (?) page 189 will return the drive to the selected macro
configuration, and not to the [Start/stop] (StS) factory settings macro configuration. The [Macro configuration] (CFG) parameter does not
change, although [Customized macro (CCFG) disappears.

31
Example diagrams for use with the macro configuration

32
tCC M [2/3 wire control] [2 wire] (2C)
2C
3C
v [2 wire] (2C)
v [3 wire] (3C)
2-wire control: The open or closed state of the input controls the running or stopping.
Example of "source" wiring:
LI1: forward
LIx: reverse
3-wire control (pulse control): a "forward" or "reverse" pulse is sufficient to command starting, a "stop" pulse is
sufficient to command stopping.
LI1: stop
LI2: forward
LIx: reverse
Any change in the assignment of [2/3 wire] (tCC) must be confirmed on the graphic display terminal and
the "ENT" key must be pressed and held down (2 s) on the integrated terminal.
The following function will be returned to factory settings: [2 wire type] (tCt) page 65 as will all functions
associated with logic inputs.
The macro configuration selected will also be reset if it has been customized (loss of custom settings).
CFG M [Macro configuration] [Start/Stop] (StS)
HdG
HSt
GEn
PId
nEt
NSL
StS
v [M. handling.] (HdG): Handling
v [Hoisting] (HSt): Hoisting
v [Gen. Use] (GEn): General use
v [PID regul.] (PId): PID regulation
v [Network C.] (nEt): Communication bus
v [Mast./slave] (MSL): Master/slave
v [Start/stop] (StS): Start/stop
Any change in the [Macro configuration] (CFG) must be confirmed on the graphic display terminal and
Ensure that the selected macro configuration is compatible with the wiring diagram used.
CCFG M [Customized macro]
Read-only parameter, only visible if at least one macro configuration parameter has been modified.
24 V LI1 LIx
ATV 71
24 V LI1 LI2 LIx
ATV 71

33
(1)In corresponds to the rated drive current indicated in the Installation Manual and on the drive rating plate.
bFr M [Standard mot. freq] [50 Hz] (50)
50
60
v [50 Hz] (50): IEC
v [60 Hz] (60): NEMA
This parameter modifies the presets of the following parameters: [High speed] (HSP) page xx, [Freq. threshold]
(Ftd) page xx, [Rated motor freq.] (FrS) (page 53) et [Max frequency] (tFr) page 53.
nPr M [Rated motor power] According to drive
rating
According to drive
rating
Rated motor power given on the rating plate
UnS M [Rated motor volt.] According to drive
rating
According to drive
rating
Rated motor voltage given on the rating plate
ATV71pppM3X: 100 to 240 V
ATV71pppN4: 100 to 480 V
nCr M [Rated mot. current] 0.25 to 1.5 In (1) According to drive
rating
Rated motor current given on the rating plate
FrS M [Rated motor freq.] 10 to 1000 Hz 50 Hz
The factory setting is 50 Hz, or 60 Hz if bFr is set to 60 Hz.
nSP M [Rated motor speed] 0 to 32767 RPM According to drive
rating
Rated motor speed given on the rating plate
0 to 9999 RPM then 10.00 to 32.76 KRPM on the integrated terminal.
If, rather than the rated speed, the rating plate indicates the synchronous speed and the slip in Hz or as a %,
calculate the rated speed as follows:
• Rated speed = Synchronous speed x
or
• Rated speed = Synchronous speed x (50 Hz motors)
or
tFr M [Max frequency] 10 to 1000 Hz 60 Hz
The factory setting is 60 Hz, or preset to 72 Hz if [Standard mot. freq] (bFr) is set to 60 Hz.
The maximum value is limited by the following conditions:
• It must not exceed 10 times the value of [Rated motor freq.] (FrS) (page 53)
• It must not exceed 500 Hz if [Motor control type] (Ctt) (page 56) is not V/F or if the drive rating is higher than
ATV71HD37.
In fact, values between 500 Hz and 1000 Hz are only possible in V/F control and for powers limited to 37 kW.
In this case, configure [Motor control type] (Ctt) before [Max frequency] (tFr).
100 - slip as a %
100
50 - slip in Hz
50
60 - slip in Hz
60

34
tUn M [Auto-tuning] [No] (nO)
nO
YES
dOnE
POn
It is essential that all motor parameters ([Rated motor volt.] (UnS), [Rated motor freq.] (FrS), [Rated mot.
current] (nCr), [Rated motor speed] (nSP), [Rated motor power] (nPr)) are configured correctly before starting
auto-tuning.
v [No] (nO): Auto-tuning not performed.
v [Yes] (YES): Auto-tuning is performed as soon as possible. Once it is complete, the parameter changes to
[Done] (dOnE).
v [Done] (dOnE): Use of the values given the last time auto-tuning was performed.
v [Power on] (POn): Auto-tuning is performed on every power-up.
Warning:
• Auto-tuning is only performed if no stop command has been activated. If a "freewheel stop" or "fast stop"
function has been assigned to a logic input, this input must be set to 1 (active at 0).
• Auto-tuning takes priority over any run or prefluxing commands, which will be taken into account after the
auto-tuning sequence.
• If auto-tuning fails, the drive will display [No] (nO) and switch to fault mode [AUTO-TUNING] (tnF).
• Auto-tuning may last for 1 to 2 seconds. Do not interrupt the process. Wait for the display to change to
"[Done] (dOnE)" or "[No] (nO)".
During auto-tuning the motor operates at rated current.
tUS M [Auto-tuning status] [Not done] (tAb)
tAb
PEnd
PrOG
FAIL
dOnE
(information only, cannot be modified)
v [Not done] (tAb): The default stator resistance value is used to control the motor.
v [Pending] (PEnd): Auto-tuning has been requested but not yet performed.
v [In Progress] (PrOG): Auto-tuning in progress.
v [Failed] (FAIL): Auto-tuning has failed.
v [Done] (dOnE): The stator resistance measured by the auto-tuning function is used to control the motor.
PHr M [Output Ph rotation] ABC
AbC
ACb
v [ABC] (AbC): Forward
v [ACB] (ACb): Reverse
This parameter can be used to reverse the direction of rotation of the motor without reversing the wiring.
ItH M [Mot. therm. current] 0.2 to 1.5 In (1) According to drive
rating
Motor thermal protection current, to be set to the rated current indicated on the rating plate.

35
ACC M [Acceleration] 0.1 to 999.9 s 3.0 s
Time to accelerate from 0 to the [Rated motor freq.] (FrS) (page 33). Make sure that this value is compatible
with the inertia being driven.
dEC M [Deceleration] 0.1 to 999.9 s 3.0 s
Time to decelerate from the [Rated motor freq.] (FrS) (page 33²D'b2) to 0. Make sure that this value is
compatible with the inertia being driven.
LSP M [Low speed] 0
Motor frequency at minimum reference, can be set between 0 and [High speed] (HSP).
HSP M [High speed] 50 Hz
Motor frequency at maximum reference, can be set between [Low speed] (LSP) and [Max frequency] (tFr). The
factory setting changes to 60 Hz if [Standard mot. freq] (bFr) = [60 Hz] (60).

36
[1.2 - MONITORING] (SUP-)
This menu can be used to display the inputs/outputs, the internal drive variables and the communication variables.
I/O
RUN Term +50.00 Hz 80 A
1.2 MONITORING
I/O MAPS
COMMUNICATION MAPS
Alarm groups
HMI Frequency ref.
Internal PID ref.
Code << >> Quick
Switch from one screen to another
(from Logic inputs map
to Analog outputs image)
by pressing the function keys <<
and >>
I/O MAPS
Logic inputs map
Analog inputs image
Logic outputs map
Analog outputs image
Freq. signal image
Code Quick
State 0
State 1
Access to the selected input or
output configuration:
Press ENT
Logic inputs map LI1 CONFIGURATION
PR LI1 LI2 LI3 LI4 LI5 LI6 FORWARD
RAMP 2 SWITCH ASS.
LI7 LI8 LI9 LI10 LI11 LI12 LI13 LI14 Delay time : 10 ms
LIA: 00000000000000111b
<< >> Quick << >> Quick
RUN Term +50.00 Hz 80 A RUN Term +50.00 Hz 80 A
Analog inputs image AI1 CONFIGURATION
AI1=9.87 V Ref. 1 channel
AI2=2.35 mA Forced local channel
Torque reference
AI1 min value 0.0 V
AI1 max value 10.0 V
Code << >> Quick Quick
State 0
State 1
Logic outputs map LO1 CONFIGURATION
R1 R2 LO BRAKE LOGIC CONTROL
Delay time : 10 ms
Active at : 1
LOA: 0000000000000010b Holding time : 20 ms
Analog outputs image AO1 CONFIGURATION
AO1=9.87 V MOTOR CURRENT
MIN : 4 mA
MAX : 20 mA
FILTER : 10 ms
Code << >> Quick Quick
I/O
Communication variables
Internal drive variables (see page 39)
ENT
ENT
ENT
1
0
1
0

37
Communication
[COM. SCANNER INPUT MAP] and [COM. SCANNER OUTPUT MAP]:
Visualization of registers exchanged periodically (8 input and 8 output) for Modbus and for fieldbus cards.
[COMMUNICATION MAP] indicates the types of bus used for control or reference, the
corresponding command and reference values, the status word, the words selected in
the [DISPLAY CONFIG] menu, etc.
The display format (hexadecimal or decimal) can be configured in the [DISPLAY
CONFIG] menu.
COMMUNICATION MAP
Cmd Channel: Modbus
Cmd value: ABCD Hex
Active ref. channel: CANopen
Frequency ref: -12.5 Hz
Status word: 2153 Hex
Code Quick
W3141: F230 Hex
W2050: F230 Hex
W4325: F230 Hex
W0894: F230 Hex
COM. SCAN INPUT MAP
COM. SCAN OUTPUT MAP
CMD. WORD IMAGE
FREQ. REF. WORD MAP
MODBUS HMI DIAG
MODBUS NETWORK DIAG
CANopen MAP
PROG. CARD SCANNER
COM. SCAN INPUT MAP
Com Scan In1 val.:
Com Scan In2 val.:
Com Scan In3 val.:
Com Scan In4 val.:
Com Scan In5 val.:
Code Quick
Com Scan In6 val.:
Com Scan In7 val.:
Com Scan In8 val.:
Com Scan Out1 val.: 0
Com Scan Out2 val.:
Com Scan Out3 val.:
Com Scan Out4 val.:
Com Scan Out5 val.:
Code Quick
Com Scan Out6 val.:
Com Scan Out7 val.:
Com Scan Out8 val.:
CMD. WORD IMAGE
Modbus cmd.: 0000 Hex.
CANopen cmd.: 0000 Hex.
COM card cmd.: 0000 Hex.
Prog. Card cmd: 0000 Hex.
Code Quick
FREQ. REF. WORD MAP
Modbus ref.: 0.0 Hz
CANopen ref.: 0.0 Hz
COM card ref.: 0.0 Hz
Prog. Card ref.: 0.0 Hz
Code Quick

38
Communication (continued)
The state of the LEDs, the periodic data, the address,
speed, format, etc. are indicated for each bus.
LED off
LED on
COMMUNICATION MAPS
Cmd Channel: Modbus
Cmd value: ABCD Hex
Active ref. channel: CANopen
Frequency ref: -12.5 Hz
Status word: 2153 Hex
Code Quick
W3141: F230 Hex
W2050: F230 Hex
W4325: F230 Hex
W0894: F230 Hex
COM. SCAN INPUT MAP
CMD. WORD IMAGE
FREQ. REF. WORD MAP
MODBUS HMI DIAG
MODBUS NETWORK DIAG
CANopen MAP
PROG. CARD SCANNER
Communication via Modbus
MODBUS HMI DIAG
COM LED:
Code Quick
Communication via the graphic display terminal
MODBUS NETWORK DIAG
COM LED:
Code Quick
PDO configuration using
the network tool.
Some PDOs cannot
be used.
PDO1 image
Received PDO1-1 : FDBA Hex
Received PDO1-2
Received PDO1-3
Received PDO1-4
Transmit PDO1-1 : FDBA Hex
Code Quick
Transmit PDO1-2
Transmit PDO1-3
Transmit PDO1-4
PDO6 image
Received PDO6-2
Received PDO6-3
Received PDO6-4
Code Quick
Transmit PDO6-2
Transmit PDO6-3
Transmit PDO6-4
PDO21 image
Received PDO21-2
Received PDO21-3
Received PDO21-4
Code Quick
Transmit PDO21-2
Transmit PDO21-3
Transmit PDO21-4
Communication via CANopen
Programmable card
CANopen MAP
RUN LED:
ERR LED:
PDO 1 image
PDO 6 image
PDO 21 image
Code Quick
PROG. CARD SCANNER
Input scanner
Output scanner
Code Quick

39
Internal drive variables
Name/Description
[Alarm groups] (ALGr)
[HMI Frequency ref.] (LFr)
[Internal PID ref.] (rPI)
[HMI torque ref.] (Ltr)
[Multiplying coeff.] (MFr)
[Frequency ref] (FrH)
[Torque reference] (?)
[Output frequency] (rFr)
[Motor current] (LCr)
[Avg speed] (AVS)
[Motor speed] (SPd)
[Motor voltage] (UOP)
[Motor power] (OPr)
[Mains voltage] (ULn)
[Motor thermal state] (tHr)
[Drv. thermal state] (tHd)
[Consumption] (APH)
[Run time] (rtH)
[Power on time] (PtH)
[IGBT alarm counter] (tAC)
[PID reference] (rPC)
[PID feedback] (rPF)
[PID error] (rPE)
[PID Output] (rPO)
[Object 01] (o01)
[Object 02] (o02)
[Object 03] (o03)
[Object 04] (o04)
[Object 05] (o05)
[Current config.] (CnFS)
[Current param. set] (?)
[ALARMS] (ALr-)
[OTHER STATUS] (SSt-)
Current alarm group numbers
in Hz. Frequency reference via the graphic terminal (can be accessed if the function has been configured).
in process value. PID reference via graphic terminal (can be accessed if the function has been configured).
as a %. Torque reference via graphic terminal.
as a % (can be accessed if [Multiplier ref.-] (MA2,MA3) page 103 has been assigned on the graphic terminal)
in Hz
as a % (can be accessed if the function has been configured)
in Hz
in A
in RPM: The parameter can be accessed if [ENA system] (EnA) = [Yes] (YES) (see page 61)
in RPM
in V
in W
in V. Mains voltage from the point of view of the DC bus, motor running or stopped.
as a %
as a %
in kWh
in hours (length of time the motor has been switched on)
in hours (length of time the drive has been switched on)
in seconds (length of time the "IGBT temperature" alarm has been active)
as a % (can be accessed if the PID function has been configured)
in Hz (can be accessed if the PID function has been configured)
Word generated via programmable card (can be accessed if the card has been inserted)
CNFSO, 1 or 2 (can be accessed if configuration switching has been enabled, see page xx)
SETO, 1 or 2 (can be accessed if parameter switching has been enabled, see page xx)
List of current alarms. If an alarm is present, a appears.
List of secondary statuses:
- Current attained
- Freq. attained
- Freq. ref. attained
- Mot.th. attained
- Forced to local
- HSP attained
- In motor fluxing
- PTC1 alarm
- PTC2 alarm
- PTC3 alarm
- In fast stop
- Ext. fault alarm
- Auto restart
- In auto-tuning
- Underv. prevent.
- Slipping alarm
- DC bus loading
- No. P. supply
- In freewheel
- In DC injection
- In current limit.
- In acceleration
- In deceleration
- Output cut
- Drive ready

40
With integrated display terminal
This menu can be used to display the drive inputs and internal variables.
Inputs
75-!
b Logic input functions
L01A
to
L14A
Logic input functions:
Can be used to display the functions assigned to each input. If no functions have been assigned, nO is
displayed.
Use the and arrows to scroll through the functions. If a number of functions have been assigned
to the same input, check that they are compatible.
LIS1 State of logic inputs:
Can be used to visualize the state of logic inputs LI1 to LI8
(display segment assignment: high = 1, low = 0)
Example above: LI1 and LI6 are at 1; LI2 to LI5, LI7 and LI8 are at 0.
LIS2 State of logic inputs:
Can be used to visualize the state of logic inputs LI9 to LI14
(display segment assignment: high = 1, low = 0)
Example above: LI9 and LI14 are at 1, LI10 to LI13 are at 0.
-5-!
b Analog input functions
A11A
A12A
A13A
A14A
Can be used to display the functions assigned to each input. If no functions have been assigned, nO is
displayed. Use the and arrows to scroll through the functions. If a number of functions have been
assigned to the same input, check that they are compatible.
State 1
State 0
LI1 LI2 LI3 LI4 LI5 LI6 LI7 LI8
State 1
State 0
LI9 LI10 LI11 LI12 LI13 LI14

41
With integrated display terminal
Code Name/Description Unit
ALGr Alarm groups: Current alarm group numbers
FrH Frequency ref Hz
Ltr Torque reference: Can be accessed if the function is configured %.
rFr Output frequency Hz
LCr Motor current A
AUS Average speed: The parameter can be accessed if EnA = YES (see page 61) RPM
SPd Motor speed RPM
UOP Motor voltage V
OPr Motor power W
ULn Mains voltage: Mains voltage from the point of view of the DC bus, motor running or stopped. V
tHr Motor thermal state %
tHd Drv. thermal state %
APH Consumption kWh
rtH Run time: Length of time the motor has been switched on hours
PtH Power on time: Length of time the drive has been switched on hours
tAC IGBT alarm counter: Length of time the "IGBT temperature" alarm has been active seconds
rPC PID reference: Can be accessed if the PID function has been configured %
rPF PID feedback: Can be accessed if the PID function has been configured %
rPE PID error: Can be accessed if the PID function has been configured %
rPO PID Output: Can be accessed if the PID function has been configured Hz
o01 Object 01: Word generated via programmable card (can be accessed if the card has been inserted)
CnFS Current config.: CNF0, 1 or 2 (can be accessed if configuration switching has been enabled, see page
162)
IFrC Current param. set: SEt0, 1 or 2 (can be accessed if configuration switching has been enabled, see page
158)

42
[1.3 - SETTINGS] (SEt-)
The settings parameters can be modified with the drive running or stopped.
Check that it is safe to make changes during operation. Changes should preferably be made in stop mode.
Inr M [Ramp increment] 0.01 - 0.1 - 1 0.1
g See page 104
ACC M [Acceleration] 0.01 to 9999 3.0 s
g
See page 104
dEC M [Deceleration] 0.01 to 9999 3.0 s
g
See page 104
Time to decelerate from the [Rated motor freq.] (FrS) (page 53) to 0. Make sure that this value is compatible
AC2 M [Acceleration 2] 0.01 to 9999 5.0 s
g
See page 106
Time to accelerate from 0 to the [Rated motor freq.] (FrS). Make sure that this value is compatible with the
inertia being driven.
dE2 M [Deceleration 2] 0.01 to 9999 5.0 s
g
See page 106
Time to decelerate from the [Rated motor freq.] (FrS) to 0. Make sure that this value is compatible with the
tA1 M [Begin Acc round] 0 to 100% 10%
g See page 105
Rounding of start of deceleration ramp as a % of the [Acceleration] (ACC) or [Acceleration 2] (AC2) ramp time.
tA2 M [End Acc round] 10%
g
See page 105
- Rounding of end of deceleration ramp as a % of the [Acceleration] (ACC) or [Acceleration 2] (AC2) ramp
time.
- Can be set between 0 and (100% - [Begin Acc 1 round] (tA1))
tA3 M [Begin Dec round] 0 to 100% 10%
g See page 105
Rounding of start of deceleration ramp as a % of ramp time [Deceleration] (dEC) or [Deceleration 2] (dE2).
tA4 M [End Dec round] 10%
g
See page 105
- Rounding of end of deceleration ramp as a % of ramp time [Deceleration] (dEC) or [Deceleration 2] (dE2).
- Can be set between 0 and 100% - ([Begin Dec 3 round] (tA3))
LSP M [Low speed] 0 Hz
Motor frequency at minimum reference, can be set between 0 and [High speed] (HSP).
g
These parameters only appear if the corresponding function has been selected in another menu. When the corresponding
function is also accessible and adjustable from within the configuration menu, to aid programming their description is detailed
in these menus, on the pages indicated.

43
(1)In corresponds to the rated drive current indicated in the Installation Manual or on the drive rating plate.
HSP M [High speed] 50 Hz
Motor frequency at maximum reference, can be set between [Low speed] (LSP) and [Max frequency] (tFr). The
factory setting changes to 60 Hz if [Standard mot. freq] (bFr) = [60 Hz] (60).
ItH M [Mot. therm. current] 0.2 to 1.5 In (1) According to drive
rating
Motor thermal protection current, to be set to the rated current indicated on the rating plate.
SFC M [K speed loop filter 0 to 100 65
Speed loop filter coefficient
SPG M [Speed prop. gain] 0 to 1,000% 40%
Speed loop proportional gain
SIt M [Speed time integral] 1 to 1,000% 100%
Speed loop integral time constant
g

44
Parameter settings for [K speed loop filter] (SFC), [Speed prop. gain] (SPG) and
[Speed time integral] (SIt)
• These parameters can only be accessed in vector control profiles: [Motor control type] (Ctt) page 56 = [SVC U] (UUC), [SVC I] (CUC),
[FVC] (FUC) and [Sync. Mot] (SYn) and if [ENA system] (EnA) page 61 = [No] (nO).
• The factory settings are suitable for most applications.
Parameter [K speed loop filter] (SFC):
This parameter conditions the action of two other parameters.
- Set to 0, the regulator is an "IP" type with filtering of the speed reference, for applications requiring flexibility and stability (hoisting
or high inertia, for example).
- Set to 100, the regulator is a "PI" type, without filtering of the speed reference, for applications requiring a short response time
(position control, for example).
- Settings between 0 and 100 will obtain an intermediate function.
Setting with [K speed loop filter] (SFC) = 0
• [Speed prop. gain] (SPG) affects excessive speed.
• [Speed time integral] (SIt) affects the passband and response time.
Initial response Reduction in SIT Reduction in SIT
Initial response Increase in SPG Increase in SPG
0 50045040035030025020015010050
0
1
0.8
0.6
0.4
0.2
Reference division
Time in ms
0 50045040035030025020015010050
0
1
0.8
0.6
0.4
0.2
Reference division
Time in ms
0 50045040035030025020015010050
0
1
0.8
0.6
0.4
0.2
Reference division
Time in ms
0 50045040035030025020015010050
0
1
0.8
0.6
0.4
0.2
Reference division
Time in ms
0 50045040035030025020015010050
0
1
0.8
0.6
0.4
0.2
Reference division
Time in ms
0 50045040035030025020015010050
0
1
0.8
0.6
0.4
0.2
Reference division
Time in ms

45
Setting with [K speed loop filter] (SFC) = 100
• [Speed prop. gain] (SPG) affects the passband and response time.
• [Speed time integral] (SIt) affects excessive speed.
Initial response Reduction in SIT Reduction in SIT
Initial response Increase in SPG Increase in SPG
0 50045040035030025020015010050
0
1
0.8
0.6
0.4
0.2
Reference division
Time in ms
0 50045040035030025020015010050
0
1
0.8
0.6
0.4
0.2
Reference division
Time in ms
0 50045040035030025020015010050
0
1
0.8
0.6
0.4
0.2
Reference division
Time in ms
0 50045040035030025020015010050
0
1
0.8
0.6
0.4
0.2
Reference division
Time in ms
0 50045040035030025020015010050
0
1
0.8
0.6
0.4
0.2
Reference division
Time in ms
0 50045040035030025020015010050
0
1
0.8
0.6
0.4
0.2
Reference division
Time in ms

46
GPE M [ENA prop. gain] 1 to 9999 250
g See page 61
GIE M [ENA integral gain] 0 to 9999 100
g See page 61
UFr M [IR compensation] 25 to 200% 100%
g See page 54
SLP M [Slip compensation] 0 to 150% 100%
g See page 54
dCF M [Ramp divider] 0 to 10 4
g See page 107
IdC M [DC inject. level 1] 0.1 to 1.5 In (1) 0.64 In (1)
g See page 108
Level of DC injection braking current activated via logic input or selected as stop mode.
IdC2 M [DC inject. level 2] 0.1 to 1.5 In (1) 0.64 In (1)
g See page 108
tdI M [DC inject. time 1] 0.1 to 30 s 5 s
g
See page 108
Maximum current injection time [DC inject. level 1] (IdC). Once this time has elapsed, the injection current
becomes [DC inject. level 2] (IdC2) until the stop command disappears.
tdC M [DC inject. time 2] 0.1 to 30 s 5 s
g See page 108
Maximum injection time [DC inject. level 2] (IdC2) for injection selected as stop mode only.
AdC M [Auto DC injection] [Yes] (YES)
See page 109
Automatic current injection on stopping (at the end of the ramp)
SdC1 M [I inject. DC auto 1] 0 to 1.2 In (1) 0.7 In (1)
g
See page 109
Level of standstill DC injection current. The parameter can be accessed if [Auto DC injection] (AdC) is set to a
value other than [No] (nO).
tdCI M [Auto DC inj. time 1] 0.1 to 30 s 0.5 s
g
See page 109
Standstill injection time. The parameter can be accessed if [Auto DC injection] (AdC) is set to a value other than
[No] (nO).
g

47
SdC2 M [I inject. DC auto 2] 0 to 1.2 In (1) 0.5 In (1)
g See page 109
2nd
level of standstill DC injection current
tdC2 M [Auto DC inj. time 2] 0 to 30 s 0 s
g See page 109
2nd
standstill injection time
SFr M [Switching freq.] 0
g See page 62
The switching frequency is set in accordance with the drive rating and the [Switch. freq type] (SFt).
CLI M [Current Limitation] 0 to 1.65 In (1) 1.5 In (1)
g See page 148
Used to limit the torque and the temperature rise of the motor.
CL2 M [I Limit. 2 value] 0 to 1.65 In (1) 1.5 In (1)
g See page 148
FLU M [Motor fluxing] [No] (nO)
nO
FnC
FCt
v [Non cont.] (FnC): Non-continuous mode
v [Continuous] (FCt): Continuous mode.
In order to obtain rapid high torque on startup, magnetic flux needs to be already established in the motor.
• This function can be selected in open or closed-loop operation.
• In continuous mode (FCt), the drive automatically builds up flux when it is powered up.
• In non-continuous mode:
- If an LI is assigned to the motor fluxing command, flux is built up when the command is confirmed (see
[Fluxing assignment] (FLI) page 119).
- If no LI is assigned or if it is not active when a run command is given, the motor is fluxed when it starts up.
• The flux current is greater than nCr (configured rated motor current) when the flux is established and is then
adjusted to the motor magnetizing current.
tLS M [Low speed time out] 0 to 999.9 s 0 s
Maximum operating time at [Low speed] (LSP)
Following operation at LSP for a defined period, a motor stop is requested automatically. The motor restarts if
the reference is greater than LSP and if a run command is still present.
Caution: Value 0 corresponds to an unlimited period.
JGF M [Jog frequency] 0 to 10 Hz 10 Hz
g See page 110
Reference in pulse mode
JGt M [Jog delay] 0 to 2.0 s 0.5 s
See page 110
Anti-repeat delay between 2 consecutive jog operations
g

48
SP2 M [Preset speed 2] 0 to 1000 Hz 10 Hz
g See page 113
Preset speed 2
g See page 113
Preset speed 3
g See page 113
Preset speed 4
g See page 113
Preset speed 5
g See page 113
Preset speed 6
g See page 113
Preset speed 7
g See page 113
Preset speed 8
g See page 113
Preset speed 9
g See page 113
Preset speed 10
g See page 113
Preset speed 11
g See page 113
Preset speed 12
g See page 113
Preset speed 13
g See page 113
Preset speed 14
g

49
(1)If a graphic display terminal is not in use, values greater than 9999 will be displayed on the 4-digit display with a period mark after the
thousand digit, e.g., 15.65 for 15650.
g See page 113
Preset speed 15
g See page 113
Preset speed 16
NFr M [Multiplying coeff.] 0 to 100%
Multiplying coefficient, can be accessed if [Multiplier ref.-] (MA2,MA3) page 103 has been assigned on the
graphic display terminal
SrP M [+/- speed limitation] 0 to 100% 10%
g See page 117
Limitation of +/- speed variation
rPG M [PID prop. gain] 0.01 to 100% 1
g See page 139
Proportional gain
rIG M [PID integral gain] 0.01 to 100% 1
g See page 139
Integral gain
rdG M [PID derivative gain] 0.01 to 100% 0
g See page 139
Derivative gain
PrP M [PID ramp] 0.01 to 100% 0
g See page 140
Derivative gain
POL M [Min PID output] 0 to 500 or 1000
according to rating
0 Hz
g See page 140
Minimum value of regulator output in Hz
POH M [Max PID output] 0 to 500 or 1000
according to rating
60 Hz
g See page 140
Maximum value of regulator output in Hz
PAL M [Min fbk alarm] 0 to 65535 (1) 100
g See page 140
Minimum monitoring threshold for regulator feedback
PAH M [Max fbk alarm] 0 to 65535 (1) 1000
g See page 140
Maximum monitoring threshold for regulator feedback
g

50
PEr M [PID error Alarm] 0 to 65535 (1) 100
g See page 140
Regulator error monitoring threshold
PSr M [Speed input %] 1 to 100% 100%
g See page 141
Multiplying coefficient for predictive speed input
rP2 M [Preset ref. PID 2] 0 to 65535 (1) 300
g See page 142
Preset PID reference
g See page 142
g See page 142
bIP M [Brake impulse] [No] (nO)
g See page 126
Ibr M [Brake release I FW] 0 to 1.32 In (2) 0
g See page 126
Brake release current threshold for forward movement
Ird M [Brake release I RV] 0 to 1.32 In (2) 0
g See page 126
Brake release current threshold for reverse movement
brt M [Brake Release time 0 to 5.00 s 0 s
g See page 126
Brake release time delay
bIr M [Brake release freq] [Auto] (AUtO)
g See page 126
Brake release frequency threshold
bEn M [Brake engage freq] [Auto] (AUtO)
g See page 127
Brake engage frequency threshold
tbE M [Brake engage time] 0 to 5.00 s 0 s
g
See page 127
Time delay before request to engage brake. To delay the engaging of the brake, for horizontal movement only, if
you wish the brake to engage when the drive comes to a complete stop.
g

51
bEt M [Brake engage time] 0 to 5.00 s 0 s
g See page 127
Brake engage time (brake response time)
JdC M [Jump at reversal] [Auto] (AUtO)
g See page 127
ttr M [Time to restart] 0 to 5.00 s 0 s
g See page 127
Time between the end of a brake engage sequence and the start of a brake release sequence
tLIM M [Motoring torque lim] 0 to 300% 100%
g See page 147
Torque limitation in motor mode, as a % of the rated torque.
tLIG M [Gen. torque lim] 0 to 300% 100%
g See page 147
Torque limitation in generator mode, as a % of the rated torque.
trH M [Traverse high] 0 to 10 Hz 4 Hz
g See page 168
trL M [Traverse low] 0 to 10 Hz 4 Hz
g See page 168
qSH M [Quick step High] 0 to [Traverse high]
(trH)
0 Hz
g See page 168
qSL M [Quick step Low] 0 to [Traverse low]
(trL)
0 Hz
g See page 168
Ctd M [Current threshold] 0 to 1.5 In (1) In (1)
Current threshold for [I attained] (CtA) function assigned to a relay or logic output (see page 77).
Ftd M [Freq. threshold] 0 to 1000 Hz 50 Hz
Frequency threshold for [Freq. attain.] function (FtA) assigned to a relay or logic output (see page 82).
ttd M [Motor therm. level] 0 to 118% 100%
g See page 176
Trip threshold for motor thermal alarm (logic output or relay)
LbC M [Load correction] 0 to 0
g See page 63
Rated correction in Hz.
g

52
LbC1 M [Correction low] 0 to 0
g See page 64
Minimum speed for load correction in Hz
LbC2 M [Correction high] 0 to 0
g See page 64
Speed threshold in Hz above which maximum load correction is applied
LbC3 M [Torque offset] 0 to 300% 0%
g See page 64
Minimum torque for load correction as a % of the rated torque
g

53
[1.4 - MOTOR CONTROL] (drC-)
The parameters in the [1.4 - MOTOR CONTROL] menu can only be modified when the drive is stopped and no run command is present.
Auto-tuning may cause the motor to start up.
bFr M [Standard mot. freq] [50 Hz] (50)
50
60
v [50 Hz] (50): IEC
v [60 Hz] (60): NEMA
This parameter modifies the presets of the following parameters: [High speed] (HSP) page xx, [Freq. threshold]
(Ftd) page xx, [Rated motor freq.] (FrS) (page 53) and[Max frequency] (tFr) page 53.
nPr M [Rated motor power] According to drive
rating
According to drive
rating
UnS M [Rated motor volt.] According to drive
rating
According to drive
rating
Rated motor voltage given on the rating plate
ATV71pppM3X: 100 to 240 V
ATV71pppN4: 100 to 480 V
nCr M [Rated mot. current] 0.25 to 1.5 In (1) According to drive
rating
Rated motor current given on the rating plate
FrS M [Rated motor freq.] 10 to 1000 Hz 50 Hz
The factory setting is 50 Hz, or 60 Hz if bFr is set to 60 Hz.
nSP M [Rated motor speed] 0 to 32767 RPM According to drive
rating
Rated motor speed given on the rating plate
0 to 9999 RPM then 10.00 to 32.76 KRPM on the integrated terminal.
If, rather than the rated speed, the rating plate indicates the synchronous speed and the slip in Hz or as a %,
calculate the rated speed as follows:
• Rated speed = Synchronous speed x
or
or
tFr M [Max frequency] 10 to 1000 Hz 60 Hz
The factory setting is 60 Hz, or preset to 72 Hz if [Standard mot. freq] (bFr) is set to 60 Hz.
The maximum value is limited by the following conditions:
• It must not exceed 10 times the value of [Rated motor freq.] (FrS) (page 53)
• It must not exceed 500 Hz if [Motor control type] (Ctt) (page 56) is not V/F or if the drive rating is higher than
ATV71HD37.
In fact, values between 500 Hz and 1000 Hz are only possible in V/F control and for powers limited to 37 kW.
In this case, configure [Motor control type] (Ctt) before [Max frequency] (tFr).
100 - slip as a %
100
50 - slip in Hz
50
60 - slip in Hz
60

54
(1)The parameter can also be accessed in the [1.3 - SETTINGS] (SEt-) menu.
tUn M [Auto-tuning] [No] (nO)
nO
YES
dOnE
POn
It is essential that all motor parameters ([Rated motor volt.] (UnS), [Rated motor freq.] (FrS), [Rated mot.
current] (nCr), [Rated motor speed] (nSP), [Rated motor power] (nPr)) are configured correctly before starting
auto-tuning.
v [No] (nO): Auto-tuning not performed.
v [Yes] (YES): Auto-tuning is performed as soon as possible. Once it is complete, the parameter changes to
[Done] (dOnE).
v [Done] (dOnE): Use of the values given the last time auto-tuning was performed.
v [Power on] (POn): Auto-tuning is performed on every power-up.
Warning:
• Auto-tuning is only performed if no stop command has been activated. If a "freewheel stop" or "fast stop"
function has been assigned to a logic input, this input must be set to 1 (active at 0).
• Auto-tuning takes priority over any run or prefluxing commands, which will be taken into account after the
auto-tuning sequence.
• If auto-tuning fails, the drive will display [No] (nO) and switch to fault mode [AUTO-TUNING] (tnF).
• Auto-tuning may last for 1 to 2 seconds. Do not interrupt the process. Wait for the display to change to
"[Done] (dOnE)" or "[No] (nO)".
During auto-tuning the motor operates at rated current.
tUS M [Auto-tuning status] [Not done] (tAb)
tAb
PEnd
PrOG
FAIL
dOnE
(information only, cannot be modified)
v [Not done] (tAb): The default stator resistance value is used to control the motor.
v [Pending] (PEnd): Auto-tuning has been requested but not yet performed.
v [In Progress] (PrOG): Auto-tuning in progress.
v [Failed] (FAIL): Auto-tuning has failed.
v [Done] (dOnE): The stator resistance measured by the auto-tuning function is used to control the motor.
PHr M [Output Ph rotation] ABC
AbC
ACb
v [ABC] (AbC): Forward
v [ACB] (ACb): Reverse
This parameter can be used to reverse the direction of rotation of the motor without reversing the wiring.
UFr M [IR compensation] (1) 25 to 200% 100%
The parameter can be accessed if [Motor control type] (Ctt) = [SVC U] (UUC) or [SVC I] (CUC).
Used to optimize the torque at very low speed (increase [IR compensation] (UFr) if the torque is insufficient).
Check that the value of [IR compensation] (UFr) is not too high for when the motor is warm (risk of instability).
SLP M [Slip compensation] (1) 0 to 150% 100%
The parameter can be accessed if [Motor control type] (Ctt) = [SVC U] (UUC) or [SVC I] (CUC).
Used to adjust the slip compensation value fixed by motor rated speed.
The speeds given on motor rating plates are not necessarily exact.
• If slip setting < actual slip: the motor is not rotating at the correct speed in steady state.
• If slip setting > actual slip: the motor is overcompensated and the speed is unstable.

55
Parameters that can be accessed in [EXPERT] mode.
Code Name
rSN M [R1r]
IdN M [Idr]
LFN M [LFr]
trN M [T2r]
nSL M [NSLr]
PPn M [Pr]
rSA M [R1w]
IdA M [Idw]
LFA M [Lfw]
trA M [T2w]

56
Ctt M [Motor control type] [SVC U] (UUC)
UUC
CUC
FUC
UF2
UF5
SYn
v [SVC U] (UUC): Open-loop flux vector control only. This type of control is recommended when replacing an
ATV58. It supports operation with a number of motors connected in parallel on the same drive.
v [SVC I] (CUC): Open-loop flux vector control. This type of control is recommended when replacing an ATV58F
used in an open-loop configuration. It does not support operation with a number of motors connected in parallel
on the same drive.
v [FVC] (FUC) : Closed-loop flux vector control for motor with incremental encoder type sensor. This type of
control is recommended when replacing an ATV58F used in a closed-loop configuration. It is more advanced
in terms of speed and torque accuracy and enables torque to be obtained at zero speed. It does not support
operation with a number of motors connected in parallel on the same drive.
v [V/F 2pts] (UF2): Simple V/F profile without slip compensation. It supports operation with:
- Special motors (wound rotor, tapered rotor, etc.)
- A number motors in parallel on the same drive
- High-speed motors
- Motors with a low power rating in comparison to that of the drive
v [V/F 5pts] (UF5): 5-segment V/F profile: As V/F 2 pts profile but also supports the avoidance of resonance
(saturation).
v [Sync. mot.] (SYn): For synchronous permanent magnet motors with sinusoidal electromotive force (EMF)
only.
Voltage
Frequency
FrS
UnS
U0
Voltage
Frequency
FrS
UnS
U0
U5
U4
U3
U1
U2
U0
F1 F2 F3 F4 F5
FrS > F5 > F4 > F3 > F2 > F1

57
U0 M [U0] (1) According to rating 0
V/F profile setting. The parameter can be accessed if [Motor control type] (Ctt) = [V/F 2pts] (UF2) or [V/F 5pts]
(UF5)
V/F profile setting. The parameter can be accessed if [Motor control type] (Ctt) = [V/F 5pts] (UF5)
F1 M [F1] (1) According to rating 0

58
(1)The encoder parameters can only be accessed if the encoder card has been inserted and the available selections will depend on the
type of encoder card used. The encoder configuration can also be accessed in the [1.5- INPUTS / OUTPUTS CFG] (I/O) menu.
UC2 M [Vector Control 2pt] [No] (nO)
nO
YES
The parameter can be accessed if [Motor control type] (Ctt) = [SVC U] (UUC) or [SVC I] (CUC) or [FVC] (FVC).
v [No] (nO): Function inactive.
v [Yes] (YES): Function active.
Used in applications on which the rated frequency and speed need to be exceeded in order to optimize
operation at constant power.
This requires the drive output voltage to be greater than the rated motor voltage. The voltage/frequency profile
must then be adapted in accordance with the motor's capabilities to operate at maximum voltage UCP and
maximum frequency FCP.
UCP M [V. constant power] According to rating = [Rated motor volt.]
(UnS)
The parameter can be accessed if [Vector Control 2pt] (UC2) = [Yes] (YES)
FCP M [Freq. Cst. Power] According to rating = [Rated motor freq.]
(FrS)
The parameter can be accessed if [Vector Control 2pt] (UC2) = [Yes] (YES)
EnS M [Encoder signals] [No] (nO)
AAbb
Ab
A
The parameter can be accessed if an encoder card has been inserted.
To be configured in accordance with the type of encoder used.
v [AABB] (AAbb): For signals A, A-, B, B-.
v [AB] (Ab): For signals A, B.
v [A] (A): For signal A.
PGI M [Number of pulses] 100 to 5000 1024
Number of pulses per revolution.
The parameter can be accessed if an encoder card has been inserted (1).
Motor voltage
Frequency
Rated frequency FrS
Max. voltage UCP
Max. frequency FCP
Rated voltage UnS

59
(1)The encoder parameters can only be accessed if the encoder card has been inserted and the available selections will depend on the
type of encoder card used. The encoder configuration can also be accessed in the [1.5- INPUTS / OUTPUTS CFG] (I/O) menu.
EnC M [Encoder check] [No] (nO)
nO
YES
dOnE
Check encoder feedback. See procedure page xx.
The parameter can be accessed if an encoder card has been inserted (1) and if [Encoder use] (EnU) is set to
a value other than [PGR->NotDef] (PGr).
v [No] (nO): Check not performed.
v [Yes] (YES): Initiates the check.
This selection causes the motor to start to turn.
v [Done] (dOnE): Check performed successfully.
The check procedure checks:
- The direction of rotation of the encoder/motor (ENF3 fault)
- The presence of signals (wiring continuity, ENF2 fault)
- The number of pulses/revolution (ENF1 fault)
If a fault is detected, the drive locks in ENFx fault mode.
EnU M [Encoder use] [No] (nO)
nO
SEC
rEG
PGr
The parameter can be accessed if an encoder card has been inserted (1).
v [No] (nO): Function inactive, In this case, the other parameters cannot be accessed.
v [spd sec. Fdk] (SEC): The encoder provides speed feedback for monitoring only.
v [spd regul fdk] (rEG): The encoder provides speed feedback for regulation and monitoring. This
configuration is automatic if the drive has been configured for closed-loop operation and is only supported by
this type of operation.
v [PGR->NotDef] (PGr): The encoder serves as a reference.

60
ENA SYSTEM
ENA SYSTEM is a control profile for rotating machines with unbalanced load.
It is used primarily in oil pumps. The operating principle applied supports:
- Operation without a braking resistor
- Reduced mechanical stress on the rod
- Reduced line current fluctuations
- Reduced energy consumption by improving the electric power/current ratio
ENA prop. gain
This setting is made in order to achieve a compromise between the reduced energy consumption (and/or line current fluctuations) and the
mechanical stress to which the rod is subject.
Energy is saved by reducing current fluctuations and increasing the current while retaining the same average speed.
ENA integral gain
This setting is used to smooth the DC bus voltage.
Start up the machine with a low integral and proportional gain (proportional 25% and integral 10%) in order to avoid an overvoltage trip in
the absence of a braking resistor. See if these settings are suitable.
Recommended settings to be made during operation:
• To eliminate the braking resistance and therefore increase the DC bus voltage:
Call up the machine speed on the graphic display terminal.
Reduce the value of the integral gain until the machine speed drops. When it does, increase the integral gain until the machine speed
stabilizes.
Use the graphic display terminal or an oscilloscope to check that the DC bus voltage is stable.
• To save energy:
It may be possible to save even more energy by reducing the proportional gain (gradually) in reducing the maximum value of the line
current but this will increase speed variations and therefore mechanical stress.
The aim is to identify settings that will enable energy to be saved and minimize mechanical stress.
When reducing the proportional gain, it may be necessary to readjust the integral gain in order to avoid an overvoltage trip.
Note: Once the settings are complete, check that the pump starts up correctly. Lack of torque on startup may be due to the ENA integral
gain being set too low.
Reduction ratio
This setting corresponds to the motor speed ahead of gearbox/speed after gearbox ratio. This parameter is used to display the average
speed in Hz and the machine speed in customer units (e.g., strokes per minute) on the graphic display terminal. In order to be displayed
on the graphic terminal, these values must be selected in the [1.2 - MONITORING] (SUP-) menu.
Beampumps

61
EnA M [ENA system] [No] (nO)
nO
YES
The parameter can be accessed if [Motor control type] (Ctt) = [SVC U] (UUC), see page 56.
v [No] (nO) : Function inactive
v [Yes] (YES) : Function active.
GPE M [ENA prop. gain] (1) 1 to 9999 250
The parameter can be accessed if [ENA system] (EnA) = [Yes] (YES)
GIE M [ENA integral gain] (1) 0 to 100% 100%
rAP M [Reduction ratio] (1) 10.0 to 999.9 10
Beampumps

62
CLI M [Current Limitation] (1) 0 to 1.65 In (2) 1.5 In (2)
Warning: If the setting is lower than 0.25 In, the drive may lock following a fault [Output Phase Loss]
(OPF) if this function has been enabled (see page 176)
SFr M [Switching freq.] (1) 1 to 16 kHz y18 kW: 4 kHz
>18 kW: 2.5 kHz
Switching frequency setting.
In the event of excessive temperature rise, the drive will automatically reduce the switching frequency
and reset it once the temperature returns to normal.
nrd M [Noise reduction] [Yes] (YES) if the [Switch. freq type] (SFt) =
[Low freq.] (LF)
[No] (nO) if the [Switch. freq type] (SFt) = [High
freq.] (HF)
YES
nO
v [Yes] (YES): Frequency with random modulation
v [No] (nO): Fixed frequency
Random frequency modulation prevents any resonance which may occur at a fixed frequency.
SUL M [Motor surge limit.] [No] (nO)
nO
YES
This function limits motor overvoltages and is useful in the following applications:
- NEMA motors
- Japanese motors
- Spindle motors
- Rewound motors
v [Yes] (YES) :
SOP M [Volt surge lim opt.] 10 µs
Optimization parameter for transient overvoltages at motor terminals.
Set to 6, 8 or 10 µs.
Ubr M [Braking level] (1)
DC bus voltage threshold above which the braking transistor cuts in to limit this voltage.
The adjustment range and factory setting depend on the drive's voltage and power rating.
bbA M [Braking balance] [No] (nO)
nO
YES
The parameter can be accessed if [Decel. ramp adapt] (brA) = [No] (nO) (see page 106)
v [Yes] (YES) : Active function, to be used on drives connected in parallel via their DC bus. Used to balance the
braking power between the drives. The [Braking level] (Ubr) parameter, page 62, must be set to the same value
on the various drives.

63
LbA M [Load sharing] [No] (nO)
nO
YES
When 2 motors are connected mechanically and therefore forced to the same speed, and each is controlled by
a drive, this function can be used to improve torque distribution between the two motors. For this, it varies the
speed based on the torque, having the same effect as slip.
v [Yes] (YES) : Function active
This parameter is only visible if [Motor control type] (Ctt) = [SVC I] (CUC) (see page 56).
LbC M [Load correction] (1) 0 to ? 0
Rated correction in Hz.
The parameter can be accessed if [Load sharing] (LbA) = [Yes] (YES)
LbC
LbCTorque
Rated torque
Rated torque
Frequency

64
Load sharing, parameters that can be accessed at expert level
Principle
The load sharing factor K is determined by the torque and speed, with two factors K1 and K2 (K = K1 x K2).
LbC1 M [Correction low] (1) 0 to ?Hz 0
Minimum speed for load correction in Hz. Below this threshold, no corrections are made. Used to prevent
correction at very low speed if this would cause the motor to start to turn.
LbC2 M [Correction high] (1) 0 to ?Hz 0
Speed threshold in Hz above which maximum load correction is applied.
LbC3 M [Torque offset] (1) 0 to 300% 0%
Minimum torque for load correction as a % of the rated torque. Below this threshold, no corrections are made.
Used to avoid torque instabilities when the torque direction is not constant.
LbF M [Sharing filter] (1) 0 to 20 s 0 ms
Time constant (filter) for correction in ms. Used in the event of elastic mechanical coupling in order to avoid
instabilities.
+
-
Speed
reference
Ramp
Speed loop
Sharing
K
Filter
Torque reference
LBC
LBC1
LBC2
LBC3
LBF
K1
Speed
LBC1 LBC2
1
K2
Torque
LBC3
LBC3 Rated
torque x (1 + LBC3)
LBC
LBC

65
[1.5 - INPUTS / OUTPUTS CFG] (I-O-)
tCC M [2/3 wire control] [2 wire] (2C)
2C
3C
v [2 wire] (2C)
v [3 wire] (3C)
2-wire control: The open or closed state of the input controls running or stopping.
LI1: forward
LIx: reverse
3-wire control (pulse control): a "forward" or "reverse" pulse is sufficient to command starting, a "stop" pulse is
sufficient to command stopping.
LI1: stop
LI2: forward
LIx: reverse
Any change in the assignment of [2/3 wire] (tCC) must be confirmed on the graphic display terminal and
The [2 wire type] (rrS) and [Rev. assignment] (tCt) functions below will be returned to factory settings,
along with all functions associated with logic inputs.
We recommend that this parameter is configured before configuring the [1.6 COMMAND] (CtL-) and
[1.7 APPLICATION FUNCT.] (FUn-) menus.
tCt M [2 wire type] [Level ] (LEL)
LEL
trn
PFO
v [Level ] (LEL): State 0 or 1 is taken into account for run (1) or stop (0).
v [Transition ] (trn): A change of state (transition or edge) is necessary to initiate operation, in order to prevent
accidental restarts after a break in the power supply.
v [Prior. FW] (PFO): State 0 or 1 is taken into account for run or stop, but the "forward" input always takes
priority over the "reverse" input.
rrS M [Rev. assignment] [LI2] (LI2)
nO
LI1
-
-
-
v [No] (nO): Not assigned
v [LI1] (LI1)
:
:
v [...] (...): See the assignment conditions on page 94.
Assignment of the reverse direction command.
24 V LI1 LIx
ATV 71
24 V LI1 LI2 LIx
ATV 71

66
LI- b [LI1 CONFIGURATION]
LOIA M [LI1 assignment]
Read-only parameter, cannot be configured.
It displays all the functions that are assigned to input LI1 in order to check multiple assignments.
LOId M [LI1 On Delay] 0 to 2000 ms 0
This parameter is used to take account of the change of the logic input to state 1 with a delay that can be
adjusted between 0 and 2000 milliseconds, in order to filter out possible interference. The change to state
0 is taken into account without delay.
Make sure that the delay set does not pose a risk or lead to undesired operation.
L-- b [LIx CONFIGURATION]
All the logic inputs available on the drive are processed as in the example for LI1 above, up to LI6, LI10 or
LI14, depending on whether or not option cards have been inserted.

67
Configuration of analog inputs and Pulse input
The minimum and maximum input values (in volts, mA, etc.) are converted to % in order that the application references can be adapted.
Minimum and maximum input values:
The minimum value corresponds to a reference of 0% and the maximum value to a reference of 100%. The minimum value may be greater
than the maximum value:
Range (output values): For analog inputs only
This parameter is used to set the reference range to [0% V100%] or [-100% V +100%] in order to obtain a bipolar output from a unipolar
input.
Reference
100%
0%
[Min value]
(CrLx or
ULx or PIL)
[Max value]
(CrHx or
UHx or PFr)
20 mA or
10 V or
30000 Hz
Reference
100%
0%
[Min value]
(CrLx or
ULx or PIL)
[Max value]
(CrHx or
UHx or PFr)
current or
voltage or
frequency
input
current or
voltage or
frequency
input
20 mA or
10 V or
30000 Hz
Reference
100%
0%
[Min value] [Max value]
Range 0 V 100%
Reference
100%
0%
[Min value]
[Max value]
current
or
output
current
or
output
- 100%
Range - 100% V + 100%
20 mA
or 10 V
20 mA
or 10 V

68
bSP M [Reference template] [Standard] (bsd)
bSd
bnSO
bLS
bnS
v [Standard] (bSd)
At zero reference the frequency = LSP
v [Deadband 0%] (bnS0)
This function is the same as [Standard] (bSd),
with the exception that at zero reference, the
frequency = 0.
v [Pedestal] (bLS)
At zero reference the frequency = LSP
v [Deadband] (bnS)
At zero reference the frequency = 0
This parameter defines how the speed reference is taken into account, regardless of the reference channel. In
the case of the PID regulator, this is the PID output reference.
The limits are set by the [Low speed] (LSP) and [High speed] (HSP) parameters, page xx
Frequency
Reference
LSP
-100%
100%
HSP
LSP
HSP
Rv
Fw
0%
Frequency
Reference
LSP
- 100%
+ 100%
HSP
LSP
HSP
Rv
Fw
- 0%
+ 0%
Frequency
Reference
LSP-100%
100%
HSP
LSP
HSP
Rv
Fw
0
Frequency
Reference
LSP
- 100%
+ 100%
HSP
LSP
HSPRv
Fw
- 0%
+ 0%

69
Delinearization: For analog inputs only
The input can be delinearized by configuring an intermediate point on the input/output curve of this input:
For range 0 V 100%
Note: For [Interm. point X], 0% corresponds to [Min value] and 100% to [Max value]
For range -100% V 100%
Reference
100%
0%
[Min value]
(0%)
[Interm. point
X]
[Max value]
(100%)
current
or
voltage
input
[Interm. point Y]
20 mA
or 10 V
Reference
100%
0%
[Min value]
(- 100%)
[Interm. point
X]
[Max value]
(100%)
current
or
voltage input
[Interm. point Y]
- [Interm. point Y]
- 100%
- [Interm.
point X]
0% 20 mA
or 10 V

70
AI1 - b [AI1 CONFIGURATION]
AI1A M [AI1 assignment]
It displays all the functions associated with input AI1 in order to check, for example, for compatibility
problems.
AI1t M [AI1 type] [Voltage] (10U)
10U
v [Voltage] (10U): Voltage input
UIL1 M [AI1 min value] 0 to 10.0 V 0 V
UIH1 M [AI1 max value] 0 to 10.0 V 10.0 V
AIIF M [AI1 filter] 0 to 10.00 s 0 s
Interference filtering.
AI1E M [AI1 Interm. point X] 0 to 100% 0%
Input delinearization point coordinate.
• 0% corresponds to [AI1 min value] (UIL1).
• 100% corresponds to [AI1 max value] (UIH1).
AI1S M [AI1 Interm. point Y] 0 to 100% 0%
Output delinearization point coordinate (frequency reference).

71
AI2- b [AI2 CONFIGURATION]
problems.
AI2t M [AI2 type] [Current] (0 A)
10U
0 A
v [Current] (0 A): Current input
CrL2 M [AI2 min. value] 0 to 20.0 mA 4.0 mA
The parameter can be accessed if [AI2 Type] (AI2t) = [Current] (0 A)
CrH2 M [AI2 max value] 0 to 20.0 mA 20.0 mA
UIL2 M [AI2 min. value] 0 to 10.0 V 0 V
The parameter can be accessed if [AI2 Type] (AI2t) = [Voltage] (10U)
AI2F M [AI2 filter] 0 to 10.00 s 0 s
AI2L M [AI2 range] [0 --> 100%] (POS)
POS
nEG
v [0 --> 100%] (POS): One-way input
v [-100% --> +100%] (nEG): Two-way input
Example: On a 0/10 V input
- 0 V corresponds to reference -100%
- 5 V corresponds to reference 0%
- 10 V corresponds to reference +100%
• 0% corresponds to [Min value] if the range is 0 V 100%.
• 0% corresponds to + [Min value] if the range is -100% V + 100%.
• 100% corresponds to [Max value].
[Max value] - [Min value]
2

72
AI3 - b [AI3 CONFIGURATION]
Can be accessed if an option card has been inserted
problems.
0 A
CrL3 M [AI3 min value] 0 to 20.0 mA 4.0 mA
CrH3 M [AI3 max. value] 0 to 20.0 mA 20.0 mA
AI3L M [AI3 range] [0 --> 100%] (POS)
POS
nEG
Example: On a 4 - 20 V input
- 4 mA corresponds to reference -100%
- 12 mA corresponds to reference 0%
- 20 mA corresponds to reference +100%
As, in physical terms, AI3 is a two-way input, the configuration [-100% --> +100%] (nEG) must only be used
if the signal applied is a one-way signal. A two-way signal is not compatible with a two-way configuration.
• 0% corresponds to [A13 min. value] (CrL3) if the range is 0 V 100%.
• 0% corresponds to + [min value] (CrL3) if the range is
-100% V +100 %.
• 100% corresponds to [max value] (CrH3).
[max value] (CrH3) - [min value] (CrL3)
2

73
AI4- b [AI4 CONFIGURATION]
problems.
10U
0 A
CrL4 M [AI4 min. value] 0 to 20.0 mA 4.0 mA
CrH4 M [AI4 max value] 0 to 20.0 mA 20.0 mA
UIL4 M [AI4 min. value] 0 to 10.0 V 0 V
AI4L M [AI4 range] [0 --> 100%] (POS)
POS
nEG
Example: On a 0/10 V input
- 0 V corresponds to reference -100%
- 5 V corresponds to reference 0%
- 10 V corresponds to reference +100%
AI4E M [AI4 Interm. X] 0 to 100% 0%
• 0% corresponds to [Min value] if the range is 0 V 100%.
• 0% corresponds to + [Min value] if the range is -100% V + 100%.
• 100% corresponds to [Max value].
AI4S M [AI4 Interm.Y] 0 to 100% 0%
[Max value] - [Min value]
2

74
PIA- b [PULSE IN CONFIGURATION]
PIA M [Assignment]
It displays all the functions associated with the Pulse input in order to check, for example, for compatibility
problems.
PIL M [RP min value] 0 to 3000 (x 10 Hz) 0
Frequency corresponding to the minimum speed
PFr M [RP max value] 0 to 3000 (x 10 Hz) 0
Frequency corresponding to the maximum speed
PFI M [RP filter] 0 to 1000 ms 0

75
Configuration of the encoder input serving as a reference
Minimum and maximum values (input values):
The minimum value corresponds to a minimum reference of 0% and the maximum value to a maximum reference of 100%. The minimum
value may be greater than the maximum value. It may also be negative.
A reference can be obtained at zero frequency by assigning a negative value to the minimum value.
Reference
100%
0
[Min value]
(EIL)
[Max value]
(EFr)
30000 Hz
Reference
100%
0
[Min value]
(EIL)
[Max value]
(EFr)
Frequency
input
Frequency
input
30000 Hz
Reference
100%
[Min value]
(EIL)
[Max value]
(EFr)
30000 Hz
Frequency
input0

76
The encoder parameters can only be accessed if the encoder card has been inserted and the available selections will depend on the type
of encoder card used. The encoder configuration can also be accessed in the [1.4 - MOTOR CONTROL] (drC-) menu.
PG- b [ENCODER CONFIGURATION]
The encoder parameters can only be accessed if the encoder card has been inserted and the available
selections will depend on the type of encoder card used.
EnS M [Encoder signals] [No] (nO)
AAbb
Ab
A
To be configured in accordance with the type of encoder used.
v [AABB] (AAbb): For signals A, A-, B, B-.
v [AB] (Ab): For signals A, B.
v [A] (A): For signal A.
PGI M [Number of pulses] 100 to 5000 1024
Number of pulses per revolution.
EnC M [Encoder check] [No] (nO)
nO
YES
dOnE
Check encoder feedback. See procedure page xx.
The parameter can be accessed if an encoder card has been inserted and if [Encoder use] (EnU) is set to
a value other than [PGR->NotDef] (PGr).
v [No] (nO): Check not performed.
v [Yes] (YES): Initiates the check.
This selection causes the motor to start to turn.
v [Done] (dOnE): Check performed successfully.
The check procedure checks:
- The direction of rotation of the encoder/motor (ENF3 fault)
- The presence of signals (wiring continuity, ENF2 fault)
- The number of pulses/revolution (ENF1 fault)
If a fault is detected, the drive locks in ENFx fault mode.
EnU M [Encoder use] [No] (nO)
nO
SEC
rEG
PGr
v [No] (nO): Function inactive, In this case, the other parameters cannot be accessed.
v [spd sec. Fdk] (SEC): The encoder provides speed feedback for monitoring only.
v [spd regul fdk] (rEG): The encoder provides speed feedback for regulation and monitoring. This
configuration is automatic if the drive has been configured for closed-loop operation and is only supported
by this type of operation.
v [PGR->NotDef] (PGr): The encoder serves as a reference.
PGA M [Reference type] [Encoder] (EnC)
EnC
PtG
The parameter can be accessed if [Encoder use] (EnU) = [PGR->NotDef] (PGr).
v [Encoder] (EnC): Use of an encoder.
v [Freq. gen.] (PtG): Use of a frequency generator.
EIL M [Freq. min value] 0 to 3000 (x 10 Hz) 0
The parameter can be accessed if [Encoder use] (EnU) = [PTG->NotDef] (PGr) and if [ ] (PGA) = [ ] (PtG).
Frequency corresponding to the minimum speed
EFr M [Freq. max value] 0 to 3000 (x 10 Hz) 0
Frequency corresponding to the maximum speed
EFI M [Freq. signal filter] 0 to 1000 ms 0

77
r1- b [R1 CONFIGURATION]
r1 M [R1 Assignment] [drive fault] (FLt)
nO
FLt
rUn
FtA
FLA
CtA
SrA
tSA
PEE
PFA
APL
tAd
tSA2
tSA3
AtS
CnF0
CnF1
CnF2
CFP1
CFP2
CFP3
dbL
brS
PrN
LSA
AG1
AG2
AG3
P1A
P2A
PLA
EFA
USA
UPA
AnA
tHA
bSA
bCA
SSA
rtA
LCC
rrN
rdY
OCC
NCP
EbO
CLO
v [Not assign.] (nO): Not assigned
v [drive fault] (FLt): Drive fault
v [Drv running] (rUn): Drive running
v [Freq. attain.] (FtA): Frequency attained
v [HSP attain.] (FLA): High speed attained
v [I attained] (CtA): Current threshold attained
v [Freq.ref.att.] (SrA): Frequency reference attained
v [Th. mot. att.] (tSA): Motor thermal state 1 attained
v [PID error al] (PEE): PID error alarm
v [PID fdbk al.] (PFA): PID feedback alarm
v [4-20 mA loss] (APL): Alarm indicating absence of 4-20 mA signal
v [Th. drv. att.] (tAd): Drive thermal state attained
v [Th. mot2. att.] (tSA2): Motor thermal state 2 attained
v [Th. mot3. att.] (tSA3): Motor thermal state 3 attained
v [Torque +/-] (AtS): Torque sign?
v [Conf. 1 active] (CnF0): Configuration 1 active
v [set 1 active] (CFP1):
v [DC charged] (dbL): DC bus loading
v [In braking] (brS): Drive braking
v [P. removed] (PRM):
v [LSA] (LSA):
v [Alarm group 1] (AGI): Alarm group 1
v [Alarm group 2] (AG2): Alarm group 2
v [Alarm group 3] (AG3): Alarm group 3
v [PTC1 alarm] (P1A): Probe alarm motor 1
v [PTC3 alarm] (PLA): Probe alarm motor 3
v [Ext. fault al] (EFA): External fault alarm
v [Underv. al] (USA): Undervoltage alarm
v [prevent. <U] (UPA): Undervoltage prevention
v [slipping al.] (AnA): Slipping alarm
v [Al. °D'b0C drv.] (tHA): IGBT alarm
v [Load mvt al] (bSA): Braking speed alarm
v [Brk cont. al] (bCA): Brake contact alarm
v [Lim T/I att.] (SSA): Torque limit alarm
v [Trq. reg. al.] (rtA):
v [Line cont.] (LCC): Line contactor control
v [P. removed] (rrM): PWR active
v [Drive ready] (rdY): Drive ready
v [output cont.] (OCC): Output contactor control
v [I present] (MCP): Motor current present
v [Spool end] (EbO): Spool end (traverse control function)
v [Sync Wobble] (CLO): "Counter wobble" synchronization
r1d M [R1 Delay time] 0 to 9999 ms 0
For the assignment of [Line cont.] (LCC), the delay time cannot be set above 0.
The change in state only takes effect once the configured time has elapsed, when the information becomes
true.
r1S
0
1
M [R1 Active at] 1
Configuration of the operating logic:
v [0]: State 0 when the information is true
For the assignments of [Brk control] (bLC) and [Line cont.] (LCC), state 1 cannot be modified.

78
r1- b [R1 CONFIGURATION] (continued)
r1H M [R1 Holding time] 0 to 9999 ms 0
For the assignment of [Line cont.] (LCC), the holding time cannot be set above 0.
false.
r2 M [R2 Assignment] [No] (nO)
bLC
Identical to R1 (see page 77), plus:
v [Brk control] (bLC): Brake contactor control, for information as this selection can only be configured in
the [APPLICATION FUNCT.] (Fun-) menu
For the assignments of [Brk control] (bLC) and [Line cont.] (LCC), the delay time cannot be set above 0.
true.
r2S
0
1
M [R2 Active at] 1
For the assignments of [Brk control] (bLC) and [Line cont.] (LCC), the holding time cannot be set above 0.
false.
bLC
true.
r3S
0
1
M [R3 Active at] 1
v [0] : State 0 when the information is true
v [1] : State 1 when the information is true
false.

79
bLC
true.
r4S
0
1
M [R4 Active at] 1
false.

80
LO1- b [LO1 CONFIGURATION]
LO1 M [LO1 assignment] [No] (nO)
bLC
LO1d M [LO1 delay time] 0 to 9999 ms 0
true.
LO1S
0
1
M [LO1 active at] 1
LO1H M [LO1 holding time] 0 to 9999 ms 0
false.
bLC
true.
LO2S
0
1
M [LO2 active at] 1
false.

81
bLC
true.
LO3S
0
1
M [LO3 active at] 1
false.
bLC
true.
LO4S
0
1
M [LO4 active at] 1
false.

82
b [LIST OF ALARMS]
AG1 M [Alarm Grp 1]
P1A
P2A
PLA
CtA
FtA
SrA
EFA
tAd
tSA
tSA2
tSA3
USA
UPA
FLA
AnA
tHA
bSA
bCA
PEE
PFA
APL
SSA
rtA
tS4
Selection to be made in the following list:
v [PTC3 alarm] (PLA): Probe alarm motor 3
v [I attained] (CtA): Current threshold reached
v [Freq. attain.] (FtA): Frequency attained
v [Freq.ref.att.] (SrA): Frequency reference attained
v [Ext. fault al] (EFA): External fault alarm
v [Th. ATV att.] (tAd): Drive thermal state attained
v [Th. mot. att.] (tSA): Motor thermal state 1 attained
v [Th. mot2 att] (tSA2): Motor thermal state 2 attained
v [Th. mot3 att] (tSA3): Motor thermal state 3 attained
v [Underv. al] (USA): Undervoltage alarm
v [prevent. <U] (UPA): Undervoltage prevention
v [HSP attain.] (FLA): High speed attained
v [slipping al.] (AnA): Slipping alarm
v [Al. °C drv.] (tHA): IGBT alarm
v [Load mvt al] (bSA): Braking speed alarm
v [Brk cont. al] (bCA): Brake contact alarm
v [PID error al] (PEE): PID error alarm
v [PID fdbk al.] (PFA): PID feedback alarm
v [4-20 mA loss] (APL): Alarm indicating absence of 4-20 mA signal
v [Lim T/I att.] (SSA): Torque limit alarm
v [Trq. reg. al.] (rtA):
v [TS4] (tS4):
See the selection procedure on page 23 for the integrated terminal and page 15 for the graphic display terminal.
AG2 M [Alarm Grp 2]
Identical to [Alarm Grp 1] (AG1)
AG3 M [Alarm Grp 3]
Identical to [Alarm Grp 1] (AG1)

83
Configuration of analog outputs
Minimum and maximum values (output values):
The minimum output value, in volts or mA, corresponds to the lower limit of the assigned parameter and the maximum value to its upper
limit. The minimum value may be greater than the maximum value:
Outputs AO2 and AO3 configured as bipolar outputs:
The [min value] (UOLx) and [max value] (UOHx) parameters are absolute values, although they function symmetrically. In the case of
bipolar outputs, always set the maximum value higher than the minimum value.
Parameter assigned
Upper limit
[Min value]
(AOLx or
UOLx)
[Max value]
(AOHx or
UOHx)
20 mA
or
10 V
Parameter assigned
[Min value]
(AOLx or
UOLx)
[Max value]
(AOHx or
UOHx)
20 mA
or
10 V
Current or
voltage
output
Current or
voltage
output
Upper limit
Lower
limit
Lower
limit
Parameter
assigned
-10 V
[Min value]
(UOLx)
[Max value]
(UOHx)
Voltage
output
Upper limit
Lower limit
+ 10 V

84
AO1- b [AO1 CONFIGURATION]
AO1 M [AO1 assignment] [No] (nO)
nO
OCr
OFr
OrP
trq
Stq
OrS
OPS
OPF
OPE
OPI
OPr
tHr
tHd
OFS
tHr2
tHr3
Utr
Str
tqL
UOP
v [Not assign.] (nO): Not assigned
v [I motor] (OCr): Current in the motor, between 0 and 2 In (In = rated drive current indicated in the
Installation Manual and on the drive rating plate).
v [Motor freq.] (OFr): Output frequency, between 0 and [Max frequency] (tFr)
v [Ramp out.] (OrP): Between 0 and [Max frequency] (tFr)
v [Motor torq.] (trq): Motor torque, between 0 and 3 times the rated motor torque
v [Signed torq] (Stq): Signed motor torque, between -3 and +3 times the rated motor torque
v [signed rmp] (OrS): Signed ramp output, between - [Max frequency] (tFr) and + [Max frequency] (tFr)
v [PID ref.] (OPS): PID regulator reference between [Min PID reference] (PIP1) and [Max PID reference]
(PIP2)
v [PID feedback] (OPF): PID regulator feedback between [Min PID feedback] (PIF1) and [Max PID
feedback] (PIF2)
v [PID error] (OPE): PID regulator error between - 5% and + 5% of ([Max PID feedback] (PIF2) - [Min PID
feedback] (PIF1))
v [PID integral] (OPI): PID regulator integral between [Low speed] (LSP) and [High speed] (HSP)
v [Mot. power] (OPr): Motor power, between 0 and 2.5 times [Rated motor power] (nPr)
v [Mot. Therm] (tHr): Motor thermal state, between 0 and 200% of the rated thermal state
v [Drv thermal] (tHd): Drive thermal state, between 0 and 200% of the rated thermal state
v [Sig. out. frq.] (OFS): Signed output frequency, between - [Max frequency] (tFr) and + [Max frequency]
(tFr)
v [MotTherm2] (tHr2): Thermal state of motor 2, between 0 and 200% of the rated thermal state
v [MotTherm3] (tHr3): Thermal state of motor 3, between 0 and 200% of the rated thermal state
v [Uns.TrqRef] (Utr): Torque reference, between 0 and 3 times the rated motor torque
v [Sign trq ref] (Str): Signed torque reference, between -3 and +3 times the rated motor torque
v [Lim. Couple] (tqL): Torque limit, between 0 and 3 times the rated motor torque
v [Motor volt.] (UOP): Voltage applied to the motor, between 0 and [Rated motor volt.] (UnS)
AO1t M [AO1 Type] [Voltage] (10U)
10U
0A
v [Voltage] (10U): Voltage output
v [Current] (0 A): Current output
AOL1 M [AO1 min Output] 0 to 20.0 mA 4.0 mA
The parameter can be accessed if [AO1 Type] (AO1t) = [Current] (0 A)
AOH1 M [AO1 max Output] 0 to 20.0 mA 20.0 mA
UOL1 M [AO1 min Output] 0 to 10.0 V 0 V
The parameter can be accessed if [AO1 Type] (AO1t) = [Voltage] (10U)
UOH1 M [AO1 max Output] 0 to 10.0 V 10.0 V
The parameter can be accessed if [AO1 Type] (AO1t) = [Voltage] (10U)
AO1F M [AO1 Filter] 0 to 10.00 s 0 s

85
Same assignments as AO1
10U
0A
n10U
v [Voltage +/-] (n10U): Bipolar voltage output
AOL2 M [AO2 min output] 0 to 20.0 mA 4.0 mA
UOL2 M [AO2 min output] 0 to 10.0 V 0 V
The parameter can be accessed if [AO2 Type] (AO2t) = [Voltage] (10U) or [Voltage +/-] (n10U)
Same assignments as AO1
10U
0A
n10U
v [Voltage +/-] (n10U): Bipolar voltage output
AOL3 M [AO3 min Output] 0 to 20.0 mA 4.0 mA
UOL3 M [AO3 min Output] 0 to 10.0 V 0 V

86
[1.6 - COMMAND] (CtL-)
Command and reference channels
Run commands (forward, reverse, stop, etc.) and references can be sent using the following channels:
The Altivar 71 supports various command and reference combinations:
• ATV58 type: To replace an Altivar 58. See the Substitution Guide.
• Not separate mode: Command and reference are sent via the same channel.
• Separate mode: Command and reference may be sent via different channels.
• I/O mode: Command and reference may be sent via different channels.
Commands may be sent via the logic inputs on the terminals or via the communication bus. When commands are sent via a bus, they
are available on a word, which behaves as virtual terminals containing only logic inputs.
Application functions can be assigned to the bits in this word. One bit may contain several assignments.
In other command modes, control via the bus takes place in accordance with standard DSP402 (see the Communication Variables
Manual) with 5 bits only that can be freely assigned.
Stop commands from the terminals remain active even if the terminals are not the active command channel.
Command Reference
• Terminals: Logic inputs LI
• Graphic display terminal (RJ45 socket)
• Modbus
• CANopen
• Communication cards
• Programmable card
• Terminals: Analog inputs AI, frequency input, encoder
• Graphic display terminal (RJ45 socket)
• Modbus
• CANopen
• Communication card
• Programmable card
• +/- speed via the terminals
• +/- speed via the graphic display terminal

87
Reference channel for not separate mode (SIM), separate mode (SEP) and I/O mode,
PID not configured
References
Fr1, SA2, SA3, dA2, dA3, MA2, MA3:
• terminals, graphic display terminal, Modbus, CANopen, communication cards, programmable card
Fr1b, for SEP and I/O:
Fr1b, for SIM:
• terminals, only accessible if Fr1 = terminals
Fr2:
• terminals, graphic display terminal, Modbus, CANopen, communication cards, programmable card, and +/- speed
Note: [Ref.1B channel] (Fr1b) and [Ref.1B switching] (rCb) must be configured in the [APPLICATION FUNCT.] (Fun-) menu.
H/>
72H
279/
:52
H2/
2H%
279
;-%
;-&
@-%
@-&
8-%
8-&
2H$
2H$>
+/- speed around a
reference
Preset
speeds
Jog
operation
PID not assigned
Graphic
display
terminal
Forced to local
Ramps
Parameter:
The black square represents
the factory setting assignment
Key:
Channel1
Channel2
[Ref.1b switching]
[Ref. 1 channel ]
[Ref. 1B channel]
[Summing ref. 2]
[Summing ref. 3]
[Subtract ref. 2]
[Subtract ref. 3]
[Ref.2 multiplier]
[Low speed]
[Ref.3 multiplier]
[PID REGULATOR]
AI1
[Ref. 2 channel]
[Ref2. Switching]
(FRA+SA2+SA3-dA2-dA3)xMA2xMA3
(SP1)
SP2
SP16
LI
LCC
FRA
nO
[High
speed]
nO
nO
nO
nO
FrH rFr
AI2
AI3
HSP
LSP
ACC DEC
AC2 DE2
LI
AI4

88
Reference channel for not separate mode (SIM), separate mode (SEP) and I/O mode,
PID configured with PID references at the terminals
References
Fr1, Fr1b, SA2, SA3, dA2, dA3, MA2, MA3:
• terminals
Fr2:
(1) Ramps not active if the PID function is active in automatic mode.
H/>
72H
279/
H2/
2H%
279
;-%
;-&
@-%
@-&
8-%
8-&
2H$
2H$>
Graphic
display
terminal
Ramps (1)
Parameter:
Key:
Channel 1
Channel 2
PID
See page 135
A
Forced to local
[Ref.1b switching]
[Ref. 1 channel]
[Ref. 1B channel]
[Summing ref. 2]
[Summing ref. 3]
[Subtract ref. 2]
[Subtract ref. 3]
[Ref.2 multiplier]
[Low speed]
[Ref.3 multiplier]
AI1
[Ref. 2 channel]
[Ref2. Switching]
(FRA+SA2+SA3-dA2-dA3)xMA2xMA3
B
LCC
FRA
[High
speed]
nO
FrH rFr
AI2
AI3
HSP
LSP
ACC DEC
AC2 DE2
LI
AI4

89
Reference channel for separate mode (SEP), not separate mode (SIM) and I/O mode,
PID configured with PID references online
References
Fr1:
• graphic display terminal, Modbus, CANopen, communication cards, programmable card
Fr1b, for SEP and I/O:
• graphic display terminal, Modbus, CANopen, communication cards, programmable card
Fr1b, for SIM:
• inaccessible
Fr2:
(1) Ramps not active if the PID function is active in automatic mode.
H/>
72H
279/
H2/
2H%
279
2H$
2H$>
Graphic
display
terminal
Forced to local
Ramps (1)
Parameter:
Key:
Channel 1
Channel 2
PID
See page 135
A
[Ref.1b switching]
[Low speed]
AI1
[Ref. 2 channel]
[Ref2. Switching]
B
LCC
[High
speed]
nO
FrH rFr
AI2
AI3
HSP
LSP
ACC DEC
AC2 DE2
LI
[Ref. 1 channel ]
[Ref. 1B channel]
AI4

90
Command channel for not separate mode (SIM)
Combined reference and command
Parameters Fr1, Fr2, rFC, FLO and FLOC are common to reference and command. The command channel is therefore determined by the
reference channel.
Example: If the reference Fr1 = AI1 (analog input at the terminals), control is via LI (logic input at the terminals).
279/
/4/2
H2/
2H%
279
:;I
2H$
(STOP has
priority)
Forced to local
Parameter:
Forward
Reverse
STOP
Graphic display
terminal
Key:
Graphicdisplay
terminal
LI AI1
(RUN/STOP
FWD/REV)
LCC
nO
AI2
AI3
LI
[Ref. channel 1]
[Ref. 2 channel]
[Ref2. Switching]
[Channel switching]
YES
SIM
STOP
CMD
LI
nO
AI4

91
Command channel for separate mode (SEP)
Separate mode (separate reference and command)
Parameters FLO and FLOC are common to reference and command.
Example: If the reference is in forced local mode via AI1 (analog input at the terminals), control in
forced local mode is via LI (logic input at the terminals).
The command channels Cd1 and Cd2 are independent of the reference channels Fr1, Fr1b and Fr2.
Commands
Cd1, Cd2:
279/
/4/2
//;
/@%
279
:;I
/@$
(STOP has
priority)
Forced to local
Parameter:
Forward
Reverse
STOP
Graphic
display
terminal
Key:
Graphic
display
terminal
LI AI1
(RUN/STOP
FWD/REV)
LCC
nO
AI2
AI3
[Cmd Channel 1]
[Cmd Channel 2]
[Cmd Switching]
[Channel switching]
YES
SEP
STOP
CMD
LI
nO
AI4

92
Command channel for I/O mode
Separate mode (separate reference and command)
Parameters FLO and FLOC are common to reference and command.
Example: If the reference is in forced local mode via AI1 (analog input at the terminals), control in
forced local mode is via LI (logic input at the terminals).
The command channels Cd1 and Cd2 are independent of the reference channels Fr1, Fr1b and Fr2.
Commands
Cd1, Cd2:
279/
/4/2
//;
/@%
279
:;I
/@$
(STOP has
priority)
Forced to local
Parameter:
Forward
Reverse
STOP
Graphic
display
terminal
Key:
Graphic
display
terminal
LI AI1
(RUN/STOP
FWD/REV)
LCC
nO
AI2
AI3
[Cmd Channel 1]
[Cmd Channel 2]
[Cmd Switching]
[Channel switching]
YES
I/O
STOP
CMD
LI
nO
AI4

93
Command channel for [I/O mode]
Selection of a command channel:
A command or an action can be assigned:
• To a fixed channel by selecting an LI input or a Cxxx bit:
- By selecting e.g., LI3, this action will always be triggered by LI3 regardless of which command channel is switched.
- By selecting e.g., C214, this action will always be triggered by CANopen with bit C214 regardless of which command channel is
switched.
• Can be switched by selecting a switchable bit CDxx:
- By selecting e.g., CD11, this action will be triggered by:
LI12 if the terminals channel is active
C111 if the Modbus channel is active
C211 if the CANopen channel is active
C311 if the communication channel card is active
C411 if the programmable card channel is active
Note:
• CD14 and CD15 can only be used for switching between 2 networks. They do not have equivalent logic inputs.
• The command for switching the command channel cannot be switched by the latter.
Terminals Modbus CANopen
Communication
card
Programmable card
Internal bit, can be
switched
LI1 C100 C200 C300 C400 CD00
LI2 C101 C201 C301 C401 CD01
LI3 C102 C202 C302 C402 CD02
LI4 C103 C203 C303 C403 CD03
LI5 C104 C204 C304 C404 CD04
LI6 C105 C205 C305 C405 CD05
LI7 C106 C206 C306 C406 CD06
LI8 C107 C207 C307 C407 CD07
LI9 C108 C208 C308 C408 CD08
LI10 C109 C209 C309 C409 CD09
LI11 C110 C210 C310 C410 CD10
LI12 C111 C211 C311 C411 CD11
LI13 C112 C212 C312 C412 CD12
LI14 C113 C213 C313 C413 CD13
- C114 C214 C314 C414 CD14
- C115 C215 C315 C415 CD15

94
The following elements are available for every command or function that can be assigned to a logic input or a command bit:
[LI1] (LI1)
to
[LI6] (LI6)
[LI7] (LI7)
to
[LI10] (LI10)
If logic I/O card present
[LI11] (LI11)
to
[LI14] (LI14)
If I/O extension card present
[C100] (C100)
to
[C110] (C110)
With Modbus in I/O mode
[C111] (C111)
to
[C115] (C115)
With Modbus regardless of the mode
[C200] (C200)
to
[C210] (C210)
With CANopen in I/O mode
[C211] (C211)
to
[C215] (C215)
With CANopen regardless of the mode
[C300] (C300)
to
[C310] (C310)
With a communication card in I/O mode
[C311] (C311)
to
[C315] (C315)
With a communication card regardless of the mode
[C400] (C400)
to
[C410] (C410)
With programmable card in I/O mode
[C411] (C411)
to
[C415] (C415)
With programmable card regardless of the mode
[CD00] (Cd00)
to
[CD13] (Cd13)
In I/O mode can be switched with possible logic inputs
[CD14] (Cd14)
to
[CD15] (Cd15)
In I/O mode can be switched without logic inputs

95
Fr1 M [Ref.1 channel] [AI1] (AI1)
AI1
AI2
AI3
AI4
PI
PG
LCC
Mdb
CAn
nEt
APP
v [AI1] (AI1): Analog input
v [AI3] (AI3): Analog input, if extension card present
v [Pulse input] (PI): Frequency input, if card present
v [Encoder ref.] (PG): Encoder input, if card present
v [HMI] (LCC): Graphic display terminal
v [Modbus] (Mdb): Modbus
v [CANopen] (CAn): CANopen
v [Com. card] (nEt): Communication card (if present)
v [Prog. card] (APP): Programmable card (if present)
rIn M [RV Inhibition] [No] (nO)
nO
YES
v [No] (nO)
v [Yes] (YES)
Inhibition of movement in reverse direction, does not apply to direction requests sent by logic inputs.
- Reverse direction requests sent by logic inputs are taken into account.
- Reverse direction requests sent by the graphic display terminal are not taken into account.
- Reverse direction requests sent by the line are not taken into account.
- Any inverse speed reference originating from the PID, summing input, etc., is interpreted as a zero
reference.
PSt M [Stop Key priority] [Yes] (YES)
nO
YES
v [No] (nO)
v [Yes] (YES): Gives priority to the STOP key on the graphic display terminal regardless of the command
channel enabled.
ENT must be pressed and held down (2 s) in order for any change in the assignment of [Stop Key priority] (PSt)
to be taken into account.
This stop is a freewheel stop if the active command channel is not the graphic display terminal. If the active
command channel is the graphic display terminal, the stop will be performed in accordance with the setting in
[Type of stop] (Stt) on page 107.
CHCF M [Channel config.] [Not separ.] (SIM)
SIM
SEP
IO
SE8
v [Not separ.] (SIM): Combined reference and command
v [Separate] (SEP): Separate reference and command
v [I/O mode] (IO): I/O mode
v [8 serie] (SE8): ATV58 interchangeability (see Substitution Guide).
CCS M [Cmd Switching] [Cmd Channel 1]
(Cd1)
Cd1
Cd2
LI1
-
-
-
Parameter can be accessed if [Channel config.] (CHCF) = [Separate] (SEP) or [I/O mode] (IO)
v [Cmd Channel 1] (Cd1): [Cmd channel 1] (Cd1) active (no switching)
v [Cmd Channel 2] (Cd2): [Cmd Channel 2] (Cd2) active (no switching)
v [LI1] (LI1)
:
:
If the state of the input or bit assigned is at 0, channel [Cmd Channel 1] (Cd1) is active.
If the state of the input or bit assigned is at 1, channel [Cmd Channel 2] (Cd2) is active.

96
Cd1 M [Cmd Channel 1] [Terminals] (tEr)
tEr
LCC
Mdb
CAn
nEt
APP
v [Terminals] (tEr): Terminals
Cd2 M [Cmd Channel 2] [Modbus] (Mdb)
tEr
LCC
Mdb
CAn
nEt
APP
v [Terminals] (tEr): Terminals
The parameter can be accessed if [Channel config.] (CHCF) = [Separate] (SEP) or [I/O mode] (IO).
rFC M [Ref2. Switching] [Ref. 1 channel (Fr1)
Fr1
Fr2
LI1
-
-
-
v [Ref. 1 channel] (Fr1): no switching
v [Ref. 2 channel] (Fr2): no switching
v [LI1] (LI1)
:
:
If the state of the input or bit assigned is at 0, channel [Ref. 1 channel] (Fr1) is active.
If the state of the input or bit assigned is at 1, channel [Ref. 2 channel] (Fr2) is active.
Fr2 M [Ref. 2 channel] AI2
AI1
AI2
AI3
AI4
PI
PG
UPd
LCC
Mdb
CAn
nEt
APP
The parameter can be accessed if [Ref2. Switching] (rFC) is set to a value other than [Ref.1 channel] (Fr1).
v [+/-Speed] (UPd): +/-Speed command
COP M [Copy channel 1->2] [No] (nO)
nO
SP
Cd
ALL
Copying is only performed from channel 1 to channel 2.
The parameter can be accessed if [Channel config.] (CHCF) is set to a value other than [8 serie] (SE8)
v [No] (nO): No copy
v [Reference] (SP): Copy reference
v [Command] (Cd): Copy command
v [Cmd + ref.] (ALL): Copy command and reference
- If channel 2 is controlled via the terminals, the channel 1 command is not copied.
- If channel 2 reference is set via AI1, AI2, AI3, AI4, the encoder input or the frequency input, channel 1
reference is not copied.
- The reference copied is FrH (before ramp) unless the channel 2 reference is set via +/- speed. In this case,
the reference copied is rFr (after ramp).
Copying the command and/or reference may change the direction of rotation.

97
As the graphic display terminal may be selected as the command and/or reference channel, its action modes can be configured.
The following parameters can only be accessed on the graphic display terminal, but not on the integrated terminal.
Notes:
• The terminal command/reference is only active if the command and/or reference channels from the display terminal are active with
the exception of [HMI command] (LCC) (command via the display terminal), which takes priority over these channels. Press [HMI
command] (LCC) (command via the display terminal) again to revert control to the selected channel.
• Command and reference via the display terminal are impossible if it is connected to more than one drive.
• JOG, preset speed and +/- speed functions can only be accessed if [Channel config.] (CHCF) = [Not separ.] (SIM).
• Preset PID reference functions can only be accessed if [Channel config.] (CHCF) = [Not separ.] (SIM) or [Separate] (SEP)

98
Name/Description Adjustment range Factory setting
M [F1 key assignment] [No] (nO)
v [No] : Not assigned
v [JOG] : JOG operation
v [Preset speed 2] : 2nd
preset speed
v [Preset speed 3]: 3rd
preset speed
v [PID ref. 2]: 2nd
preset PID reference
v [PID ref. 3] : 3rd
v [+Speed]: Faster
v [-Speed]: Slower
v [HMI command]: Command via the display terminal: Takes priority over [Cmd switching] (OIr) and [Ref2. Switching] (rFC).
v [No]: Not assigned
v [JOG]: JOG operation
v [Preset speed 2]: 2nd
preset speed
preset speed
v [PID ref. 2] : 2nd
v [PID ref. 3]: 3rd
v [+Speed]: Faster
v [-Speed]: Slower
v [No] : Not assigned
preset speed
preset speed
v [PID ref. 2]: 2nd
v [PID ref. 3]: 3rd
v [+Speed]: Faster
v [-Speed]: Slower
v [No]: Not assigned
preset speed
preset speed
v [PID ref. 2]: 2nd
v [PID ref. 3]: 3rd
v [+Speed]: Faster
v [-Speed]: Slower
M [HMI command]
When the function [HMI command] (LCC) is assigned to a key and if this key is active, this parameter defines the response when
control is returned to the graphic display terminal.
v [Bumpless] : Command and reference from previous channel are copied
v [Stop] : Command and reference from previous channel are canceled and the drive comes to a standstill

99
Function compatibility
The choice of application functions may be limited by the number of I/O and by the fact that some functions are incompatible with
one another. Functions that are not listed in the table below are fully compatible.
If there is an incompatibility between functions, the first function configured will prevent the remainder being configured.
Each of the functions on the following pages can be assigned to one of the inputs or outputs.
A single input can activate several functions at the same time (reverse and 2nd
ramp, for example). The user must therefore ensure
that these functions can be used at the same time.
Before assigning a command, a reference or a function to an input or output, the user must make sure that this input or output
has not already been assigned and that another input or output has not been assigned to an incompatible or undesirable function.
The drive factory setting or macro configurations automatically configure functions, which may prevent these functions being assigned.
It may be necessary to unconfigure one or more functions in order to be able to enable another. Check the compatibility table below.
(1)Torque regulation and speed reference functions are only incompatible while torque regulation mode is active.
(2)Priority is given to the first of these two stop modes to be activated.
(3)Excluding special application with reference channel Fr2 (see diagrams on pages 87, 88 and 89).
Priority functions (functions that cannot be active at the same time):
Stop functions have priority over run commands.
Speed references via logic command have priority over analog references.
p Incompatible functions Compatible functions N/A
X A
The function indicated by the arrow has priority over the
other.
(1)(1)
(2)
(2)
(1) (1) (1) (1) (1) (1) (1) (1)
(1)
(1)
(1)
(1)
(1)
(1)
(1)
(1)
(1)
(1)
Ref. operation (page 103)
+/- speed (3) (page 115)
Management of limit switches (page 121)
Preset speeds (page 112)
PID regulator (page 139)
Traverse control (page 168)
JOG operation (page 110)
Brake logic control (page 126)
Catch on the fly (page 174)
Output contactor (page 152)
DC injection stop (page 107)
Fast stop (page 107)
Freewheel stop (page 107)
+/- speed around a reference (page 117)
High speed hoisting (page 134)
Torque regulation (page 144)
Load sharing (page 63)
Position control using limit switches (page 155)
Ref.operation
(page103)
+/-
speed(3)(page115)
Managementof
limitswitches(page121)
Presetspeeds
(page112)
PIDregulator
(page139)
Traversecontrol
(page168)
JOGoperation
(page110)
Brakelogiccontrol
(page126)
Catchonthefly
(page174)
Outputcontactor
(page152)
DCinjection
stop(page107)
Faststop
(page107)
Freewheelstop
(page107)
+/-speedaroundareference
(page117)
Highspeedhoisting
(page134)
Torqueregulation
(page144)
Loadsharing
(page63)
Positioncontrolusing
limitswitches(page155)

100
Incompatible functions
The following functions will be inaccessible or deactivated in the cases described below:
Automatic restart
This is only possible for 2-wire level detection control (tCC = 2C and tCt = LEL or PFO).
Catch on the fly
This is only possible for 2-wire level detection control (tCC = 2C and tCt = LEL or PFO).
This function is locked if the automatic DC injection on stopping is configured as Continuous (AdC = Ct).
The SUP- monitoring menu (page 36) can be used to display the functions assigned to each input in order to check their compatibility.
When a function is assigned, a appears on the graphic display terminal, as illustrated in the example below:
If you attempt to assign a function that is incompatible with another function that has
already been assigned, an alarm message will appear:
With graphic display terminal:
COMP until ENT or ESC is pressed.
When you assign an analog logic input, a reference channel or a bit to a function,
pressing the HELP button will display the functions that may already have been
assigned to this input, bit or channel.
REFERENCE SWITCHING
REF. OPERATION
RAMP
STOP CONFIGURATION
JOG
Code << >> Quick
INCOMPATIBILITY
The function can't be assigned
because an incompatible
function is already selected. See
programming book.
ESC or ENT to continue

101
Summing input/Subtracting input/Multiplier
A = (Fr1 or Fr1b + SA2 + SA3 - dA2 - dA3) x MA2 x MA3
• If SA2, SA3, dA2, dA3 are not assigned, they are set to 0.
• If MA2, MA3 are not assigned, they are set to 1.
• A is limited by the minimum LSP and maximum HSP parameters.
• For multiplication, the signal on MA2 or MA3 is interpreted as a %; 100% corresponds to the maximum value of the corresponding
input. If MA2 or MA3 is sent via the communication bus or graphic display terminal, an MFr multiplication variable (see page 39) must
be sent via the bus or graphic display terminal.
• The reversal of the direction of operation in the event of a negative result can be inhibited (see page 95).
Fr1 or Fr1b
SA2
SA3
dA2
dA3
MA2
MA3
A

102
H12!
b [REFERENCE SWITCH]
rCb M [Ref.1B switching]
See the diagrams on pages 87, 88 and 89.
[No] (nO)
nO
LI1
-
-
-
v [No] (nO): no switching
v [LI1] (LI1)
:
:
• If the state of the input or bit assigned is at 0, [Ref.1 channel] (Fr1) is active (see page 95).
• If the state of the input or bit assigned is at 1, [Ref.1B channel] (Fr1) is active.
Fr1b M [Ref.1B channel] [No] (nO)
nO
AI1
AI2
AI3
AI4
PI
PG
LCC
Mdb
CAn
nEt
APP
This parameter can be accessed if [Ref.1b switching] (rCb) is set to a value other than [No] (nO)
v [No] (nO): No source assigned
Note:
In the following instances, only assignments via the terminals are possible:
- [Channel config.] (CHCF) = [Not separ.] (SIM) page 95
- PID configured with PID references via the terminals

103
OAI- b [REF. OPERATIONS]
Reference = (Fr1 or Fr1b + SA2 + SA3 - dA2 - dA3) x MA2 x MA3. See the diagrams on pages 87 and 88.
Warning: This function cannot be used with all other functions. Observe the precautions on page 99.
SA2 M [Summing ref. 2] [No] (nO)
nO
AI1
AI2
AI3
AI4
PI
PG
LCC
Mdb
CAn
nEt
APP
Selection of a reference to be added to [Ref. 1 channel] (Fr1) or [Ref. 1B channel] (Fr1b).
v [No] (nO): No source assigned
SA3 M [Summing ref. 3] [No] (nO)
Selection of a reference to be added to [Ref. 1 channel] (Fr1) or [Ref. 1B channel] (Fr1b).
• Possible assignments are identical to [Summing ref. 2] (SA2) above.
dA2 M [Subtract ref. 2] [No] (nO)
Selection of a reference to be subtracted from [Ref. 1 channel] (Fr1) or [Ref. 1B channel] (Fr1b).
dA3 M [Subtract ref. 3] [No] (nO)
Selection of a reference to be subtracted from [Ref. 1 channel] (Fr1) or [Ref. 1B channel] (Fr1b).
NA2 M [Ref.2 multiplier] [No] (nO)
Selection of a reference to be multiplied with [Ref. 1 channel] (Fr1) or [Ref. 1B channel] (Fr1b).
NA3 M [Ref.3 multiplier] [No] (nO)
Selection of a reference to be multiplied with [Ref. 1 channel] (Fr1) or [Ref. 1B channel] (Fr1b).

104
b [RAMPS]
rPt M [Ramp Shape] [Linear] (LIn)
LIn
S
U
CUS
v [Linear] (LIn)
v [S ramp] (S)
v [U ramp] (U)
v [Customized] (CUS)
S ramps
The curve coefficient is fixed,
where t2 = 0.6 x t1
and t1 = set ramp time.
The curve coefficient is fixed,
where t2 = 0.5 x t1
and t1 = set ramp time.
tA1: Adjustable from 0 to 100% (of t1)
tA2: Adjustable from 0 to (100% - tA1) (of t1)
tA3: Adjustable from 0 to 100% (of t1)
tA4: Adjustable from 0 to (100% - tA3) (of t1)
where t1 = set ramp time
Inr M [Ramp increment] (1) 0.1
0.01
0.1
1
v [0.01]: Ramp up to 99.99 seconds
v [0.1]: Ramp up to 999.9 seconds
v [1]: Ramp up to 9999 seconds
This parameter is valid for [Acceleration] (ACC), [Deceleration] (dEC), [Acceleration 2] (AC2) et
[Deceleration 2] (dE2).
ACC M [Acceleration] (1) 0.01 to 9999 s 3.0 s
dEC M [Deceleration] (1) 0.01 to 9999 s 3.0 s
Time to decelerate from the [Rated motor freq.] (FrS) (page 53) to 0. Make sure that this value is compatible
FrS
t
0
t2
t1
f (Hz)
FrS
t
0
t2
t1
f (Hz)
FrS
t
0
tA1 tA2 tA3 tA4
t1
f (Hz)
FrS
t
0
t1
f (Hz)
FrS
t
0
t2
t1
f (Hz)
FrS
t
0
t2
t1
f (Hz)
U ramps
Customized ramps

105
b [RAMPS] (continued)
tA1 M [Begin Acc round] (1) 0 to 100% 10%
- Rounding of start of deceleration ramp as a % of the [Acceleration] (ACC) or [Acceleration 2] (AC2)
ramp time.
- Can be set between 0 and 100%
- The parameter can be accessed if the [Ramp Shape] (rPt) is [Customized] (CUS).
tA2 M [End Acc round] (1) 10%
- Rounding of end of deceleration ramp as a % of the [Acceleration] (ACC) or [Acceleration 2] (AC2)
ramp time.
- Can be set between 0 and (100% - [Begin Acc 1 round] (tA1))
tA3 M [Begin Dec round] (1) 0 to 100% 10%
- Rounding of start of deceleration ramp as a % of ramp time [Deceleration] (dEC) or [Deceleration 2]
(dE2).
- Can be set between 0 and 100%
tA4 M [End Dec round] (1) 10%
- Rounding of end of deceleration ramp as a % of ramp time [Deceleration] (dEC) or [Deceleration 2]
(dE2).
- Can be set between 0 and 100% - ([Begin Dec 3 round] (tA3))

106
b [RAMPS] (continued)
Frt M [Ramp 2 threshold] 0 to [Max frequency]
(tFr)
0 Hz
Ramp switching threshold
The 2nd
ramp is switched if the value of Frt is set to a value other than 0 (0 deactivates the function) and
the output frequency is greater than Frt.
Threshold ramp switching can be combined with [Ramp switch ass.] (rPS) switching as follows:
rPS M [Ramp switch ass.] [No] (nO)
nO
LI1
-
-
-
v [No] (nO): Not assigned.
v [LI1] (LI1)
:
:
- ACC and dEC are enabled when the state of the input or bit assigned is at 0.
- AC2 and dE2 are enabled when the state of the input or bit assigned is at 1.
AC2 M [Acceleration 2] (1) 0.01 to 9999 s 5.0 s
The parameter can be accessed if [Ramp 2 threshold] (Frt) > 0 or if [Ramp switch ass.] (rPS) is assigned.
dE2 M [Deceleration 2] (1) 0.01 to 9999 s 5.0 s
The parameter can be accessed if [Ramp 2 threshold] (Frt) > 0 or if [Ramp switch ass.] (rPS) is assigned.
brA M [Dec ramp adapt] [No] (nO)
nO
YES
dYnA
dYnb
dYnU
brA
Activating this function automatically adapts the deceleration ramp, if this has been set at too low a value
for the inertia of the load.
v [Yes] (YES): Function active.
The following selections appear in accordance with the drive rating (high ratings).
v [High torq.A] (dYnA)
v [High torq.B] (dYnb)
v [High torq.V] (dYnU)
v [Dec ramp adapt] (brA) is forced to [No] (nO) if the brake logic control [brake assignment] (bLC) has
been assigned (page 126).
The function is incompatible with applications requiring:
- positioning on a ramp
- the use of a braking resistor (no guarantee of the function operating correctly)
LI or bit Frequency Ramp
0 <Frt ACC, dEC
0 >Frt AC2, dE2
1 <Frt AC2, dE2
1 >Frt AC2, dE2

107
Stt- b [STOP CONFIGURATION]
Stt M [Type of stop] [Ramp stop] (rMP)
rMP
FSt
nSt
dCI
Stop mode on disappearance of the run command or appearance of a stop command.
v [Ramp stop] (rMP): On ramp
v [Fast stop] (FSt): Fast stop
v [Freewheel] (nSt): Freewheel stop
v [DC injection] (dCI): DC injection stop
Note: If the "brake logic" function on page 126 has been enabled, only ramp type stops may be
configured.
nSt M [Freewheel assign.] [No] (nO)
nO
LI1
-
-
C100
-
-
-
Cd00
-
v [LI1] (LI1) to [LI6] (LI6)
v [LI7] (LI7) to [LI10] (LI10): If logic I/O card present
v [LI11] (LI11) to [LI14] (LI14): If I/O extension card present
v [C100] (C100) to [C115] (C115): With Modbus in I/O mode
v [C200] (C200) to [C215] (C215): With CANopen in I/O mode
v [C300] (C300) to [C315] (C315): With a communication card in I/O mode
v [C400] (C400) to [C415] (C415): With a programmable card in I/O mode
v [CD00] (Cd00) to [CD13 (Cd13): In I/O mode can be switched with possible logic inputs
v [CD14] (Cd14) to [CD15 (Cd15): In I/O mode can be switched without logic inputs
The stop is activated when the logic state of the input or bit is at 0. If the input returns to state 1 and if
the run command is still active, the motor will only restart if [2/3 wire control] (tCC) page 65 = [2 wire]
(2C) and [2 wire type] (tCt) = [Level] (LEC) or [Prior. FW] (PFO). If not, a new run command must be
sent.
FSt M [Fast stop assign.] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
The stop is activated when the logic state of the input changes to 0 or the logic state of the bit changes
to 1(bit state 0 in I/O mode). If the input returns to state 1 and if the run command is still active, the motor
will only restart if [2/3 wire control] (tCC) page 65 = [2 wire] (2C) and [2 wire type] (tCt) = [Level] (LEC)
or [Prior. FW] (PFO). If not, a new run command must be sent.
dCF M [Ramp divider] (1) 0 to 10 4
The parameter can be accessed for [Type of stop] (Stt) = [Fast stop] (FSt) and for [Fast stop assign.]
(FSt) set to a value other than [No] (nO).
The ramp enabled (dEC or dE2) is then divided by this coefficient when stop requests are sent.
The value 0 corresponds to the minimum ramp time.

108
(3)Warning: These settings are independent of the [AUTO DC INJECTION] function.
b [STOP CONFIGURATION] (continued)
dCI M [DC injection assign.] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
DC injection braking is initiated when the input or bit assigned changes to state 1.
If the input returns to state 1 and if the run command is still active, the motor will only restart if [2/3 wire
control] (tCC) page 65 = [2 wire] (2C) and [2 wire type] (tCt) = [Level] (LEC) or [Prior. FW] (PFO). If not, a
new run command must be sent.
IdC M [DC inject. level 1] (1) (3) 0.1 to 1.5 In (2) 0.64 In (2)
td1 M [DC inject. time 1] (1) (3) 0.1 to 30 s 5 s
Maximum current injection time [DC inject. level 1] (IdC). Once this time has elapsed, the injection current
becomes [DC inject. level 2] (IdC2) until the stop command disappears.
IdC2 M [DC inject. level 2] (1) (3) 0.1 to 1.5 In (2) 0.64 In (2)
Injection current activated by logic input or selected as stop mode, once period of time [DC inject. time 1] (tdI)
has elapsed.
tdC M [DC inject. time 2] (1) (3) 0.1 to 30 s 5 s
Maximum injection time [DC inject. level 2] (IdC2) for injection selected as stop mode only.
([Type of stop] (Stt) = [DC injection] (dCI).)

109
AdC- b [AUTO DC INJECTION]
AdC M [Auto DC injection] [Yes] (YES)
nO
YES
Ct
Automatic current injection on stopping (at the end of the ramp)
v [No] (nO): No injection
v [Yes] (YES): Adjustable injection time
v [Cont. ] (Ct): Continuous standstill injection
This parameter gives rise to the injection of current even if a run command has not been sent. It can
be accessed with the drive running.
SdC1 M [I inject. DC auto 1] (1) 0 to 1.2 In (2) 0.7 In (2)
Level of standstill DC injection current. The parameter can be accessed if [Auto DC injection] (AdC) is set
to a value other than [No] (nO).
Check that the motor will withstand this current without overheating.
tdC1 M [Auto DC inj. time 1] (1) 0.1 to 30 s 0.5 s
Standstill injection time. The parameter can be accessed if [Auto DC injection] (AdC) is set to a value other
than [No] (nO).
2nd level of standstill DC injection current.
The parameter can be accessed if [Auto DC injection] (AdC) is set to a value other than [No] (nO).
tdC2 M [Auto DC inj. time 2] (1) 0 to 30 s 0 s
2nd standstill injection time
The parameter can be accessed if [Auto DC injection] (AdC) = [Yes] (YES).
Note: In flux vector control mode with sensor, [Auto DC inj. level 1] (SdC1), [Auto DC inj. level 2] (SdC2)
and [Auto DC inj. time 2] (tdC2) cannot be accessed. Only [Auto DC inj. time 1] (tdC1) can be accessed.
AdC SdC2 Operation
YES x
Ct ≠ 0
Ct = 0
Run command
Speed
t
SdC1
SdC2
tdC1 tdC1 + tdC2
I
t
SdC1
I
t
SdC1
SdC2
tdC1
I
t
0
t
1
0

110
JOG- b [JOG]
Warning: This function cannot be used with all other functions. Observe the precautions on page99.
JOG M [JOG assignment] [No] (nO)
If tCC = 3C: [LI4]
nO
LI1
-
-
-
Pulse operation.
Selecting the assigned logic input or bit activates the function.
v [LI1] (LI1)
:
:
The function is active when the input or bit assigned is at 1.
v Example: 2-wire control operation (tCC = 2C)
JGF M [Jog frequency] (1) 0 to 10 Hz 10 Hz
The parameter can be accessed if [JOG assignment] (JOG) is set to a value other than [No] (nO.).
Reference in pulse operation
JGt M [JOG delay] (1) 0 to 2.0 s 0.5 s
The parameter can be accessed if [JOG assignment] (JOG) is set to a value other than [No] (nO.).
Anti-repeat delay between 2 consecutive jog operations.
1
0
1
0
1
0
0
Ramp
forced to 0.1 s
Reference
JGF reference
JGF reference
LI (JOG)
Forward
Reverse
Ramp
DEC/DE2
Motor
frequency
JGt

111
Preset speeds
2, 4, 8 or 16 speeds can be preset, requiring 1, 2, 3 or 4 logic inputs respectively.
You must configure 2 and 4 speeds in order to obtain 4 speeds.
You must configure 2, 4 and 8 speeds in order to obtain 8 speeds.
You must configure 2, 4, 8 and 16 speeds in order to obtain 16 speeds.
Combination table for preset speed inputs
(1)See the diagram on page 87: Reference 1 = (SP1).
16 speeds
LI (PS16)
8 speeds
LI (PS8)
4 speeds
LI (PS4)
2 speeds
LI (PS2)
Speed reference
0 0 0 0 Reference (1)
0 0 0 1 SP2
0 0 1 0 SP3
0 0 1 1 SP4
0 1 0 0 SP5
0 1 0 1 SP6
0 1 1 0 SP7
0 1 1 1 SP8
1 0 0 0 SP9
1 0 0 1 SP10
1 0 1 0 SP11
1 0 1 1 SP12
1 1 0 0 SP13
1 1 0 1 SP14
1 1 1 0 SP15
1 1 1 1 SP16

112
PSS- b [PRESET SPEEDS]
PS2 M [2 preset speeds] [LI5] (LI5)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
PS4 M [4 preset speeds] [LI6] (LI6)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
You must also configure 2 speeds in order to obtain 4 speeds.
PS8 M [8 preset speeds] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
You must also configure 2 and 4 speeds in order to obtain 8 speeds.
PS16 M [16 preset speeds] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
You must also configure 2, 4 and 8 speeds in order to obtain 16 speeds.
Elevator

113
b [PRESET SPEEDS] (continued)
SP2 M [Preset speed 2] (1) 0 to 1000 Hz 10 Hz
SP3 M [Preset speed 3] (1) 15 Hz
The appearance of these [Preset speed x] (SPx) parameters is determined by the number of speeds
configured.

114
+/- speed
Two types of operation are available.
1. Use of single action buttons: Two logic inputs are required in addition to the operating direction(s).
The input assigned to the "+ speed" command increases the speed, the input assigned to the "- speed" command decreases the speed.
2. Use of double action buttons: Only one logic input assigned to "+ speed" is required.
+/- speed with double action buttons:
Description: 1 button pressed twice for each direction of rotation. Each press closes a contact.
Wiring example:
LI1: forward
LIx: reverse
LIy: + speed
Do not use this +/-speed type with 3-wire control.
Whichever type of operation is selected, the max. speed is set by HSP (see page xx).
Note:
If the reference is switched via rFC (see page 96) from any reference channel to another reference channel with "+/- speed", the value of
reference rFr (after ramp) may be copied at the same time in accordance with the parameter [Copy channel 1 --> 2 Cmd and Ref] (COP),
see page 96.
If the reference is switched via rFC (see page 96) from a reference channel with "+/- speed" to any other reference channel, the value of
reference rFr (after ramp) is always copied at the same time.
This prevents the speed being incorrectly reset to zero when switching takes place.
Released (- speed) 1st press
(speed maintained)
2st press
(+ speed)
Forward button – a a and b
Reverse button – c c and d
Control terminals
ATV 71
LI1 LIx LIy +24
a
b
c
d
a a a a a a a
b b
c c
d
Motor frequency
LSP
Forward
0
2nd
press
1st press
Reverse
0
2nd
press
1st press
0
LSP

115
UPd- b [+/- SPEED]
Function can be accessed for reference channel [Ref.2 channel ] (Fr2) = [+/- speed] (UPd) see page 96.
USP M [+Speed assign.] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
Function active if the state of the input or bit assigned is at 1.
dSP M [-Speed assign.] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
Str M [Reference saved] [No] (nO)
nO
rAM
EEP
Associated with the "+/- speed" function, this parameter can be used to save the reference:
• When the run commands disappear (saved to RAM)
• When the mains supply or the run commands disappear (saved to EEPROM)
On the next start-up, the speed reference is the last reference saved.
v [No] (nO): No save (on the next startup, the speed reference is the [Low speed] (LSP), see page xx)
v [RAM] (rAM): Save to RAM
v [E2Prom] (EEP): Save to EEPROM

116
+/- speed around a reference
The reference is given by Fr1 or Fr1b with summing/subtraction/multiplication functions and preset speeds if relevant (see the diagram on
page 87). For improved clarity, we will call this reference reference A. The action of the +speed and -speed buttons can be set as a % of
this reference A. On stopping, the reference (A +/- speed) is not saved, so the drive restarts with reference A only.
The maximum total reference is always limited by the [High speed] (HSP) and the minimum reference by [Low speed] (LSP), see page xx.
Example of 2-wire control:
+ SrP%
Reference A
- Speed
Operating direction
ForwardForward
Reverse
+ Speed
- SrP%
- SrP%
+ SrP%
Reference A
LSP
LSP
Motor frequency
[Acceleration 2] (AC2)
[Deceleration 2] (dE2)

117
SrE- b [+/-SPEED AROUND REF.]
Function can be accessed for reference channel [Ref.1 channel] (Fr1).
USI M [+Speed assign.] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
dSI M [-Speed assign.] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
SrP M [+/-Speed limitation] 0 to 100% 10%
This parameter limits the variation range with +/- speed as a % of the reference. The ramps used in this
function are [Acceleration 2] (AC2) and [Deceleration 2] (dE2).
AC2 M [Acceleration 2] (1) 0.01 to 9999 s 5.0 s
The parameter can be accessed if +/- speed is assigned.
dE2 M [Deceleration 2] (1) 0.01 to 9999 s 5.0 s
The parameter can be accessed if +/- speed is assigned.

118
Reference saving:
Saving the speed reference value of the analog input using a logic input command lasting longer than 0.1 s.
• This function is used to control the speed of several drives alternately via a single analog setpoint and a logic input for each drive.
• It is also used to confirm a line reference (serial link) on several drives via a logic input. This allows movements to be synchronized
by getting rid of variations when the reference is sent.
• The setpoint is acquired 100 ms after the rising edge of the request. A new reference is not then acquired until a new request is made.
t
t
t
0
0
1
0
1
100 ms 100 ms100 ms
F: Motor frequency
Reference
Run command
LIx (save)

119
SPM- b [REFERENCE IN MEMORY]
SPM M [Ref. memo. ass.] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
FLI- b [FLUXING BY LI]
FLI M [Fluxing assignment] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
Assignment only possible if [Motor fluxing] (FLU) page 47 = [Non cont.] (FnC).
Motor fluxing:
In order to obtain rapid high torque on startup, magnetic flux needs to be already established in the motor.
• This function can be selected in open or closed-loop operation.
• In continuous mode (FCt), the drive automatically builds up flux when it is powered up.
• In non-continuous mode:
- If an LI is assigned to the motor fluxing command, flux is built up when the command is confirmed.
- If no LI is assigned or if it is not active when a run command is given, the motor is fluxed when it starts
up.
• The flux current is greater than nCr (configured rated motor current) when the flux is established and is
then adjusted to the motor magnetizing current.

120
Limit switch management
This function can be used to manage trajectory limits using limit switches.
The stop mode is configurable.
When the stop contact is activated, startup in the other direction is authorized.
Example:
The stop is activated when the state of the input is at 0 (contact open).
HandlingElevatorsHoisting
Reverse
stop
Reverse Forward
Forward
stop

121
[1.7 - APPLICATION FUNCT.] (FUn-
?LSt- b [LIMIT SWITCH MANAGEMENT]
LAF M [Stop FW limit sw.] [No] (nO)
nO
LI1
-
-
LI4
v [LI1] (LI1)
:
:
v [LI4] (LI4): See the assignment conditions on page 94.
LAr M [Stop RV limit sw.] [No] (nO)
nO
LI1
-
-
LI4
v [LI1] (LI1)
:
:
LAS M [Type of stop] [Freewheel] (nSt)
nSt
rMP
FSt
v [Freewheel] (nSt)
v [Ramp stop] (rMP)
v [Fast stop] (FSt)
When the state of the assigned input changes to 0, the stop is controlled in accordance with the selected type.
Restarting is only authorized for the other operating direction once the motor has stopped.
If the two inputs [Stop FW limit sw.] (LAF) and [Stop RV limit sw.] (LAr) are assigned to state 0, restarting will
be impossible.
The parameter can be accessed if [Stop FW limit sw.] (LAF) or [Stop RV limit sw.] (LAr) is assigned.

122
Brake logic control
Used to control an electromagnetic brake by the drive, for horizontal and vertical hoisting applications, and for unbalanced machines
(parking brake).
Principle:
Vertical hoisting movement:
Maintain motor torque in the load holding direction during brake opening and closing, in order to hold the load, and start smoothly when the
brake is released.
Horizontal movement:
Synchronize brake release with the build-up of torque during start-up and brake engage at zero speed on stopping, to prevent jolting.
Recommended settings for brake control for a vertical hoisting application:
1. Brake impulse (bIP): YES. Ensure that the direction of rotation FW corresponds to lifting the load.
For applications in which the load being lowered is very different from the load being lifted, set BIP = 2 Ibr (e.g., ascent always with a load
and descent always without a load).
2. Brake release current (Ibr and Ird if BIP = 2 Ibr):
Adjust the brake release current to the nominal current indicated on the motor.
During testing, adjust the brake release current in order to hold the load smoothly.
3. Acceleration time:
For hoisting applications, it is advisable to set the acceleration ramps to more than 0.5 seconds. Ensure that the drive does not exceed
the current limit.
The same recommendation applies for deceleration.
Note: For a hoisting movement, a braking resistor should be used. Ensure that the settings and configurations selected cannot cause a
drop or a loss of control of the lifted load.
4. Brake release delay (brt):
Adjust according to the type of brake. It is the time required for the mechanical brake to release.
5. Brake release frequency (bIr):
Leave in [Auto], adjust if necessary.
6. Brake engage frequency (bEn):
7. Brake engage time (bEt):
Adjust according to the type of brake. It is the time required for the mechanical brake to engage.
Recommended settings for brake control for a horizontal hoisting application:
1. Brake impulse (bIP): No
2. Brake release current (Ibr): Set to 0.
3. Brake release delay (brt):
Adjust according to the type of brake. It is the time required for the mechanical brake to release.
4. Brake release frequency (bIr):
5. Brake engage frequency (bEn):
6. Brake engage time (bEt):
Adjust according to the type of brake. It is the time required for the mechanical brake to engage.

123
Horizontal movement, open-loop control
Key:
- (bEn): [Brake engage freq]
- (bEt): [Brake engage time]
- (brt): [Brake Release time]
- (Ibr): [Brake release I FW]
- (SdC1): [I inject. DC auto 1]
- (tbE): [Brake engage time]
- (ttr): [Time to restart]
Frequency
Reference
bEn
t
Flux current
Rated flux
current
SdC1
Torque current
Ibr
Operating
direction ReverseForward
Relay or logic
output
Brake contact
State of brake
Engaged
Released
Type of motor
control
Flux
brt ttrbEttbE
Frequency
Torque
Injection
Locking
0
t
t
t
t
t
t
Fluxed motor
Ibr attained
0 attained

124
Vertical movement, open-loop control
Key:
- (bEn): [Brake engage freq]
- (bIr): [Brake release freq]
- (JdC): [Jump at reversal]
Frequency
Reference
bEn
t
Flux current
Rated flux
current
Torque current
Ibr
Operating
direction DescendingAscending
Relay or logic
output
Brake contact
State of brake
Engaged
Released
Type of motor
control
brt ttrbEttbE
0
t
t
t
t
t
t
Fluxed motor
Ibr attained
0 attained
bIr
JdC
JdC
Flux
Frequency
Torque
Injection
Locking

125
Vertical or horizontal movement, closed-loop control
Key:
Frequency
Reference
t
Flux current
Rated flux
current
Torque current
Ibr
Operating
direction Reverse or
descending
Forward or
ascending
Relay or logic
output
Brake contact
State of brake
Engaged
Released
Type of motor
control
brt ttrbEttbE
0
t
t
t
t
t
t
Fluxed motor
Ibr attained
0 attained
Flux
Frequency
Torque
Injection
Locking

126
bLC- b [BRAKE LOGIC CONTROL]
bLC M [brake assignment] [No] (nO)
nO
LO1
-
LO4
r2
-
r4
If the brake is assigned, only ramp stops and fast stops are possible. Check the [Type of stop]
(Stt) page 107.
Logic output or control relay
v [No] (nO): Function not assigned (in this case, none of the function parameters can be accessed).
v [LO1] (LO1)
to
[LO4] (LO4): Logic output (if an extension card has been inserted, LO1 to LO2 or LO4 can be selected).
v [R2] (r2)
to
[R4] (r4): Relay (selection extended to R3 or R4 if an extension card has been inserted).
bSt M [Movement type] [Hoisting] (UEr)
UEr
HOr
v [Hoisting] (UEr): Driving-load movement (hoisting winch, for example).
v [Traveling] (HOr): Resistive-load movement (overhead crane movement, for example).
bCI M [Brake contact] [No] (nO)
nO
LI1
-
-
LI4
If the brake is fitted with a monitoring contact (closed for released brake).
v [LI1] (LI1)
:
:
bIP M [Brake impulse] [No] (nO)
nO
YES
2Ibr
The parameter can be accessed if [Weight sensor ass.] (PES) = [No] (nO) (see page 130).
v [No] (nO): The motor torque is given in the required operating direction.
v [Yes] (YES): The motor torque is always Forward (check that this direction corresponds to lifting).
v [2 IBR] (2Ibr): The torque is in the required direction, Ibr for Forward and Ird for Reverse.
If the [Movement type] (bSt) is [Traveling] (HOr), [Brake impulse] (bIP) is forced to [No] (nO).
Ibr M [Brake release I FW] (1) 0 to 1.32 In (2) 0
Brake release current threshold for Ascending or Forward movement
Ird M [Brake release I RV] (1) 0 to 1.32 In (2) 0
Brake release current threshold for Descending or Reverse movement
The parameter can be accessed if [Brake impulse] (bIP) = 2 Ibr
brt M [Brake Release time] (1) 0 to 5.00 s 0
Brake release time delay
bIr M [Brake release freq] (1) [Auto] (AUtO)
AUtO
-
Brake release frequency threshold
v [Auto] (AUtO): The drive takes a value equal to the rated slip of the motor, calculated using the drive
parameters.
v 0 to 10 Hz: Manual control

127
b [BRAKE LOGIC CONTROL] (continued)
bEn M [Brake engage freq] (1) [Auto] (AUtO)
AUtO
-
Brake engage frequency threshold
parameters.
tbE M [Brake engage time] (1) 0 to 5.00 s 0
Time delay before request to engage brake. To delay the engaging of the brake, for horizontal movement only,
if you wish the brake to engage when the drive comes to a complete stop.
bEt M [Brake engage time] (1) 0 to 5.00 s 0
Brake engage time (brake response time)
Level of standstill DC injection current
The parameter can be accessed if brake logic control is assigned.
bEd M [Engage at reversal] [No] (nO)
nO
YES
v [No] (nO): The brake does not engage.
v [Yes] (YES): The brake engages.
Can be used to select if the brake engages or not on transition to zero speed when the operating direction
is inverted.
JdC M [Jump at reversal] (1) 0 to 10.0 Hz [Auto] (AUtO)
AUtO
-
parameters.
In closed-loop control, this parameter is forced to zero. It is also forced to zero in open-loop control if the
[Movement type] (bSt) is [Traveling] (HOr).
When the reference direction is inverted, this parameter can be used to avoid loss of torque (and
consequential release of load) on transition to zero speed. Parameter is not applicable if [Engage at
reversal] (bEd) = [Yes] (YES).
ttr M [Time to restart] 0 to 5.00 s 0
Time between the end of a brake engage sequence and the start of a brake release sequence

128
Brake logic control expert parameters
brH0 M [BRH_b0] 0
brH1 M [BRH_b1] 0
brH2 M [BRH_b2] 0
brH3 M [BRH_b3] 0
brH4 M [BRH_b4] 0
brr M [Current ramp time] 0 to 5.00 s 0 s

129
External weight measurement:
This function uses the information provided by a weight sensor via an analog input (usually a 4 - 20 mA signal) to adapt the current [Brake
release I FW] (Ibr) of the Brake logic control function.
Examples:
- Measurement of the total weight of a hoisting winch and its load
- Measurement of the total weight of an elevator winch, cabin and counterweight
The current [Brake release I FW] (Ibr) is adapted in accordance with the curve below.
This curve can illustrate a weight sensor on an elevator winch, where the zero load on the motor indicates that the load in the cabin is not
equal to zero.
ElevatorsHoisting
Zero load
Weight sensor
[Point 2 Y] (CP2)
Ibr
0
[Point 1 Y]
[Point 1 X]
(LP1)
[Point 2 X]
LP2
100%

130
b [EXTERNAL WEIGHT MEAS.]
PES M [Weight sensor ass.] [No] (nO)
nO
AI1
-
AI4
v [AI1] (AI1)
to
[AI4] (AI4): Analog input assigned
Function can be accessed if brake logic control is assigned (see page 126).
LP1 M [Point 1 X] (1) 0 to 100% 0
0 to 100% of signal on analog input
[Point 1 X] (LP1) must be less than [Point 2 X] (LP2).
The parameter can be accessed if [Weight sensor ass.] (PES) is assigned.
CP1 M [Point 1 Y] (1) -1.36 to +1.36 In (2) - In
Current corresponding to load [Point 1 X] (LP1), in A.
LP2 M [Point 2 X] (1) 0 to 100% 100%
0 to 100% of signal on analog input
[Point 2 X] (LP2) must be greater than [Point 1 X] (LP1).
CP2 M [Point 2 Y] (1) -1.36 to +1.36 In (2) + In
Current corresponding to load [Point 2 X] (LP2), in A.
IbrA M [Ibr 4-20 mA loss] (1) 0 to 1.32 In 0
Brake release current in the event of the loss of the weight sensor information.
This parameter can be accessed if the weight sensor is assigned to an analog current input and the
4-20 mA loss fault has been deactivated.
Recommended settings:
- 0 for elevators
- Rated motor current for a hoisting application
ElevatorsHoisting

131
High-speed hoisting:
This function can be used to optimize the cycle times for hoisting movements for zero or lightweight loads. It authorizes operation at
"constant power" in order to reach a speed greater than the rated speed without exceeding the rated motor current.
The speed remains limited by the High speed HSP parameter, page xx.
The function acts on the speed reference pedestal and not on the reference itself.
Principle:
Hoisting
Frequency
High speed
HSP
Rated motor
frequency FrS
AscendingConstant power
Constant power
Descending
Tr: Rated
motor
torque
Max.
torque
Torque
High speed
HSP
Rated motor
frequency FrS
0

132
Two operating modes are possible:
• "Speed reference" mode: The maximum permissible speed is calculated by the drive during a speed phase set in order that the drive
can measure the load.
• "Current limitation" mode: The maximum permissible speed is the speed that supports current limitation in motor mode, in the
"Ascending" direction only. For the "Descending" direction, operation is always in "Speed reference" mode.
Speed reference mode
OSP: Adjustable speed phase for load measurement
tOS: Load measuring time
Two parameters can be used to reduce the speed calculated by the drive, for ascending and descending.
Hoisting
Ascending command
Descending command
Reference
Frequency
Limit calculated
t
t
t
tOS
HSP
FrS
OSP
0
HSP
FrS
OSP
0

133
Current limitation mode
SCL: Adjustable speed threshold, above which current limitation is active
CLO: Current limitation for high-speed function
Hoisting
Ascending command
Reference
Frequency
t
t
t
HSP
FrS
SCL
0
HSP
FrS
SCL
0
Limit imposed
by current
limitation
Current
t
CLO

134
HSO- b [HIGH SPEED HOISTING]
HSO M [High speed hoisting] [No] (nO)
nO
SSO
CSO
v [Speed ref] (SSO): "Speed reference" mode
v [Current Limit] (CSO): "Current limitation" mode
COF M [Motor speed coeff.] (1) 0 to 100% 100%
Speed reduction coefficient calculated by the drive for Ascending direction.
The parameter can be accessed if [High speed hoisting] (HSO) = [Speed ref] (SSO)
COr M [Gen. speed coeff] (1) 0 to 100% 100%
Speed reduction coefficient calculated by the drive for Descending direction.
tOS M [Load measuring tm.] (1) 0.1 s to 65 s 1 s
Duration of speed phase for measurement.
OSP M [Measurement spd] (1) 0 to FrS 40 Hz
Speed stabilized for measurement.
CLO M [High speed I Limit] (1) 0.25 to 1.5 In (2) In
Current limitation at high speed.
The parameter can be accessed if [High speed hoisting] (HSO) = [Lim. Courant] (CSO)
SCL M [I Limit. frequency] (1) 0 to HSP 40 Hz
Frequency threshold, above which the high-speed limitation current is active.
The parameter can be accessed if [High speed hoisting] (HSO) = [Lim. Courant] (CSO)
Hoisting

135
PID regulator
Block diagram
The function is activated by assigning an analog input to the PID feedback (measurement).
PID feedback:
The PID feedback must be assigned to one of the analog inputs AI1 to AI4, to the frequency input or the encoder, in accordance with the
use of extension cards.
PID reference:
The PID reference must be assigned to the following parameters:
• Preset references via logic inputs (rP2, rP3, rP4)
• In accordance with the configuration of [Act. internal PID ref.] (PII) page 139:
- Internal reference (rPI) or
- Reference A (Fr1 or Fr1b, see pages 88 and 89)
Combination table for preset PID references
A predictive speed reference can be used to initialize the speed on restarting the process.
LI (Pr4) LI (Pr2) Pr2 = nO Speed
rPI or A
0 0 rPI or A
0 1 rP2
1 0 rP3
1 1 rP4
Process
PAU
(manu)
Pr2
Pr4
nO
+
-
rP2
rP3
rP4
rIG
rPG
PIF
PIN
0
tLS
rSL
PIF1 / PIF2
PIP1 / PIP2
x(-1)
nO
nO
YES
PIC
nO
AI1
.....
AI4
LI
+
+
POH
POL
rdG
ACC DEC
FPI x PSr
PII
SP2
SP16
rPI
A BnO
YES
PrP
Internal
reference
Reference A
Pages 88 and 90
PID feedback
Preset PID references
Error
inversion
Restart error
threshold
(wake-up)
Gains
Ramps
Parameter:
The black square
represents the factory
setting assignment.
Key:
Ramp
Preset manual references
Scaling
Pulse
Encoder
Net. AI
Predictive
speed
reference
Manual
reference
Auto/
Manual
Pages
88 and 90

136
Scaling of feedback and references:
• Parameters PIF1, PIF2
Can be used to scale the PID feedback (sensor range).
This scale MUST be maintained for all other parameters.
• Parameters PIP1, PIP2
Can be used to scale the adjustment range.
Example: Adjustment of the volume of a tank, between 6 m3 and 15 m3.
- Sensor used 4-20 mA, 4.5 m3 for 4 mA, 20 m3 for 20 mA, with the result that PIF1 = 4500 and PIF2 = 20000 (use values as close
as possible to the maximum format (65535), while retaining powers of 10 in relation to the actual values).
- Adjustment range 6 to 15 m3, with the result that PIP1 = 6000 and PIP2 = 15000.
- Example references:
- rP1 (internal reference) = 9500
- rp2 (preset reference) = 6500
- rP3 (preset reference) = 8000
- rP4 (preset reference) = 11200
The [DISPLAY CONFIG.] menu can be used to customize the name of the unit displayed and its format.
Other parameters:
• rSL parameter:
Can be used to set the PID error threshold above which the PID regulator will be reactivated (wake-up) after a stop due to the max.
time threshold being exceeded at low speed (tLS).
• Reversal of the direction of correction (PIC): If PIC = nO, the speed of the motor will increase when the error is positive, for example:
pressure control with a compressor. If PIC = YES, the speed of the motor will decrease when the error is positive, for example:
temperature control using a cooling fan.
• The integral gain may be short-circuited by a logic input.
• An alarm on the PID feedback may be configured and indicated by a logic output.
• An alarm on the PID error may be configured and indicated by a logic output.
Process

137
"Manual - Automatic" operation with PID:
This function combines the PID regulator, the preset speeds and a manual reference. Depending on the state of the logic input, the speed
reference is given by the preset speeds or by a manual reference input with the PID function.
Manual reference (PIM)
• Analog inputs AI1 to AI4
• Frequency input
• Encoder
Predictive speed reference (FPI)
• [AI1] (AI1): Analog input
• [AI2] (AI2): Analog input
• [AI3] (AI3): Analog input, if extension card present
• [AI4] (AI4): Analog input, if extension card present
• [Pulse input] (PI): Frequency input, if card present
• [Encoder ref.] (PG): Encoder input, if card present
• [HMI] (LCC): Graphic display terminal
• [Modbus] (Mdb): Modbus
• [CANopen] (CAn): CANopen
• [Com. card] (nEt): Communication card (if present)
• [Prog. card] (APP): Programmable card (if present)
Setting up the PID regulator
1. Configuration in PID mode
See the diagram on page 135.
2. Perform a test in factory settings mode (in most cases, this will be sufficient).
To optimize the drive, adjust rPG or rIG gradually and independently and observe the effect on the PID feedback in relation to the
reference.
3. If the factory settings are unstable or the reference is incorrect:
• Perform a test with a speed reference in Manual mode (without PID regulator) and with the drive on load for the speed range of the
system:
- In steady state, the speed must be stable and comply with the reference, and the PID feedback signal must be stable.
- In transient state, the speed must follow the ramp and stabilize quickly, and the PID feedback must follow the speed.
If this is not the case, see the settings for the drive and/or sensor signal and cabling.
• Switch to PID mode.
• Set brA to no (no auto-adaptation of the ramp).
• Set the speed ramps (AC2, dE2) to the minimum permitted by the mechanics without triggering an ObF fault.
• Set the integral gain (rIG) to minimum.
• Leave the derivative gain (rdG) at 0.
• Observe the PID feedback and the reference.
• Switch the drive ON/OFF a number of times or vary the load or reference rapidly.
• Set the proportional gain (rPG) in order to ascertain the ideal compromise between response time and stability in transient phases
(slight overshoot and 1 to 2 oscillations before stabilizing).
• If the reference varies from the preset value in steady state, gradually increase the integral gain (rIG), reduce the proportional gain
(rPG) in the event of instability (pump applications), find a compromise between response time and static precision (see diagram).
• Lastly, the derivative gain may permit the overshoot to be reduced and the response time to be improved, although this will be at the
expense of a compromise in stability that is more difficult to achieve, as it depends on 3 gains.
• Perform in-production tests over the whole reference range.
Process

138
The oscillation frequency depends on the system kinematics.
Parameter Rise time Overshoot Stabilization time Static error
rPG =
rIG
rdG = =
Process
Value
regulated
Integral
gain
rPG high
Overshoot
Stabilization time
rPG low
Static error
Rise time
time
Integral
gain
rIG high
rIG low
rdG increased
time
time
Reference
Reference
Reference
rPG and rIG correct

139
thousand digit, e.g.: 15.65 for 15650.
PId- b [PID REGULATOR]
PIF M [PID feedback ass.] [No] (nO)
nO
AI1
AI2
AI3
AI4
PI
PG
AIU1
v [No] (nO): Not assigned (function inactive) In this case, none of the function parameters can be accessed.
v [Encoder ref] (PG): Encoder input, if card present
v [Net AI1] (AIU1): Feedback via communication bus
AICI M [AI net. channel] [No] (nO)
nO
Mdb
CAn
nEt
APP
The parameter can be accessed if [PID feedback ass.] (PIF) = [Net AI1] (AIU1).
PIF1 M [Min PID feedback] (1) 0 to 65535 (2) 100
Value for minimum feedback
PIF2 M [Max PID feedback] (1) 0 to 65535 (2) 1000
Value for maximum feedback
PIP1 M [Min PID reference] (1) 0 to 65535 (2) 150
Minimum process value
PIP2 M [Max PID reference] (1) 0 to 65535 (2) 900
Maximum process value
PII M [Act. internal PID ref.] [No] (nO)
nO
YES
Internal PID regulator reference
v [No] (nO): The PID regulator reference is given by Fr1 or Fr1b with summing/subtraction/multiplication
functions and preset speeds if relevant (see the diagram on page 87).
v [Yes] (YES): The PID regulator reference is internal via parameter rPI.
rPI M [Internal PID ref.] (1) 0 to 65535 (2) 0
Internal PID regulator reference
The parameter can be accessed if [Act. ref. PID int] (PII) = [Yes] (YES).
rPG M [PID prop. gain] (1) 0.01 to 100 1
Proportional gain
rIG M [PID integral gain] (1) 0.01 to 100 1
Integral gain
rdG M [PID derivative gain] (1) 0.00 to 100 0
Derivative gain
Process

140
b [PID REGULATOR] (continued)
PrP M [PID ramp] (1) 0 to 99.9 s 0
PID acceleration/deceleration ramp, defined to go from [Min PID reference] (PIP1) to [Max PID reference]
(PIP2) and vice versa.
PIC M [PID correct. reverse] (1) [No] (nO)
nO
YES
v [No] (nO)
v [Yes] (YES)
Reversal of the direction of correction (PIC): If PIC = nO, the speed of the motor will increase when the error
is positive, for example: pressure control with a compressor. If PIC = YES, the speed of the motor will
decrease when the error is positive, for example: temperature control using a cooling fan.
POL M [Min PID output] (1) 0 to 500 or 1000
according to rating
0 Hz
Minimum value of regulator output in Hz
POH M [Max PID output] (1) 0 to 500 or 1000
according to rating
60 Hz
Maximum value of regulator output in Hz
PAL M [Min fbk alarm] (1) 0 to 65535 (2) 100
Minimum monitoring threshold for regulator feedback
PAH M [Max fbk alarm] (1) 0 to 65535 (2) 1000
Maximum monitoring threshold for regulator feedback
PEr M [PID error Alarm] (1) 0 to 65535 (2) 100
Regulator error monitoring threshold
PIS M [PID integral reset] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
If the state of the input or bit assigned is at 0, the function is inactive (the PID integral is enabled).
If the state of the input or bit assigned is at 1, the function is active (the PID integral is disabled).
FPI M [Speed ref. assign.] [No] (nO)
nO
AI1
AI2
AI3
AI4
PI
PG
LCC
Mdb
CAn
nEt
APP
PID regulator predictive speed input
v [No] (nO): Not assigned (function inactive)
Process

141
b [PID REGULATOR] (continued)
PSr M [Speed input %] (1) 1 to 100% 100%
Multiplying coefficient for predictive speed input
The parameter can be accessed if [Speed ref. assign.] (FPI) = [No] (nO)
PAU M [Auto / manual] [No] (nO)
nO
LI1
-
-
-
v [No] (nO): The PID is always active.
v [LI1] (LI1)
:
:
If the state of the input or bit assigned is at 0, the PID is active.
If the state of the input or bit assigned is at 1, the PID is inactive.
PIN M [Manual Ref.] [No] (nO)
nO
AI1
AI2
AI3
AI4
PI
PG
Manual speed input
The preset speeds are active on the manual reference if they have been configured.
rSL M [PID wake-up threshold] 0 to 65535 (2) 0
If the "PID" and "Low speed operating time"(tLS) functions (see page xx) are configured at the same time,
the PID regulator may attempt to set a speed lower than LSP.
This results in unsatisfactory operation which consists of starting, operating at low speed then stopping, and
so on…
Parameter rSL (restart error threshold) can be used to set a minimum PID error threshold for restarting after
a stop at prolonged LSP.
The function is inactive if tLS = 0 or if rSL = 0.
Process

142
:H$- b [PID PRESET REFERENCES]
Function cannot be accessed if [PID feedback ass.] (PIF) is assigned.
Pr2 M [2 preset PID ref.] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
If the state of the input or bit assigned is at 0, the function is inactive.
If the state of the input or bit assigned is at 1, the function is active.
Pr4 M [4 preset PID ref.] [No] (nO)
nO
LI1
-
-
-
v Make sure that [2 preset PID ref] (Pr2) has been assigned before performing this function.
v [LI1] (LI1)
:
:
rP2 M [Preset ref. PID 2] (1) 0 to 65535 (2) 300
The parameter can be accessed if [2 preset PID ref.] (Pr2) is assigned.
Process

143
Torque regulation
The function can be used to switch between speed regulation mode and torque regulation mode.
In torque regulation mode, the speed may vary within a configurable "deadband". When it reaches a lower or upper limit, the drive
automatically reverts to speed regulation (fallback) and remains at this limit speed. The regulated torque is therefore no longer maintained
and two scenarios may occur.
• If the torque returns to the required value, the drive will return to torque regulation.
• If the torque does not return to the required value at the end of a configurable period of time, the drive will switch to fault or alarm mode.
- AB and CD: "Fallback" to speed regulation
- BC: Torque regulation zone
- E: Ideal operating point
The torque sign and value can be transmitted via a logic output and an analog output.
Speed
reference
Torque
reference
Speed regulation
[Torque ref. sign]
(tSd)
[Torque ratio]
(trt)
[Torque ramp time]
(trP)
Speed
Torque
LI
Torque/
current
limitation
M
LI
Torque
reference
Torque
limitation
Torque
A
B
E
C
D
SpeedSpeed
reference
Speed
dead-
band

144
tOr- b [TORQUE REGULATION]
This function can only be accessed for [Motor control type] (Ctt) = [SVC I] (CUC) or [FVC] (FUC).
tSS M [Trq/spd switching] [No] (nO)
nO
YES
LI1
-
-
-
v [No] (nO): Function inactive, thereby preventing access to other parameters.
v [Yes] (YES): Permanent torque regulation
v [LI1] (LI1)
:
:
If the state of the input or bit assigned is at 1: Torque regulation.
If the state of the input or bit assigned is at 0: Speed regulation.
tr1 M [Torque ref. channel] [No] (nO)
AI1
AI2
AI3
AI4
PI
PG
LCC
Mdb
CAn
nEt
APP
tSd M [Torque ref. sign] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
If the state of the input or bit assigned is at 0, the torque sign is the same as the reference.
If the state of the input or bit assigned is at 1, the torque sign is the opposite of the reference.
trt M [Torque ratio] (1) 1 to 1,000% 100%
Coefficient applied to the [Torque reference] (tr1).
trP M [Torque ramp time] (1) 0 to 99.99s 0
Torque rise and fall time for a variation of 100% of the reference.
tSt M [Torque regul. stop] [Speed] (SPd)
SPd
nSt
SPn
v [Speed] (SPd): Speed regulation stop, in accordance with the type of stop configuration (see page 107)
v [Spin] (SPn): Zero torque stop, but conserving flux in the motor. This type of operation is only possible if
[Motor control type] (Ctt) = [FVC] (FUC).
SPt M [Spin time] 0 to 3600 s 1
The parameter can be accessed if [Torque regul. stop] (tSt) = [Spin] (SPn)
Spin time following stop, in order to remain ready to restart quickly.

145
b [TORQUE REGULATION] (continued)
dbp M [Positive deadband] 0 to 1000 Hz 10 Hz
Positive deadband.
Value added algebraically to speed reference.
Example for dbP = 10:
• If reference = +50 Hz: + 50 + 10 = 60
• If reference = - 50 Hz: - 50 + 10 = - 40
dbn M [Negative deadband] 0 to 1000 Hz 10 Hz
Negative deadband.
Value subtracted algebraically from speed reference.
Example for dbn = 10:
• If reference = +50 Hz: + 50 - 10 = 40
• If reference = - 50 Hz: - 50 - 10 = - 60
rtO M [R. torque time out] 0 to 999.9 s 60
Time following automatic exit of torque regulation mode in the event of a fault or alarm.
tOb M [R. torque flt mgt]
Response of drive once time [R. torque time out] (rtO) has elapsed.
[Alarm] (ALrM)
ALrM
FLt
v [Alarm] (ALrM)
v [Fault] (FLt)

146
Torque limit
There are two types of torque limitation:
• With a fixed parameter value
• With a value set by an analog input (AI, pulse or encoder)
If both types are enabled, the lowest value is taken into account. The two types of limitation can be configured or switched remotely using
a logic input or via the communication bus.
[Yes]
(YES)
LI
[Motoring torque
lim] (tLIM)
[Gen. torque lim]
(tLIG)
Torque
limitation via
parameter
[AI torque lim. activ.] (tLA)
[No]
(nO)
[LI]
[Yes]
(YES)
LI
[AI.] (AI.)
[Pulse] (PI)
[Encoder] (PG)
Torque
limitation via
analog input,
pulse or
encoder
[Analog limit. Activ.] (tLC)
[No]
(nO)
[LI]
Lowest value
taken into account
Limitation
value
[Torque ref. assign] (tAI)
[AI]

147
tLA- b [TORQUE LIMITATION]
This function cannot be accessed in V/F profile mode.
tLA M [AI torque lim. activ.] [No] (nO)
nO
YES
LI1
-
-
-
v [Yes] (YES): Function always active
v [LI1] (LI1)
:
:
tLIM M [Motoring torque lim] (1) 0 to 300% 100%
The parameter cannot be accessed if [AI torque lim. activ.] (tLA) = [No] (nO)
Torque limitation in motor mode, as a % of the rated torque.
tLIG M [Gen. torque lim] (1) 0 to 300% 100%
The parameter cannot be accessed if [AI torque lim. activ.] (tLA) = [No] (nO)
Torque limitation in generator mode, as a % of the rated torque.
tAI M [Torque ref. assign] [No] (nO)
nO
AI1
-
AI4
PI
PG
v [AI1] (AI1)
to
[AI4] (AI4): Analog input
v [Pulse] (PI): Frequency input
v [Encoder ref.] (PG): Encoder input
If the function is assigned, the limitation varies between 0% and 300% of the rated torque on the basis of
the 0% to 100% signal applied to the assigned input.
Examples:
- 12 mA on a 4-20 mA input results in limitation to 150% of the rated torque.
- 2.5 V on a 10 V input results in 75% of the rated torque.
tLC M [Analog limit. Activ.] [No] (nO)
YES
LI1
-
-
-
The parameter can be accessed if [Torque ref. assign] (tAI) is set to a value other than [No] (nO).
v [Yes] (YES): The limitation depends on the value assigned with [Torque ref. assign] (tAI).
v [LI1] (LI1)
:
:
If the state of the input or bit assigned is at 0:
• The limitation is given by the parameters [Motoring torque lim] (tLIM) and [Gen. torque lim] (tLIG) if [AI
torque lim. activ.] (tLA) is set to a value other than [No] (nO).
• No limitation if [AI torque lim. activ.] (tLA) = [No] (nO).
If the state of the input or bit assigned is at 1:
• The limitation depends on the value assigned with [Torque ref. assign] (tAI).
Note: If [AI torque lim. activ.] (tLA) and [Torque ref. assign] (tAI) are enabled at the same time, the lowest
value is taken into account.

148
CLI- b [2nd CURRENT LIMIT.]
LC2 M [Activ. I Limit. 2] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
If the state of the input or bit assigned is at 0, the first current limitation is active.
If the state of the input or bit assigned is at 1, the second current limitation is active.
CLI M [Current Limitation] (1) 0 to 1.65 In (2) 1.5 In (2)
CL2 M [I Limit. 2 value] (1) 0 to 1.65 In (2) 1.5 In

149
Line contactor control
Example circuit:
Note: The "Run/Reset" button must be pressed once the
"Emergency stop" button has been released.
The drive control power supply must be provided via an external 24 V source.
This function can only be used for a small number of consecutive maneuvers with a cycle shorter than 60 s (in order to avoid
premature aging of the filter capacitor charging circuit).
The line contactor closes every time a run command (forward or reverse) is sent and opens after every stop.
U V W
L1 L2 L3
P24 LIn LO/Rp0 LIp
0 V 24 V
ATV 71
M
3
KM1
K11
K10K11
K11
K10
Mains
3 a
Emergency
stop
Run/Reset
24 V power supply
Forward
or
reverse

150
LLC- b [LINE CONTACTOR COMMAND]
LLC M [Line contact. assign] [No] (nO)
nO
LO1
-
LO4
r1
-
r4
v [LO1] (LO1)
to
v [R1] (r1)
to
[R4] (r4): Relay (selection extended from R1 to R2 to include R3 or R4 if an extension card has been
inserted).
LES M [Drive lock assign.] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
The drive locks when the state of the input or bit assigned changes to 0.
LCt M [Mains V. time out] 5 to 999 s 5 s
Monitoring time for closing of line contactor. If, once this time has elapsed, there is no voltage on the drive
power circuit, the drive will lock with a "Line contactor" (LCF) fault.

151
Output contactor command
Allows the drive to control a contactor located between the drive and the motor. The request for the contactor to close is made when a run
command is sent. The request for the contactor to open is made when there is no longer any current in the motor.
If a DC injection braking function has been configured, it should not be left operating too long in stop mode, as the contactor only
opens at the end of braking.
Output contactor feedback
The corresponding logic input should be at 1 when there is no run command and at 0 during operation.
When there is an inconsistency, the drive trips on an FCF1 fault if the output contactor fails to close (LIx at 1) and on an FCF2 fault if it is
stuck (LIx at 0).
The parameter [Time to motor run] (dbS) can be used to delay tripping in fault mode when a run command is sent and the parameter [Time
to open cont.] (dAS) delays the stop when a stop command is set.
Note:
Fault FCF1 (contactor failing to close) can be reset by the run command changing state from 1 to 0 (0 --> 1 --> 0 in 3 wire control).
The functions [Output contact ass.] (OCC) and [Output contact. fbk] (rCA) can be used individually or together.
U
KM2
M
3
KM2
K20 KM2
K20
V W 0 LOp/Rp P24 LIp
Command FeedbackATV 71

152
OCC- b [OUTPUT CONTACTOR CMD]
OCC M [Output contact ass.] [No] (nO)
nO
LO1
-
LO4
r1
-
r4
v [LO1] (LO1)
to
v [R1] (r1)
to
[R4] (r4): Relay (selection extended from R1 to R2 to include R3 or R4 if an extension card has been
inserted).
rCA M [Output contact. fbk] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
The motor starts up when the state of the input or bit assigned changes to 0.
dbS M [Time to motor run] (1) 0.05 to 60 s 0.15
Time delay for:
• Motor control following the sending of a run command
• Output contactor fault monitoring, if the feedback is assigned. If the contactor fails to close at the end of
the set time, the drive will lock in FCF1 fault mode.
This parameter can be accessed if [output cont.] (OCC) is assigned or if [Output contact. fbk] (rCA) is
assigned.
The time delay must be greater than the closing time of the output contactor.
dAS M [Time to open cont.] (1) 0 to 5.00 s 0.10
Time delay for output contactor opening command following motor stop.
This parameter can be accessed if [Output contact. fbk] (rCA) is assigned.
The time delay must be greater than the opening time of the output contactor. If it is set to 0, the fault will
not be monitored.
If the contactor fails to open at the end the set time, the drive will lock in FCF2 fault mode.

153
Positioning on limit switches or sensors
This function can be used for position management using position sensors or limit switch contacts for:
• Slowing down
• Low speed
• Stopping
The deceleration mode and stop mode can be configured.
When the slow down contact and/or stop contact is activated, starting in the opposite direction is authorized, even at high speed.
- Slowing down and stopping are activated when the state of the input is at 0 (contact open).
- A bit or logic input can be assigned to disable the function in order to restart or not stop on the position.
Forward
Reverse
[Slow down forward]
[Stop FW limit sw.]
Speed
[Low speed]
(LSP)
0
0
0
0
0

154
Example 1: Positioning using limit switches
Example 2: Positioning on a target zone
The disable contact can be used to
restart in order to cross the target.
Reverse
stop
Reverse
slow down
Reverse Forward
Forward
slow down
Forward
stop
reverse
Low speed
forward
forwardstop
Low speed
reverse
forward
reversestop
trajectory
reverseslowdown
forwardslowdown

155
LPO- b [POSITIONING BY SENSORS]
SAF M [Stop FW limit sw.] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
Stop in forward direction, controlled when the state of the bit or input assigned is at 0.
SAr M [Stop RV limit sw.] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
Stop in reverse direction, controlled when the state of the bit or input assigned is at 0.
dAF M [Slow down forward] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
Slow down in forward direction, controlled when the state of the bit or input assigned is at 0.
dAr M [Slow down reverse] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
Slow down in reverse direction, controlled when the state of the bit or input assigned is at 0.
CLS M [Disable limit sw.] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
If the state of the input or bit assigned is at 1, the limit switches will be deactivated. If, at this time, the drive
was stopped or being slowed down via limit switches, it will restart up to its speed reference.

156
b [POSITIONING BY SENSORS] (suite)
PAS M [Type of stop] [Ramp stop] (rMP)
rMP
FSt
nSt
v [Ramp stop] (rMP): On ramp
v [Fast stop] (FSt): Fast stop (ramp time reduced by [Ramp divider] (dCF), see page 107)
dSF M [Deceleration type] [NO] (Std)
Std
OPt
v [NO] (Std): Uses the [Deceleration] (dEC) or [Deceleration 2] (dE2) ramp (depending on which has been
enabled).
v [YES] (OPt): The ramp time is calculated on the basis of the actual speed when the slow down contact
switches, in order to limit the operating time at low speed (optimization of the cycle time: the slow down time
is constant regardless of the initial speed).

157
Parameter set switching [PARAMETER SET SWITCH.]
A set of 1 to 15 parameters can be selected in the [1.3 SETTINGS] (SEt-) menu, to which 2 or 3 different values can be assigned. These 2
or 3 sets of values can be switched using 1 or 2 logic inputs or control word bits. This switching can be performed during operation (motor
running).
These parameters can no longer be modified in the [1.3 SETTINGS] (SEt-) menu. Any modifications made in the [1.3 SETTINGS]
(SEt-) menu will be lost the next time the power supply is disconnected. Parameter settings can be made during operation in the
[PARAMETER SET SWITCH.] (MLP-) menu, in relation to the active configuration.
Note: Parameter set switching cannot be configured on the integrated display terminal.
Parameters can simply be adjusted on the integrated display terminal if the function has been configured in advance using the graphic
display terminal, PowerSuite or serial link. If the function has not been configured, the MLP- menu and its parameters SEt1, SEt2, SEt3 will
not appear.
Values 1 Values 2 Values 3
Parameter 1
Parameter 2
Parameter 3
Parameter 4
Parameter 5
Parameter 6
Parameter 7
Parameter 8
Parameter 9
Parameter 10
Parameter 11
Parameter 12
Parameter 13
Parameter 14
Parameter 15
Parameter 1
Parameter 2
Parameter 3
Parameter 4
Parameter 5
Parameter 6
Parameter 7
Parameter 8
Parameter 9
Parameter 10
Parameter 11
Parameter 12
Parameter 13
Parameter 14
Parameter 15
Parameter 1
Parameter 2
Parameter 3
Parameter 4
Parameter 5
Parameter 6
Parameter 7
Parameter 8
Parameter 9
Parameter 10
Parameter 11
Parameter 12
Parameter 13
Parameter 14
Parameter 15
Parameter 1
Parameter 2
Parameter 3
Parameter 4
Parameter 5
Parameter 6
Parameter 7
Parameter 8
Parameter 9
Parameter 10
Parameter 11
Parameter 12
Parameter 13
Parameter 14
Parameter 15
Input LI or bit
2 values
0 1 0 or 1
Input LI or bit
3 values
0 0 1

158
87:!
b [PARAMETER SET SWITCH.]
CHA1 M [2 parameter sets] [No]
v [No]: Function inactive.
v [LI1]
:
:
v [...]: See the assignment conditions on page 94.
Switching 2 parameter sets
CHA2 M [3 parameter sets] [No]
v [No]: Function inactive.
v [LI1]
:
:
v [...]: See the assignment conditions on page 94.
Switching 3 parameter sets
Note: In order to obtain 3 parameter sets, [2 parameter sets] must also be configured.
SPS M [PARAMETER SELECTION]
The parameter can be accessed if [2 parameter sets] or [3 parameter sets] is set to a value other than [No].
Making an entry in this parameter opens a window containing all the adjustment parameters that can be
accessed.
With graphic display terminal: Select 1 to 15 parameters by pressing ENT or the Select button (a tick will
appear after the selections) or deselect by pressing ESC.
Example:
SEt1 M [SET 1]
The parameter can be accessed if at least 1 parameter has been selected in [PARAMETER SELECTION].
Making an entry in this parameter opens a settings window containing the selected parameters in the order
in which they were selected.
With graphic display terminal:
Proceed as in the settings menu using the parameters that appear.
PARAMETER SELECTION
- - - - - - - - -
- - - - - - - - -
- - - - - - - - -
- - - - - - - - -
PARAMETERS 1
Acceleration 9.51 s
Code Quick
ENT
ACCELERATION
9.51 s
Min = 0.01 Max = 9999
<< >> Quick

159
We recommend that a parameter set switching test is carried out on stopping and a check is made to ensure that it has
been performed correctly.
Some parameters are actually interdependent and in this case may be written at the time of switching.
Interdependencies between parameters must be respected, even between different sets.
Example: All [Low speed] (LSP) settings must be lower than all [High speed] (HSP) settings.
b [PARAMETER SET SWITCH.] (continued)
SEt2 M [SET 2]
The parameter can be accessed if at least 1 parameter has been selected in [PARAMETER SELECTION].
Procedure identical to [SET 1] (SEt1).
SEt3 M [SET 3]
The parameter can be accessed if [3 parameter sets] is set to a value other than [No] and if at least 1
parameter has been selected in [PARAMETER SELECTION].
Procedure identical to [SET 1] (SEt1).

160
Motor or configuration switching [MULTIMOTORS/CONFIG.]
The drive may contain up to 3 configurations, which can be saved using the [1.12 FACTORY SETTINGS] (FCS-) menu, page 188.
Each of these configurations can be activated remotely, supporting adaptation to:
• 2 or 3 different motors or mechanical systems (multimotor mode)
• 2 or 3 different configurations for a single motor (multiconfiguration mode)
The two switching modes cannot be combined.
The following conditions MUST be observed:
• Switching may only take place when stopped (drive locked). If a switching request is sent during operation, it will not be executed until
the next stop.
• In the event of motor switching, the following additional conditions apply:
- When the motors are switched, the associated power and control terminals must also be switched as appropriate.
- The maximum power of the drive must not be exceeded by any of the motors.
Menu and parameters switched in multimotor mode
• [1.3 SETTINGS] (SEt-)
• [1.4 MOTOR CONTROL] (drC-)
• [1.5 INPUTS / OUTPUTS CFG] (I-O-)
• [1.6 COMMAND] (CtL-)
• [1.7 APPLICATION FUNCT.] (FUn-) with the exception of the [MULTIMOTORS/CONFIG.] function (to be configured once only)
• [1.8 FAULT MANAGEMENT] (FLt)
• [1.13 USER MENU] ( )
• [USER CONF.] ( ). The name of the configuration specified by the user in the [1.12 FACTORY SETTINGS] (FCS-) menu.
Menu and parameters switched in multiconfiguration mode
As multimotor mode, with the exception of the motor parameters in the [1.4 MOTOR CONTROL] (drC-) menu, which are common to three
configurations:
- Rated current
- Thermal current
- Rated voltage
- Rated frequency
- Rated speed
- Rated power
- IR compensation
- Slip compensation
- Type of thermal protection
- Thermal state
- Auto-tuning parameters
Note:
No other menus or parameters can be switched.

161
Switching command
Depending on the number of motors or selected configuration (2 or 3), the switching command is sent using one or two logic inputs. The
table below lists the possible combinations.
Schematic diagram for multimotor mode
Auto-tuning in multimotor mode
This auto-tuning can be performed:
• Manually using a logic input when the motor changes
• Automatically each time the motor is activated for the 1st time following drive power up, if the [Auto tuning] (tUn) parameter = [Power
on] (POn).
Motor thermal states in multimotor mode:
The drive protects the three motors individually. Each thermal state takes into account all stop times, including drive shutdowns.
It is therefore not necessary to perform auto-tuning every time the power is switched on. It is sufficient to auto-tune each motor at least once.
Output of configuration information
In the [1.5 INPUTS / OUTPUTS CFG] (I-O-) menu, a logic output can be assigned to each configuration or motor (2 or 3) for remote
information transmission.
Warning:
As the [1.5 INPUTS / OUTPUTS CFG] (I-O-) menu is switched, these outputs must be assigned in all configurations in which information
is required.
LI
2 motors or configurations
LI
3 motors or configurations
Number of configuration
or active motor
0 0 1
1 0 2
0 1 3
1 1 3
LI
ATV 71
+ 24 V
LI
Configuration 0
if the 2 contacts
are open
Configuration 1
Configuration 2
Configuration 0 LO or R
Configuration 1
LO or R
Configuration 2
LO or R
M0 M1 M2

162
88/
b [MULTIMOTORS/CONF.]
CHM M [Multimotors] [No] (nO)
nO
YES
v [No] (nO): Multiconfigurations possible
v [Yes] (YES): Multimotors possible
CnF1 M [2 configurations] [No] (nO)
nO
LI1
-
-
-
v [No] (nO): No switching.
v [LI1] (LI1)
:
:
Switching of 2 motors or 2 configurations
CnF2 M [3 configurations] [No] (nO)
nO
LI1
-
-
-
v [No] (nO): No switching
v [LI1] (LI1)
:
:
Switching of 3 motors or 3 configurations
Note: In order to obtain 3 motors or 3 configurations, [2 configurations] (CnF1) must also be configured.
tnL- b [AUTO TUNING BY LI]
tnL M [Auto tuning assign.] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
Auto-tuning is performed when the state of the input or bit assigned changes to 1.
Auto-tuning will cause the motor to start up.

163
Traverse control
Function for winding spools of thread (in textile applications)
The cam speed of rotation must follow a precise profile to ensure that the spool is steady, compact and linear:
When the function is configured ([Yarn control] (trC) is set to a value other than [No] (nO)), the ramp type is forced to linear.
The function starts when the drive has reached its base reference and the traverse control command has been enabled.
When the traverse control command is disabled, the drive returns to its base reference, following the ramp determined by the traverse
control function. The function then stops, as soon as it has returned to this reference.
Bit 15 of word LRS1 is at 1 while the function is active.
Textiles
Main shaft
Traverse control
drive
Winding drive
Winding motor
Gearbox
Traverse control motor
Gearbox
Cam
Thread
guide
Thread
Spool of thread
t
t
t
t
Traverse control
Command bit or LI
Run command
Motor speed
Bit 15 of word LRS1
(traverse control active)
Base reference
ramp
ACC
dEC ramp
start of function end of function

164
Function parameters:
They define the cycle of frequency variations around the base reference, as shown in the figure below:
Spool parameters:
• trC: [Yarn control]: Assignment of the traverse control command to a logic input or to a communication bus control word bit
• tdn: [decel. traverse control] time, in seconds
• tUP: [accel. traverse control] time, in seconds
• trH: [traverse high], in Hertz
• trL: [traverse low], in Hertz
• qSH: [Quick step High], in Hertz
• qSL: [Quick step Low], in Hertz
• tbO: [Spool time]: Time taken to make a spool, in minutes.
This parameter is intended to signal the end of winding. When the traverse control operating time since command trC
reaches the value of tbO, the logic output or one of the relays changes to state 1, if the corresponding function EbO has
been assigned.
The traverse control operating time EbOt can be monitored online by a communication bus and in the Display menu.
• dtF: [Ref. delta]: Decrease in the base reference.
In certain cases, it is necessary to reduce the base reference as and when the spool increases in size. The value dtF
corresponds to the time tbO. Once this time has elapsed, the reference continues to fall, following the same ramp. If low
speed LSP is at 0, the speed reaches 0 Hz, the drive stops and must be reset by a new run command.
If low speed LSP is anything but 0, the traverse control function continues to operate above LSP.
Textiles
t
tUP
trH
tdn
qSH
qSL
trL
Motor speed
Speed
base
Frequency skip
Frequency skip
0
Base reference
Motor speed
With LSP = 0
tbO
dtF
Motor speed
Base reference
With LSP > 0dtF
tbO
0
0 t
t
LSP

165
• rtr: [Init traverse control]: Reinitialize traverse control.
This command can be assigned to a logic input or to a communication bus control word bit. It resets the EbO alarm and
the EbOt operating time to zero and reinitializes the reference to the base reference. As long as rtr remains at 1 the
traverse control function is inhibited and the speed remains the same as the base reference.
This command is mainly used when changing spools.
Textiles
Base reference
Motor speed
tbO
dtF
t
t
t
t
t
t
t
0
0
0
0
0
0
0
Run
trC
EbOt
bit 15 of LRS1
EbO
rtr
tbO

166
Counter wobble
The "Counter wobble" function is used, in certain applications, to obtain a constant thread tension when the Traverse control function causes
significant variations in speed on the thread guide motor (trH and trL see page 168).
Two special "Traverse control" drives must be used (a master and a slave).
The master controls the speed of the thread guide, the slave controls the winding speed. The function gives the slave a speed ratio in
anti-phase with that of the master. A synchronization operation is therefore necessary, using a master logic output and a slave logic input.
Textiles
Main shaft
Master drive Slave drive
Winding motor
Gearbox
Thread guide motor
Gearbox
Cam
Thread
guide
Thread
Spool of threadSynchronization
CLO SnC
t
t
t
t
t
trH
trL
trH
trL
Traverse control
command affecting
master and slave
Run command affecting
master and slave
Thread guide motor
speed
(master drive)
SnCI/SnCO
synchronization
Winding motor speed
(slave drive)

167
Connecting the synchronization I/O
The starting conditions for the function are:
- Base speeds of both drives reached
- [Yarn control] (trC) input activated
- Synchronization signal present
Note: On the slave drive, the [Quick step High] (qSH) and [Quick step Low] (qSL) should generally be left at zero.
Textiles
(SnCO) LOp
COM
LIp (SnCI)
COM
ATV 71 ATV 71
Master drive Slave drive

168
trC- b [TRAVERSE CONTROL]
trC M [Yarn control] [No] (nO)
nO
LI1
-
-
-
v [No] (nO): Function inactive, thereby preventing access to other parameters.
v [LI1] (LI1)
:
:
The "traverse control" cycle starts when the state of the input or bit assigned changes to 1 and stops when
it changes to 0.
trH M [Traverse high] (1) 0 to 10 Hz 4 Hz
trL M [Traverse low] (1) 0 to 10 Hz 4 Hz
qSH M [Quick step High] (1) 0 to [Traverse high]
(trH)
0 Hz
qSL M [Quick step Low] (1) 0 to [Traverse low] (trL) 0 Hz
tUP M [Accel. traverse control] (1) 0.1 to 999.9 s 4 s
tdn M [Decel. traverse control] (1) 0.1 to 999.9 s 4 s
tbO M [Spool time] (1) 0 to 9999 minutes 0 s
Spool execution time
EbO M [Spool end] [No] (nO)
nO
LO1
-
LO4
r1
-
r4
v [No] (nO): Function not assigned.
v [LO1] (LO1)
to
v [R1] (r1)
to
v [R4] (r4): Relay (selection extended from R1 to R2 to include R3 or R4 if an extension card has been
inserted).
The output or relay assigned changes to state 1 when the traverse control operating time reaches the [Spool
time] (tbO).
dtF M [Ref. delta] (1) 0 to 1000 Hz 0
Decrease in the base reference during the traverse control cycle.
rtr M [Init traverse control] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
When the state of the input or bit assigned changes to 1, the traverse control operating time is reset to zero,
along with the [Ref. delta] (dtF).
Textiles

169
b [TRAVERSE CONTROL] (continued)
SnCI M [Counter wobble] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
To be configured on the winding drive (slave) only.
SnCO M [Sync. wobble] [No] (nO)
nO
LO1
-
LO4
r1
-
r4
v [LO1] (LO1)
to
v [R1] (r1)
to
v [R4] (r4): Relay (selection extended from R1 to R2 to include R3 or R4 if an extension card has been
inserted).
The output or relay assigned changes to state 1 when the traverse control operating time reaches the [Spool
time] (tbO).
To be configured on the thread guide drive (master) only.
Textiles

170
OIr- b [CMD SWITCHING]
OIr M [Cmd switching] [No] (nO)
nO
YES
LI1
-
-
-
v [No] (nO) : Operation with non-reversible unit
v [Yes] (YES) : Operation with reversible unit
v [LI1] (LI1)
:
:
If the state of the input or bit assigned is at 0, operation is with a non-reversible unit.
If the state of the input or bit assigned is at 1, operation is with a reversible unit.
Textiles

171
[1.8 - FAULT MANAGEMENT] (FLt-)
PTC probes
3 sets of PTC probes can be managed by the drive in order to protect the motors:
• 1 on logic input LI6 transformed for this application with an "LI6" switch on the control card.
• 1 on each of the 2 option cards
Each of these two sets of PTC probes is monitored for the following faults:
• Motor overheating
• Sensor break fault
• Sensor short-circuit fault
Protection via PTC probes does not disable protection via I2t calculation performed by the drive (the two types of protection can be
combined).

172
PtC- b [PTC MANAGEMENT]
PtCL M [LI6 = PTC probe] [No] (nO)
nO
Can be accessed if the LI6 switch on the control card is set to PTC.
v [No] (nO): Not used
v [Always] (xx): "PTC probe" faults are monitored permanently, even if the power supply is not connected.
v [Power on] (xx): "PTC probe" faults are monitored when the drive power supply is connected.
v [At mot. run] (xx): "PTC probe" faults are monitored when the motor power supply is connected.
PtC1 M [PTC1 probe] [No] (nO)
nO
PtC2 M [PTC2 probe] [No] (nO)
nO
rSt- b [FAULT RESET]
rSF M [Fault reset] [No] (nO)
nO
LI1
-
-
-
Manual fault reset
v [LI1] (LI1)
:
:
The faults are reset when the state of the input or bit assigned changes to 1, if the cause of those faults has
disappeared.
The STOP/RESET button on the graphic display terminal performs the same function.
See page xx for a list of faults that can be reset manually.

173
Atr- b [AUTOMATIC RESTART]
Atr M [Automatic restart] [No] (nO)
nO
YES
v [Yes] (YES): Automatic restart, after locking on a fault, if the fault has disappeared and the other operating
conditions permit the restart. The restart is performed by a series of automatic attempts separated by
increasingly longer waiting periods: 1 s, 5 s, 10 s, then 1 min for the following periods.
The drive fault relay remains activated if this function is active. The speed reference and the operating
direction must be maintained.
Use 2-wire control ([2/3 wire control] (tCC) = [2 wire] (2C) and [2 wire type] (tCt) = [Level] (LEL),
see page 65).
Check that an accidental start does not endanger personnel or equipment, in any way.
If the restart has not taken place once the configurable time tAr has elapsed, the procedure is aborted and
the drive remains locked until it is powered down then powered up.
The following faults permit this function:
- External fault (EPF)
- Loss of 4-20 mA reference (LFF)
- CANopen fault (COF)
- Mains overvoltage (OSF)
- Input phase loss (PHF)
- Output phase loss (OPF)
- DC bus overvoltage (ObF)
- Motor overload (OLF)
- Serial link (SLF)
- Drive overheating (OHF)
- Communication (COF)
- PTC probes (OtF)
- Torque limitation (SSF)
tAr M [max time restart] [5 minutes] (5)
5
10
30
1h
2h
3h
Ct
v [5 minutes] (5): 5 minutes
v [1 hour] (1h): 1 hour
v [2 hours] (2h): 2 hours
v [3 hours] (3h): 3 hours
v [Unlimited] (Ct): Unlimited
This parameter appears if [Automatic restart] (Atr) = [Yes] (YES). It can be used to limit the number of
consecutive restarts on a recurrent fault.

174
FLr- b [CATCH ON THE FLY]
FLr M [Catch on the fly] [No] (nO)
nO
YES
Used to enable a smooth restart if the run command is maintained after the following events:
• Loss of mains supply or disconnection
• Reset of current fault or automatic restart
• Freewheel stop
The speed given by the drive resumes from the estimated speed of the motor at the time of the restart, then
follows the ramp to the reference speed.
This function requires 2-wire level control.
v [Yes] (YES): Function active
When the function is operational, it activates at each run command, resulting in a slight delay
(1 second max.).
[Catch on the fly] (FLr) is forced to [No] (nO) if the brake logic command [brake assignment] (bLC) is
assigned (page 126).
UCb M [Sensitivity] 0.4 to 15 % 12 %
The parameter can be accessed at and above 55 kW for the ATV71pppM3X and at and above 90 kW for
the ATV71pppN4.
Adjusts the catch-on-the-fly sensitivity around the zero speed.
The parameter can be accessed if [Catch on the fly] (FLr) = [Yes] (YES).

175
Motor thermal protection
Function:
Thermal protection by calculating the I2
t.
Caution: The memory of the motor thermal state returns to zero when the drive control is disconnected.
• Naturally-cooled motors:
The tripping curves depend on the motor frequency.
• Force-cooled motors:
Only the 50 Hz tripping curve needs to be considered, regardless of the motor frequency.
10 000
1 000
100
0.7 0.8 0.9 1 1.1 1.2 1.3 1.4 1.5 1.6
50 Hz20 Hz10 Hz
1 Hz 3 Hz 5 Hz
Trip time t
in seconds
Motor current/ItH

176
tHt- b [MOTOR THERMAL PROT.]
tHt M [Type Protect. Mot] [Self cooled] (ACL)
nO
ACL
FCL
v [No] (nO): No protection.
v [Self cooled] (ACL): For self-cooled motors
v [Force-cooled] (FCL): For force-cooled motors
ttd M [Motor therm. level] 0 to 118% 100%
Trip threshold for motor thermal alarm (logic output or relay)
Note: A fault trip will occur when the thermal state reaches 118% of the rated state and reclosing will occur
when the state falls back below 100%.
OLL M [Overload fault mgt] [Freewheel] (nSt)
nSt
LFF
rLS
rMP
FSt
Type of stop in the event of a thermal motor fault
v [Fallbck spd] (LFF): Switch to fallback speed
v [Spd maint.] (rLS): The drive maintains the speed at the time the fault occurred.
v [Ramp stop] (rMP): Stop on ramp
OPL- b [OUTPUT PHASE LOSS]
OPL M [Output Phase Loss] [Yes] (YES)
nO
YES
OAC
v [Yes] (YES): Triggering of OPF fault
v [Output cut] (OAC): No fault triggered but management of the output voltage in order to avoid an
overcurrent when the link with the motor is re-established and flying restart (even if this function has not
been configured).
Note: [Output Phase Loss] (OPL) is forced to [Yes] (YES) if brake logic control has been configured (see
page 126).
Odt M [OPF det. time] 0.5 to 10 s 0.5 s
Time delay for taking into account of [Output Phase Loss] (OPL) fault
IPL- b [INPUT PHASE LOSS]
IPL M [Input phase loss] [Yes] (YES)
nO
YES
v [No] (nO): Fault ignored
v [Yes] (YES): Fault, with freewheel stop.
This configuration can only be accessed on 3-phase drives.
If one phase is lost, the drive will trip with an [Input phase loss] (IPL) fault. However, if 2 or 3 phases are
lost, the drive will continue to operate until it trips with an undervoltage fault.

177
Drive thermal protection
Functions:
Thermal protection by PTC probe fitted on the heatsink or integrated in the power module.
Indirect protection of the drive against overloads by tripping in the event of an overcurrent. Typical tripping points:
- Motor current = 185 % of rated drive current: 2 seconds
- Motor current = 150% of rated drive current: 60 seconds
Drive ventilation
The fan starts up when the drive is powered up then shuts down after 10 seconds if a run command has not been received.
The fan is powered automatically when the drive is unlocked (operating direction + reference). It is powered down a few seconds after the
drive is locked (motor speed < 0.2 Hz and injection braking completed).
1.11
1000
3000
5000
1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9
60
100
160
2
0
200
Time
(seconds)
Motor current/Drive In

178
OHL- b [DRIVE OVERHEAT]
OHL M [Drive overheat] [Freewheel] (nSt)
nO
nSt
LFF
rLS
rMP
FSt
Behavior in the event of the drive overheating
v [Freewheel] (nSt): Freewheel stop.
tHA M [Al. °C ATV] 0 to 118% 100%
Trip threshold for drive thermal alarm (logic output or relay)
Note: A fault trip will occur when the thermal state reaches 118% of the rated state and reclosing will occur
when the state falls back below x%.
EtF- b [EXTERNAL FAULT]
EtF M [Ext. fault assign.] [No] (nO)
nO
LI1
-
-
-
v [LI1] (LI1)
:
:
No external fault if the state of the input or bit assigned is at 0.
External fault if the state of the input or bit assigned is at 1.
EPL M [External fault mgt] [Freewheel] (nSt)
nSt
LFF
rLS
rMP
FSt
Type of stop in the event of an external fault

179
USb- b [UNDERVOLTAGE (USF)]
USb M [Undervoltage mgt] [Flt&R1open] (0)
0
1
2
Behavior of the drive in the event of an undervoltage
v [Flt&R1open] (0): Fault and fault relay open.
v [Flt&R1close] (1): Fault and fault relay closed.
v [Alarm] (2): Alarm and fault relay remains closed. The alarm may be assigned to a logic output or a relay.
USL M [Undervoltage level] ATV71pppM3 nn to nn V nn V
• Setting for the level at which the
undervoltage fault will be tripped
ATV71pppM4 nn to nn V nn V
ATV71pppS6x nn to nn V nn V
USt M [Undervolt. time out] 0.00 s to 10.00 s 0.20 s
Time delay for taking into account of undervoltage fault
StP M [UnderV. prevention] [No] (nO)
nO
MMS
rMP
Behavior in the event of the undervoltage fault prevention level being reached
v [No] (nO): No action
v [Lock] (xx): Lock (freewheel stop) without fault
v [DC maintain] (MMS): This stop mode uses the inertia to maintain the DC bus voltage as long as
possible.
v [Ramp stop] (rMP): Stop following an adjustable ramp time [Max stop time] (StM).
UPL M [Prev. level] ATV71pppM3 nn to nn V nn V
Setting for undervoltage fault prevention
level, if [UnderV. prevention] (StP) is set
to a value other than [No] (nO).
ATV71pppM4 nn to nn V nn V
ATV71pppS6x nn to nn V nn V
StN M [Max stop time] 0 to 655.35 s 0.00 s
Ramp time if [UnderV. prevention] (StP) = [Ramp stop] (rMP).
tbS M [DC bus maintain tm] 0 to 655.35 s 0.00 s
Ramp time if [UnderV. prevention] (StP) = [DC maintain] (MMS).
tIt- b [IGBT TESTS]
Strt M [IGBT tests] [No] (nO)
nO
YES
v [No] (nO): No test
v [Yes] (YES): The IGBTs are tested on power up and every time a run command is sent. These tests cause
a slight delay (approx. ?? ms). In the event of a fault, the drive will lock. The following faults can be detected:
- Drive output short-circuit (terminals U-V-W): SCF display
- IGBT faulty: xtF, where x indicates the number of the IGBT concerned
- IGBT short-circuited: x2F, where x indicates the number of the IGBT concerned

180
LFL- b [4-20mA LOSS]
LFL M [4-20mA loss] [No] (nO)
nO v [No] (nO): Fault ignored. This configuration is the only one possible if none of the [AI- min. value] (CrL.)
values are greater than 3 mA.
v [Flt and stop] (xx): Lock on 4-20 mA loss and stop
v [Stop] (xx): Stop on fault without lock
--- M [Stop 4-20 mA loss] [Freewheel] (nSt)
nSt
LFF
rMP
FSt
Stop mode in the event of a [4-20 loss] (LFL) fault
InH- b [FAULT INHIBITION]
InH M [Fault inhibit assign.] [No] (nO)
nO
LI1
-
-
-
Inhibiting faults may damage the drive beyond repair. This would invalidate the guarantee.
v [LI1] (LI1)
:
:
If the state of the input or bit assigned is at 0, fault monitoring is active. If the state of the input or bit assigned
is at 1, fault monitoring is inactive. All active faults are reset on a rising edge (from 0 to 1) of the input or bit
assigned.
Note: This function cannot be used to clear the "Power Removal" fault.

181
COF- b [COM. FAULT MANAGEMENT]
CLL M [Network fault mgt] [No] (nO)
nO
nSt
LFF
rLS
rMP
FSt
Behavior of the drive in the event of a communication fault on a communication card
v [No] (nO): No stop
COL M [CANopen fault mgt] [No] (nO)
nO
nSt
LFF
rLS
rMP
FSt
Behavior of the drive in the event of a communication fault with CANopen
ttO M [Modbus
time out]
0.1 to 10.0 s 10.0 s
Configuration time out
SLL M [Modbus fault mgt] [No] (nO)
nO
nSt
LFF
rLS
rMP
FSt
Behavior of the drive in the event of a communication fault with Modbus

182
Sdd- b [ENCODER FAULT]
Can be accessed if the option card has been inserted and the encoder is used for speed feedback (see
page xx).
Sdd M [Load slip. detect.] [Yes] (YES)
no
YES
v [No] (nO): Fault not monitored. Only the alarm may be assigned to a logic output or a relay.
v [Yes] (YES): Fault monitored.
The fault is triggered by comparison with the ramp output and speed feedback and is only effective for
speeds greater than 10% of the [High speed] (HSP), see page xx.
In the event of a fault, the drive switches to freewheel stop and if the brake logic control function has been
configured, the brake control is set to 0.
ECC M [Encoder coupling] [No] (nO)
nO
YES
v [No] (nO): Fault not monitored. Only the alarm may be assigned to a logic output or a relay.
v [Yes] (YES): Fault monitored.
If the brake logic control function has been configured, the factory setting changes to [Yes] (YES).
The fault monitored is the break in the mechanical encoder coupling.
In the event of a fault, the drive switches to freewheel stop and if the brake logic control function has been
configured, the brake control is set to 0.
ECt [Encoder check time]
Encoder faults filtering time
tId- b [TORQUE OR I LIM. DETECT.]
SSA M [Torque or I lim. detect.] [No] (nO)
nO
Behavior in the event of switching to torque or current limitation
v [Alarm] (xx): Alarm. The alarm may be assigned to a logic output or a relay (see page 77).
v [Fault] (xx): Switch to "Limitation" fault (SSF)
StO M [Trq/I limit. time out] 0.00 s to 10.00 s 00.0 s
(If fault has been configured.)
Time delay for taking into account of SSF "Limitation" fault
SSb M [Trq/I limit. stop] [Freewheel] (nSt)
nSt
rMP
FSt
(If fault has been configured.)

183
brO- b [DB RES. PROTECTION]
Function can be accessed for drives 75 kW and higher only.
brO M [DB res. protection] [No] (nO)
nO v [No] (nO): No braking resistor protection (thereby preventing access to the other function parameters).
v [Lock] (xx): Switch to fault (bOF) with locking of drive (freewheel stop).
v [Alarm] (xx): Alarm. The alarm may be assigned to a logic output or a relay (see page 77).
Note: The thermal state of the resistor can be shown on the graphic display terminal. It is calculated for as
long as the drive control remains connected to the power supply.
brP M [DB Resistor Power] 1 kW to 1000 kW 1 kW
Rated power of the resistor used
brU M [DB Resistor value] 0.1 to 200 ohms 0.1 ohms
Rated value of the braking resistor in ohms
LFF- b [FALLBACK SPEED]
Can be accessed if the fallback speed has been selected as a response to a fault.
LFF M [Fallback speed] 0
• Can be set between [Low speed] (LSP) and [High speed] (HSP), see page xx.
dCF- b [RAMP DIVIDER]
dCF M [Ramp divider] 0 to 10 4
The parameter can be accessed if a fast stop has been selected as a type of fault stop.
The ramp enabled (dEC or dE2) is then divided by this coefficient when stop requests are sent.
The value 0 corresponds to the minimum ramp time.
100
10
1
0 5 10 15 20 25 30
Braking time
in seconds
10 min cycle time
3 min cycle time
2 min cycle time
Overload/
Rated power

184
[1.9 - COMMUNICATION] (COM-)
1.9 COMMUNICATION
COM. SCANNER INPUT
COM. SCANNER OUTPUT
MODBUS HMI
MODBUS NETWORK
CANopen
Code << >> Quick
FORCED TO LOCAL

185
-ICS b [COM. SCANNER INPUT]
nNA1 M [Scan. IN1 address]
Address of the 1st input word
Address of the 2nd input word
Address of the 3rd input word
Address of the 4th input word
OCS- b [COM. SCANNER OUTPUT]
nCA1 M [Scan.Out1 address]
Address of the 1st
output word
Address of the 2nd output word
Address of the 3rd output word
Address of the 4th output word

186
- b [MODBUS HMI]
Communication with the graphic display terminal
- M [HMI address] 21
Read-only parameter, cannot be modified.
- M [HMI speed]
- M [HMI format] 8E1
Read-only parameter, cannot be modified.
- b [MODBUS ]
- M [Modbus Address]
- M [Modbus bitrate]
- M [Modbus format]
- b [CANopen]
- M [CANopen address]
- M [CANopen bitrate]
- b [COMMUNICATION CARD]
See the specific documentation for the card used.
- b [FORCED TO LOCAL]
FLO M [Forced local assign.] [No] (nO)
nO
LI1
-
LI4
v [LI1] (LI1)
to
[LI14] (LI14): Assignment to a logic input.
Forcing to local is activated when the state of the input is at 1.
FLOC M [Forced local Ref.] [AI1] (AI1)
AI1
-
AI4
LCC
v [AI1] (AI1)
to
v [AI4] (AI4): Assignment of the reference to an analog input; control is then also automatically assigned to
the terminals (logic inputs).
v [HMI] (LCC): Assignment of the reference and command to the graphic display terminal.
Reference: [HMI Frequency ref.] (LFr), page 39, control: RUN/STOP buttons.

187
[1.11 - IDENTIFICATION]
The [1.11 - IDENTIFICATION] menu can only be accessed on the graphic display terminal.
This is a read-only menu that cannot be configured. It enables the following information to be displayed:
• Drive reference, power rating and voltage
• Drive software version
• Drive serial number
• Type of options available, with their software version and serial number
RUN +50.00 Hz 1250 A +50.00 Hz
1.11 IDENTIFICATION
ATV71HU15N4
xx.x kW/yy.y HP
380/480 V
Application Vx.x IE xx
Motor Control Vx.x IE xx
<< >> Quick
6W0410xxxxxxxxxx
product Vx.x
OPTION 1
I/O EXTENSION CARD
Vx.x IE xx
6W0410xxxxxxxxxx
OPTION 2
FIPIO CARD
Vx.x IE xx
6W0410xxxxxxxxxx
HMI
GRAPHIC S
Vx.x IE xx
6W0410xxxxxxxxxx
ENCODER
RS 422
6W0410xxxxxxxxxx

188
[1.12 - FACTORY SETTINGS] (Fst-)
The [1.12 - FACTORY SETTINGS] (Fst-) menu can be used to replace the current configuration with the factory configuration or a
configuration saved previously.
All or part of the current configuration can be replaced: Select a group of parameters in order to select the menus you wish to load with the
selected source configuration.
Selection of source configuration
Command to return to "factory
settings"
ENT
RUN Term 1250 A +50.00 Hz
Config. Source : macro-conf
PARAMETER GROUP LIST
GOTO FACTORY SETTINGS
Config. Source
Code << >> Quick
ENT
ENT
Config Source
Macro-Configuration
Configuration 1
Configuration 2
Quick
All
ATV config
Settings
Via motor
COMM menu
Code Quick
Selection of menus to be
replaced
PLEASE CHECK THAT
THE DRIVE WIRING IS OK
ESC=ABORT ENT=VALIDATE
SELECT FIRST THE
ENT OR ESC TO ABORT
Save conf.
No
Config. 1
Config. 2
Config. 3
Quick

189
[1.12 - FACTORY SETTINGS] (Fst-)
Code Name/Description
FCSI M [Config. Source]
Selection of source configuration
v [Macro-Config] (???) Factory configuration, return to selected macro-configuration.
v [Configuration 1] (???)
v [Configuration 2] (???)
If the configuration switching function has been configured, it will not be possible to access [Configuration 1]
(???) and [Configuration 2] (???).
FrY M [Parameter group list]
Selection of menus to be loaded
v [All] (???)
v [Drive menu] (???)
v [Settings] (???)
v [Motor control] (???)
v [Communication] (???)
v [Prog. card] (???)
v [Monitoring config.] (???)
v [Display config.] (???)
GFS M [Goto factory settings]
nO
YES
v [No] (nO)
v [Yes] (YES) The parameter changes back to [No] (nO) automatically as soon as the operation is complete.
SCS M [Save conf.]
nO
Str0
Str1
Str2
v [No] (nO)
v [Config. 0] (Str0)
The active configuration to be saved does not appear for selection. For example, if you wish to save [Conf. 0]
(Str0), only [Conf. 1] (Str1) and [Conf. 2] (Str2) will appear. The parameter changes back to [No] (nO)
automatically as soon as the operation is complete.

190
[1.13 - USER MENU]
This menu can only be accessed with the graphic display terminal. It contains the parameters selected in the [DISPLAY CONFIG.] menu
on page 196.

191
[1.14 - PROG. CARD]
Please refer to the documentation specific to the programmable card.

192
[3. OPEN / SAVE AS]
This menu can only be accessed with the graphic display terminal.
[OPEN] : To download one of the 4 files from the graphic display terminal to the drive.
[SAVE AS]: To download the current configuration from the drive to the graphic display terminal.
3. OPEN / SAVE AS
OPEN
SAVE AS
Code << >> Quick

193
[3. OPEN / SAVE AS]
Name/Description
b [OPEN]
M [Open file]
v [1]
v [2]
v [3]
v [4]
Opens a file stored on the graphic display terminal in order to download it to the drive connected to the terminal.
M [Parameter group list]
v [All] : All parameters
v [Drive] : Motor parameters only (menu: 1.4 MOTOR CONTROL).
v [Communication] : Communication parameters (menu: 1.9 COMMUNICATION).
M [Download]
v [No]
v [Yes]: The parameters selected with [Parameter group list] in the selected file are downloaded to the current drive
configuration.
Note:
• A message appears prompting you to check that the drive wiring is compatible with the configuration before confirming
the download.
• A warning message will appear if the configuration is incompatible with the drive rating or its hardware configuration
(option cards).
b [SAVE AS]
M [To file]
v [No]
v [1]
v [2]
v [3]
v [4]
Selects the file on the graphic display terminal to which the current drive configuration is to be downloaded.
M [Download]
v [No]
v [Yes]: Downloads the current drive configuration to the selected file on the display terminal.

194
[4. PASSWORD] (COd-)
Enables the configuration to be protected with an access code or a password to be entered in order to access a protected configuration.
Example:
• The drive is unlocked when the PIN codes are at 0 (no password) or if the correct code has been entered.
• Before protecting the configuration with an access code, you must:
- Define the upload [Upload rights] (xx) and download [Download rights] (xx) rights
- Make a careful note of the code and keep it in a safe place where you will always be able to find it
• The drive has 2 access codes, enabling 2 access levels to be set up.
- PIN code 1 is an unlock code: 6969. Those in possession of this document will of course already be aware of this code.
- PIN code 2 is an unlock code known only to Schneider Electric Product Support.
Note: When the unlock code is entered, the user access code appears.
The following items are access-protected:
• Return to factory settings (menu [1.12 FACTORY SETTINGS] (FCS-).
• The channels and parameters protected by the [1.13 USER MENU] (xx) menu, as well as the menu itself.
• The custom display settings (menu [6. DISPLAY CONFIG.]).
4. PASSWORD PIN code 1
Status : Not locked
9520
PIN code 1 : 0000
PIN code 2 : 0000
Upload rights : Not allowed
Download rights : Unlock. drv Min = 0000 Max = 9999
Code << >> Quick << >> Quick

195
[4. PASSWORD] (COd-)
CSt M [Status]
v [Not locked] (xx)
v [Locked] (xx)
COd M [PIN code 1] 0 to 9999 0000
1st
access code. The value 0000 indicates that a password has not been set. The value indicates that
the drive is protected and an access code must be entered in order to unlock it. Once the correct code has been
entered, it remains on the display and the drive is unlocked until the next time the power supply is disconnected.
COd2 M [PIN code 2] 0 to 9999 0000
2nd
access code. The value 0000 indicates that a password has not been set. The value indicates that
the drive is protected and an access code must be entered in order to unlock it. Once the correct code has been
entered, it remains on the display and the drive is unlocked until the next time the power supply is disconnected.
ULr M [Upload rights]
(read or copy current configuration to drive)
v [not allowed] (xxx): The current drive configuration can only be uploaded to the graphic display terminal or
PowerSuite if the drive is not protected by an access code or if the correct code is entered.
v [Allowed] (xxx): The current drive configuration can always be uploaded to the graphic display terminal or
PowerSuite.
dLr M [Download rights]
(writes the current configuration to the drive or downloads a configuration to the drive)
v [Locked drv] (xxx): A configuration file can only be downloaded to the drive if the drive is protected by an
access code, which is the same as the access code for the configuration to be downloaded.
v [Unlock. drv] (xxx): A configuration file can be downloaded to the drive or a configuration in the drive can
be modified if the drive is unlocked (access code entered) or is not protected by an access code.
v [Always] (xxx): Combination of [Locked drv] (xxx) and [Unlock. drv] (xxx). options

196
[6. DISPLAY CONFIG. ]
This menu can only be accessed with the graphic display terminal. It can be used to customize parameters or a menu and to access
parameters.
6.1 USER PARAMETERS: Customization of 1 to 15 parameters.
6.2 USER MENU: Creation of a customized menu.
6.3 PARAMETER ACCESS: Customization of the visibility of protection mechanisms for menus and parameters.
Rdy Term +0.00 Hz 0 A
6 DISPLAY CONFIG.
6.1 USER PARAMETERS
6.2 USER MENU
6.3 PARAMETER ACCESS
Code << >> Quick

197
[6. DISPLAY CONFIG.]
Selection of 1 to 15 parameters to be customized
List of customized parameters
If no custom settings
have been made,
the default setting
(names, units, etc.) appears.
Display on 1 or 2 lines of
characters
Offsets and coefficients are
numerical values.
Use F1 to change to ABC, abc, 123, *[-.
Use the navigation selector switch to increment the character
(alphabetical order) and << and >> to switch to the next or
previous character respectively.
Once you have entered the unit, if you press ENT, the Ramp
increment screen will re-appear in order to display the name. Press
ESC to return to UNIT.
The message entered appears
while the "View" button is pressed.
Names (USER MENU NAME, DRIVE NAME, lines of messages, names of units, etc.) are customized
as in the example of the parameter name shown opposite.
If no custom settings have been made, the default setting appears (names, units, etc.).
Display on 1 or 2 lines of characters
Use F1 to change to ABC, abc, 123, *[-.
Use the navigation selector switch to increment the character (alphabetical order) and << and >> to
switch to the next or previous character respectively.
6.1 USER PARAMETERS
Return std names: NO
PARAMETER SELECTION
CUSTOMIZED SELECTION
USER MENU NAME
DRIVE NAME
<< >> Quick
SERVICE MESSAGE
CONF0
CONF1
CONF2
ATV SERIAL NUMBER
User name
1. DRIVE MENU
FLOW REFERENCE
Max. no. of characters 13
ABC << >>
UNIT
Customized unit
Hz
Rpm
°C
Gallon per hour
ABC << >>
ENT
ENT
ENT
ENT
ENT
ENT
PARAMETER SELECTION
1.3 SETTINGS
Ramp increment
Acceleration
Deceleration
Acceleration 2
Deceleration 2
List
CUSTOMIZED SELECTION
Ramp increment
Acceleration
Loop Gain
Delete
Edit
Ramp increment
User name
Unit
Multiplier
Divider
Offset
Customized unit
1. DRIVE MENU
LBS
ABC << >>
SERVICE MESSAGE
Line 1
Line 2
Line 3
Line 4
Line 5
View Quick
Line 1
1. DRIVE MENU
For any service, dial:
ABC << >> Quick
User name
1. DRIVE MENU
FLOW REFERENCE
ABC << >>

198
Selection of parameters included in
the user menu
Parameter list
making up the user menu
Use the F2 and F3 keys to
arrange the parameters in the
list (example below using F3).
6.2 USER MENU
PARAMETER SELECTION
SELECTED LIST
Code << >> Quick
ENT
ENT
PARAMETER SELECTION
1.3 SETTINGS
Ramp increment
Acceleration
Deceleration
Acceleration 2
Deceleration 2
List
Edit
SELECTED LIST
Ramp increment
Acceleration
Loop Gain
Delete up down
SELECTED LIST
Acceleration
Ramp increment
Loop Gain
Delete up down

199
Selection to display all
parameters or only the
active parameters.
Press ESC to exit this screen.
You remain exclusively in the
[1. DRIVE MENU] menu. All
menus are selected by default.
Press ENT to deselect a
setting.
Press ENT to reselect a
setting.
In these screens, with the exception of
the Expert parameters, all parameters in
the [1. DRIVE MENU] menu can be
protected and are displayed for
selection.
Press the All button to select all the
parameters. Press the All button again to
deselect all the parameters.
In a configuration screen containing a
mixture of configuration parameters and
settings, only the configuration
parameters can be protected by
pressing All.
6.3 PARAMETER ACCESS
VISIBILITY
PROTECTION
HOME << >> Quick
ENT
ENT
VISIBILITY
SELECTION
MENUS
Code Quick
ENT
ENT
VISIBLE PARAMETERS
Active
All
Quick
ENT
VISIBLE MENUS
1. DRIVE MENU
1.1 SIMPLY START
1.2 MONITORING
1.3 SETTINGS
1.4 MOTOR CONTROL
PROTECTION
PROTECTED CHANNELS
PROTECTED PARAMETERS
Code Quick
PROTECTED CHANNELS
HMI
PowerSuite
Modbus
CANopen
Network card
Code Quick
1. DRIVE MENU
1.1 SIMPLY START
1.2 MONITORING
1.3 SETTINGS
1.4 MOTOR CONTROL
ENT
1.3 SETTINGS
Ramp increment
Acceleration
Deceleration
Acceleration 2
Deceleration 2
All
ENT
ENT
REFERENCE SWITCHING
OPERATIONS ON REFERENCE
RAMP SWITCHING
STOP CONFIGURATION
JOG FUNCTION
No selections can be made in this
screen if there are no parameters.
JOG FUNCTION
Jog Assignment
Jog frequency
Jog delay

200
[7. MONITORING CONFIG.]
This menu can only be accessed with the graphic display terminal.
It can be used to configure the information displayed on the graphic screen during operation.
[7.1. PARAM. LINE SELECT]: Selection of 1 to 2 parameters displayed on the top line (the first 2 cannot be modified).
[7.2. MONITOR SCREEN TYPE]: Selection of parameters displayed in the centre of the screen and the display mode (values in digital or
bar graph format).
[7.3. COM. MAP CONFIG.]: Selection of word displayed and its format.
7.1. PARAM. LINE SELECT.
7.2. MONITOR SCREEN TYPE
7.3. COM. MAP CONFIG.
<< >> Quick

201
Name/Description
b [PARAM. LINE SELECT.]
v [Output frequency]
v [Motor current]
v [Avg speed]
v [Motor speed]
v [Motor voltage]
v [Motor power]
v [Mains voltage]
v [DC bus voltage]
v [Motor thermal state]
v [Drv. thermal state]
v [Consumption]
v [Run time]
v [Power on time]
in Hz
in A
in RPM: The parameter can be accessed if [ENA system] (EnA) = [Yes] (YES) (see page 61)
in RPM
in V
in W
in V
in V
as a %
as a %
in kWh
Select the parameter by pressing ENT or the Select button (an "x" will then appear after the parameter) or deselect it by pressing
ESC.
1 or 2 parameters can be selected (the first 2 are fixed).
Example:
8.1. PARAM. LINE SELECT.
- - - - - - - - - x
- - - - - - - - -
- - - - - - - - - x
- - - - - - - - -
Select << >> Quick

202
Name/Description
b [MONITOR SCREEN TYPE]
M [BAR GRAPH]
v [Bar graph no.]: Select 1 or 2.
v [PARAMETER SELECTION]
- [HMI Frequency ref.]
- [Output frequency]
- [Motor current]
- [Avg speed]
- [Motor speed]
- [Motor voltage]
- [Motor power]
- [Mains voltage]
- [DC bus voltage]
- [Motor thermal state]
- [Drv. thermal state]
- [PID reference]
- [PID feedback ass.]
- [PID error]
- [PID Output]
in Hz
in Hz
in A
in RPM: The parameter can be accessed if [ENA system] (EnA) = [Yes] (YES) (see page 61).
in RPM
in V
in W
in V
in V
as a %
as a %
as a %
as a %
as a %
in Hz
Select the parameter or parameters by pressing ENT or the Select button (an "x" will then appear after the parameter) or
deselect by pressing ESC.
Examples:
PARAMETER SELECTION
- - - - - - - - - x
- - - - - - - - -
- - - - - - - - -
- - - - - - - - - x
Select << >> Quick
2 bar graphs 1 bar graph
Min MOTOR SPEED max MOTOR SPEED
0 1250 rpm 1500
Min MOTOR CURRENT max
0 80 A 150
Min=0 Max=1500
1250 rpm

203
Name/Description
b [MONITOR SCREEN TYPE] (continued)
M [DIGITAL VALUES]
v [Dig. val. no.]: Select 1, 2 or 5
v [PARAMETER SELECTION]
- [HMI Frequency ref.]
- [Output frequency]
- [Motor current]
- [Avg speed]
- [Motor speed]
- [Motor voltage]
- [Motor power]
- [Mains voltage]
- [DC bus voltage]
- [Motor thermal state]
- [Drv. thermal state]
- [Consumption]
- [Run time]
- [Power on time]
- [IGBT alarm counter]
- [PID reference]
- [PID feedback]
- [PID error]
- [PID Output]
- [Object 01]
- [Object 02]
- [Object 03]
- [Object 04]
- [Current config.]
- [Current param. set]
in Hz
in Hz
in A
in RPM: The parameter can be accessed if [ENA system] (EnA) = [Yes] (YES) (see page 61).
in RPM
in V
in W
in V
in V
as a %
as a %
in kWh
in seconds (length of time the "IGBT temperature" alarm has been active)
as a %
as a %
as a %
in Hz
Word generated by the programmable card
CNFSO, 1 or 2 (see page xx)
SETO, 1 or 2 (see page xx)
Select the parameter or parameters by pressing ENT or the Select button (an "x" will then appear after the parameter) or
deselect by pressing ESC.
Example:
PARAMETER SELECTION
- - - - - - - - - x
- - - - - - - - -
- - - - - - - - -
- - - - - - - - - x
Select << >> Quick
Display of 2 values Display of 1 value Display of 5 values
RUN Term +35.00 Hz 80 A RUN Term +35.00 Hz 80 A RUN Term +35.00 Hz 80 A
MOTOR SPEED MOTOR SPEED MONITORING SCREEN.
1250 rpm
1250 rpm
FREQUENCY REF : 50.1 Hz
CURRENT : 80 A
MOTOR CURRENT MOTOR SPEED : 1250 rpm
80 A MOTOR THERMAL : 80%
DRIVE THERMAL : 80%
<< >> Quick << >> Quick << >> Quick

204
Name/Description
b [COM. MAP CONFIG.]
M [Word selection]
Select the address of the word to be displayed (turn the navigation button).
M [Format]
v [Hexadecimal]
v [Decimal]
A confirmation screen appears:
You will be able to see the value of the selected word in the [COMMUNICATION MAP] menu, which is a sub-menu of the
[1.3 DISPLAY] menu.
Example:
WORD SELECTED
3141
<< >> Quick
COMMUNICATION MAPS
- - - - - - - -- -
- - - - -- - - - -
W3141: F230 Hex
<< >> Quick

205
[MULTIPOINT SCREEN]
Dialog can take place between a graphic display terminal and a number of drives connected on the same bus. The addresses of the drives
must be configured in advance in the [1.9 COMMUNICATION] menu, page 184.
When a number of drives are connected to the same display terminal, the terminal automatically shows the following screens:
Selection of drives for multipoint dialog
Selection of a drive for multipoint dialog
In multipoint mode, the command
channel is not displayed. The
status, the 2 selected parameters
and the drive address appear.
WARNING
CONNECTION IN PROGRESS
After x seconds,
Time out fault or, press
ENT: for multi point
connection
<< >> Quick
ENT
MULTIPOINT ADDRESS
ADDRESS 1
ADDRESS 2
ADDRESS 3
ADDRESS 4
ADDRESS 5
ADDRESS 6
<< >> Edit
ENT
ESC
ENT
MULTIPOINT SCREEN
Rdy 0 rpm 0 A 02
RUN +1500 rpm 1250 A 03
NLP +1500 rpm 1250 A 04
Not connected 05
Rdy + 0 rpm 0 A 06
Rdy + 0 rpm 0 A 10
<< >> Edit
RUN +1500 rpm 1250 A 03
MOTOR SPEED
MOTOR CURRENT
HOME Quick
952 rpm
101 A

206
Maintenance
Service
The Altivar 71 does not require any preventative maintenance. It is nevertheless advisable to perform the following regularly:
• Check the condition and tightness of connections.
• Ensure that the temperature around the unit remains at an acceptable level and that ventilation is effective (average service life of
fans: 3 to 5 years depending on the operating conditions).
• Remove any dust from the drive
Assistance with maintenance, fault display
If a problem arises during setup or operation, ensure that the recommendations relating to the environment, mounting and connections have
been observed.
The first fault detected is saved and displayed, and the drive locks.
The drive switching to fault mode can be indicated remotely via a logic output or a relay, which can be configured in the [1.5 INPUTS /
OUTPUTS CFG] (I-O-) menu, see e.g., [R1 CONFIGURATION] (r1-) on page 77.
[1.10 DIAGNOSTICS] menu
This menu can only be accessed with the graphic display terminal. It displays faults and their cause in plain text and can be used to carry
out tests, see page xx.
Clearing the fault
Cut the power supply to the drive in the event of a non-resettable fault.
Wait for the display to go off completely.
Find the cause of the fault in order to correct it.
The drive is unlocked after a fault:
• By switching off the drive until the display disappears completely, then switching on again
• Automatically in the scenarios described for the [AUTOMATIC RESTART] (Atr-) function on page 173
• By means of a logic input or command bit assigned to the [FAULT RESET] (rSt-) function on page 172
• By pressing the STOP/RESET button on the graphic display terminal
[1.2 MONITORING] (SUP-) menu:
This is used to prevent and find the causes of faults by displaying the drive status and its current values.
It can be accessed with the integrated display terminal.
Spares and repairs:
Consult Schneider Electric Product Support.

207
Faults - Causes - Remedies
Drive does not start, no fault displayed
• If the display does not light up, check the power supply to the drive.
• The assignment of the "Fast stop" or "Freewheel stop" functions will prevent the drive from starting if the corresponding logic inputs
are not powered up. The ATV71 then displays [Freewheel] (nSt) in freewheel stop and [Fast stop] (FSt) in fast stop. This is normal
since these functions are active at zero so that the drive will be stopped safely if there is a wire break.
• Make sure that the run command input or inputs are activated in accordance with the selected control mode ([2/3 wire control] (tCC)
and [2 wire type] (tCt) parameters), page 65.
• If an input is assigned to the limit switch function and this input is at zero, the drive can only be started up by sending a command for
the opposite direction (see pages 120 and 153).
• If the reference channel or command channel is assigned to a communication bus, when the power supply is connected, the drive
will display [Freewheel] (nSt) and remain in stop mode until the communication bus sends a command.
Faults, which cannot be reset automatically
The cause of the fault must be removed before resetting by switching off and then on again.
SPF, AnF, SOF, tnF, bLF, brF, OPF1, OPF2 and OPF3 faults can be reset remotely by means of a logic input or command bit ([FAULT
RESET] (rSF-)) parameter, page 172).
Fault Probable cause Remedy
bLF
Brake sequence
• Brake release current not attained
• Brake engage frequency
threshold [Brk eng. freq.] (bEn)
only regulated when brake logic
control is assigned.
• Check the drive/motor connection.
• Check the motor windings.
• Check the [I brk rel. lift.] (Ibr) and [I brk rel. lower] (Ird) settings, page
126.
• Make the recommended settings for [Brk eng. freq.] (bEn) ,
unregulated.
CrF
Capacitor load circuit
• Load relay control fault or
charging resistor damaged
• Replace the drive.
EEF1, EEF2
EEPROM fault
• Internal memory fault • Check the environment (electromagnetic compatibility).
InF1 to InFb
Internal fault
• Internal fault • Check the environment (electromagnetic compatibility).
OCF
Overcurrent
• Parameters in the [SETTINGS]
(SEt-) and [1.4 MOTOR
CONTROL] (drC-) menus are not
correct.
• Inertia or load too high
• Mechanical locking
• Check the parameters.
• Check the size of the motor/drive/load.
• Check the state of the mechanism.
SCF1 to SCF5
Motor short-circuit
• Short-circuit or earthing at the
drive output
• Significant earth leakage current at
the drive output if several motors
are connected in parallel
• Check the cables connecting the drive to the motor, and the insulation
of the motor.
• Reduce the switching frequency.
• Connect chokes in series with the motor.
SOF
Overspeed
• Instability or
• Driving load too high
• Check the motor, gain and stability parameters.
• Add a braking resistor.
tnF
Auto-tuning fault
• Special motor or motor whose
power is not suitable for the drive
• Motor not connected to the drive
• [Motor control type] (Ctt) = [V/F 2pts] (UF2) or [V/F 5pts] (UF5) ([1.4-
MOTOR CONTROL] (drC-) menu) page 56.
• Check the presence of the motor during auto-tuning.
• If an output contactor is being used, close it during auto-tuning.
SPF
Encoder feedback loss
• Encoder feedback signal missing • Check the wiring between the encoder and the drive.
• Check the encoder.
AnF
Load slipping fault
• The encoder speed feedback does
not match the reference.
• Check the motor, gain and stability parameters.
• Add a braking resistor.
• Check the mechanical coupling of the encoder.
EcF
Encoder coupling
• The mechanical coupling of the
encoder has come loose.
• Check the mechanical coupling of the encoder.
brF
Brake contact
• The brake feedback contact does
not match the brake logic control.
• Check the feedback circuit and the brake logic control circuit.
PrF
Power removal
• Fault in the "Power removal" control
circuit

208
Faults, which can be reset with the automatic restart function, after the cause has disappeared
These faults can also be reset by disconnecting and reconnecting the power supply or by means of a logic input or command bit ([FAULT
RESET] (rSt-) parameter, page 172).
COF
CANopen fault
• Interruption in communication on
the CANopen bus
• Check the communication bus.
• Please refer to the product-specific documentation.
EPF1, EPF2
External fault
• According to user • According to user
LFF
4-20 mA loss
• Loss of the 4-20 mA reference on
an analog input
• Check the connection on the analog inputs.
ObF
Overvoltage
during deceleration
• Overbraking
or driving load
• Increase the deceleration time.
• Install a braking resistor if necessary.
• Activate the [Dec ramp adapt] (brA) function on page 106, if
it is compatible with the application.
OHF
Drive overheat
• Drive temperature too high • Check the motor load, the drive ventilation and the
environment. Wait for the motor to cool before restarting.
OLF
Motor overload
• Triggered by motor current too
high
• Check the ItH setting for the motor thermal protection,
check the motor load. Wait for the motor to cool before
restarting.
OPF1
1 output phase loss
OPF2
2 output phase loss
OPF3
3 output phase loss
• Loss of one phase at drive output
• Output contactor open
• Motor not connected or motor
power too low
• Instantaneous instability in the
motor current
• Check the connections from the drive to the motor.
• If an output contactor is being used, parameter [Output
Phase Loss] (OPL) = [Output cut] (OAC) page 176.
• Test on a low power motor or without a motor: In factory
settings mode, output phase loss detection is active [Output
Phase Loss] (OPL) = [Yes] (YES). To check the drive in a
test or maintenance environment without having to switch to
a motor with the same rating as the drive (particularly useful
in the case of high-power drives), deactivate output phase
loss detection by setting [Output Phase Loss]. (OPL) = [No]
(nO).
• Check and optimize the following parameters: [IR
compensation] (UFr) page 54, [Rated motor volt.] (UnS) and
[Rated mot. current] (nCr) page 53, and perform [Auto
tuning] (tUn) page 54.
OSF
Overvoltage
• Mains voltage too high
• Disturbed mains
• Check the mains voltage.
PHF
Mains phase
loss
• Drive incorrectly supplied or a
fuse blown
• Loss of one phase
• 3-phase ATV71 used on a single-
phase mains supply
• Unbalanced load
This protection only operates with
the drive on load.
• Check the power connection and the fuses.
• Reset.
• Use a 3-phase mains supply.
• Disable the fault by setting [Input phase loss] (IPL) = [No]
(nO), page )176.
ILF
Internal communication
• Communication fault between
option card and drive
• Check the environment (electromagnetic compatibility).
• Replace the option card.
SLF1
Modbus fault
• Interruption in communication on
the Modbus bus
• Check the communication bus.
• Please refer to the product-specific documentation.
ILF
Internal communication
• Communication fault between
option card and drive
CnF
Communication card
• Communication fault on
communication card
PtF1
PTC1 probe feedback
• PTC probes on motor 1 open or
short-circuited
• Check the PTC probes and the wiring between them and
the motor/drive.
PtF2
PTC2 probe feedback
short-circuited
PtF1
PTC3 probe feedback
short-circuited

209
Faults, which can be reset with the automatic restart function, after the cause has disappeared
(continued)
These faults can also be reset by disconnecting and reconnecting the power supply or by means of a logic input or command bit ([FAULT
RESET] (rSt-) parameter, page 172).
Faults, which can be reset as soon as their causes disappear
OtF1
PTC1 probes temperature
• Detection of overheating of PTC
probes on motor 1
• Check the motor load and dimensions.
• Wait for the motor to cool before restarting.
OtF2
probes on motor 2
OtF3
probes on motor 3
APF
Application card
• Programmable card fault • Please refer to the card-specific documentation.
SLF2
PowerSuite
• Fault communicating with
PowerSuite
• Check the PowerSuite connecting cable.
SSF
Torque limitation
• Switch to torque limitation • Check if there are any mechanical problems.
• Check the [TORQUE LIMITATION] (tLA-) parameters on page
147 and the [TORQUE/CURRENT LIM. DET.] (SSA-)
parameters on page 182).
SLF3
• Fault communicating with the
graphic display terminal
• Check the terminal connection.
tJF
IGBT overheat
• IGBT temperature too high • Check the size of the motor/drive/load.
• Wait for the motor to cool before restarting.
CFF
Configuration fault
• The current configuration is
inconsistent
• Return to factory settings or retrieve the backup configuration,
if it is valid. See page xx
CFI
Configuration fault via serial link
• Invalid configuration
The configuration loaded in the
drive via the serial link is
inconsistent.
• Check the configuration loaded previously.
• Load a compatible configuration.
USF
Undervoltage
• Mains supply too low
• Transient voltage dip
• Damaged load resistor
• Check the voltage and the voltage parameter.

210
User settings tables
Content of Simply start
Functions assigned to I/O
Other parameters

211
Index of functions
[1.12 - FACTORY SETTINGS] (Fst-) 188
[4. PASSWORD] (COd-) 194
[AUTO TUNING BY LI] 162
[Auto-tuning] 34
Command and reference channels 86
[2 wire] (2C) 32
[3 wire] (3C) 32
Output contactor command 151
Line contactor control 149
Brake logic control 122
Motor or configuration switching [MULTIMOTORS/CONFIG.] 160
Parameter set switching [PARAMETER SET SWITCH.] 157
[REFERENCE SWITCH] 102
[STOP CONFIGURATION] 107
[ENCODER CONFIGURATION] 76
[PULSE IN CONFIGURATION] 74
[CMD SWITCHING] 170
ENA SYSTEM 60
[Load sharing] 63
[FLUXING BY LI] 119
Limit switch management 120
[AUTO DC INJECTION] 109
[JOG] 110
High-speed hoisting: 131
Torque limit 146
Reference saving: 118
External weight measurement: 129
+/- speed 114
+/- speed around a reference 116
Positioning on limit switches or sensors 153
Motor thermal protection 175
Drive thermal protection 177
[RAMPS] 104
[FAULT RESET] 172
[AUTOMATIC RESTART] 173
[Noise reduction] 62
PID regulator 135
Torque regulation 143
[CATCH ON THE FLY] 174
[2nd CURRENT LIMIT.] 148
Summing input/Subtracting input/Multiplier 101
PTC probes 171
Traverse control 163
Preset speeds 111

212
Index of parameter codes
Code Page
7-/!
<;:
I//
/23
//23
>2H
D:H
<D;
D/H
2H;
D;:
I2H
I<D
I<;
:4H
5I4
-//
@1/
7;:
4;:
7#$-
7$'-
75;$
75;%
-$$-
-$%-
-$&-
-$'-
-73H
2H4
H2H
7/H
-<;
;:@
<9:
9:H
<7D
I4H
I4@
-:4
HI4
:I4
I-/
H:/

213
H:2
H:1
H:9
E#$
E#%
E#&
E#'
E#(
/D2;
52H/
5DH
-//
@1/
-/%
@1%
I-$
I-%
I-&
I-'
7;:
4;:
5I4
;2/
;:3
;5I
3:1
351
-<;
<2H
;7:
H;8
5@8
728
IH8
D;7
::D
H;-
5@-
72-
IH-
<#
<$
2$
<%
2%
<&
2&
<'
Code Page

214
2'
<(
2(
@/2
5@/
5@/%
I@/
I@5
-@/
;@/$
I@/5
;@/%
I@/%
;2H
/75
/7%
27<
I7;
632
63I
;:%
;:&
;:'
;:(
;:)
;:*
;:+
;:,
;:$#
;:$$
;:$%
;:$&
;:$'
;:$(
;:$)
82H
;H:
H:3
H53
H@3
:5/
:97
:94
:-7
:-4
:1H
:;H
H:%
Code Page

215
H:&
H:'
>5:
5>H
5H@
>HI
>5H
>1D
I>1
>1I
6@/
IIH
>H4#
>H4$
>H4%
>H4&
>H4'
>HH
MI75
I753
IH4
IH7
G;4
G;7
/I@
2I@
II@
7>/
7>/$
7>/%
7>/&
>2H
D:H
<D;
D/H
2H;
D;:
I2H
I<D
I<;
:4H
<2H
;7:
/II
<#
<$
2$
<%
Code Page

216
2%
<&
2&
<'
2'
<(
2(
</%
</:
2/:
1D;
:35
1D/
1D<
1D-
3:1
351
H-:
/75
;2H
DH@
;<7
;9:
<>H
>>-
7>-
7>/
7>/$
7>/%
7>/&
7>2
I//
I/I
HH;
795-
795@
>;:
-5$-
-5$I
<57$
<54$
-552
-5$1
-5$;
-5%I
/H7%
/H4%
<57%
Code Page

217
<54%
-5%2
-5%7
-5%1
-5%;
-5&-
-5&I
/H7&
/H4&
-5&2
-5&7
-5&1
-5&;
-5'-
-5'I
/H7'
/H4'
<57'
<54'
-5'2
-5'7
-5'1
-5';
:5-
:57
:2H
:25
1D;
:35
1D/
1D<
:3-
157
12H
125
H$
H$@
H$;
H$4
H%
H%@
H%;
H%4
H&
H&@
H&;
H&4
H'
Code Page

218
H'@
H';
H'4
79$
79$@
79$;
79$4
79%
79%@
79%;
79%4
79&
79&@
79&;
79&4
79'
79'@
79';
79'4
-3$
-3%
-3&
-9$
-9$I
-97$
-94$
<97$
<94$
-9$2
-9%
-9%I
-97%
-94%
<97%
<94%
-9%2
-9&
-9&I
-97&
-94&
<97&
<94&
-9&2
2H$
H5D
:;I
/4/2
//;
Code Page

219
/@$
/@%
H2/
2H%
/9:
H/>
2H$>
;-%
;-&
@-%
@-&
8-%
8-&
H:I
5DH
-//
@1/
I-$
I-%
I-&
I-'
2HI
H:;
-/%
@1%
>H-
;II
Code Page

2004-08
atv71_programming_manual_EN_V1

Atv71 programming

More Related Content

What's hot (20)

Viewers also liked (19)

Similar to Atv71 programming (20)

More from Toàn Huỳnh (20)

Recently uploaded (20)

Atv71 programming