Bamocar NDrive Manual

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MANUAL
PC Software Manual
for the Servo Amplifier DS, DPC
and the Battery Drives
BAMO-D, BAMOBIL-D, BAMOCAR-D

NDrive.3

Industrie Elektronik
G m b H
Hans-Paul-Kaysser-Straße 1
71397 Leutenbach – Nellmersbach
Tel.: 07195 / 92 83 – 0
Fax: 07195 / 92 83 – 129
contact@unitek.eu
www.unitek.eu

Edition / Version
2017

V 1

Basic information
1 Contents
2

Basic information ............................................................................................................. 4
2.1

History ................................................................................................................................ 4

2.2

Further manuals for digital UniTek units: .......................................................................... 4

2.3

General ............................................................................................................................... 5

2.4

Safety advice: ..................................................................................................................... 5

2.5

Operating system ............................................................................................................... 5

2.6

Software installation .......................................................................................................... 6

2.7

Communication RS232 (COMx) .......................................................................................... 6

Start screen...................................................................................................................... 7
3.1

Description ......................................................................................................................... 7

3.2

Operation ........................................................................................................................... 9

3.3

Entry and selection........................................................................................................... 10

Help ............................................................................................................................... 11
4.1

Storage .......................................................................................................................... 12
5.1

Storage in the controller .................................................................................................. 12

5.2

Storage to the pc .............................................................................................................. 12

Selection of the communication interface ....................................................................... 13
6.1

Display of a saved file (*.urf) in the NDrive ..................................................................... 13

6.2

Firmware update .............................................................................................................. 14

Measured values ............................................................................................................ 15
7.1

Table of measured values ................................................................................................ 15

7.2

Table / measured value .................................................................................................... 16

Conversion ..................................................................................................................... 17
8.1

Conversion of the measurement units............................................................................. 17

Errors ............................................................................................................................. 18
9.1

Error list ............................................................................................................................ 18

9.2

Warnings .......................................................................................................................... 19

9.3

States ................................................................................................................................ 21

9.4

Display of inputs and outputs .......................................................................................... 22

Direct help ........................................................................................................................ 11

Enable ........................................................................................................................ 23

10.1

Hardware - Enable FRG/RUN............................................................................................ 23

10.2

Safety................................................................................................................................ 25

10.3

Settings ............................................................................................................................. 27

10.4

Motor setting ................................................................................................................... 28

10.5

Setting window for the feedback encoder ....................................................................... 30

10.6

Setting window for the feedback encoder ....................................................................... 31
Version 2017 / V1

Software – Manual N-Drive 3xx

Basic information
10.7

Setting X8 as second counter input .................................................................................. 32

10.8

Brake setting..................................................................................................................... 33

10.9

Ballast circuit setting ........................................................................................................ 35

10.10

Motor temperature setting .......................................................................................... 36

10.11

Setting of the power connection/bus circuit ............................................................... 39

10.12

Output stage temperature ........................................................................................... 40

10.13

Setting field for rated servo data ................................................................................. 41

10.14

Setting field for rated servo data ................................................................................. 42

10.15

Command value setting................................................................................................ 43

10.16

BTB / RDY setting .......................................................................................................... 47

CAN-BUS settings ........................................................................................................ 48

11.1

Settings CAN-BUS ............................................................................................................. 48

11.2

Aufbau serielles Protokoll ................................................................................................ 49

11.3

Interface RS232 ................................................................................................................ 50

Parameter ...................................................................................................................51

12.1

Current controller parameters ......................................................................................... 51

12.2

Current reduction parameters ......................................................................................... 54

12.3

Current reduction functions ............................................................................................. 55

12.4

Current controller parameters ......................................................................................... 56

12.5

Speed controller parameters ........................................................................................... 59

12.6

Speed controller parameters ........................................................................................... 62

12.7

Speed controller optimization .......................................................................................... 65

13
13.1
14
14.1
15

Field weakening at synchronous motors ...................................................................... 67
Field weakening mode ..................................................................................................... 67
Torque control ............................................................................................................ 69
Torque control .................................................................................................................. 69
Position controller parameters .................................................................................... 70

15.1

Setting of the position controller ..................................................................................... 70

15.2

Reference run ................................................................................................................... 74

15.3

Position controller optimization....................................................................................... 76

15.4

Position scaling ................................................................................................................. 77

16
16.1
17

Frequency converter parameters ................................................................................. 78
Frequency converter parameters..................................................................................... 79
Logic ...........................................................................................................................80

17.1

Logic setting window ........................................................................................................ 80

17.2

Digital inputs..................................................................................................................... 81

17.3

Digital outputs .................................................................................................................. 82

17.4

Logic links ......................................................................................................................... 84

Software – Manual N-Drive 3xx

Version 2017 / V1

Basic information
18

Diagnosis.................................................................................................................... 85

18.1

Diagnosis window............................................................................................................. 85

18.2

Manual read/write ........................................................................................................... 86

18.3

Track display field ............................................................................................................. 86

18.4

Information ...................................................................................................................... 87

Monitor...................................................................................................................... 88

19.1
20

Measured values .............................................................................................................. 88
Options ...................................................................................................................... 89

20.1
21

Recuperation for vehicles

Automatic setting functions ........................................................................................ 90

21.1

Setting window Auto ........................................................................................................ 90

21.2

Tuning still (0x85-1) .......................................................................................................... 92

21.3

Tuning rotating (0x85-2)................................................................................................... 92

21.4

Phasing still (0x85-3) ....................................................................................................... 92

21.5

Measuring the encoder offset (phase angle).................................................................. 93

21.6

Preset current feed angle (0x85 – 5)/fixed motor position (0x85-5) ............................... 94

21.7

Analog offset (0x85 -6) ..................................................................................................... 95

21.8

Tacho offset (0x85 -7) ...................................................................................................... 95

21.9

Calc from Motorplate (0x85-8) ........................................................................................ 96

21.10
22

VdcBus Adjustment ..................................................................................................... 98

Oscilloscope ............................................................................................................... 99

22.1

Overview .......................................................................................................................... 99

22.2

Oscilloscope settings ...................................................................................................... 100

22.3

Arrow key for the channel selection .............................................................................. 101

22.4

Trigger settings ............................................................................................................... 102

22.5

Display of measured values............................................................................................ 103

22.6

Parameters on the oscilloscope page ............................................................................ 104

22.7

Test operation ................................................................................................................ 104

23
23.1

(Brake Car) .......................................................................... 89

Parameters................................................................................................................105
Parameter tables ............................................................................................................ 105

Version 2017 / V1

Software – Manual N-Drive 3xx

Basic information
History

2 Basic information
2.1 History
Version
2016 / V1.1
2017 / V1

Modifications
Fax-Number / page 68 (lq – complete)
Error-List / Parameter

Date
02.08.2016
14.11.2017

Note :
Only use NDrive3xx for units from firmware FW-350 on (from serial no. 70000)

2.2 Further manuals for digital UniTek units:
1.
2.
3.

MANUAL
MANUAL
MANUAL

DPC 4xx-AC DSxx, BAMO-D3, BAMOBIL-Dx
DSxx, BAMO-D3, BAMOBL-Dx
CAN

Hardware description
Commissioning
BUS system

Use all manuals for the planning, the installation, and the commissioning!
Included as CD version in the equipment delivery (UNITEK-DOKU-SOFT).
Online: www.unitek.eu
MANUAL includes warning and safety notes, descriptions to standards and regulations ,
and mechanical and electrical installation notes.
The MANUAL must be available at any time for all persons dealing with the unit.
Short symbols/terms
Servo
Digital UNITEK motor controller
Unit
Digital UNITEK motor controller
PC
Personal computer, notebook

Software – Manual N-Drive 3xx

Version 2017 / V1

General

Basic information
2.3 General
The software NDrive3 is used to set-up and optimize UNITEK digital servo amplifiers (DS, DPC) and
motor drives (BAMO-D, BAMOBIL-D, BAMOCAR-D).
Basic computer skills and fundamental knowledge of the Windows software are required.
The NDrive3 software and the respective manual are available on CD or via the internet.

2.4 Safety advice:
The parameters and settings of the controller (servo amplifier)
and the motor are preset with the software NDrive3.
Operating parameters can be preset and changed during
operation. The computer and the PC programs are not
malfunction-proof.
The user must ensure that in case of malfunctions neither
personnel nor machines are endangered and that the drive is
stopped.
Saved data can be changed by third parties. Any imported data record must be checked prior to
re-use.
Any adjustments or optimising work on the running drive must only be carried out by trained
competent personnel with knowledge of drive and control engineering and computer handling.
Further to this, the safety advice for the amplifier and the drive used must be observed.
Any operation not conform to the safety guidelines is not permissible.

2.5 Operating system
NDrive will operate with WINDOWS 2000 and WINDOWS NT4, WINDOWS XP, Windows Vista
Min. required PC equipment
Processor
80486 or superior
Graphics
WINDOWS compatible
Hard drive, available capacity
3MB
Floppy disc drive
3.5“
CD drive
CD ROM
RAM, min.
8MB
Interface
COM1 or COM2 (RS232, USB adapter)
WINDOWS is a registered trademark of Microsoft Corp.

Version 2017 / V1

Software – Manual N-Drive 3xx

Basic information
Software installation

2.6 Software installation
The user software NDrive3 can be copied.
An installation program is not required.
From a CD (Compact Disc Unitek-Doku-Soft-Vx)
Copy the software file (NDrive-x digital Servo) from the CD to the hard drive (do not install).
Open the NDrive-x-Aktuell-Vxx,
start the software file NDrive-x-Vxx.exe with a double click.

Via the internet

Log into www.unitek.eu or www.unitek-online.de. Click software button.
Download and save the software (NDrive-x-Software.zip).
Decompress in the NDrive-x-software-Vxx and start the software file NDrive-Vxx.exe with a
double click.

NDrive ICON
Right click on the software file NDrive-Vxx.exe. Send to the desktop.
The icon is displayed on the desktop as shortcut to NDrive-Vxx.
Double click the desktop icon to start NDrive-Vxx
Icon_32x32

2.7 Communication RS232 (COMx)
Software communication between the PC and
the servo amplifier is effected via RS232.
115200 baud rate.
The connecting cable is a null modem type
cable.
Do not use a null modem link cable!
Use an USB-RS232 adapter with PCs with an
USB interface.
Use the USB adapter RS323 for PCs with an
USB interface.
Plug and unplug the connecting cable only
when the interface is disconnected.
The interface is galvanically connected to
device ground (AND).

RS232 PC
RxD
TxD
GND

6
7
8
9

X10 DSxx/BAxx

1
2
3
4
5

6
7
8
9

1
2
3
4
5

RxD
TxD
GND

Schirm am Steckergehäuse
Shield at connector housing
DS400-RS232-Verb.

Communication USB (COMx) (TMS-DEIF)
USB connecting cable with a xxxx connector on
the device side. Baud rate 115200.
Plug or unplug the connecting cable only if the
interface is isolated.
The interface is galvanically isolated from the
device zero (AND).

Software – Manual N-Drive 3xx

Version 2017 / V1

Description

Start screen
3 Start screen

3.1 Description
The program presents a screen consisting of two elements. A constant outer frame (grey) and an
interleaved page area (blue). The pages are accessed by a horizontal tab bar running across the
top of the frame

Top
Left
Bottom
UNITEK symbol

Title bar, menu bar, page tabs
Display of speed, current, inputs and outputs, states, errors, and test
functions
Setup states
Link to the Unitek website

The screen surface switches between pages.
The tab structure allows for easy access of relevant data and fast switching between the pages.
The grey frame surface is constantly displayed.
The selected pages are opened across the complete blue area.
It is always possible to switch between the pages without a time delay.
Multi-page parameters are automatically transferred. Settings referring to only one page remain
unaffected.

Version 2017 / V1

Software – Manual N-Drive 3xx

Start screen
Description

Title bar NDrive version + parameter set name
Drop-down menu for Windows commands

File Features

communication
COM-Port
Baud rate 115200

Load register

NDrive file*.urf

Save register
Import register file (*.utd.)

NDrive file*.urf
DRIVE file*.utd

Print register
Print selected registers
Script execution
Exit

NDrive file
Selected files
(for service only)

Help
Manual (NDrive3.PDF)
About
(UNITEK)
Select language
(Change Language)
Loading of the parameter file from the pc to the
unit
Saving of the parameter from the unit to the pc file
Loading of an old (utd) parameter file from the pc to
the unit
Printing of selected parameters (registers)
Printing of selected parameters (registers)
Load protected parameters to the unit
Closing the window

Page - Register

Permanently active display and inut fields

Footer: Communication

Speed

Numeric speed display in rpm.
Bar graph 0-100 % speed

Current

Numeric current display in Aeff.
Bar graph 0-200% rated current

Inputs / Outputs

Display of the active inputs and outputs

States

Display of the states

Warning

Display of the warnings

Faults

Error display

Test

Only for test operation!!

Current
Torque
Speed
Position

Numerical entry for a test current
Numerical entry for a test torque
Numeric entry of a test speed value
Dest: = numeric entry of the position
P(preset) = entry as actual position value and
command value
Calib. = Start of a reference run

Firmware

Software – Manual N-Drive 3xx

Axis designation

Version 2017 / V1

3.2 Operation
The PC user interface has a standard WINDOWS format.
Only use whole numbers and write decimals with a point.
Write positive values without a sign, negative values with a -sign.

Offline operation

There is no connection to the control unit (servo amplifier). The message ‘Drive is offline’ flashes
in the bottom line of the frame display.
To download a parameter file click → communication → view file and use the windows browser
to select and open a file (*.urf).
The parameter data are transferred to the input fields.
The data can now be optimised and saved again with → file → save register. The original file may
be overwritten or a new file created.

Online operation

Plug the connecting cable RS232. Switch on the PC and the control unit.
Select the baud rate of 115200.
Select the communication interface with → communication → COM1 to COM8.
When the connection is successful, the message ‘Drive is online’ appears in the bottom frame
line.
The active drive parameter data will be imported from the drive to the PC and can be
manipulated via the input fields as required.
Any changed data will be downloaded from the PC to the RAM of the drive by clicking → enter.
Tested parameters are permanently saved in the EEPROM by clicking the key field ‘memory
level0.1’.

RAM

Return-Taste auf/ab

NDrive - Software
RAM

Parameter

EEPROM 0
Aktiv

EEPROM 1

*.urf

*.uof

Save

Save As

EEPROM 2

Kunden-Reserve Fabrikeinstellung

Version 2017 / V1

Open

Lese 2

Schreibe 2

Lese 1

Schreibe 1

24V-einschalten

Lese 0

Lese 0 - Lese 1 - Lese 2

Oszilloskop
Daten
Step-Einstellung

Datei xx.urf

Save As

Open

Servo-Drive DS.., BAMO-D.., BAMOBIL..

Schreibe 0

Operation

Start screen

Datei xx.uof

Festplatte

Software – Manual N-Drive 3xx

Start screen
Entry and selection

3.3 Entry and selection

Click the entry field (left mouse button),
enter a numerical value and click → enter to save the new value
into the PC RAM and the Drive RAM.
Up-Down value change
Click an input field (left mouse button).
The value can be changed via the up and down buttons.
The values are immediately updated in both device RAMs
Drop-down menu
Click the arrow button of the list box. The menu shows the
available options. Scroll up or down by means of the arrow button
and select an option. Selecting an option updates the variable and
closes the option menu
Option buttons
Click button. The green button displays the selected function.
A tick in the button shows the selected option.

Software – Manual N-Drive 3xx

Version 2017 / V1

Direct help

Help
4 Help
4.1 Direct help
Shift the cursor to the parameter entry field or
setup field and an explanation field opens.
An explanation field opens.
Hilfe-tooltip

Help menu
Click Help.
Click Manual.
A pdf version of the manual Manual NDrive is
opened. Clicking the topic in the bookmark
opens the requested page.

Select language
Click Help
Click ChangeLanguage
A list box opens
Select the language
Restart NDrive

Version 2017 / V1

Software – Manual N-Drive 3xx

5 Storage
5.1 Storage in the controller
Download of parameter data from a PC to the controller (servo) RAM (volatile)

When there is an active communication the parameters displayed on the
screen are those currently active in the drive RAM. When a value is changed,
the value is directly updated in the drive RAM when the return key is
pressed.
Attention: If the +24 V auxiliary voltage is switched off, the RAM data will be
lost.

write / save

EEPROM (non-volatile)
Click → write0 (1) on the setting page.
The data are written into the drive EEPROM (level 0, 1).
The EEPROM level 0 contains the current parameter record which is
downloaded to the drive RAM each time when the 24 V auxiliary voltage is
switched on.

Note:
The data EEPROM level 2 is code protected and not visible. It is only visible with the release code.
The data of Write2 are write-protected and contain the factory-set parameter set.

Transfer of parameter data from the drive (servo) to the PC

Click → read0 (1, 2) on the setting page.
The parameter data are transferred from the drive EEPROM to the drive RAM
and from the drive RAM to the PC RAM

read / load

5.2 Storage to the pc
Saving the parameter data of the PC RAM to PC disks (hard drive, CD, floppy
disk, etc.)

Saving parameter data in the PC (*.urf)

- via the menu bar
Click → file in the menu bar.
Click → save registers and the window is opened. Select the required folder
and save with the same or a different file name.

read / load

Through the button save
Click → save on the setting page.
The window save register file is opened. Select the required folder and save
with the same or a different file name
Transfer of parameter data from PC discs (hard drive, CD, floppy disk, etc.) to
the PC RAM
Click → download on the setting page and the window download register file
is opened.
Select the requested folder and click → open to download the data to the
NDrive
The parameters are in the RAM. In order to store them permanently, click →
write 0 or write 1 (EEPROM).

Software – Manual N-Drive 3xx

Version 2017 / V1

Storage in the controller

Storage

Display of a saved file (*.urf) in the NDrive

Selection of the communication interface
6 Selection of the communication interface
- for online operation

Click the menu → communication to drop down the options.
Click the requested COMx interface (Com1 to Com8) to select
it. The checked interface is selected and the connection to the
control unit (servo) is established.
The message Drive is Online (COMx) is displayed in the bottom
screen frame.
Note:
If the data scroll in the warning or error display, the COM
connection is faulty.
Stop communication
Open drop down menu Kommunikation.
Click →Offline .
The connection is cut off and the message Drive is offline is displayed in the bottom screen frame.

6.1 Display of a saved file (*.urf) in the NDrive
Click ‘view file‘.
The window ‘load register file’ opens.
Select folder.
File is loaded to the NDrive.
The parameter fields are overwritten.
The parameter data can be changed.
Save the modified and checked values with
the same or a new name (*.urf) in the pc via
‘save file register‘.

Version 2017 / V1

Software – Manual N-Drive 3xx

Selection of the communication interface
Firmware update

6.2 Firmware update
Please use the manual “Firmware update-2017-SD-Flash_EN.pdf.
Then you will have an update version. The latest manual can either

Manual:

be found on the UniTek CD
UNITEK-CD-DOKU-SOFT
Folder

“SOFTWARE\NDrive2-Software\Firmware update inst”

or downloaded from our homepage
www.unitek.eu or www.unitek-online.de
Destination
Download
Extract
Open folder

Download
NDrive2-Software.zip Press “NDrive2-Software.zip” and save on PC
(e.g. Downloads)
NDrive2-Software.zip Press RM + (Extract All… / Extract Here)
“NDrive2-Software/Firmware update inst”

Software – Manual N-Drive 3xx

Version 2017 / V1

Table of measured values

Measured values
7 Measured values
7.1 Table of measured values
Measured values
Selected values
OFF
N cmd
N cmd Ramp
N actual
N actual-filter
N error
I cmd
I cmd Ramp
I actual
I actual-Filter
Leistung
Pos dest
Pos cmd
Pos actual
Pos error
Zero capture
I_Limit1
I_Limit2
I_Din1
I_Din2
I_Run (Frg)
O_Dout1
O_Dout2
O_Dout3
O_Dout4
O_Rdy (BTB)
I_Fault
I_Regen (Ballast)
I_o´/u´ voltage
I_LossOfSignal
O_Go
O_Brake
O_Icns
O_Less_NO
O_Toler
Rotor
Var1
Var2
Var3
Var4
MPOS_mech
MPOS_elec
Ain1
Ain2
I3_adc
I2_adc
I1_actual
I2_actual
I3_actual
Iq_actual
Id_actual
Iq_error
Id-error
Idnom
Idmin
Ilim_inuse
DC-BUS
Vd
Vq
Vout

Function
No measured value
Speed command value before ramp
Speed command value after ramp
Speed actual value
Filtered speed actual value for display
Speed command/actual value error
Current command value
Current command value after ramp
Actual current(I)
Filtered current actual value for display
Motor power
Position target
Position command value
Actual position
Position command/actual value error

Range

Digital input END1
Digital input END2
Digital input 1
Digital input 2
Digital input control unit enable
Digital output 1
Digital output 2
Digital output 3
Digital output 4
Drive ready message
Intern. error message from the power section
Ballast circuitry state
Over-voltage condition
Resolver signal missing or faulty
Internal enable
Active brake
Limited to continuous current
Speed inferior to 0.1%
Within position tolerance range
Rotor position signals (RST)
Comparison reference value 1
Comparison reference value 2
Comparison reference value 3
Comparison reference value 4
Mechanical rotor position
Electrical motor position
Analog input Ain1
Analog input Ain2
Current actual value sensor 3
Current actual value sensor 2
Current actual value Ph1
Current actual value Ph2
Current actual value Ph3
Current actual value
Current actual value
Current actual value - command/actual val. error
Current actual value - command/actual val. error

0/1
0/1
0/1
0/1
0/1
0/1
0/1
0/1
0/1
0/1
0/1
0/1
0/1
0/1
0/10/1
0/1
0/1
0/1
0/1
1 to 6 (0 or 7 = error
+/-32767
+/-32767
+/-32767
+/-32767

Bus voltage
Voltage
Voltage
Output voltage

0-32767

Version 2017 / V1

+/- 32767
+/- 32767
+/- 32767
+/- 32767
+/- 32767
see table
see table
see table
see table
+/- 2147483647
+/- 2147483647
+/- 2147483647
+/- 32767

+/-32767
+/-32767
2048 +/- 2000
2048 +/- 2000
see table
see table
see table
0-600
0-600
0-600
0-600

ID address
REGID
0x31
0x32
0x30
0xa8
0x33
0x26
0x22
0x20
0x5f
0xf6
0x6e
0x91
0x6d
0x70
0x74
0xe4
0xe5
0xe6
0xe7
0xe8
0xe0
0xe1
0xe1
0xe1
0xe2
0xe9
0xea
0xeb
0xec
0xe3
0xf2
0xf3
0xf5
0xf4
0x5c
0xd1
0xd2
0xd3
0xd4
0x42
0x43
0xd5
0xd6
0xa9
0xaa
0x54
0x55
0x56
0x27
0x28
0x38
0x39
0xb2
0xb5
0x48
0xeb
0x2a
0x29
0x8a

Software – Manual N-Drive 3xx

Measured values

Measured values
Selected values
Vred
pwm1 (5/6)
pwm2 (3/4)
pwm3 (1/2)
T_Motor
T_IGBT
T_air
Ballast Count
Temp-Debug
Logic (Hz)
Time_1us
*PTR1
*PTR2
Unknown

Function
Voltage limitation
Pulse width modulation phase 1
Pulse width modulation phase 2
Pulse width modulation phase 3
Motor temperature
Output stage temperature
Air temperature (unit interior)
Ballast power monitoring
For service only
I/O processing frequency
Time pulse 1us

Software – Manual N-Drive 3xx

Range
750 +/-750
750 +/-750
750 +/-750
0-32767
0-32767
0-32767
0-32767
1/0

Version 2017 / V1

Table / measured value

7.2 Table / measured value

ID address
0x8b
0xac
0xad
0xae
0x49
0x4a
0x4b
0xa1
0x9a
0xab
0x98
0xb8
0xba

Conversion of the measurement units

Conversion
8 Conversion
8.1 Conversion of the measurement units
For position, speed, current, and command value
Some of the measured values are not converted in all formats. Numeric values (num) are indicated and
processed. It must be differentiated between the values and their numeric representation when processing
data such as in case of data transfers (CAN-BUS, RS232) or track and oscilloscope displays.

Position

Actual position range

Pulses/rpm
Max. value +/-2147483647
(31 Bit-1)
Resolution (lowest value)
Example
Feed Drive
Factor 5mm/rpm

Actual speed range
Example

Command values

I 100 %
mV
550
800
700
416
416
870
560
700
840
610
785
625
500

Position command value range

Max. value +/-31Bit
+/- 2147483647 Num

16 (65536/4096 (12Bit))
Travel 1000mm = 200 rpm
200 rpm = 13107200
Resolution = 65536/4096 = 16

65536/Ink x4
Incremental encoder 2048 pulses/rpm
Travel 1000mm = 200rpm
200 rpm = 1638400
Resolution 65536/8192 = 8

65536

Max. speed (Nmax) calibration
Nmax value in the parameter
field Motor and speed = 32767
N max = 2000
Speed of 2000 rpm corresponds
to 32767

Max. value +/- 32767 (15Bit-1)

Max. value +/- 9bit
DS 205/405
DS412
DS420
DS450
DS475 / BAMO-D3
BAMOBIL-D3-50/250
BAMOBIL-D3-80
BAMOBIL-D3-100
BAMOBIL-D3-120
BAMOBIL-D3-350
BAMOBIL-D3-450
BAMOCAR-D3-250
BAMOCAR-D3-400

Incremental encoder

65536

Speed

Current

Resolver

Aeff
5
12
20
50
75
25/125
40
50
60
175
225
125
200

A=
7
17
28
70
105
35/175
56
60
84
245
315
176
282

Speed command value range

Max. value +/-15 Bit
+/- 32767 Num

Version 2017 / V1

Speed limiting via the parameter field
'speed limit'
The max. speed is limited to 1500 rpm.
Limit = 32767/2000*1500 = 24575 num
Die maximale Drehzahl ist auf 1500
Upm begrenzt
Peak current (I)
DC disabled

Rated current (I) calibration
I-device

Num
440
640
560
328
328
700
450
560
670
490
630
700
560

Limitation

Num
640
920
800
480
480
1020
650
800
970
710
910
1020
810

A=
10
24
40
100
150
50/250
80
100
120
350
450
250
400

Limitation

Limit set in the
parameter fields Motor
and Current.
The smallest value is
valid.

Current command value range

Max. value +/- 9Bit
DS 205/405
rated: 440
DS 412
rated: 640
DS 420
rated: 560
DS 450
rated: 328
DS 475/BAMO rated: 328

max: 640
max: 920
max: 800
max: 480
max: 480

Software – Manual N-Drive 3xx

Errors
Error list

9 Errors
The error messages are displayed in the window 'Error'.

9.1 Error list
Display on the
servo

Error message
on the NDrive
NOREPLY-NORS

0
BADPARAS
1
POWER FAULT
2
RFE FAULT
3
BUS TIMEOUT
4
FEEDBACK
5
POWERVOLTAGE
6
MOTORTEMP
7
DEVICETEMP
8
OVERVOLTAGE
9
I_PEAK
A
RACEAWAY
B
USER
2
C
IR
D
HW_FAIL
E
ADC-INT
F (device dependent) BALLAST
Flashing decimal point
Dark decimal point

Description
RS232 failure.
Incorrectly connected or missing connecting cable

Defective parameter
Output stage fault
Faulty safety circuit (only active for RUN)
Transfer fault BUS
Faulty encoder signal
No power supply voltage
Motor temperature too high
Device temperature too high
Overvoltage >1.8 x UN
Over-current 300 %
Racing (no command value, incorrect polarity)

User – error selection
Bleeder resistor
Firmware not compatible with hardware
Current measuring fault
Ballast circuit overload
Active processor
No auxiliary voltage or unit-internal hardware fault

LED displays on the servo

When the enable is switched off, the error message is still
displayed.
The error message deleted:
When the enable is switched on, the function ‘cancel errors’ is
activated via a digital input or a CAN BUS.

FAULT

In case of an error the red LED ‘fault’ lights up and the error no.
is indicated.
The BTB (ready) contact is opened.
The software ‚BTB message‘ switches from 1 to 0.
The state message ‚RDY‘ extinguishes.

Note:
When applying the 24V auxiliary voltage with the enable closed (FRG/RUN X1:7 aktiv) the red LED
signals an error. There is no fault signal displayed in the 7-segment display.

Software – Manual N-Drive 3xx

Version 2017 / V1

9.2 Warnings
Display of the warning messages.
The warning messages are displayed in the window 'warnings'.
Display on
the servo

Error message
on the NDrive

Description

ID address

0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F

WARNING_0
ILLEGAL STATUS
WARNING_2

Inconsistent device identification
Faulty RUN signal, EMI
Inactive RFE signal (without RUN)

POWERVOLTAGE
MOTORTEMP
DEVICETEMP
OVERVOLTAGE
I_PEAK

Power voltage missing or too low
Motor temperature > 87 %
Device temperature > 87 %
Overvoltage >1.5 x UN
Over-current 200 %

I2R

Overload > 87 %

BALLAST (device dependent)

Ballast circuit overload > 87 %

REGID 0x8f
Bit 16
Bit 17
Bit 18
Bit 19
Bit 20
Bit 21
Bit 22
Bit 23
Bit 24
Bit 25
Bit 26
Bit 27
Bit 28
Bit 29
Bit 30
Bit 31

LED desplays on the servo
In case of warning state the red LED changes (lowfrequency) and the seven-segment display shows alternately
the warning no. (red LED) and the operating state (LED
dark).

FAULT

Warnings

Errors

Version 2017 / V1

Software – Manual N-Drive 3xx

LED display on the servo
The operating state "normal" is signalled by a bright green seven-segment display + decimal point
(display of the state).
The state "fault" is signalled by a bright red fault LED and the seven-segment display indicates the
error no.
In case of a “warning” state the red LED changes and the segment display shows alternately the
warning no. and the state.

Display of the servo-drive state
Display

Point/segment State

State of
NDrive

flashing

Processor active

dark

Auxiliary voltage missing or inherent hardware failure

flashing

Starting state after reset (aux. voltage 24V off-on). The first enable
stops the flashing display.

bright

Drive enabled

dark

Drive disabled (not enabled)

bright

Speed zero (standstill signal)

bright

Drive revolves clockwise, N currently positive

bright

Drive revolves anti-clockwise, N currently negative

flashing

Motor current reduced to continuous current Icns

bright

Motor current at max. current limit Imax

dark

Normal operation; Motor current within the current limits
Left segment:
A new command (value) was
received from the BUS or RS232

bright for 0.1s

Point flashes
Bottom segment
Right segment
Ballast circuit
switching:

OK = 1, ENA = 1
OK = 1, ENA = 0

NO = 1

NO = 0

lcns = 1
lcns = 0
lcns = 0

Digital input changed.

Right segment:

Example:

OK = 0

Motor revolving clockwise
=
=
=

Processor active
Drive enabled
Motor revolves clockwise
The direction segment (at the right or left bottom) is switched off when the
ballast circuit is switched on.

Software – Manual N-Drive 3xx

Version 2017 / V1

Warnings

Errors

States

Errors
9.3 States
State display
The operating states are displayed in the window 'state'.

List of states
Display of the
state

Function

address

Ena
NcR0
Lim+
LimOK
Icns
T-Nlim
P-N
N-I
10 Hz
Ird-TM
Ird-ANA
lwcns
RFE pulse
M+D
HndWhl

Drive enable (combination hardware RUN and Software)
Speed limit to zero (Speed command still active)
Limited switch Plus tripped
Limited switch Minus tripped
Drive okay (no uncontrolled control-voltage reset seen)
Current is limited to the continuous current level
Speed limited torque mode active
Position control possible
Speed control possible
Actual speed less than 0.1 %
Reference switch tripped
Calibration move active
Calibration move completed (position calibrated)
Position within tolerance window
Drive ready (BTB/RDY contact is closed)
De-energized brake with motor active
Speed internally inverted
General speed limiting (if ≤ 90%) possible
Additional switchable positive speed limiting possible
Additional switchable negative speed limiting possible
Current limiting (switchable) reached
Actual current limit reached
Current limiting (speed)
Current derating (power-stage temperature) possible
Current reduced to continuous current (power-stage temperature )
Additional current limit if frequency less than 10 Hz
Current limiting due to motor temperature reached
Current derating due to analog input (if ≤90 %) possible
Current peak value warning
Pulsed RFE –input monitoring active
vacant
Hand-wheel function selected

REGID 0x40
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9
Bit 10
Bit 11
Bit 12
Bit 13
Bit 14
Bit 15
Bit 16
Bit 17
Bit 18
Bit 19
Bit 20
Bit 21
Bit 22
Bit 23
Bit 24
Bit 25
Bit 26
Bit 27
Bit 28
Bit 29
Bit 30
Bit 31

Version 2017 / V1

Software – Manual N-Drive 3xx

9.4

Display of inputs and outputs

The LEDs are bright when the positive input voltage is superior to >10 V and the output voltage is
positive
Short symbol

Function

LMT 1
LMT 2
IN 2
IN 1
FRG (RUN)
RFE

Digital input limit 1 active
Digital input limit 2 active
Digital input Din 2 active
Digital input Din 1 active
Hardware enable active
Rotating field enable

OUT 1
OUT2
BTB (Rdy)
GO
OUT 3
OUT 4
G-OFF
BRK1

Digital output Dout 1 on
Digital output Dout 2 on
Hardware relay, output BTB (Rdy) on
Internal enable GO active
Digital output Dout 3 on
Digital output Dout 4 on
Excited brake

ID-Ad.
REGID 0xd8
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9
Bit 10
Bit 11
Bit 12
Bit 13
Bit 14
Bit 15

Display of speed and current
Speed in rpm (revolutions per minute) and as numerical
value from the parameter 0xa8
Current in Aeff (motor current in ampere effective / rms)
and as numerical value from the parameter 0x5f

Software – Manual N-Drive 3xx

Version 2017 / V1

Display of inputs and outputs

Errors

Hardware - Enable FRG/RUN

Enable
10 Enable
10.1 Hardware - Enable FRG/RUN
Switching on

Voltage across the enable input (X1:7, X1:G FRG/RUN) > 10 V= , <30 V=
The power stage of the drive is immediately enabled when the drive enable is switched on. The
software control of the power stage is activated 2ms later. Commands such as command values,
reference travel, etc. can be sent 5ms after the drive enable (RUN).
The enable state is indicated in the state field with 'Ena'.

Switching off

Voltage across the enable input (X1:7, X1:G FRG/RUN) < 4 V=
When the enable function is switched off, the drive is electronically
disabled.

Switching off with emergency stop (free coasting Off)

The drive decelerates to standstill before it is enabled.
When the enable function is switched off, the internal speed command
value N cmd Ramp is reduced to zero by means of the ramp limit
which has been adjusted in the parameter field speed. The power
section is disabled by means of the internal command GO 50ms after
the axis has come to a standstill or after the ramp time (ramp limit) +
50ms has elapsed.
The power stage is disabled after 1.5 s at the latest.

Switching off without emergency stop (free coasting On)

The power section is immediately disabled when the enable function is switched off.
The drive decelerates free of torque.

Hardware
Freigabe (RUN)

ENABLE OFF
MODE-BIT 2
Ramp-Acc

Ramp-Acc

Ramp-Limit

Fahrbefehl
z. B. Sollwert

GO (intern)
50ms

50ms

FRG2 (intern)
2 5
ms ms

2 5
ms ms

Version 2017 / V1

1,5s

Software – Manual N-Drive 3xx

Enable
Hardware - Enable FRG/RUN

Enable and disable function via interfaces (CAN BUS, RS232)
The hardware enable (FRG/RUN) and the safety input must be switched on!

Enable

By means of the command ‘Not ENABLE OFF’ (MODE-BIT 0x51 Bit2=0)
the amplifier is enabled without delay.

Disable

By means of the command ‘ENABLE OFF’ (MODE-BIT 0x51 Bit2=1)
the internal speed command value N cmd (ramp) is controlled to zero
according to the ramp R-Lim adjusted in the parameter field ‘speed’.
Set R-Lim in such a way that the drive is braked to a standstill.
50ms after the switch-off ramp time (ramp limit) has elapsed, the
power section is disabled. The drive is torque-free.

Software enable of the NDrive

The hardware enable (FRG/RUN) must be switched on!

Switching field Dis
grey = Software enable = ON
red = Software enable = OFF

Software – Manual N-Drive 3xx

Version 2017 / V1

Safety

Enable
10.2 Safety
Safety input RFE (Rotating field enable)
Warning:
If the input of the enable or of the rotating field (FRG/RUN)
enable are switched off, the drive is free (RFE) of torque.
The drive could move if there is no mechanical brake or block
provided.

The motor conductors are not dead. Only the rotating field is
disabled. Prior to any work or maintenance on the motor or
servo-drive, the servo-drive must be completely disconnected
from the mains power supply.

Operation with an RFE input
Two-channel disable of the
enable via a safety switching
device.
Enable input FRG/RUN +
Rotating field enable input RFE.
Switching-on
Contacts of the safety device
closed, enable FRG/RUN 0.5s
after RFE.
Safety switch-off
Contacts of the safety device
open:
- there is no FRG/RUN signal in
st
the 1 disable channel to disable
the PWM pulses in the processor
-there is no RFE signal in the 2nd
disable channel to disable the
PWM pulses at the output of the
processor
Restart
Release the safety switching
device.
Contacts of the safety device
closed.
The motor can only move after a
second disable FRG/RUN (after
the rotating field enable).

Version 2017 / V1

Software – Manual N-Drive 3xx

Enable
Safety

Operation without RFE input
The input RFE must be bridged with the logic
voltage.
If the logic voltage corresponds to the supply
voltage, the RFE input is bridged with +24 V.
Enable FRG/RUN at least 0.5 s after the RFE
signal.
Note:
In case of circular and Tyco connectors
(BAMOCAR,BAMOBIL) use the plug no. of the
device MANUAL.

Software – Manual N-Drive 3xx

Version 2017 / V1

Settings

Enable
10.3 Settings
Parameters and data input

Input fields for motor data, device data (servo) and parameter data.
Buttons for the saving functions.
The adjustments for the motor and the servo amplifier can only be made via the setting window.
The parameter data can be entered via this and several other windows. The changed parameter
data are immediately updated on all pages.
When a value has been changed, the new value is automatically updated on all windows.
See the detailed information for the input fields.

Note:
Prior to the first commissioning and any change of the motor
type the data displayed in the setting windows must be
checked with the type plate or the data sheet of the motor.
Please observe the motor specific connection guidelines!
Any changes of the set value during online operation must
only be carried out by competent and qualified personnel.

Version 2017 / V1

Software – Manual N-Drive 3xx

Motor setting

Enable
10.4 Motor setting
Setting window for the rated motor data
Motor setting parameters
Short symbol
Type
Nnom
Fnom
Unom
Uphi
I max eff
I nom eff
M- Pole
Direction
Brake
Brake Delay
Free coasting
M-Temp

Function
Select motor type
Rated motor speed
Rated motor frequency
Rated motor voltage
Motor power factor
max. motor current(I)
Continuous motor current(I)
No. of motor poles
Select rotation direction
Select with/without brake
Response time motor brake
Selection
Switching point motor
temperature

Encoder
2. Feedback
Inc-Out

Selection of encoder system
Selection 2. encoder system
Output counter increment

Setting range

Unit

Type plate (600-50000)
20 bis 1200
Type plate
Type plate
Type plate
Type plate
2..48
Switching field
Switching field
0..500
Switching field
0 to 32767

rpm
Hz
V
%
A
A
Num
Selection
Selection
ms

Motor type
selection
EC-Servo
FU
FU-Servo
DC
Motor type
selection
EC-Servo
FU
FU-Servo
DC

Software – Manual N-Drive 3xx

Num

Note

ID address
0x59
0x05
0x06
0x0e
0x4d
0x4e
0x4f
0x5a-Bit8
0x5a-Bit18
0xf1
0x5a-Bit3
0xa3

Selection
Selection

Motor type
Synchronous servo motor with encoder system
(sensor)
Asynchronous motor frequency converter without
sensor
Asynchronous motor AC servo vector control with
speed encoder system (e.g. position encoder A,B
channel)
DC motor without or with DC tacho encoder
Feedback
Feedback selection
without feedback
Feedback selection
without feedback
or
DC tacho

Version 2017 / V1

Motor setting

Enable
Setting window for the rated motor data
Check type plate, data sheet, and Unitek connection specifications!
Motor
Type
N nom
F nom
U nom
U phi
I max eff
I nom eff
M-Pole
Direction

Brake
Brake delay
Free coasting
M-Temp

Motor type selection (EC-Servo, FU , FU-Servo, DC)
Motor speed (type plate)
Is used as calculation value for FU autotuning
Frequency at which the rated motor speed is reached.
Only for frequency converter mode.
(Type plate or motor data sheet)
Voltage for the rated motor speed
Only for frequency converter mode.
(Type plate or motor data sheet)
Motor power factor
Only for frequency converter mode.
(Type plate or motor data sheet)
Max. permissible motor current
(Type plate or motor data sheet)
Permissible rated continuous motor current
(Type plate or motor data sheet)
No. of motor poles (2 x pole pairs)
Global change of the rotation direction.
The command value, the actual value, and the counting direction are
changed.
CW clockwise rotation, CCW counter-clockwise rotation
Motor selection with/without (ON/OFF) brake.
When it is set to ‘without’ (OFF) the switch-off delay (braking delay) is
out of function.
Attraction delay time of the electro-mechanical brake
Deceleration when no brake is connected
Free coasting (ON) or emergency stop braking (OFF) when the enable
(FRG/RUN) is switched off
Switching point for the motor over-temperature message.
Therewill be a warning message 6 (0x8fBit21) at 87 %
MOTORTEMP > 87 %
At 100 % (set value) the drive is switched off.
Error message 6 (0x8f Bit6) MOTORTEMP

Note:
The parameters lmax and lnom are also written into the parameter field ‘ current’.
The smaller value serves as limit.

Encoder
Encoder

Encoder system selection
(TTL incremental encoder, resolver, SIN/COS, DC tacho, etc.)

2nd Feedback

2 feedback selection
INC-IN, INC-OUT , HAND , SSI
Setting of the output incremental signals

Inc-Out

Version 2017 / V1

Software – Manual N-Drive 3xx

Enable
Setting window for the feedback encoder

10.5 Setting window for the feedback encoder

RESOLVER- Encoder 10 kHz 2 Vpp
RESOLVER
F-Pole
Offset1

No. of encoder poles 2 to 12
Correction value for the mechanical encoder setting.
Polar wheel angle 0 to 360 degree
Automatic detection of the offset angle = see page AUTO

Incremental encoder 5 V TTL
ROTENC_TTL
Offset
Inc. Mot
Note:
ENC-TTL
Inc. Mot

Incremental encoder TTL with rotor position tracks
Correction value for the mechanical encoder setting
Automatic detection of the offset angle = see page AUTO
No. of pulses per revolution
The no. of poles of the rotor position encoder must correspond to the no. of
motor poles!
Incremental encoder TTL without rotor position tracks
No. of pulses per revolution
Only for asynchronous motors or special drives

SINUS/COSINUS encoder 1 Vss
ABSENC_SC
Offset
Inc. Mot

1 Vss-Sin/Cos encoder with Sin/Cos-commutation tracks
Correction value for the mechanical encoder setting
No. of pulses per revolution

ENC_SC
Inc. Mot

1 Vss-Sin/Cos encoder without commutation track
No. of pulses per revolution

ABS_SC
M-Pole, FGPole

Sinus-Cosinus signal per motor pole pair (analog Hall sensors)
No. of motor poles is equal to the no. of encoder poles

Software – Manual N-Drive 3xx

Version 2017 / V1

Setting window for the feedback encoder

Enable
10.6 Setting window for the feedback encoder
ROTOR POSITION ENCODER 5 V, 15 V
ROT_TACHO Rotor position encoder with bl-tacho (DC tacho)
Offset
Correction value for the mechanical encoder setting.
ROT
Offset

Rotor position encoder without bl-tacho, only rotor signals
Correction value for the mechanical encoder setting.

BL-ARM

EC/AC motor without tacho

Note

The no. of poles of the rotor position encoder must correspond to the no. of
motor poles!

Feedback for DC motors
DC_TACHO
DC motor with tacho
Offset
120 = connection M1-M3 (0=M2-M3, -120=M1-M2)
DC-ARM
DC motor with armature voltage sensor (without tacho)
Offset
120 = M1-M3 (0=M2-M3, -120=M1-M2)
DC_ARM_VIR Sensorless DC motor without tacho, without armature voltage measuring
Offset
120 = connection M1-M3 (0=M2-M3, -120=M1-M2)
Sensorless drives
SLS
Sensorless AC motor without feedback encoder
no setting
SLS_SMO
not yet available
SLS_Usens

not yet available

Parameter overview of encoder settings
Short
Function
Setting
symbol
range

Units

FB-Pole
Offset
Inc-Mot
Voltage

No. of encoder poles
Phase angle correction
Encoder resolution
DC tacho voltage

num
degree
pulse/rev.
mV/RPM

Inc-ext
Factor

Resolution of 2nd encoder
Multiplicator SIN/COS inc.

2..12
0 .. +/- 360
1024..8192

4..16

pulse/rev.
num

Notes

ID address

only binary

0xa7
0x44
0xa6

0xcfL
0x7e

In case of changing the feedback parameters it is necessary to reset
the parameter.
Write the parameter set into the EEPROM
(EEPROM<->RAM ) and re-read it.
read

Version 2017 / V1

write

Software – Manual N-Drive 3xx

Enable
Setting X8 as second counter input

10.7 Setting X8 as second counter input
nd

Selection fot the 2 counter input (2nd feedback)+
Off
input switched off
INC-IN
connected as input
INC-OUT connected as output
Hand
Handwheel input
SSI
SSI encoder input
INC-IN
Setting X8 as input for incremental encoder signals
Incremental encoder TTL 5 V A,B,N +push-pull
Bridge between X8:1 and X8:6 (X8 switched as input)
Scale (Factor-ext.):
Calculate the transmission
1 motor revolution = 65536 num (internal counter)
Faktor-ext for the adaption of the 2nd encoder (0x7e)
Encoder_2_Scale = 65536 / encoder pulses per motor revolution *4 from
nd
the 2 encoder
Input at factor-ext. (0x7e) = Encoder_2_Scale * 16384
Example:
1 Motor revolution corresponds to 0.1 encoder revolutions
No. of encoder pulses 1000/rpm
Pulses per motor revolution 0,1*1000*4 = 400
Input at encoder_2_Scale
= 65536 / 400 = 163,840
Input factor-ext. (0x7e)
= 163,840 * 16384 = 2684354
Setting X8 as output for incremental encoder signals
The encoder signals from the motor (feedback) are output across the Dconnector X8 as TTL encoder signals for the CNC control.
Signals: channel A, channel /A, channel B, channel /B, Kanal N, channel /N
The encoder output is floating.
The voltage is supplied through the encoder cable of the CNC/PLC control.
Voltage supply +5 V ±0.2 V
The output signal corresponds to RS485.
Option: Internal supply from the servo
(LBR1+ LBR2)

Resolution:

For the –RS and –SC versions the resolution can be programmed.
For –IN the output corresponds to the no. of encoder pulses.
Factor
Mulitplication factor for the basic no. of pulses for
SinCos (SC)
Inc-Out
Setting value for the no. of pulses for resolver

Pulses per revolution
256
1024
4096

Resolution
10 Bit
12 Bit
14 Bit

Software – Manual N-Drive 3xx

Parameter

Version 2017 / V1

Brake setting

Enable
10.8 Brake setting
Brake setting
The max. braking power of the motor is applied when the
power has been switched off.
According to the electrical brake control the brake delay
(switching on/switching off) corresponds to the respective
type. (Brake delay)
A brake up to 24 V, 1 A can directly be switched by the
digital output.
For braking processes with higher current or voltage values
a relay must be inserted.
The brake output is activated on the page logic in the
parameter field output .
Click the command O-Break in the drop-down menu at
Dout 1, Dout 2 or Dout3 to transfer it to the display field.
Tranfer the operand = (equal) or ! = (not equal) in the dropdown menu by clicking it.
The switching function of the output can be selected by
entering 0 or 1 into the parameter field (standard: 0)
Enter the switch-off delay of the motor brake in the
parameter field → brake delay (0 to 500 ms) of the input
field → motor.
When the brake is active, the state is displayed BRK1 in the
input field state.
Note: Connect a recovery diode or a varistor directly to
the brake connection at the motor.

Brake output on the logic side
Example
Digital outputs
Dout1
Dout2
Dout3

Dout4

Selection
not used
not used
The brake is disconnected
from the power supply when
the enable is switched off.
Set the switch-off delay via
the brake delay.
not used

Version 2017 / V1

Software – Manual N-Drive 3xx

Brake function
When the drive enable is switched off or the CAN command ENABLE OFF is received, the internal
speed command value N cmd Ramp will be ramped down to zero at a rate defined by RampLimit. After a fixed delay time of 50 ms, the Brake parameter will switch from 1 to 0. The braking
power rises. After the programmed time Brake delay has passed, the internal parameter GO is
switched to 0 and the servo is disabled (no torque applied).

Brake release function

If the brake is active and drive enable is switched on, the command value is maintained at 0 and
GO switches immediately to 1.
After 50 % of the delay time (brake-delay) has passed, the brake is switched off, and after the
complete delay time has passed, the command value will increase at a rate defined by Ramp-Acc.

Bremsen

Anfahren

Stillstand

Hardware
Freigabe (RUN)

GO (intern)

Ramp-Limit

Ramp-Acc

Fahrbefehl
z. B. Sollwert

BremsenAnsteuerung

BremsenBremskraft
100%
Brake-Delay

50%
50%
Brake-Delay

Note:
The sum of the times R-Lim plus brake delay must be inferior to 1s.
When the enable is switched-off at 1.1s the hardware of the output stage is disabled.
The electric braking is interrupted and the drive decelerates freely. When the R-Lim plus brake
delay time is too long and has elapsed, the mechanical brake is triggered and stops the drive. der
zu langen Zeit von R-Lim plus Bremse verzug

Software – Manual N-Drive 3xx

Version 2017 / V1

Brake setting

Enable

Ballast circuit setting

Enable
10.9 Ballast circuit setting
For the units with a bus circuit setting (ZW monitor digital) DIG the ballast circuit is directly
controlled from the hardware.
With the bus circuit setting (ZW monitor analog) ANA the ballast circuit is controlled from the
TMS control board.
With an internal ballast resistance the setting parameters of the unit detection is automatically
adjusted.
With an external ballast resistance the values for the resistance (ballast R) and the resistance
power (ballast P) are entered as parameters.

Ballast

INT = internal ballast resistor
EXT = external ballast resistor

Ballast-P
Ballast-R

Enter the resistor power in W
Enter the resistor power in Ohm

With an internal ballast resistance the ballast power is calculated from
the data of the device type.
With an external ballast reistance the ballast power is calculated from the entered values of
Ballast-P and Ballast-R.
The ballast power is displayed as Ballast-Leistung (0x45L) on the monitor side.
The dc bus voltage (DC-BUS dir), the ballast switching pulse (I-Regen, IBallast), and the ballast
power (Ballast counter) can be shown on the oscilloscope.
Selection by means of the drop-down menu.
There will be a warning at 87% of the ballast power (ballast circuit >87 % overloaded 0x8f Bit 31)
and at 100 % the device will be switched off and an error message is displayed (ballast circuit
overloaded 0x8f Bit15).

The function of the ballast circuit is displayed on the servo.
The command value directional bar of the 7-segment display (below left or right) is switched off
as long as the ballast circuit is active.

Version 2017 / V1

Software – Manual N-Drive 3xx

Enable
Motor temperature setting

10.10 Motor temperature setting
Motor temperature watchdog

Parameter motor temperature current reduction

I-red-TM

0xa2

Set I-red-TM only with linear temperature sensor!
Starting from the trigger point of the motor temperature
(I-red-TM 0xa2) the max. current limit is linearly reduced
to continuous current until the switch-off point (M-TEMP
0xa3).
Presetting 0xa2 = 5600
Warning I-MOTORTEMP when the set value is exceeded.
Parameter motor temperature fault switch-off
M-TEMP 0xa3
Presetting 0xa3 = 7000
Warning message at 87 % of the set M-Temp value.
Warning 6 MOTORTEMP >87 %
When the set value is exceeded, there will be the error
message 6 (MOTORTEMP)

Setting with non-linear temperature sensor (PTC resistor)
only motor temperature fault switch-off
M-TEMP
Note: Temperature reduction is not possible

0xa3

Werte von 0xa3 (Num)

12000

10000

8000

6000

4000

2000
0
-20

100

120

130

140

150

160

Motor- Temperatur ( o C)

Example:

Error message and switch-off at 140 °C
Setting M-Temp (0xa3) 4302 Num
For multiple, series connected sensors the set value is increased.

Software – Manual N-Drive 3xx

Version 2017 / V1

Motor temperature setting

Enable
Motor temperature watchdog
Parameter overview of the motor temperature
Short
Function
Setting
symbol
range
I-red-TM Triggering point
0..32000
current reduction
Warning 0x8f-Bit 22
MOTORTEMP
Motor temperatuer >87 %
M-Temp Switch-off point,
0..32000
error message 0x8f-Bit6
MOTORTEMP
Motor temperature >100 %
T-motor
Current motor temperature
0..32000

Motor temperature watchdog

Parameter motor temperatuer current reduction
Parameter motor temperature fault switch-off

Units

Notes

num

Setting
0xa2
parameter

num

Setting
0xa3
parameter

num

Display
0x49
parameter

l-red-TM
M-TEMP

ID address

0xa2
0xa3

Setting with linear sensor type KTY84

Example:

Warning and current reduction from 100 °C
Error message and switch-off at 140 °C

Setting l-Red-TM
Setting M-Temp

Version 2017 / V1

(0xa2) 5748num
(0xa3) 6935num

Software – Manual N-Drive 3xx

Enable
Motor temperature setting

Setting with linear sensor type PT100
Note:
Inaccurate temperature measuring due to a flat characteristic curve and internal
measuring tolerances.
An exact temperature measuring is only possible using a ballast measuring
amplifier.

Werte von 0xa2, 0xa3 (Num)

1600

1400

1200
1036
1000
937
800

600

400

200
0
-30

-20

-10

100

110

120

130

Motor- Temperatur ( o C)

Example:

Warning and current reduction from 100 °C
Error message and switch-off at 140 °C

Setting l-Red-TM (0xa2)
Setting M-Temp (0xa3)

Software – Manual N-Drive 3xx

Version 2017 / V1

937num
1036num

10.11 Setting of the power connection/bus circuit
AC~, DC=
Selection ac or dc voltage
Mains power Rating of the voltage supply in V
supply
Limit of the bus circuit voltage
(Take the setting values of the hardware manual
(bus circuit voltage 0xeb)
DC-BUS
max

Max. voltage limit (software).
200 % correspond to 32767 num = 2x rated voltage.
Setting value for the ballast circuit and over-voltage
watchdog.
Warning at 1.5 times rated voltage
OVERVOLTAGE 0x8f-24
Error message in case of over-voltage
OVERVOLTAGE 0x8f-8, the controller is disabled.
The hardware voltage watchdog works
independently from the software setting.

DC-BUS
min

Minimum voltage limit (software).
200% correspond to 32767 num
Below the min. voltage limit the controller is
disabled. In case of undervoltage the controller is
disabled and the error message ‘undervoltage’
(power voltage) 0x8f-Bit5 is displayed.

Setting values of the hardware manual
Example: MANUAL BAMOCAR

Value of 0xeb [ Num ]
Wert von 0xeb [ Num ]

Setting of the power connection/bus circuit

Enable

30000

25000

20000

15000

10000

5000
0
0
0

50
100

100
200

150

200

300

250
400

300
500

350
600

400
700

450

500

800

900

BAMOCAR 400V
BAMOCAR 700V

Zwischenkreis-Spannung [ V ]
DC-Link voltage

Version 2017 / V1

Software – Manual N-Drive 3xx

Enable
Output stage temperature

10.12 Output stage temperature
For units with an analog recording of the output stage
temperature the software watchdog can be programmed.
(Take the setting values of the hardware manual (bus circuit
voltage 0xeb).
l-red-TD

Setting value for the starting point of the
current limit reduction depending on the
output stage temperature.

l-red-TE

Max. temperature limit (software).
At 85% of the max. output stage
temperature a warning message
DEVICETEMP 0x8f-23 is displayed. When the
max. output stage temperature is reached,
the controller is disabled and the error
message overtemperature 0x8f-7 is
displayed.
The output stage temperature watchdog of
the hardware works independantly of the
software setting.

Setting values of the hardware manual
Example: MANUAL BAMOCAR

Temperatur-IGBT-Bamocar

Software – Manual N-Drive 3xx

Temperatur – Luft - Bamocar

Version 2017 / V1

Setting field for rated servo data

Enable
10.13 Setting field for rated servo data
Servo setting parameters
Short
Function
symbol
Type
Unit type
S-Nr.
Serial unit no.
Axis
Unit position identification
Mains sel
Selection ac/dc voltage
Mains
Power supply voltage
DC BUS max
DC BUS min
ZW monitor
Ballast
Ballast-P
Ballast-R
BTB/RDY

Max. bus circuit voltage
Min. bus circuit voltage
Selection bus circuit
Selection ballast resistance
Ballast resistance power
Resistance value
Selection field BTB

Clock
frequency
Analog out

Drop down menu

Command

Selection field command values

Drop down menu

Setting range

Units

Type plate
Type plate
2 letters
Selection
up to 480~,
up to 560=

Alpha-num
Alpha-num
Alpha-num

analog-digital
internal external
Type plate
5 to 100
with/without bus
circuit voltage
Selection
Selection
Selection
analog digital

V
num
num

W
Ohm

Note

ID address
0x63
0x62
0xf8
0x5a-19
0x64
0xa5 H
0xa5 L
0x5a-Bit 7
0x5a-Bit 1
0x65-L
0x65-H
0x5a-Bit 6
0x5y Bit 20-22

0x36 Bit 12-13

Setting field for rated servo data
Type
The controller type is displayed (changes can only be made in the
factory)
S-Nr.
Serial no. is displayed (factory-set)
Achse
Axis specification 2 digits correspond to the circuit diagram of the
installation (entered by the user)
Main sel.
Power supply voltage AC~/DC= is displayed (factory-set)
Mains
AC and three-phase current voltage AC (30~ to 480 V~)
Battery voltage or dc mains (12 V= to 560 V=)
DC-Bus max.
Switching point bus circuit overvoltage
Error OVERVOLTAGE (overvoltage >1.8 UN) 0x8f Bit 8
DC-Bus min.
Switching point bus circuit under-voltage
Error POWERVOLTAGE (missing power voltage) 0x8f Bit5
ZW monitor
Selection bus circuit watchdog digital-analog (factory-set)
Ballast
Selection list ballast resistance (internal – external)
Ballast-P
Enter the power value for an external ballast resistor. Input in Watt.
In case of a ballast resistor overload a warning message is displayed.
Warning BALLAST (ballast circuit <87 %) 0x8f
Bit 31
Ballast-R
Enter the resistance value for an external ballast resistor. Input in
Ohm. Check the min. value.
BTB-Power
BTB-Message with or without bus circuit under-voltage.
Selection w-out (without) (BTB without under-voltage watchdog)
BTB without under-voltage watchdog.
When the enableand the power supply voltage are switched off the
RUN/BTB message remains active.
Selection with (with) (BTB with under-voltage watchdog)
BTB with under-voltage watchdog.
When the enableand the power supply voltage are switched off the
RUN/BTB is deactivated.

Version 2017 / V1

Software – Manual N-Drive 3xx

Enable
Setting field for rated servo data

10.14 Setting field for rated servo data
Clock frequenz
Selection of the switching frequency of the output
stage
Parameter 0x5a Bit 20-22
Presetting 8 kHz
Selection via the drop-down menu
Selection :
Pulse frequency with constant calculation speed
Values: 8, 12, 16, 20, 24 kHz
Current limits reduced at pulse frequency:
2 to 8kHz
100 %
12kHz
85 %
16kHz……..
70 %
ab 20kHz
20 %
Selection:
Pulse frequency (kHz) with a higher calculation
speed (Ix).
Values: 2 kHz-l4, 4 kHz-l8, 8 kHz-l16
At the pulse frequencies 2 an 4kHz the continuous
performance increases.
Modification of the pulse frequency
Select frequency
Save the parameter set in the EEPROM on level 0
Read the parameter set from the EEPROM level 0
The changed frequency is transferred and the current
limits are reduced.
Analog out
Selection of analog outputs
Selection via the drop-down menu
Analog signals
The output voltage +/- 10 V
corresponds to +/- 100 % of the selected signal.
Digital signals
Selected digital signals provide 0 or +10 V.

Software – Manual N-Drive 3xx

Version 2017 / V1

Command value setting

Enable
10.15 Command value setting
Analog inputs
Click the → button to open the drop-down menu.
Select the command value to be adjusted.
The selected function is highlighted in blue and it is transferred into the display by clicking it.
Cmd Mode
ID address
Digital Speed
Digital speed command value CAN-BUS, RS232, step
0x36-12,13 =0
oscilloscope
Analog Speed
Analog speed command value
0x36-12,13 =2
Analog Torque
Analog torque command value, voltage +/-10V
0x36-12,13=3
across the analog inputs AIN1 and AIN2
Digi+Ana Speed
Digital and analog command values are added
0x36-12,13=1

Analog Speed
Analog speed command value.
Input via terminal strip X1.
Inputs Ain1 and Ain2
Max. input voltage ±11 V corresponds to ±32767 num
Analog Torque
Analog current command value. Input via terminal strip X1.
Inputs Ain1 and Ain2
Max. input voltage ±11 V corresponds to ±32767 num
This value corresponds to 200 % of the rated current
Reversal of the rotation direction for a unipolar command value with direction
signal
The unipolar command value is reversed by means of the direction command
(N cmd Reverse) via the programmed digital input. The input must be adjusted to
N cmd Reverse in the parameter field 'input/output.
Standstill with an analog command value for the speed and torque
Activate Speed Ramp 0 via a digital input or send it via the CAN BUS.
Format
The analog inputs Ain1 and Ain2 are assigned to a function via the format field.
Format Ain1
Off
Cmd
-Cmd
sq (Cmd)
N limit

Format Ain2
Off
Cmd
-Cmd
*Cmd
l limit

switched off
Speed command value
reversed speed command value
quadratical speed command value
Speed limiting 0-100%
for a digital speed and position control
(CmdMode = digital)

switched off
Speed command value is added to Ain1
Speed command value is subtracted from Ain1
Speed command value is multiplied with Ain1
external current limiting 0-200%
(for CmdMode = digital, analog speed or
analog torque)

Version 2017 / V1

ID address
0x36 Bit0-1 =0
0x36 Bit0-1=1
0x36 Bit0-1=2
0x36 Bit0-1 = 3
0.36 Bit15

ID address
0x36 Bit2-3=0
0x36 Bit2-3 =1
0x36 bit2-3=2
0x36 Bit2-3=3
0x36 Bit14

Software – Manual N-Drive 3xx

Enable
Offset

Command value setting

Compensation of the command value zero error the the input is analog.
With the command value OV alter the offset value such that the
parameter Ncmd Ramp is zero.

Zero zone

At an analog command value it is possible, by means of the parameter
zero zone, to set a range in which the speed is kept at standstill.
(Digital capture, 327 corresponds to 1 % of the speed)

Zero zone at speed command value

The command value is switched to zero within this zone. The drive is at a
standstill, no drift (no position parameter entered). For an external
torque which is larger than the servo current limit the drive can be
turned from the neutral position.

Zero zone at speed command value with position hold value

Within the zero zone the drive maintains its zero position by means of an
internal position-current-control.For an external torque which is larger
than the servo current limit the drive can be turned from the neutral
position.When the torque is smaller the drive returns to its zero position.
Note: The parameters must be entered in the parameter field
'position-current'.
Note: When an analog command value is provided from a PLC/CNC
position control, the value 0cut should be very low or zero.

Scale

Multiplication factor for the analog input signals.
Setting value +/- 0 to 7.500
Note: Resulting values superior to 11 V are trimmed. The result of the
command value scaling is displayed on the page ‘speed at’ Ain1, 2
scaled. (Ain1,2 scaled = Ain1,2 on +/- Offset x scale)

Mode

Input range for the analog command values
-10…+10
Bipolar command value +/-10 V
0….+10 V
Unipolar command value
(directional sign on the page ‘Logik‘ via Ncmd Reverse)
4…20 mA
Current command value (external resistance 500 Ohm)
+1…+9
Command value with potentiometer watchdog

External current limit

The analog input Ain2 is selected as external current limit via the format
adjustment I limit .
0 to +10 V correspond to 0-200 % of the current limit for the values
programmed in the parameter field 'current'.

Software – Manual N-Drive 3xx

Version 2017 / V1

Enable
Command value setting

Linear ramp function
Rcw-Acc

Acceleration - positive rotation direction

Rcw-Dec

Deceleration - positive rotation direction

Rccw-Acc

Acceleration - negative rotation direction (1

Rccw-Dec

Deceleration - negative rotation direction (1

R-Lim

Emergency stop, output stage switch ramp
(1

= Function not yet activated

(%)

100

Speed

Acc-Ramp, Dec-Ramp 300
Acc-Ramp, Dec-Ramp 400

Sollwert

Nmax 100%

N-lim 60%

0
200
400
konstante Beschleunigung

600

800
Zeitachse

1000

Linear ramp
Time input for 100 % command value
Constant acceleration
Current peaks and acceleration and deceleration peaks are reduced.

Version 2017 / V1

Software – Manual N-Drive 3xx

Enable

S-Faktor
groß

Command value setting

S-Ramp function / not yet active

Speed limit 100%

S-Faktor
klein

Speed

(%)

Speed limit 50%

Beschleunigung
lineare Rampe

Beschleunigung
S-Rampe

725ms

Zeitachse

S-Ramp function
The linear time function is altered to a S-shaped function (sine2).
The constant acceleration and deceleration is altered to continuous changing.
Jerk and current peaks are considerably reduced.
Command value limited for speed limiting
N-Lim

N-lim+
N-lim-

Speed limiting inferior to Nmax, (0 to 99 % of Nmax)
Setting of max. speed at position control.
Speed limiting inferior to Nmax for positive rotational direction (0 to 99 %=Nmax)
Activated via the logic input N clip(neg&pos)
Speed limiting inferior to Nmax for negative rotational direction (0 to -99 %=Nmax)
Activated via the logic input N clip(neg&pos)

Software – Manual N-Drive 3xx

Version 2017 / V1

BTB / RDY setting

Enable
10.16 BTB / RDY setting
BTB/RDY message (relay contact)
The BTB relay contact (solid state relay) is closed when the device is
ready (residual resistance 30Ohm). The BTB contact is opened when an
error occurs (resistance >1 MΩ).

RUN/FRG

POWER/Netz

The state BTB/Rdy (ready) is is displayed in the state field as Rdy.
The state 'not ready/BTB (error)' is indicated by the red LED 'fault' on
the front side.

DC-BUS/
Zwischenkreis

RDY/BTB

BTB and the power supply voltage
When the power supply voltage is switched off the message state can be
selected via BTB power in the parameter field servo of the setting
window (under-voltage watchdog).
Selection BTB Power without
BTB without under-voltage watchdog.
When the enable and the power supply voltage are switched off, the
message RUN/BTB remains active.
Selection BTB Power with
BTB with under-voltage watchdog.
When the enable and the power supply voltage are switched off, the
message RUN/BTB is deactivated.

Error message and BTB/RDY
When a system-endangering error X (see list of errors) occurs, the BTB
signal is switched off. The drive will immediately be disabled internally.
(O_GO (OxE3) = 0)

FAULT

On the Servo:
The red LED 'fault' (0x8f Bit 1) lights.
The error no. is indicated in the 7-segment display.
On the pc:
The error states are displayed in the field 'fault'.
The error messages are reset:
- when the drive enable (RUN) is switched on
- when the auxiliary voltage (+24 V) is switched on
- when the parameter 'cancel error' is sent (can also be
programmed as digital input by page Logic)

Version 2017 / V1

Software – Manual N-Drive 3xx

CAN-BUS settings
Settings CAN-BUS

11 CAN-BUS settings
11.1 Settings CAN-BUS

Input fields:
Rx ID
Tx ID
BTR
(Hexwert)

Information

Receive ID
Send ID
Bit rate

-Brp
-Sjw
-Tseg1
-Tseg2
-Sam

NBT Bit rate

Selection switch
Position
Function

0-14
Supplementary value for the basis ID

(kBaud)

15
see chapter ‘firmware download‘

The addresses for receive/send ID and the bit rate are set in the CAN bus parameter field of the
setting window. Switch the auxiliary voltage off and on after changes have been made in the CAN
programming!
Address
Receive address
Send address
Bit rate NBT
1000 kBaud
500 kBaud
625 kBaud
250 kBaud
125 kBaud
100 kBaud

Short symbol
Rx ID (COB-ID RPDO1)
Tx ID (COB-ID TRDO1)
BTR setting value
in prep.
0x4025
0x4014
0x405C
0x4325
0x4425

Software – Manual N-Drive 3xx

Presetting (default)
0x201
0x181
Max. cable length
20 m
70 m
70m
100m
100 m
100 m

Version 2017 / V1

ID address
0x68
0x69
0x73
Presetting
LABOD-CNC

11.2 Aufbau serielles Protokoll

RS 232 16 bit
Sending from the pc to the drive
Char1

Char2

Char3

Char4

Char5

Char6

Char7

Byte 1

Byte 2

Response from the drive
to the pc

RegID
Bits
07..04
ascii

RegID
Bit s
03..00
ascii

Data
Bits
15..12
ascii

Data
Bits
11..08
ascii

Data
Bits
07..04
ascii

Data
Bits
03..00
ascii

Sync
"X"

Data
Bits
07..04
binary

ascii

RS 232 32 bit
Sending from the pc to the drive
Char1

Char2

Char3

Char4

Char5

Char6

Char7

Char8

Char9

Char10

Char11

Byte1

Byte2

Byte 3

Byte4

Response from the drive
to the pc

RegID
Bits
07..04
ascii

RegID
Bits
03..00
ascii

Data
Bits
31..28
ascii

Data
Bits
27..24
ascii

Data
Bits
23..20
ascii

Data
Bits
19..16
ascii

Data
Bits
15..12
ascii

Data
Bits
12..08
ascii

Data
Bits
07..04
ascii

Data
Bits
03..00
ascii

Sync.
„X“

Data

Bits
07..04

bits
07..04

Bits
07..04

binary

Char3

Char4

Char5

Char6

Char7

Byte 1

Byte 2

RegID
Bit s
03..00

Data

Sync

Data

Bits
15..12

Bits
11..08

Bits
07..04

Bits
03..00

"X"

Bits
07..04

speed actual
actual speed value (0x30)

ascii

Version 2017 / V1

binary

Response from the drive
to the pc

RegID
Bits
07..04

regID read
read (0x3D)

binary

+/-32767 corresponds to +/-100 %

Char2

Example: Speed actual (actual speed value) 16 bit
Sending from the pc to the drive

ascii

Bits
07..04

Char1

Aufbau serielles Protokoll

CAN-BUS settings

value of 0x30

Software – Manual N-Drive 3xx

CAN-BUS settings
Interface RS232

11.3 Interface RS232
Changing the baud rate in the drive
Selection

9600 or 115200

Default 115200
Setting with 0x5a Bit 15 (0x8000)
Bit 15 0
Bit 15 1

corresponds to 115200
corresponds to 9600

The baud rate saved in the device is display when switching on the auxiliary voltage 824V=), (after
the firmware version is displayed).
Bd0
Bd1

corresponds to 115200
corresponds to 9600

First, the firmware version is displayed (e.g. 2 3 2),
then the baud rate (e.g. b d 0)

Software – Manual N-Drive 3xx

Version 2017 / V1

Current controller parameters

Parameter
12 Parameter
12.1 Current controller parameters
Setting window for the
controlling parameters.
For further settings refer
to the pages 'speed' and
'oscilloscope'.

Parameter
Kp
Ti
TiM
xKP2
Kf
Ramp
I max
I max
I con
I con
T peak
I limit (dig)
I-red-N
I-red-TD
I-red-TE
l-red-TM

Function
Proportional amplification
Integration time
max. integrat. time memory
TiM discharge amplification
Current pilot control
I command value ramp
Current limit, peak current
Current limit, peak current
Current limit, cont. current
Current limit, cont. current
Over-current time
Current threshold value
Current reduction by speed
Start of current reduction
by power stage
temperature
Stop of current reducation
by power stage
temperature
Current reduction by motor
temperature

Setting range
0 to 100
150 to 10000
0 to 100
0 to 100
0 to 30
0 to 10000
up to 2x I device
up to 2x I device
0 to I device
0 to I device
0 to 30
0 to 100 lmax
0 to 100
0 to 32767

Presetting
10
600
50
0
0
600
2xIdevice
2xIdevice
Idevice
Idevice
5
100
100
21000

Units
Num
ms
%
%
Num
ms
Apeak
Apeak
Aeff
Aeff
s
%
%
num

Step
1=0.1
150
1
1
1
150
0,1
0,1
0,1
0,1
1
1
1
1

ID address
0x1c
0x1d
0x2b
0xc9
0xcb
0x25
0xc4
0xc4
0xc5
0xc5
0xf0
0x46
0x3c
0x58

0 bis 32767

23000

num

0x4c

0 bis 32767

5600

num

0xa2

Version 2017 / V1

Software – Manual N-Drive 3xx

Parameter
For the digital communication via RS232 or CAN-BUS the numerical values for the rated value
have to be observed. The numerical values are displayed in the track field.
Actual current range

I 100% (0xee)

Calibration rated current I-device

Max. value +/- 9Bit
DS 205/403/405
DS412
DS420
DS 450
DPC 450
DPC 460
DS 475 / BAMO-D3
BAMOBIL-D3- 50/ 250
BAMOBIL-D3- 80
BAMOBIL-D3- 100
BAMOBIL-D3- 120
BAMOBIL-D3- 350
BAMOBIL-D3- 450
BAMOCAR-D3-250
BAMOCAR-D3-400

mV
550
800
700
416
416

num
440
640
560
328
328

Aeff
5
12
20
50
50

416
870
560
700
840
610
785
625
500

328
700
450
560
670
490
630
700
560

75
25/125
40
50
60
175
225
125
200

Current controller setting window

Note

Apeak=
7
17
28
70
70

Peak current
DC disabled
Num
Apeak=
640
10
920
24
800
40
480
100
480
100

105
35/175
56
60
84
245
315
176
282

480
1020
650
800
970
710
910
1020
810

Limiting in the parameter
field 'motor' and 'current'.

150
50/250
80
100
120
350
450
250
400

The lower value is effective.

The current controller parameters are determined by the motor data such as winding inductance
and winding resistance.
Note:
The current controller parameters may only be modified by trained and skilled personal.
Check all setting effects by means of the NDrive oscilloscope.
Improperly set amplification parameters may damage the controller or the drive.
Control parameters
Kp
Input for the proportional amplification in the current
controller.
Setting range 0 to 100 (nominal 10 to 40)
Presetting 10
Formula:

Kp too low:
compensation error, bad dynamics, low-frequ. vibrations
Kp too high:
strong motor noise, high-frequency vibrations
Note: overshoots on the current actual value. Optimize the
amplification to min. overshoots.
Input for the integration time in the current controller.
Integral – time constant
Setting range 150 to 10000 (nominal 600 to 2000)
Presetting 800
Ti too high: low-frequency vibrations
Ti too low: high-frequency vibrations, strong vibration
tendency
Software – Manual N-Drive 3xx

Version 2017 / V1

Current controller parameters

Conversion of the current parameter values

Parameter
Current controller parameters

TiM

xKp2

Ramp

Max. value from the integral memory
Setting range 0 to 100% (nominal 70 to 100 %)
Presetting 85 %
If adjusted too low, the speed (output voltage) is not
reached.
Amplification factor for the attenuation of the current actual
value overshoots.
Setting range 0 to 100 % (nominal 10 bis 50 %)
Presetting 0%
If adjusted too high, there is a risk of current oscillations.
Pilot control for the compensation of the operating delay in
the controller.
Setting range 0 to 100 % (nominal 10 bis 50 %)
Presetting 0%
If adjusted too high, there is a risk of current oscillations.
Current increase limiting
The current increase to 100 % type current iss et in µs.
Setting range 0 to 100 % (nominal 10 bis 50 %)
Presetting 0%
If adjusted too high, there is a risk of current oscillations.

Current limits
l max pk
Input for the peak current from 0 to 100 %
100 % = 2*l device in A pk
Display in A pk in the field I max pk (A eff = 0.707x Apk)
I con eff
Input for the continuous current from 0 – 100 %
device ratet currnt (l device)
Display in A eff in the field I con eff below

Version 2017 / V1

Software – Manual N-Drive 3xx

Parameter
Current reduction parameters

12.2 Current reduction parameters
Static current reduction
Current reduction
by means of

Symbol

Function

Parameter

Range

Motor

I max eff
I nom eff

Peak current limiting for the motor
Continuous current limiting for the
motor (type plate)

0x4d
0x4e

0 to xxA
0 to xxA

Servo

l max pk
l nom eff

Peak current limiting for the servo
Continuous current limiting for the servo

0xc4
0xc5

0 to 100 % of Imax
0 to 100 % of Icon

The respectively lower value of the peak current values and continuous current values are
effective. They are displayed as current Imax (in A) in the parameter field 'servo' and as icon.

Dynamic current reduction
Current reduction by
means of
Time
Input (command)
Speed
Power stage temp.

Short symbol

Function

Parameter

Range (with 0 = off)

T peak
I lim-dig
I red-N
I-red-TD

0xf0
0x46
0x3c
0x58

0 to 300 s
0 to 100 % Imax
0 to 32767 Num
15000 to 24000 Num

Power stage temp.

I-red-TE

Over-current time function
Reduction via digital input (CAN)
Over-current speed function
Start of reduction via power stage/IGBT
temperature
End current reduction by power stage
/IBGT temperature
Emergency stop via the power stage
temperature
Reduction via the motor temperature

0x4c

0 to 32763 Num

(Fix)

25200 Num (83 °C)

Power stage shut off
Motor temperature

I-red-TM

0xa2

T peak

At a current superior to the adjusted continuous current (Icon) a time
function is started. When the time function is elapsed the current limit is
reduced to the continuous current value.
Warning message in the state Iuse-rchd
The time is set by means of the parameter T peak (0xf0). If the current is
lower than the continuous current (Icon) the time memory is removed.
The reset time is 2 x T peak.
If the output stage temperature reduction has been selected by means of
the parameters I-redTD and I-red-TE the time function is switched off.

I lim-dig

On the logic page a digital input can be programmed at I limit (dig) .
If this input is activated or if a CAN command is received for this input, the
current limiting is reduced to the parameter value I lim-dig (0x46) .
The current limit is linearly reduced from the speed value set in the
parameter I-red-N (0x3c).
At rated speed the current limit corresponds to the continuous current.
There is a state message when the output stage temperature set in the
parameter I-red-TD (0x58) is exceeded.
If the temperature still increses, the current limit is reduced.
When the parameter value I-red-TE (0x4c) is reached, there will be an
emergency switch-off. If I-red-TD (0x58) is set to 0 or if the value of I-redTE (0x4c) is smaller than I-red-TD (0x58), the function is switched off.
There is a state message when the motor temperature set in the
parameter I-red-TM (0xa2) is exceeded.
If the temperature still increses, the current limit is reduced. When the
parameter value M-Temp (0xa3) is reached, there will be an emergeny
switch-off.

I-red-N
I-red-TD
l-red-TE

I-red-TM

Attention:

0xa3

State
Ird-Dig

0 to 32767

Warning

Error

Ird-N
Ird-TI

IRD-TM

DEVICETEMP
> 87 %
0x8f BIT23

MOTORTEMP
> 87 %
0x8f BIT22

DEVICETEMP
0x8f Bit7

MOTORTEMP
0x8f Bit6

The warning messages displayed in the field 'state' must be observed!
If the current limits are reduced, this might cause failures of the machine or the
installation.

Software – Manual N-Drive 3xx

Version 2017 / V1

Current reduction functions

Parameter
12.3 Current reduction functions

States
Ird-dig

Iuse-rchd
Ird-N
Ird-TIR
Ird-TI
<10Hz

Ird-TM
Ird-Ana
Iwcns

address
Current limit reduced to the value programmed as Ilim(dig).
Activated with 0xa5 Bit
Actual current value at the current limit
The current limit is reduced when the speed is rising
The current limit is reduced when the output stage
temperature is rising
The current limit is reduced to continuous current via the
output stage temperature
If the roatation frequency is smaler 10Hz (blocking
protection) (0x5a, bit31=0) current limit will be reduced,
(0x5y, bit 31=0) switching frequence will be set to 4 kHz.

0x40 Bit 20

The current limit is reduced when the motor temperature is
rising
The current limit is reduced via the analog input 2,
0 to 10V = 0 to 100% peak current
Warning - current limit accumulator (accumulator limit)
charged to 87.5%.
The current limit is reduced to continuous current

0x40 Bit26

Icns
Measured values (monitor)
Active motor temperature
Tmotor
Active output stage temperature
Tigbt
Active air temperature in the servo
Tair
Active current limit
Irda

Version 2017 / V1

0x40 Bit 21
0x40 Bit 22
0x40 Bit24
0x40 Bit23
0x40 Bit25

0x40 Bit 27
0x40 Bit28
0x40 Bit5
0x49
0x4a
0x4b
0x48

Software – Manual N-Drive 3xx

Parameter
Current controller parameters

12.4 Current controller parameters
Speed window (current)

Current controller

Block diagram with input fields for the control parameters and display fields for numeric values.
Command values (current)
I Spd
I Tor
I Pos
I man
I cmd
I cmd-Ramp

The current command valueis provided by:
Speed controller output
Torque command value after ramp
Position controller output (Pos -> current)
Fixed input
Current command value
Current command value after ramp and limiting

input
display
display

0x21
0x26
0x22

Actual values (current)
Iq actual
Id actual
I act
I act monitor

Active current
Reactive current
Summary current
Summary current after display filter

display
display
display
display

0x27
0x28
0x20
0x5f

Bus voltage
Output voltage

display
display
display
display
display
display
display

0x38
0x39
0x23
0x29
0x2a
0xeb
0x8a
0x8b
0xac
0x8d

Stromregel-Werte
Iq error
Id error
Id ref
Vq
Vd
DC-BUS
V out
V red
V kp
V Ti

Software – Manual N-Drive 3xx

Version 2017 / V1

ID address

Current controller parameters

Parameter
Setting field Ramp
Parameter
Ramp
I max pk
I con eff
Tpeak
I-lim-dig
It
I lim inuse

Parameters are also on the page
‘settings‘
Function
Address
I-command value ramp
0x25
Peak current Apeak
0xc4
Continuous current
0xc5
Time peak current
0xf0
Current reduction with input 0x46
Load
0x61
Display current reduction
0x48

The current command value (I cmd) is processed in the setting field (ramp). The current increase (ramp), the peak
current (Imax), the continuous current (Icontin), and the peak current time (T peak) are set.
The summarized current reductions through speed, current, and temperature are displayed at I limit and I lim
actual.
At reeduced current the LED Ireduced lights. The result of the current command value processing is shown in the
display field ‘current command value after ramp’ (I cmd-Ramp).
Setting field - Current controller

Parameters are also on the page
‘settings‘
Parameter
Function
Address
Kp
Proportional amplification
0x1c
Ti
Integration time
0x1d
TiM
Max. integration time memory
0x2b
???
???
0xcc
Setting field - Field control
Id nom
0xb2
Id min
0xb5
V red
Field weakening from % Vout
0x8b
V kp
Amplification field weakening
0x8c
V Ti
Integration time field weakening
0x8d
The current actual values (I-Ist1, I-Ist2, I-Ist3) are evaluated as Iq-actual and Id-actual. The displayed current actual
value (I act monitor) is obtained from the current actual value (I actual) by means of a filter.
The Iq and Id errors are processed in the current controller by means of the amplification parameters (Kp, Ti, TiM).
The reference value for the Id control is generated via the vector control feedback.
PWM Display

Parameter
Vdc-Bus
V out
PWM1
PWM2
PWM3

Parameters are also on the page ‘settings‘

Function

PWM level
PWM level
PWM level

Address
0xeb
0x8a
0xac
0xad
0xad

The PWM pulses for the output stage circuit are generated from the
current controller output signals Vq and Vd.

Version 2017 / V1

Software – Manual N-Drive 3xx

Parameter
The current controller parameters may only be modified by trained and skilled personal. Setting the
current controller is only necessary for unidentified motors. Preset a step function for free-running
motors. View the current command value (I cmd) and the actual current value (I actual) at the
oscilloscope. The actual value must always be smaller than the command value.

Setting of the parameter (Current, Kp, Ti, TIM)
KP value too small

The difference between the current command value (lcmd) and actual current
value (lactual) is to large.
The max. torque is not reached at high speeds.

KP value to high

The actual current value overshoots the current command value.
Rough operation and motor noise.

Correct KP value

Actual current value does not oscillate.
The difference between the current command value (lcmd) and actual current
value (lactual) is optimal (correction error <5 %)

Integral part

Parameter Ti too large.

Integral part

Parameter TiM too small.
The speed is not reached at max. speed and max. current.

Software – Manual N-Drive 3xx

Version 2017 / V1

Current controller parameters

Setting of the current controller amplification

Speed controller parameters

Parameter
12.5 Speed controller parameters

Setting window for the speed
controller parameters
For further settings please refer
to the pages 'speed' and
'oscilloscope'

1 NDrive-Einstellungen-Para-alles-2

Parameter
KP
Ti
Tv
TiM
Kacc
Filter
Ramp-sel
Rcw-Acc
Rcw-Dec
Rccw-Acc
Rccw-Dec
R-Lim
N max 100%
N-Lim
N-lim +
N-lim-

Function
Proportional amplification
Integration time
Rate time
Max. integration time memory
Acceleration amplification
Speed - actual value filter

Setting range
0 to 200
1 to 100
1 to 1000
0 to 100
0 to 100
0 to 10

Presetting
50
10
0
50
0
5

Units
num
ms
ms
%
%
Num

Step
1=0.1
0.75
0.75
1
1
1

ID address
0x2c
0x2d
0x2e
0x3b
0x5b
0x5e

Speed command value ramp,
acceleration
Speed command value ramp,
deceleration
Speed command value ramp,
acceleration
Speed command value ramp,
deceleration

0 to 10000

100

0.75

0x35

0 to 10000

100

0.75

0xed

0 to 10000

100

0.75

0x35

0 to 10000

100

0.75

0xed

Min. speed command value ramp
Max. speed (for 32767 Num)
Speed limit
Positive speed limit
Negative speed limit

0 to 10000
600 to 50000
0 to 100
0 to 100
0 to 100

10
3000
100
100
100

ms
RPM
%
%
%

0.75
1
1
1
1

0xc7
0xc8
0x34
0x3f
0x3e

Actual speed value range
Max. value +/-32767 (15Bit-1)

Calibration speed n-max
Nmax value set in the parameter
fields = 32767 = 100 %

Version 2017 / V1

Limiting
Limiting via the parameter field
speed with N-Lim

Software – Manual N-Drive 3xx

Setting field for the speed controller

The amplification parameters KP, Ti, Td, and TiM of the speed controller must be adapted to the
drive conditions of the drive and optimized.
(also see MANUAL commissioning instructions)
Amplification parameters
Parameter
Kp
Input for the proportional amplification in the speed controller.
Setting range 0 to 200 (nominal 10 to 80)
Presetting 40
Formula:

TiM

Kacc

Filter

Kp too low:
compensation error, bad dynamics, low-frequ. vibrations
Kp too high:
strong motor noise, high-frequency vibrations
Optimize the amplification to min. overshoots.
Input for the integration time in the current controller.
Integral – time constant
Setting range 150 to 10000 (nominal 600 to 2000)
Presetting 800
Ti too high: low-frequency vibrations
Ti too low: high-frequency vibrations, strong vibration
tendency
Input for the presetting time in the current controller.
Differential – time constant
Setting range 3 to 100ms (nominal 6 to 20)
Presetting 6
Ti too high: high-frequency vibrations, strong vibration
tendency
Max. value from the integral memory
Setting range 0 to 100% (nominal 20 to 50 %)
Presetting 20 %
If adjusted too low, the speed is not reached.
Dynamic acceleration value directly to the current controller.
Setting range 0 to 100 % (nominal 10 to 50 %)
Presetting 0 %
If adjusted too high there is a risk of current oscillations.
Filter for the actual speed value. Zero without filter, 10 is the
max. filter effect.
Low filter values: motor noise may occur
High filter values: low-frequency vibrations may occur

Software – Manual N-Drive 3xx

Version 2017 / V1

Speed controller parameters

Parameter

Speed controller parameters

Parameter
Speed command value ramp
Rcw-Acc
Acceleration ramp, positive direction of rotation for
speed and position control (can be selected for the
reference run)
Rcw-Dec
Deceleration ramp, positive direction of rotation only for
speed control. Set to <10 ms for position control.
Rccw-Acc Acceleration ramp, negative direction of rotation for
speed and position control
Acceleration ramp for torque control.
Rccw-Dec Deceleration ramp, negative direction of rotation only for
speed control. Set to <10 ms for position control.
Deceleration ramp for torque control.
R-Lim
Minimum braking ramp at limit switch an emergency stop
(can be selected for the reference run).
Speed limits
N maxMaximum speed. The set value corresponds to the num.
100
value of +/-32767 equals 100 %.
N-Lim
Speed limiting by means of Nmax, (0 to 99 % of Nmax)
Max. speed setting for position control.
At torque control as speed limiting 0 to 99 %, at 100 %
the speed limiting is not effective.
N-lim+
Speed limiting inferior to Nmax for a positive rotation
direction (0 to 99 % of Nmax)
Activated via logic input N clip (neg&pos)
For electric vehicle
Brake Car Setting on the logic page (digital input):
Current limit for braking current at torque command
value zero
N-limSpeed limiting inferior to Nmax for a positive rotation
direction (0 to 99 % of Nmax)
Activated via logic input N clip (neg&pos)
For electric vehicle
Brake Car Setting on the logic page (digital input):
Current limit for braking current at braking switch active.

Version 2017 / V1

Software – Manual N-Drive 3xx

Parameter
Speed controller parameters

12.6 Speed controller parameters
Page ‘Speed’ (Speed controller)

Schematic diagram with input windows for control parameters and display windows for numerical values
Speed command values
Analog
IN1 / IN2
Offset
IN1 / IN2
Cutoff
IN1 / IN2
Scale
IN1 / IN2
Analog int
IN1 / IN2
Dig-Torque
Dig-Speed
Dig-Cutoff
N-Pos

The speed command value is provided by:
Analog input 1
Correction of the zero point error
Scale for the input value
Processed command value
digital torque command value
digital speed command value
Position controller output Pos->Speed

ID address
0xd5 L / 0xd6 L
0x2f L / 0xd7 L
0x50 / 0x53
0x2f H / 0xd7H
0xd5 H / 0xd6 H
0x90
0x31
0x1e

Actual value
Speed actual
Filter
N actual
N act monitor

Speed actual value signal
Filter for the speed actual value
Speed actual value signal for the control
Speed actual value signal for the display

0x5e
0x30
0xy8

Speed control values
Ncmd Ramp
N actual
N error

Speed command value for the control
Actual speed value for the control
Speed command value minus actual value

0x32
0x30
0x33

Software – Manual N-Drive 3xx

Version 2017 / V1

Speed controller parameters

Parameter
Display input field for analog command values
Parameter
Ain x on
Offset
Zero zone
Scale
Ain x scaled

Function
Terminal voltage in num (32767)
Offset correction input amplifier
Command value - zero range
Amplification factor
Processed command value
Ain x sc. = Ain x on +/- Offset x Scale

Input 1(Ain1)
0xd5L
0x2fL
0x50
0x2fH
0xd5H

Input2 (Ain2)
0xd6L
0x2fL
0x53
0xd7H
0xd6H

Display input field for analog command values

The direct input values of Input1 and Input2 are displayed under Analog IN.
These signals are processed by means of the parameters offset, cutoff and scale. The result is displayed
under ‘Analog int‘.
It is possible to select either the analog or the digital command value by means of the selection switch
‘analog’ and ‘digital’. When both switches are closed, the digital and the analog command value are
added.
The sum at Ncmd must be equal or inferior to 32767 Num.
The digital command values can be entered as digital speed, digital torque, or they are provided by the
position controller (NPos).
Switch field1 (controlled by means of digital inputs)
Command
green function
Enable

Enable hardware+software

Internal enable (output stage)

Lim -

Limit switch minus

Lim +

Limit switch plus

Nc RO

Command value zero

Brake

Speed - ramps
Rcw Acc
Acceleration ramp right
Rcw Dec
Braking ramp right
R-Lim
Emergency stop ramp
Command value limits
N-Lim
Speed limit inferior to 100%
N-Lim+
Speed limit right (positive)
N-LimSpeed limit left (negative)

0x35L
0xedL
0xc7
0x34
0x3f
0x3e

The speed command value is only transmitted (green) at enable (Enable) and internal enable
(GO). It is shown in the display field ‘speed command value‘ (N cmd).
Switching field 2
When the enable (Ena), the limit switches (Lim-, Lim+), not speed=0, and not brake are switched
(green), the speed command value (N cmd) in the setting field (ramp) is processed.
Ramp field
The acceleration ramp (Ramp-Acc), the deceleration ramp (Ramp-Dec), the limit switches
‘emergency stop’ ramp (Ramp-Limit), and the speed limits (speed-limit, N-limit+, N-limit-) are set.
The result is shown in the display field ‘speed command value after ramp’ (N cmd-Ramp).

Version 2017 / V1

Software – Manual N-Drive 3xx

Speed controller parameters
(Parameters are also on the page ‘settings‘)
Parameters
Kp
Proportional amplification
Ti
Integration time (integral part)
Td
Presetting time (differential part)
TiM
Max. value integral memory (Ti)

Address
0x2c
0x2d
0x2e
0x3b

The actual speed value (speed actual) is displayed after the filter in the field ‘actual speed value’ (N
actual). At the mix point the actual speed value is subtracted from the speed command value.
The result is shown in the display field ‘speed error‘ (N error).
The speed correction error is processed in the speed controller (PID amplifier). The proportional
amplification (Kp), the integral part (Ti), the differential part (Td), and the memory limit for the speed
controller are set.

Software – Manual N-Drive 3xx

Version 2017 / V1

Speed controller parameters

Parameter

Speed controller optimization

Parameter
12.7 Speed controller optimization
Setting of the speed controller amplification
The setting of the speed controller is determined by the load, the friction and the inertia
presented by the driven axis.
Preset a step function to optimise the settings by monitoring the response at a step input.
The oscilloscope window incorporates a step generator for testing.
Monitor the speed command value (N cmd-ramp) and the actual speed value (N actual) on the
oscilloscope. For further information refer to the commissioning manual.
Speed controller adjustment of the parameter Kp without integral component (Ti = 0)

KP too low
(Timax = 0)
The difference between the speed command value (NcmdRamp) and the actual speed value (N actual) is too large.
The speed command value is not reached and the acceleration
is too weak.
The drive reacts smoothly to command value changes and it
can be rotated at standstill.

KP too high
(Timax = 0)
The actual speed value overshoots the speed command value
significantly.
Rough operation, strong tendency to vibrations (even at
standstill), and motor noise.

Correct KP value
(Timax = 0)
The difference between the speed command value and the
actual speed value is optimal (control error approx. < 5%).
Remaining errors can be eliminated by means of the integral
adjustment.

Version 2017 / V1

Software – Manual N-Drive 3xx

Parameter
Speed controller optimization

Speed controller setting parameters Kp, Ti und TiM
Setting integral part (optimal Kp value)
Ti value too low
Short overshoots with tendency to high-frequency oscillations.
Ti value too high
Long overshoots with tendency to low-frequency oscillations.
Adjust the correction error (overshooting) to minimum by
means of the parameter TiM. Select the Tim value as small as
possible.
Optimally set speed controller
Kp value, Ti value are optimal
No overshooting of the speed.
TiM value optimal
There is no speed error occuring.

Software – Manual N-Drive 3xx

Version 2017 / V1

Field weakening mode

Field weakening at synchronous motors
13 Field weakening at synchronous motors
13.1 Field weakening mode
The field weakening mode at synchronous motors with surface magnets is only possible within a
small range (max factor 1.2) and thus, not economically viable.
At synchronous motors with integrated magnets (salient-pole machines) it is possible to achieve
speed ranges up to the factor 4. At optimal rating the motor and the servo can in this case be
dimensioned smaller.

Note:

If the field weakening (power supply switch-off, error switch-off, etc.) fails at max. speeds, the
motor can generate high induced voltages.
For devices connected to the power supply the threshold voltage is 400 V or 800 V. For batterydriven devices the counter voltage must always be inferior to the battery voltage.
If the devices or batteries have no external protective circuit they may be destroyed in case of
motor overvoltages.
Presettings
Motor dates

Setting parameters - Field weakening
Parameter
Id nom
nominal Id-current 100 %
Id min
min. Id-current -50 to -80 %
from set current at motor
I nom eff
V red
Output voltage for the field
weakening (90 to 50 %)
V Kp
Control amplification for the
field weakening (500-2000)
V Ti
Rated time field control
(0-2000)
Note: tendency to oscillate

Address
0xb2
0xb5
0x8b
0x8c
0x8d

Version 2017 / V1

Software – Manual N-Drive 3xx

Field weakening at synchronous motors
Field weakening mode

Without field weakening
The speed (blue characteristic) is not reached at max.
output voltage.
Id –current (light blue characteristic) is controlled to
zero.
After the acceleration to the braking (idle speed
operation) the Iq –current (red characteristic) is at a low
value.

With field weakening
The speed (blue characteristic) is reached.
Id-current (light blue characteristic) is compensated
during the field weakening.
At motors with surface magnets a high Id current flows
for only a small increase in speed.
After the acceleration to the braking (idle speed
operation) the Iq –current (red characteristic) is at a low
value.

Software – Manual N-Drive 3xx

Version 2017 / V1

Torque control

Torque control
14 Torque control
14.1 Torque control

Analog or digital command value as torque command value.
Analog command value 10 V or digital command value (0x90 = 32767num) correspond to 100 %
Imax
The torque command value signal is directly transmitted to the current converter via the torque
ramps (M R-Acc, M R-Dec).
When there is no speed limiting (N-lim 100) the idle speed is only limited by the max. voltage.
When the speed limit < 99 % the speed controller starts limiting.
Analog 1 skaliert or M set (dig) display the torque command value.
Ncmd and Ncmd (ramp) display the numerical value of the limiting (0..99 %=0..32350)
Amplification parameter in the speed controller Kp> 20, Parameter TiM =0 (no integral value)

Version 2017 / V1

Software – Manual N-Drive 3xx

15 Position controller parameters
15.1 Setting of the position controller

Setting window for the position
controller parameters.
For further settings please refer to the
pages 'position' and 'oscilloscope'.

Position speed
Parameter
Function
Kp
Proportional amplification
Z Factor
Ti
Integration time
Tv
Rate time
TiM
Max. integration time memory
Reference position
Parameter
Function
Speed compared to the reference
Speed to
Speed from
Reso Ed
Dec-Ramp

position
Loop speed

Setting range
0 to 200

Presetting Units
70
num

Step
1=0.1

ID address
0x6a

1 to 100
1 to 1000
0 to 100

0
0
0

0.75
0.75
1

0x6b
0x6c
0x71

Setting range
10 to 32000

Presetting
3000

Units
num

Step
1

ID address
0x76

10 to 2000

500

num

0x77
0x75
0x78

Setting range
0 to 2000
0 to +/-32676

Presetting
100
0

Units
num
num

Step
1
1

ID address
0x79
0x72

ms
ms
%

Switching of 'ramp acc' or 'limit'

Parameter position
Paramter
Function
Tol window Window - position message
Ref- Off
Zero offset
ND-Scale

Software – Manual N-Drive 3xx

Version 2017 / V1

Setting of the position controller

Position controller parameters

Setting of the position controller

Position controller parameters

Pos->Speed

The amplified position error is the speed command value.
Proportional control amplification
KP
Proportional amplification position control
circuit.
Determines the slope of the deceleration ramp.
Formel
Note: The position control is switched off when no KP-vaue
is entered.
Dynamical control amplification
(only effective in the target range)
Ti
Integral part
Td
Differential part
TiM
Threshold value integral part

Address
0x6a

0x6b
0x6c
0x71

Pos reference run
The zero point of the incremental measuring system is
determined by means of the reference run.
Speed to
Speed
from
Reso Ed

Speed to the limit switch. The limit switch is
passed depending on the speed.
Reverse speed back to the zero pulse. (loop
speed)

Ref-Ramp

The ramp of the reference run is selected
from the ramps RCW-Acc and Ramp-lim.
Pos parameters
Tol
Position tolerance window (numerical value)
window
Reference
Mechanical zero offset (numerical value)
Offset
ND-Scale

0x76
0x77
0x75
Selection
0x79
0x72
0x7c

One motor revolution corresponds to the numerical value of 65536.
The position command values or the parameter values which are sent from the
control via RS232 or CAN are immediately processed.

Version 2017 / V1

Software – Manual N-Drive 3xx

Position controller parameters
Setting of the position controller

Position setting window

Position controller

Block diagram with the input fields for the control parameters and display fields for numeric
values.
The position error Pos error is calculated at the summing point by subtracting the actual position
value (pos actual) from the position target value (pos dest). If the error is inferior to the adjusted
tolerance value, this state will be displayed in the field 'tol'. At enable the position target value
(pos dest) is proceeded as position command value (pos cmd). The position error is calculated at
the summing point by subtracting the actual position value (pos actual) from the position
command value (pos cmd). The resulting error value is displayed in the field 'speed error' (N
error).
When the enable states (Ena, GO), the output stage switches (Lim-, Lim+), and the position
control amplification (posKp>0) are active (green), the position error (pos error) represents the
input to the Pos -> Speed and Pos -> Current controllers. For both controllers the proportional
amplification (Kp), the integral term (Ti), the differential term (Td), and the memory limiting for
the integral term (Tim) are adjusted. This results in the current command value (I pos).

Reference run (Referce traverse)

Block diagram with the input fields for the control parameters and display fields for numeric
values.
Settings
Speed to
Speed from
Offset

Speed to the reference switch
Reverse speed from switch to zero
pulse
Mechanical zero offset

Software – Manual N-Drive 3xx

Displays
Ramp Acc
Ramp Dec
Ramp-Limit

Acceleration to speed (ref. switch)
Deceleration to reverse speed
(selection 'dec-ramp')
Deceleration to reverse speed limit

Version 2017 / V1

Setting of the position controller

Position controller parameters

N-Drive2-NDrive-Pos-funktionen

Acceleration:
Rcw-Acc
Constant run:
N-Lim
Deceleration:
Rcw-Dec

Acceleration time tb to max. speed in ms.
Acceleration
a = v / tb
Speed limit < max. speed.
(max. speed (100 %) = 32767 num)
For position control, adjust to < 10 ms

Setting via the parameter window ‘position’
(Pos->Speed KP).
The slope of the deceleration results from the
proportional amplification.
Deceleration time
T Ramp

(tv) from max. speed (32767 num) to zero,
displayed in ms in the window 'position'

Deceleration a in m/s²
a = v / tv
Example v = 3m/s, tv = 0.261

v = max. velocity in m/s
tv = deceleration time (T Ramp) in s
a = 3 / 0.261 = 11.5 m/s²

Calculating Kp from a given speed and deceleration time
Kp = √ a x 2603 / v
Kp = √ 11.5 x 2603 / 3 = 99.9 %
Ramp target distance
s = v² / s x a
s = 9/ 2x 11.5 = 0.391 m

Conversion of the units for position control
Actual position value range
Pulses/rpm
Max. value +/-2147483647
(31Bit-1)
Resolution (smallest value)
Example
Positioning axis
5mm slope/rpm

Resolver
65536 pro rpm

Incremental encoder
65536 pro rpm

16 (65536/4096 (12Bit))
Travel 1000 mm = 200rpm
200rpm = 13107200
Resolution 65536/4096 = 16

65536/Ink x4
Incremental encoder 2048 inc./rpm
Travelg 1000mm = 200Upm
200rpm = 1638400
Resolution 65536/8192 = 8

Version 2017 / V1

Software – Manual N-Drive 3xx

Position controller parameters
Reference run

15.2 Reference run
A reference run is initiated in order to determine the axis reference position.

Speed to
Speed from
Reso Ed
Dec-Ramp
Rcw Acc
R-Lim

Speed, moving to the limit switch. The limit switch is passed depending on
the speed.
Speed, reverse run to the limit switch rising edge (Reso) or to the zero pulse
after the limit switch rising edge (Inc.). (loop speed)
Correction value at Reso. Enter measurement value ‘zero capture‘
Set the switch for the ramp at speed reversion from ‘speed to’ to ‘speed
from’.
The ramp programmed at RCW-Acc is used.
The ramp programmed at RCW-Lim is used.

0x76
0x77
0x75
Selection
0x35 L
0x7c

The reference switches are selected in the parameter field ‘digital inputs‘. After the machine and the enable
(RUN) are switched on, the reference run (Start Ref Drive) is started via a digit input ( Din1, Din2 ) or the interface
(CAN-BUS, RS232 0x78).
Note:
Driving commands such as Start Ref drive, N cmd , etc. are recognized only after 5ms after the enable.
Close or send the enable first, then send the driving commands.
Reference run
The drive runs to the limit switch at the speed ‘speed to‘, passes the limit switch at loop speed ‘speed from’ and
returns. With a reference switch the drive runs in a positive direction loop, and in a negative direction double
loop. The device position zero point is set after the limit switch rising edge at the incremental encoder zero signal.
At the resolver the absolute value of the position (within half a motor revolution) is saved at the limit switch rising
edge (zero capture).
The mechanical zero point can be shifted in positive or negative direction by means of the parameter ‘Offset’.
Reference switch
Ref&LimitPLUS
Ref&LimitMinus
RefPLUS

Limit switch - positive rotation direction is the
reference switch
Limit switch - negative rotation direction is the
reference switch
The switch rising edge in positive rotation direction
is the reference switch independently from the
limit switches

Via the selection window Dec-Ramp (parameter field servo) the delay is switched from Ramp-Limit to Ramp-Dec
when changing from Speed to to Speed from.

Software – Manual N-Drive 3xx

Version 2017 / V1

Reference run

Position controller parameters
Reference run functions

Version 2017 / V1

Software – Manual N-Drive 3xx

15.3 Position controller optimization
Amplification setting Pos->Speed

The amplified position error provides the speed command value.
Proportional control amplification
Kp
The proportional amplification for the position
controller determines the slope of the
deceleration ramp.
Note:
The position control is switched off when no Kp
value is entered.

Complete presentation

Dynamic control amplification, (only effective during ramp-up to
final position)
Ti
Integral component
Tv
Differential component
TiM
Threshold value - integral component
T Ramp
Position ramp time, ramp-up to final position,
Delay time (in ms) from max. speed.
Position run
Acceleration is determined by the parameter Ramp Acc.
A travel at even speed is determined by means of the parameters
Speed Limit.
The ramp-up to final position is determined by the Kp amplification
of the position controller. The deceleration time from 100 % speed
to zero speed is displayed in the field 'T Ramp'.
A small Kp amplification results in a long deceleration ramp. A high
Kp amplification results in a short, steep deceleration ramp. If the
Kp amplification is too high, the axis will overshoot and oscillate in
the target position.
The optimal time ramp is as long as possible and as short as
necessary.

Detailed presentation

Position parameters
Tol window
Position tolerance window (numeric value)
When pos-actual < tol window the output O
Toler is set to 1 and displayed as state 'Tol'
Reference
Offset

Zero position shift (numerical value)
The mechanical zero position is shifted in
positive or negative direction.

One motor revolution corresponds to a numerical value of 65555.
The position command values or parameter values sent from the
controller via the RS232 or the CAN are immediately executed.

Software – Manual N-Drive 3xx

Version 2017 / V1

Position controller optimization

Position controller parameters

Position scaling

Position controller parameters
15.4 Position scaling
Display factor for the position values
The display of the values for Pos dest, Pos cmd, and Pos actual is adjusted by means of the
parameter ND-Scale (0x7c, Pos-display factor) in the window 'position'.
At zero the display corresponds to the numerical value (1 motor revolution = 65536 num).

Adaption of the display to the feed value
Calculate the conversion factor necessary for converting the feed
distance to motor revolutions.
For the display this factor must be multiplied by the constant
65536.000 (corresponds to 1.000 mm per revolution).

Example: distance in mm
Slope 5 mm
Gear i=20
Conversion factor for one revolution 1/5 *20 = 4
Position display factor 65536.000* 4 = 262144.000
NDrive scale = 262144.000
Displayed value in mm for Pos dest, Pos cmd, and Pos actual

Example: angle in degree
Transmission: 1 degree = 10 motor revolutions
Conversion factor for one revolution = 10
Position display factor 65536.000* 10 = 655360.000
NDrive scale = 655360.000
Displayed value in degree for Pos dest, Pos cmd, and Pos actual

Version 2017 / V1

Software – Manual N-Drive 3xx

Frequency converter parameters
Position scaling

16 Frequency converter parameters
Frequency control without feedback encoder
Setting field for the frequency converter in the field motor
motor values(FU)
For standard motors with mains operation the data for 50/60 Hz
operation and star-delta circuit are often written on the type plate.
These data are internationally standardized.
For motors with converter mode the rated operating point is at a
fixed frequency, usually above the 50/60 Hz power supply
frequency.
Further data are not always completely indicated by the
manufacturers.
Partly the rated speed at the rated operating point (rated
frequency, rated load) is not indicated or cosphi is not indicated.
Partly the values are unclearly specified, e.g. voltage refered to
phase to phase (terminal voltage) or the phase voltage (terminal to
star point) or dc bus voltage. Please check the manufacturer data
and dimensions carefully (V, VAC, VDC, A, Arms, etc).
Rated data
Power supply
frequency
Rated power
Rated voltage
Rated current
Rated speed
Cosphi

Designation NDrive
Fnom

Motor example 50Hz
50

Motor example 60Hz
60

Dim.
Hz

Unom
Inom
Nmom
Cosphi

0.56
220-240, 360-420
2.33-2.25, 1.35-1.30
2820
0.85

0.63
255-275, 440-486
2.26-2.18, 1.30-1.26
3385
0.85

kW
V
A
rpm

By means of the drive internal function ’calc from motplate’ and
using the above mentioned rated data it is possible to determine
further values for the motor model.
(Page ‘Auto’ in NDrive or see table further below).
The updating of the display in the NDrive is effected during the
offline-online process. (Switch off and on again the RS232
communication.)

Software – Manual N-Drive 3xx

Version 2017 / V1

Frequency converter parameters

Frequency converter parameters
16.1 Frequency converter parameters
Setting window for the frequency converter control parameters
Parameter
FU start
T-DC
U-DC
U min
F min
U eck
F eck

Function

Setting range

Presetting

Unit

Step

Id address

Pre-magnetization time
Pre-magnetization dc voltage
Minimal voltage (boost)
Minimal frequency
Maximale voltage
Frequency at max. voltage

10 to 2000
0 to 20
0 to 100
0 to 100.0
0 to 100.0
1 to 1000.0

250
5
10
10,0
100.0
50.0

ms
%
%
Hz
%
Hz

1
1
1
0.1
0.1
0.1

0x07 L
0x08 L
0x0a L
0x0b L
0x0c L
0x0d L

Description FU start
T-DC

U-DC
Umin
Fmin
U eck
F eck
Current I
Parameter
FU stop
T-DC
U-DC
U min
F min
U eck
F eck

Pre-magnetization time
Delay between the switch-on and the start of the
frequency.
Pre-magnetization dc value
Minimal voltage (boost) at motor standstill.
U/F characteristic is raised.
Minimal frequency at motor standstill.
Maximal output voltage at base freuquency.
Base frequency for a max. output voltage.

Function

Setting range

Presetting

Unit

Step

Id address

Braking current time
dc value for the dc braking
Minimal voltage (boost)
Minimal frequency
Maximale voltage
Frequency at max. voltage

10 to 2000
0 to 20
0 to 100
0 to 100.0
0 to 100.0
1 to 1000.0

0
0
0
0
0
0

ms
%
%
Hz
%
Hz

1
1
1
0.1
0.1
0.1

0x07 H
0x08 H
0x0a H
0x0b H
0x0c H
0x0d HL

Description FU stop
T-DC

U-DC
Umin
Fmin
U eck
F eck
Current I

Braking current time
Delay between the reaching of F-DC and the
switch-off of the current feed.
Pre-magnetization dc value
Minimal voltage (boost) at motor standstill.
U/F characteristic is raised.
Minimal frequency at motor standstill.
Maximal output voltage at base freuquency.
Base frequency at stop operation

Version 2017 / V1

Software – Manual N-Drive 3xx

Logic
Logic setting window

17 Logic
17.1 Logic setting window
Preliminary setting window for digital inputs and outputs

Inputs
Limit1
Limit2
Din1
Din2

Outputs

Programmable digital input, with preference given to an output stage switch and reference switch
Programmable digital input, with preference given to an output stage switch and reference switch
Programmable digital input
Programmable digital input

Dout1
Dout2
Dout3

Programmable digital output (operant and comparison variable)
Programmable digital output (operant and comparison variable)
Programmable digital output (operant and comparison variable)

Dout4

Programmable digital output (operant and comparison variable)
Dout4 is not available for all units

Var1 bis Var4

Comparison variable

Software – Manual N-Drive 3xx

Version 2017 / V1

Digital inputs

Logic
17.2 Digital inputs
Digital inputs
Select function
Click the down arrow to open a drop-down menu showing a list of function
options. Click the required option. The selected function is highlighted in blue and
is transferred to the display field by clicking it.
Select the switching functions
AL = Active Low (e.g. output stage switch)
AH = Active High
Saving
The function is saved in the RAM and activated by pressing the 'enter' key.
The state of the output stage switches inputs Limit1and Limit2 are displayed in
the field 'state' as Lim+ and Lim-..
Example
Digital inputs
Limit1
Limit2
Din1

Zuordnung-Eingänge
Ref & Limit Plus
Ref & Limit Minus
Ref Plus
Limit Plus
Limit Minus
Limit Plus &Minus
Cancel Error(s)s
[Start ]Ref Drive
Speed Ramp 0
[Start] Dest > Var1
[Start]Dest > Var2
Ncmd Reverse
[Preset] Pos = Var3
[Capture] Var 3 = Pos
[Capture ]Var 4 = Pos
[Switch] Spd Ain1 / Ain2
[Switch] Spd !Var1 / !Var2
I limit (dig)
N clip (neg & pos)
[Switch]Cmd = !Dig/Ana
Speed Ramp 0 +Pos
Hand wheel
Brake Car
recu_disab
rising bank1,falling bank2
[Start] Dest = Var1,2,3,4
[Start] cw = Var1,2,3,4

Function selected
Output stage switch (+) as reference switch (AL active low)
Output stage switch (Al active low)
Start reference travel (AH active high)

Funktion
Limit switch positive direction is also the reference switch
Limit switch negative direction is also the reference switch
Referen ce switch positive direction
Limit switch positive direction
Limit switch negative direction
Limit switch positive and negative direction
Delete error memory
Start reference run
Speed command value internally switched to 0 (during speed 0 active)
Position variable1 is started
Position variable2 is started
Command value polarity is switched over
Actual position value is set to variable3
Sets the variable 3 as position (target) and travels to the position
Sets the variable 4 as position (target) and travels to the position
Switching-over command ‘command value Ain1 or Ain2‘
Switching-over command ‘command value Ain1 or Ain2‘
Current limiting to I limit
Speed limiting to N clip
Addition command value digital +analog setting Command Mode Digi+Ana Speed
Incremental command value from the hand-wheel encoder (2nd counter input)
Regenerative braking function Current setting at N-Lim+ and N-LimRegenerative braking function switched off
PARA_UPDATE
Pos_kombi
Cw_kombi

The inputs End1, End2 (Limit1, Limit2) are default set to output stage switch function.
However, it is possible to assign them to any of the input functions Din1, Din 2 available.

Version 2017 / V1

Software – Manual N-Drive 3xx

17.3 Digital outputs
Digital outputs
The parameter selected in the first column of the drop-down menu are
compared with the variables in the third column by means of the
operands (second column).
The logic result of the comparison is given at the selected digital output
as low (<1 V) or high (>10 V) value..
Click the arrow keys to open the drop-down menu. Select the
assignment. The selected function is highlighted in blue and transferred
to the display field by clicking it.
.
The output functions can be modified during operation. The function is
saved in the RAM and activated by pressing the 'enter' key.
Example
Digital outputs
Dout1
Dout2

Selected function
Current superior to variable 3
Speed equal to variable 4

Note: When inductances are connected (relays, brakes, etc.) connect
an over-voltage protective device such as recovery coils or varistors.
The output driver is switched off in case of over-voltages.
Assignment of the output parameters
(selection)
I_cmd
I_actual
N cmd Ramp
N actual
Pos cmd
Pos actual
I_error
N error
Pos error
Brake

Function

ID address

Current (I) command value (Speed controller output)
Current(I) actual value
Speed command value
Speed actual value
Position command value
Position actual value
Current(I) error
Speed error
Position error
Brake control signal

0x26
0x20
0x32
0x30
0x6e
0x6d
0x23
0x33
0x70
0xF2

All parameters of the list ‘measured value selection' can be assigned to the respective outputs.
Operands

Function

Variable

Function

Off
On
1Hzz
=
!=
>
<
abs>
abs<>
tol>
Tol<
>=
<=
hyst>=
Hyst<=
window

off
on
Test
equal
not equal
superior to
inferior to
Absolut valuesuperior to
Absolut value inferior to
Tolerance input TOL-wind
Tolerance input TOL-wind
superior or equal to
inferior or equal to
Hysteresis at >=
Hysteresis at <=
Tolerance window +/-25 %

0
1
VAR1
VAR2
VAR3
VAR4
Ain1
Ain2

Logic signal zero
Logic signal 1
Numerical value of the entered
variable fields

Software – Manual N-Drive 3xx

Numerical value of the voltages
across the analog inputs

Version 2017 / V1

ID
address
0xd1
0xd2
0xd3
0xd4

Digital outputs

Logic

Digital outputs

Logic
Outputs assigned on Status-Map and Warn-Err-Map
Display of the
state
Ena
NcR0
Lim+
LimOK
Icns
T-Nlim
P-N
N-I
10 Hz
Ird-TM
Ird-ANA
lwcns
RFEpulse
M+D
HndWhl

Function
Enable drive
Speed command value = 0 (drive stopped)
Limit switch plus assigned
Limit switch minus assigned
Drive ok (no uncontrolled control-voltage reset seen)
Current is limited to the continuous current level
Speed-limited torque mode active
Position control possible
Speed control possible
Acutal speed less than 0.1% (standstill)
Reference switch tripped
Calibration move active
Calibration move completed (position calibrated)
Position within tolerance window
Drive is ready (BTB/TDY contact is closed)
De-energized brake with motor active
Speed internally inverted
General speed limiting (if ≤ 90 %) possible
Additional switchable positive speed limiting possible
Additional switchable negative speed limiting possible
Current limiting (switchable) reached
Actual current limit reached
Current limited (speed)
Current derating (power-stage temperature) possible
Current limited to the continuous current (power-stage temperatue)
Additional current limit if frequency less than 10 Hz
Current limit due to motor temperature reached
Current derating due to analog input (if ≤ 90 %) possible
Current peak value warning
Pulsed RFE-input monitoring active
free
Hand-wheel function selected

ID address
0x40
Dec
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9
Bit 10
Bit 11
Bit 12
Bit 13
Bit 14
Bit 15
Bit 16
Bit 17
Bit 18
Bit 19
Bit 20
Bit 21
Bit 22
Bit 23
Bit 24
Bit 25
Bit 26
Bit 27
Bit 28
Bit 29
Bit 30

1
2
4
8
16
32
64
128
256
512
1024
2048
4096
8192
16384
32768
65534
131072
262144
524288
1048576
2097152
4194304
8388608
16777216
33554432
67108864
134217728

State to digital outputs

Set output (Dout1, 2, 3) onto the Status-Map via
the drop down menu.
Set function to = (inverted on !=)
Select variable.
Select state values (Dec) from the table
(multiple state values possible) and write them
into the selected variable (Var1-Var4).
Example:
Feedback that the drive is enabled.
Output 2
Dout2 , Status-Map , On
Variable Var4
State value Dec=1 (drive enabled)

Version 2017 / V1

Software – Manual N-Drive 3xx

Logic
Logic links

17.4 Logic links
Fault or warning signals to digital outputs.
Set output (Dout1, 2, 3) onto the Warn-Err-Map via the drop
down menu. Set function to = (Invertiert auf !=). Select
variable. Select Warn-Err values (Dec) from the table (multiple
values possible) and write them into the selected variable
(Var1-Var4).
Example:
Feedback that the power voltage supply is switched on.
Dout1 , Warn-Err-Map , On
Variable Var3
Error value Dec=32 (POWERVOLTAGE , no power supply voltage)
Display on
the servo

Fault message on
NDrive
NOREPLY-NoRS

Description

ID address

0
1
2
3
4
5
6
7
8
9
A

BADPARAS
POWER FAULT
RFE FAULT
BUS TIMEOUT
FEEDBACK
POWERVOLTAGE
MOTORTEMP
DEVICETEMP
OVERVOLTAGE
I_PEAK
RACEAWAY

B
C
D
E
F

USER
I2R
RESERVE
ADC-Int
BALLAST

Defective parameter
Output stage fault
Defective safety circuit
Transmission fault BUS
Faulty encoder signal
No power supply voltage
Motor temperature too high
Device temperature too high
Overvoltage >1.8 x UN
Over-current 300 %
Racing (without command value,
wrong direction)
User - Fault selection
Overload

Display on
the servo

RS232 interface not plugged or
disturbed

REGID0x8f
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9
Bit 10

Dec
1
2
4
8
16
32
64
128
256
512
1024

Current measuring fault
Overload of the ballast circuit

Bit 11
Bit 12
Bit 13
Bit 14
Bit 15

2048
4096
8192
16384
32768

Fault message on
NDrive

Description

ID address

0
1
2
3
4
5

WARNING_0
ILLEGAL STATUS
WARNING_2

Inkonsistent device identification
RUN signal
FE signal inactive

POWERVOLTAGE

6
7
8
9
A
B
C
D
E
F

MOTORTEMP
DEVICETEMP
OVERVOLTAGE
I_PEAK

Power supply voltage missing or too
low
Motor temperature > 87 %
Device temperature > 87%
Overvoltage >1.5 x UN
Over-current 200 %

I2R

Overload > 87 %

BALLAST (unit dependent)

Overload of the ballast circuit >87 %

Software – Manual N-Drive 3xx

Version 2017 / V1

REGID0x8f
Bit 16
Bit 17
Bit 18
Bit 19
Bit 20
Bit 21

Dec
65534
131072
262144
524288
1048576
2097152

Bit 22
Bit 23
Bit 24
Bit 25
Bit 26
Bit 27
Bit 28
Bit 29
Bit 30
Bit 31

4194304
8388608
16777216
33554432
67108864
134217728
268435456
536870912
1073741824

Diagnosis window

Diagnosis
18 Diagnosis
18.1 Diagnosis window

NDrive-Diagnose-alles-1

Setting window for the diagnosis
Manual Read / Write
Track
Information
Zeige alle Register
Zeige ausgewählte Register
Auto-Reso
Auto-optimize
Fehler-Historie
Script

Direct read or write of the parameter values
Display of the numeric value of the selected parameter
Information about transfer errors
Parameter list with parameter Ids
List of all parameters selected and their parameter Ids
see page AUTO
see page AUTO
not yet implemented
not yet implemented

Version 2017 / V1

Software – Manual N-Drive 3xx

Diagnosis
Manual read/write

18.2 Manual read/write
Direct reading and entering of the parameter values
Note: only for service!

Reading parameters:

Enter the parameter address into the input field ID register.
Key lesen
Click it
Below the input field the parameter
designation and its contents is
displayed as numerical and hex
value.

Writing parameters:

Enter the parameter address into the input field ID register.
Enter the value for the selected parameter in the input field Value.
Click key ‘write‘
The parameter values are immediately transferred.

NDrive-Manual-RW-de-1

18.3 Track display field
Track
Display of the parameter values

The numerical values and hex values (0x…) of the selected parameters are
displayed in the track display.
Click the arrow key to open the scroll menu for the selection of a parameter
value.
Teh value is selected by means of the arrow keys or the scroll bar in the
scroll field.
The selected value is highlighted in blue. When the value is selected the
scroll field closes.

Note:
Alle parameter values can also be displayed on the
oscilloscope

Information

Display for current states (no input possible)

Software – Manual N-Drive 3xx

Foreground

Speed of the foreground program

Motor pos spikes

Actual speed value error

RS232 resync

Transmission error RS232

CAN overruns

Transmission error CAN-BUS

Mode

Mode bit setting

Version 2017 / V1

Information

Diagnosis
18.4 Information

Display field for registers
Show all registers

All 255 registers are shown in a table. The register contents cannot
be modified.
Only the registers which are important for the user are display in a
table. The registers can be selected via the file ‘Reglist.txt‘.
The register contents cannot be modified.

Show selected registers

Selection in the footer
Close
Re-read
Save registers
Print registers

Display field is closed
The parameter values are read again from the servo.
The displayed registers are written into a file.
The displayed registers are printed.

Version 2017 / V1

Software – Manual N-Drive 3xx

Monitor
Measured values

19 Monitor
19.1 Measured values

States
Ncmd Ramp
N actual
Icmd Ramp
Iact monitor
I actual D
I actual Q
I2t
P-Motor
DC-BUS
P-Regen
Tmotor
Tigbt
Tair
Ireda
Vout

Function
Speed command value after ramp and limit
Actual speed value
Current command value after ramp and limit
Actual current value (filtered)
Actual current value D (reactive current)
Actual current value Q (active current)
Capacity I2xt
Motor power
Bus circuit voltage
Ballast power
Effective motor temperature
Effective output stage temperature
Effective air temperature in the servo
Effective current limit
Output voltage

Software – Manual N-Drive 3xx

Unit
num
num
num

Range
0 to +/-32767
0 to +/-32767
0 to 600

ID address
0x32
0x30
0x26

num
num
num
num
num
num
num
num
num
num
num

0 to 600
0 to 600
0 to 4000
0 to 4000
0 to +/-32767
0 to 4000
0 to 32767
0 to 32767
0 to 32767
0 to 600
0 to 4000

0x28
0x27
0x45_L
0xf6
0xeb
0x45_H
0x49
0x4a
0x4b
0x48
0x8a

Version 2017 / V1

Recuperation for vehicles

(Brake Car)

Options
20 Options
20.1 Recuperation for vehicles

(Brake Car)

Setting BAMOCAR parameter ‘Brake Car‘ at torque control

Only positive torque command value
Activate function on the page ‘logic’
Set a digital input to ‘Brake Car’.
(Select Brake Car via the drop-down menu)

Switched on at Din2 = higher braking torque
Enter the values on the page ‘settings/parameters/speed
Input parameters : Nmax speed value for 100% speed
Input parameters : N-lim speed limiting at torque control
Braking current at torque command value 0 (minimal braking torque)
Input parameters: N-lim+ (Function changed for minimal braking torque)
Braking current at switched-on brake pressure-contact (e.g. brake light)
Input parameters: N-lim- (Function changed for increased braking torque)

Rotation direction at Brake Car

The torque command value must always be positive.
Changing the rotation direction at analog command value via Scale.
(positive value = rotating clockwise, negative value = rotating anti-clockwise).
Changing the rotation direction at digital and analog command value.
Select a digital input (e.g. Din1) on the page ‘Logik‘ as N cmd reverse.
The direction of rotation can be selected by means of the switch position.

Version 2017 / V1

Software – Manual N-Drive 3xx

Automatic setting functions
Setting window Auto

21 Automatic setting functions
21.1 Setting window Auto

Special function

Function

idle
tuning still
tuning rotating
phasing still
phasing red
DC-current
Analog-Offset
Tacho-Offset
Calc from
motplate

Motor parameters

Function
Ls-q
Ls-d
Rs
Lm
R-r
TC-Stator
TC-Rotor
FB-Offset

Software – Manual N-Drive 3xx

Description

0x85
0
1
2
4

not used
not used
not used
Automatic reading of the rotor angle
(Reso-Offset)
Fixed current feed angle. Set by means
of Reso-Offset
Automatic adjustment of the analog
inputs
Automatic adjustment of the segment
offset at bl-Tacho
Calculation of the motor data acc. to the
type plate

Description
Stator leakage inductance in μH (without
comma), at ACIM Lsd = Lsq

ID
0xb1

Stator resistance in mΩ (without comma)
Main inductance in 10 μH (without
comma)
Rotor resistance in mΩ (without comma)
Lm/Rr in ms (without comma), rotor
time constant
Encoder offset angle

Version 2017 / V1

7
8

0xbb
0xbc
0xb3
0xb4
0xb6
0xbd
0x44

Setting window Auto

Automatic setting functions
Motor Typenschild

Function
N nom
F nom
U nom
Cos Phi
I max eff
I nom eff
M-Pole
Id nom
Id min

Messwerte

Look-up
Vdc-Bus

Description

Rated speed at rated voltage
Rated frequencies at rated
voltage
nominal voltage
Motor peak current effective
Motor continuous current
effective
Motor -Pole

reactive current
Minimum reactive current

DC connection voltage in V
DC link voltage Num

0x1a
0xeb

Note:
For the automatic adjustment Command Mode must be set of Digital Speed.
After the execution of the auto-functions the correct values must be saved on
the EEPROM level0.
Do not used functions which have not been released (currently ‘tuning still, tuning rotating,
pasing still’).

Version 2017 / V1

Software – Manual N-Drive 3xx

Automatic setting functions
Tuning still (0x85-1)

21.2 Tuning still (0x85-1)
Function not yet released

21.3 Tuning rotating (0x85-2)

Function not yet released

21.4 Phasing still (0x85-3)

Function not yet released

Software – Manual N-Drive 3xx

Version 2017 / V1

Phasing still (0x85-3)

Automatic setting functions
21.5 Measuring the encoder offset (phase angle)
Execution of phasing red (0x85 -4)

Check the no. of motor poles (MOTOR-Pole) and correct, if
necessary.
Limit the motor current:
Set the parameter Inom eff in the field ‘motor’ to max. 30 % of
the rated current value.
Set the rotation speed:
Set the parameter Speed from in the field ‘pos-reference‘
to 3 % of the rated speed.
Apply the power supply to the device, Enable open
Function

Message at NDrive

7-segment
display

Wait for RUN= 1 (enable)

Current ramp
Rated value reached
Output rotating field
End
End, wait for RUN=0 (switch off FRG)

41
42

Error

47
48

Click function - request phasing
Switch on enable within 10 s
Enable closed
Current built up (rotation starts)
Pole angle and reading of the no. of motor poles executed
Correct end

43
49

Error switch-off
Enable switched off during the measuring process
Time out , measuring time exceeded

During the automatic phase angle reading the states are shown in the 7-segment
display of the device (sequence: 4-0, 4-1, 4-2, 4-3, 4-9).
When the no. of motor poles and the connection are correct, the motor rotates
clockwise for one revolution (electric periode (360degree) x no. of poles/2).
If the motor rotates more than one revolution, the no. of poles is too high. If it is less
than one revolution, the no. of poles is too small.
If the motor rotates anti-clockwise check the motor connection.
At End, Wait for RUN=0 (49) the result is transmitted to the parameter FBOffset (0x44). Switch off enable.
After reading EEPROM level 0 the value is correctly displayed in ‘Feedback
Offset’.
Set the motor current limiting and the reference run again to the original
values.
Write the data into the EEPROM level 0!!

old value

new value

Checking the encoder offset setting, fine adjustment

Operate the motor without load at approx. 50 of the rated speed.
Read the value on the page ‘speed at the parameter Vd (0x2a).
IF the value is superior to 100, adjust this value to minimum by means of slight
changes in ‘setting encoder offset (page ‘settings 0x44).
Read the changed value to the EEPROM level0.

Version 2017 / V1

Software – Manual N-Drive 3xx

21.6 Preset current feed angle (0x85 – 5)/fixed motor position (0x85-5)
When a current feed angle is preset (angle) the
rotor (motor shaft) is moved into this angle and
held.
Reduce the current limit for the rated current Inom
eff to 30 %.
(DC current feed is controlled to rated current, no
rotating field).
The function is started as follows:
Preset the requested angle by
means of the parameter FBOffset (0x44) on the page
‘settings’.

Apply the power supply to the device, enable open
Function
Description
7-segment
display
Click the function ‘start dc current The motor shaft rotates to the preset
feed‘.
angle.
Switch on enable
The motor shaft stops at the new angle.
-------

As long as the enable is closed, a
new angle can be preset in the
field ‘motor parameter FB-Offset’
on the left (yellow field).
When opening the enable, the function is stopped.

Note :

For further motor operation the correct value for FB-Offset must be
entered and saved (level 0).
If the FB-Offset value is incorrect, the drive may rotate or move
uncontrolled!

Software – Manual N-Drive 3xx

Version 2017 / V1

Preset current feed angle (0x85 – 5)/fixed motor position (0x85-5)

Automatic setting functions

Analog offset (0x85 -6)

Automatic setting functions
21.7 Analog offset (0x85 -6)
Offset adjustment of the analog inputs.

Execute function
Apply voltages across the device, enable open
Function

Message at NDrive

Click function ‘start analog
offset‘
Switch on enable
Correct end

7-segment
display
60
69

Error switch-off
Enable switched on during
the measuring process

When the adjusting process is started, 6-0 is shown in the 7-segment display.
The adjusting process is finished when 6-9 is displayed.

21.8 Tacho offset (0x85 -7)
Adjustment of the segment offset error at brushless tacho systems.

Execute function
Apply voltages across the device, enable open
Function

Message at NDrive

Click function ‘start analog
offset‘
Switch on enable
Correct end

7-segment
display
70
79

Error switch-off
Enable switched on during the
measuring process
Movement at the rotor
detected
No tacho connected

76
77
78

When the adjusting process is started, 7-0 is shown in the 7-segment display.
The adjusting process is finished when 7-9 is displayed.

Version 2017 / V1

Software – Manual N-Drive 3xx

Automatic setting functions
Calc from Motorplate (0x85-8)

21.9 Calc from Motorplate (0x85-8)
Calculation of the motor data for asynchronous motors
Enter the motor data of the type plate or the motor data
sheet into the left column (highlighted in yellow).
After the calculation is finished the resulting values are
displayed in the right column and saved in the device.

Function

Ls-q

Ls-d
Rs
Lm
R-r
TC-tator
TC-Rotor

Rs Stator resistor
ir Current in rotor
Lm Main inductance
Lrσ Rotor leakage induct.
im Magnetization current

Rr
Lsσ
iμ
σ

Rotor resistance
Stator leakage induct.
Current through Lm
Complete leakage fact.

Software – Manual N-Drive 3xx

Description

Stator leakage inductance in μH (without
comma), at ACIM Lsd = Lsq
Stator resistance in mΩ (without comma)
Main inductance in 10μH (without comma)
Rotor resistance in mΩ (without comma),
Lm/Rr in ms (without comma), rotor time
constant

ID
0xb1
0xbb
0xbc
0xb3
0xb4
0xb6
0xbd

General information
Various literature display motor models which are identical in
principle. Abbreviations used in the diagrams may vary.
Differences can only be found concerning physically measurable
quantities (T-model) or further abstraction for simplified
calculation models (inverse gamma model).
Some manufacturers provide additional data such as no. of
poles, idle current at a specified idle voltage (= magnetization
current), ohmic resistance of the stator winding, stator
impedance at a specified frequency, as well as values referring
to rotor quantities.
These manufacturer data are usually correct and helpful. The
real, physical quantities can be measured through direct
measuring for stator values and through indirect measuring for
rotor values, i.e. by measuring the retroactive effect on the
stator.
The graphic representation of the motor models does partly not
refer to the real, physical quantity but to converted quantities.

Version 2017 / V1

Calc from Motorplate (0x85-8)

Automatic setting functions
Basic procedure
At operating mode FU (page setting ‘type‘) for new or unknown motors it is possible to check the
following assignment first: positive speed command value = clockwise rotating field U, V, W =
clockwise rotation = positive actual speed value. Set the values on page ‘settings’ FU left field
after U/f-characteristic. Operation in the rated point without load results approx. in the
magnetization current.
Optimization procedure
Connect a load machine with aprox. 20 to 50 % rated torque.
Setting of a corresponding torque on the scope side of the NDrive (step generator to torque,
drive enabled).
Thus, a stationary speed is adjusted.
The Lm or Rr value can be changed when the machine rotates (T-rotor = Lm/Rr).
The result is immediately effective in the control. The target is to optimize the T-rotor to a higher
speed at the same load. At operation this results in a smaller current consumption at the same
load torque.
The value of the T-rotor (in ms) is not updated by the NDrive until the offline-online process.
At a second stage Idnom (NDrive page ‘speed‘) can be varied, field weakening not active (Vred =
0). This can be noticed during standstill (current = magnetization current). When the machine
rotates thisvalue is also immediately effective. The target is again a higher speed at the same
load. At operation this results in a higher final speed when reaching the voltage limit (max.
modulation).
Compare the values achieved from the tests with existing manufacturer values. Save them and
reset the drive (off-on) . Check the values and functions again.

Version 2017 / V1

Software – Manual N-Drive 3xx

Automatic setting functions
Calc from Motorplate (0x85-8)

21.10 VdcBus Adjustment
From firmware FW466 onwards
The calibration is made in the factory.
In case a component is exchanged it is necessary to re-adjust again.
Adjustment of measuring errors errors oft he bus circuit voltage measurement.
Zero point adjustment
No power supply voltage!
Bus circuit 0 V (to be short-circuit.)
Start adjustment via key „START“.
After approx. 4 seconds the value for
VdcBus=0 is calculated.

Slope error adjustment
After the 0 adjustment it is necessary to adjust
the slope error.
With bus circuit voltage without ripple:
Measure the bus circuit voltage by means of a
voltmeter and register the value in Kalibr.
Start the adjustment.
After approx. 4 sec. the measurement value
for VdcBus is displayed (Num).
In case there is no exact bus circuit voltage
available:
Adjustment without power supply voltage:
Bus circuit voltage = 0 V
Enter 0 V in the field „calibration“ and start
the adjustment.
Save the determined measured values
permanently by means of the EPROM-STORE.

Software – Manual N-Drive 3xx

Version 2017 / V1

Overview

Oscilloscope
22 Oscilloscope
22.1 Overview

Version 2017 / V1

Software – Manual N-Drive 3xx

Oscilloscope
Oscilloscope settings

22.2 Oscilloscope settings
Screen functions
Trigger settings

State

Colour

waiting (0)

red

waiting (xx)
reading

green
blue

drawing
idle

white

Function

Display of the last recording and
waiting for a new triggering
triggered, data are saved
Reading of the data from the drive
to the pc
Display of the data on the
oscilloscope screen
Frozen data after ‘Stop capture‘

Run Stop
Run
Option
Join
Over

Time basis (per grid)
Pixels connected
The display remains and is overwritten
Zero line visible
Display as num or real values
Trigger line visible
Channel designation visible

Zero
Units
Trig
Label
AbsDe
Screen colours
B
Oscilloscope background
K
Oscilloscope grid
Z
Oscilloscope zero line
T
Oscilloscope trigger line

Stop
Zoom
Zoom +
Zoom -

The screen content is enlarged
The screen content is reduced

File

File left
File middle
File right
Trigger
On
Edge
Level
Capture
Buf
Run
Timescale
Pre trig

Software – Manual N-Drive 3xx

The oscilloscope recording is
focused via the key field ‘run
capture’. The recording is started at
the next triggering signal.
The recording is cancelled via ‘stop
capture‘ and the display is frozen.

Version 2017 / V1

Load the oscilloscope file from the
pc
Save the oscilloscope file into the pc
Save the oscilloscope file as excel
file
Selection of the channel for the
trigger function
Selection of the trigger function
Trigger level (numerical)

Resolution, horizontal pixels for all
switched-on channels
Selection trigger switching function
Time unit per horizontal grid line
Horizontal shifting of the trigger
line. Measured value display before
the trigger line.

100

Arrow key for the channel selection

Oscilloscope
22.3 Arrow key for the channel selection

Field
Value
Time
Delta Value
Delta (Time)
Channel:

Pos:
U/Div:

Switch cabinet
Channel colours

101

Function
Value at the first cursor line (numerical or real)
Time from the trigger line to the first cursor line
Difference values from the first to the second cursor
Difference time from the first to the second cursor
All measured values from the selection table can be displayed on the
oscilloscope. The drop-down menu opens by clicking the arrow key. The
required measured value is selected and assigned to the channel no.
The channel is switched off at ‘off‘.
Channels which are not required must always be switched off! (Off)
The value of 100 corresponds to a horizontal grid line.
E.g.: At value 50 the zero line of the selected channel is shifted upwards by
half a square.
Units for a horizontal grid line.
E.g.: U/Div = 32768 at N cmd Ramp. (N max parameter = 3000 rpm)
The numerical value (32768) of the speed command value corresponds to a
horizontal line at 3000 rpm.
At cursor request a horizontal line equals 100.
Thus, the cursor value 100 corresponds to a speed of 3000.
The display of the channel is switched on and off.
The switched-off channel remains in the background and is also saved.
A colour selection window is opened by clicking the colour key C.
Select the new channel colour and accept it by clicking ‘ok’.

Version 2017 / V1

Software – Manual N-Drive 3xx

22.4 Trigger settings
Test generator for the selection of command values in rectangle functions

NDrive-Oszi-Step-Drehzahl-1

Selection
Current
Generator function is the current command value
Torque
Generator function is the torque command value
Speed
Generator function is the speed command value
Position
Generator function is the position command value
2Step
Selection 2 or 3 Step
Functions
Step1
Value1 for current, speed, or distance
Time1
Time for value 1
Step2
Value 2 for current, speed, or distance
Time2
Time for value 2
Stop 3
Standstill value for current, speed, or distance
Time 3
Stopp time
Start Stop
Starts or stops the generator function
Note: The time inputs (time) may vary acc. to the pc for values >2000.

Command value step functions are preset by means of the test generator. The ramps are determined
via the parameter settings for the current and speed controller. When the controller enable (RUN/Frg)
is active, the drive is started by clicking the field ‘start’ and it is stopped by clicking ‘stop’. The functions
can be selected as current, torque, speed, or position values. The value for ‘stop’ at current, torque,
and speed should be 0 for standstill. ‘Stop‘ can also be used like ‘step(1,2)‘.
Note: Maximal values for step1, step2, and stop
At current
+/- 330
At torque
+/- 32767
At speed
+/- 32767
At position
+/- 2147483647
At time
32767

Particular attention

If the travel distance is limited it has to be ensured that the travel
distance of the test settings is within the machine limits.
At the test setting ‘current’ and ‘torque’ the drive may rotate at
max. speed.
Over-speed may be achieved at field weakening.

Software – Manual N-Drive 3xx

Version 2017 / V1

102

Trigger settings

Oscilloscope

Display of measured values

Oscilloscope
22.5 Display of measured values

The recording of the measured values is displayed with the selected colours.
The first vertical trigger line is tagged with an arrow symbol at the upper and lower edge of the
screen.
The second vertical line is the first cursor line.
The active second cursor is displayed as horizontal and vertical crossline.
The measured values at the first vertical cursor line are displayed at value and saved.
The measured value at the second cursor (crossline) are displayed in the fields delta value as
difference values to the values at the first cursor.
The time from trigger line to the first cursor line is displayed at time.
The time between the first cursor line and the second cursor line is displayed at delta time.
If the box units is ticked the displayed values are transformed from numerical to real values.

103

Version 2017 / V1

Software – Manual N-Drive 3xx

Oscilloscope
Parameters on the oscilloscope page

22.6 Parameters on the oscilloscope page
The parameters of the page ‘oscilloscope‘ can be
changed during the test function.
The modifications are transferred to the current
parameter set.
The result is immediately displayed on the
oscillioscope screen after the next triggering.

22.7 Test operation
Test
Setting : Command mode = digital speed
Direct input and execution of speed or torque.
Selection via the drop-down menu.
Dis : Software enable
(only if hardware enable is active)
Position in numerical values.
Speed or torque
Enter the speed value. The entered speed is immediately processed when the key + or - is clicked.
The command value is internally set to zero when the ‘stop’ key is clicked.
Position
Enter the position value. When clicking the key ‘dest.‘ the drive travels immediately at the speed
selected at Nmax(Nlim) to the entered position. When clicking the key ‘calib.‘ the drive travels a
reference cycle.
The entered position is imported as actual position and command value position via the key P.

Note :

Only for test function. The functions are directly executed!

Software – Manual N-Drive 3xx

Version 2017 / V1

104

Parameter tables

Parameters
23 Parameters
23.1 Parameter tables
Motor value settings

Short symbol
Type
N nom
F nom
U nom
U phi
I max
I nom
M-Pole
Direction
Brake
Brake Delay
coast stop
Feedback
F- Pole
Offset
Inc-Mot
2.Feedback
Inc-Out

Function
see type
Rated motor speed
Rated frequency
Rated voltage
Cosinus Phi
Max. motor current
Continuous motor current
No. of motor poles
Global rotation direction
Brake with/without
Brake delay
Coasting when not enabled
see motor options
No. of feedback encoder poles
Phase angle feedback
Incremental encoder resolution
see motor options
see motor options

Motor Type
Short symbol
Motor type
EC (sinusoidal)
AC (induction)
DC
EC (trapezoidal)

Motor - Optionen
Short symbol
Feedback
ROTENC_TTL
RESOLVER
ABSENC_SC
ROT_TACHO
ROT
DC_TACHO
DC_ARM
BL_ARM
ENC_TTL
ENC_SC
ABS_SC
DC_ARM_VIR
SLS
SLS_SMO
SLS_Usens
Analn1-calc
Analn2-calc
PANA

.
.

105

Setting range

Units

Type plate
Type plate
Type plate
Type plate
Type plate
Type plate
2..48
Switch
Switch
0 to 1000

rpm
0.1 Hz
1V
Dec
0.1 A
0.1 A
num

Selection
2..12
0 .. 360
1024..8192
Selection
Selection

Note

REGID address
0x59
0x05
0x06
0x0e
0x4d
0x4e
0x4f
0x5a.8
0x5a.9
0xf1
0x5a.3
0x4a.-0xa7
0x44
0xa6
0x4a.-0x4a.--

ms
num
0.1 degree
pulses/rpm

Function
Synchronous servo motor sinusoidal voltage
Asynchronous motor
DC motor
Synchronous servo motor trapezoidal voltage

0
1
2
3

Function
Incremental encoder TTL 5 V with rotor position tracks
Resolver
Incremental encoder Sin/Cos 1Vss with commutation track
Rotor position encoder with brushless tacho
Rotor position encoder (without tacho)
DC tacho generator
Armature voltage (internal)
EC-AC-motor without tacho
Incremental encoder TTL 5 V without rotor position
Incremental encoder Sin/Cos 1Vss without commutation track
Incremental encoder Sin/Cos 1Vss per motor pole pair
Without sensor (DC motor without tacho, without armature
voltage measuring)
Without sensor
not activated
not activated
not activated
not activated
Serial encoder system

Version 2017 / V1

0
1
2
3
4
5
6
7
8
9
10
11

Address
REGID 0xa4
Bit 8..10

Address
REGID 0xa4
Bit 0…4

12
13
14
15
16
17

Software – Manual N-Drive 3xx

2. Feedback
Off
INC-IN
INC-OUT
HAND

Function
X8 as position input
X8 display only
X8 as handwheel input

Inc-Out
Factor
Inc-Out

Takfreq.
Analog Out

Function
Display of the unit type
Display of the serial no.
Axis designation
Voltage selection dc/ac
Power voltage supply
max. bus circuit voltage
min. bus circuit voltage
Bus circuit measurement dig./anal.
Internal/external ballast resistance
Ballast resistance power
Ballast resistance value( Ohm)
BTB message
with/without power voltage
see clock frequency
Selection drop-down list

Setting range
Type plate
Customer
Switch
Type plate
Switch
Switch

Switch

Units

Note

1V
1%
1%
1W
1Ω

8kHz
24kHz
20kHz
16kHz
12kHz
8kHz I16
4kHz I8
2kHz I4

Function

0
1
2
3
4
5
6
7

internal 16 kHz
internal 8 kHz
internal 4 kHz

Software – Manual N-Drive 3xx

REGID address
0x67
0x62
0xf8
0x5a-19
0x64
0xa5H
0xa5L
0x5a-7
0x5a-1
0x65L
0x65H
0x5a-6

Selection
Selection

Clock frequency settings
Short symbol
Clock frequency

Address
Bit 5..7

Output factor with SINCOS
Output with resolver

Servo settings
Short symbol
Type
SNr.
Achse
Mains sel
Mains
DC-BUS max
DC-BUS min
ZW-Monitor
Regen
Regen-P
Regen-R
BTB Power

0
1
2
3

Version 2017 / V1

Address REGID
0x5a

Bit 20...22

106

Parameter tables

Parameters

Parameter tables

Parameters
Command (command values)
Short symbol

Function

Setting range

Mode
Cutoff-digital-cmd
Format Ain1, Ain2
Offset Ain1
Cutoff Ain1

see command mode
Zero-zone digital command value
see command format
Command value offset analog input 1
Zero-zone command value
analog input 1
Scaling command value
analog input 1
Command value offset analog input 2
Zero-zone command value
analog input 2
Scaling command value
analog input 2
see Ain1, Ain2 mode

Selection
+/-32767
Selection
+/-32767
+/-32767

Scale Ain1
Offset Ain2
Cutoff Ain2
Scale Ain2
Mode Ain1, Ain2

Command mode
Short symbol
Command mode
Digital Speed
Analog Speed
Analog Torque
Digi + Ana Speed

Command format
Short symbol
Command format Ain 1
Off
Cmd
-Cmd
sq(cmd)
N-Limit
Command format Ain2
Off
+Cmd
-Cmd
* Cmd
I-Limit

Units

Note

Num

0x1e

Num
Num

0x2fL
0x50

+/-32767

Num

0x2fH

+/-32767
+/-32767

Num
Num

0x2fL
0x50

+/-32767

Num

0x2fH

Selection

Function
Digital speed command value of RS232 or BUS
Analog speed command value
Analog torque command value
Digital plus analog command value

0
1
2
3

Function
Open, not used
Analog command value 1
Analog command value 1 negated
Analog command value 1 quadratic
Analog input 1 as speed limit

0
1
2
3

Open, not used
Analog command value 2 added to the analog command
value 1
Analog command value 2 subtracted from the analog
command value 1
Analog command value 2 multiplied by the analog
command value 1
Analog input 2 as current limit

0
1

107

Address
REGID 0x36
Bit 0...1

Bit 15
Bit 2...3

3
Bit 14

Function
Command value plus-minus max. 10 V
Command value plus max. 10 V
Command value 4 to 20 mA at 500 Ohm

0
1
2

Command value plus-minus max. 10 V
Command value plus max. 10 V
Command value 4 to 20 mA at 500 Ω

0
1
2

Version 2017 / V1

Address
REGID 0x36
Bit 12...13

Command mode range
Short symbol
Mode range Ain1
-10...+10V
0...+10V
4...20mA (+2V...+10V)
Mode Range Ain2
-10...+10V
0...+10V
4...20mA (+2V...+10V)

REGID
address

Address
REGID 0x36
Bit 4...5
Bit 8..9

Software – Manual N-Drive 3xx

Current controller parameter
Command values, actual values, control errors (current)
Short symbol

Function

Setting range

Units

I man
I cmd
I cmd ramp
Iq actual
Id actual
I act
I act monitor

Manual current command value
Current command value
Current command value after ramp
Actual active current value
Actual reactive current value
Total current - actual value
Total current - actual value
after display filter
Active current control fault
Reactive current control fault
Reference value

+/- 2048
+/-2048
+/-2048
+/-2048
+/-2048
+/-2048
+/-2048

Num
Num
Num
Num
Num
Num
Num

REGID
address
0x21
0x26
0x22
0x20
0x28
0x20
0x5f

+/-2048
+/-2048
+/-2048

Num
Num
Num

0x38
0x39
0x23

Iq error
Id error
Id ref

Current limits, ramps

Note

Short symbol

Function

Setting range

Units

+I max
+I con
-I max
-I con
Tpeak
I-lim-dig
I-red-N
I-red-TD

Current limit peak current positive
Current limit continuous current positive
Current limit peak current negative
Current limit continuous current negative
Tiem peak current
Current limit switched via input
Current limit controlled via speed
Current limit controlled via output stage
temperature
Current limit controlled via rms current
(I2t)
Current limit controlled via motor
temperature
Display rms current + time
Display resulting current limit

0...100
0...100
0...100
0...100
0...30000
0..100
0...100
0..32767

%
%
%
%
ms
%
%
Num

0..32767

Num

0x4c

0..32767

Num

0xa2

0..32767
0..32767

Num
Num

0x25
0x48

I-red TE
I-red-TM
I2t actual
I-lim actual

Output stage voltages
Short symbol

Function

Vq
Vd
Vout
Vred
Vkp
VTi
DC-Bus

Internal calculated value FOC
Internal calculated value FOC
Output voltage
Starting point field weakening
P amplification field weakening
I time field weakening
Bus circuit voltage

Setting range

Note

0xf0
0x46
0x3c
0x58

Units

Note

REGID
address
0x29
0x2a
0x8a
0x8b
0x8c
0x8d
0xeb

REGID
address
0x1c
0x1d
0x2b

0 to 4096

0 to 32767

Control parameters of the current controller
Short symbol

Function

Setting range

Units

Note

KP
Ti
TiM

Proportional amplification
Integration time
Max. integration time memory

0 to 200
300 to 2000
0 to 100

num
ms
%

1=0.1
150
1

Software – Manual N-Drive 3xx

Version 2017 / V1

REGID
address
0xc4
0xc5

108

Parameter tables

Parameters

Parameter tables

Parameters
Speed controller parameters
Command value, actual value, speed, torque
Short symbol

Function

Setting range

Units

Analog int Ain1
Analog int Ain2
Dig-Speed
Dig-Torque
N cmd
N cmd Ramp
N actual
N act monitor
N error

Analog input 1 internally processed
Analog input 1 internally processed
Digital speed command value
Digital torque command value
Speed command value
Speed command value after ramp
Actual speed value
Actual speed value after display filter
Speed control fault

+/-32767
+/-32767
+/-32767
+/-32767
+/-32767

num
num
num
num
num

Setting range

Units

Note

REGID
address
0xd5H
0xd6H
0x31
0x90
0x5d
0x32
0x30
0xa8
0x33

Note

REGID
address

Limits, ramps, speed, torque
Short symbol

Function

Ramp-sel
RCW-Acc
RCW-Dec
RCCW-Acc
RCCW-Dec
S-Form
RCW-Lim
Nmax 100%
N-Lim
N-Lim+
N-LimFilter

see selection ramp sel
Acceleration positive speed
Deceleration positive speed
Acceleration negative speed
Deceleration negative speed
see selection ramp form
Delay emergency stop
max. speed for 100%
Speed limiting
Positive speed limiting
Negative speed limiting
Speed actual value filter

0...30000
0...30000
0...30000
0...30000
0...30000
600 to 50000
0...100
0...100
0...100
0..7

Selection
ms
ms
ms
ms
Selection
ms
rpm
%
%
%
num

0x35L
0xedL
0x35H
0xedH
0xc7
0xc8
0x34
0x3f
0x3e
0x5e

Control parameters of the speed controller
Short symbol

Function

Setting range

Units

Note

KP
Ti
Td
TiM

Proportional amplification
Integration time
Rate time
Max. integration time memory

0 to 200
5 to 100
1 to 10000
0 to 100

Num
ms
ms
%

1=0.1
0.75
0.75
1

109

Version 2017 / V1

REGID
address
0x2c
0x2d
0x2e
0x3b

Software – Manual N-Drive 3xx

Position controller parameters
Reference run
Short symbol

Function

Setting range

Units

Note

Speed to
Speed from
Reso Ed

Speed to the reference position
Loop speed

10 to 32000
10 to 2000

num
num

1
1

Dec-Ramp

Acc Ramp or Limit Ramp

Switch

Position controller Pos->Speed
Short symbol

Function

Setting range

Units

Note

KP
Z-Faktor
Ti
Td
TiM

Proportional amplification

0 to 200

num

1=0.1

Integration time
Rate time
Max. integration time memory

10 to 500
500 to 10000
0 to 100

ms
ms
%

0.75
0.75
1

Position controller parameters
Short symbol

Function

Setting range

Units

Note

Tol-wind
Ref- Off

Proportional amplification
Zero offset

num
num

1=0.1
1

ND-Scale
ND-Offset
Pos dest
Pos cmd
Pos actual
Pos error
Inc-Out
Inc-ext
Faktor-ext

Display - factor
Display - offset
Position target
Position command value
Actual position value
Position control fault
Increment output
Increment 2. feedback
Factor 2. feedback

0 to 100
0 +/2147483647

num
num

1
1

Software – Manual N-Drive 3xx

REGID
address
0x76
0x77
0x75

REGID
address
KP
Z-Faktor
Ti
Td
TiM

REGID
address
0xc9
0x72
0xcb
0xcd
0x6e
0x91
0x6d
0x70

0x7e

Version 2017 / V1

110

Parameter tables

Parameters

Parameter tables

Parameters
Frequency converter parameters
Frequency converter (FU) settings
Short symbol
Start
T-DC
I-DC
Umin
F min
U eck
F eck
Stop
T-DC
I-DC
Umin
F min
U eck
F eck
F-sh

Function

Setting range

Units

Note

dc magnetization time
dc magnetization
min. voltage
min. frequency
Voltage at rated speed
Frequency at rated voltage

ms
1%
0.1 %
0.1 Hz
0.1 %
0.1 Hz

0x07L
0x08L
0x0aL
0x0bL
0x0cL
0x0dL

dc magnetization time
dc magnetization
min. voltage
min. frequency
Voltage at rated speed
Frequency at rated voltage
see F-shape

ms
1%
0.1 %
0.1 Hz
0.1 %
0.1 Hz

0x07H
0x08H
0x0aH
0x0bH
0x0cH
0x0dH

F-shape frequency converter settings
Short symbol
F-sh Start
linear
quad/2
quad
opt
F-sh Stop
linear
quad/2
quad
opt

111

REGID
address

Function

presently only linear

0
1
2
3

Address
REGID 0x0f
Bit 1..2

presently only linear

Version 2017 / V1

Software – Manual N-Drive 3xx

Parameters

Logic BIT
Short symbol

Function

Limit 1
Limit 2
Din 2
Din 1
FRG (RUN)

Digital input limit 1 active
Digital input limit 2 active
Digital input Din 2 active
Digital input Din 1 active
Hardware enable active

Dout 1
Dout 2
BTB (Rdy)
GO
Dout 3
Dout 4

Digital output Dout 1 connected
Digital output Dout 2 connected
Hardware relay output BTB-Rdy connected
Internal enable GO active
Digital output Dout 3 connected
Digital output Dout 4 connected

Logic comparison variable

Parameter tables

Logic parameters
Address
REGID 0xD8
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9
Bit 10
Bit 11
Bit 12
Bit 13
Bit 14
Bit 15

Short symbol

Function

Setting range

Units

Note

0
1
VAR1
VAR2
VAR3
VAR4
Ain 1
Ain 2

Logic signal zero
Logic signal one

1/0
1/0

Logic
Logic

Numerical value of the entered variable
fields

+/-32767

num

Analog value input Ain1
Analog value input Ain2

+/-32767
+/-32767

num
num

Setting range

Units

Note

see table

dec.
dec.
hex

Default 201
Default 181

REGID
address
0xd1
0xd2
0xd3
0xd4

Interface settings
CAN-BUS
Short symbol

Function

Rx ID
Tx ID
BTR

Receiving address
Sending address
Transmission rate

Software – Manual N-Drive 3xx

Version 2017 / V1

REGID
address
0x68
0x69
0x73

112

Parameter tables

Parameters
Messages, errors, warning messages
Error BIT

Error message

Fault

BADPARAS
POWER FAULT
RFE FAULT
BUS TIMEOUT
FEEDBACK
POWERVOLTAGE
MOTORTEMP
DEVICETEMP
OVERVOLTAGE
I_PEAK
RACEAWAY
USER
I2R
RESERVE
HW-FAIL
BALLAST (device dependent)

Parameter damaged
Output stage fault
Defective safety circuit (only active with RUN)
Transmission fault BUS
Faulty encoder signal
Missing power voltage supply
Motor temperature too high
Device temperature too high
Overvoltage >1.8 x UN
Over-current 300 %
Racing (without command val., wrong direction)
User – fault selection
Overload

NOREPLY-No RS

RS232 interface not plugged-in or faulty

Address
REGID 0x8f
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9
Bit 10
Bit 11
Bit 12
Bit 13

Firmware is not compatible with the hardware
Overload of the ballast circuit

Bit 14

Error message

Fault

Address
REGID 0x8f

WARNING_0
ILLEGAL STATUS
WARNING_2

Inconsistent device determination
RUN signal disturbed, EMI
RFE signal inactive (without RUN)

Bit 16

Warning BIT

Bit 15

Bit 17
Bit 18
Bit 19
Bit 20

POWERVOLTAGE
MOTORTEMP
DEVICETEMP
OVERVOLTAGE
I_PEAK

Power voltage too low or missing
Motor temperature >87 %
Device temperature >87 %
Overvoltage >1.5 x UN
Over-current 200 %

Bit 21
Bit 22
Bit 23
Bit 24
Bit 25
Bit 26
Bit 27

I2R

Overload >87 %

Bit 28
Bit 29
Bit 30

BALLAST (device dependent)

113

Overload of the ballast circuit >87 %

Version 2017 / V1

Bit 31

Software – Manual N-Drive 3xx

Parameters
State display

Description

Ena
NCR0
Lim+
LimOK
Icns
T-Nlim
P-N
N-I
2Hz
Ird-TM
Ird-ANA
lwcns
RFE-plus
rsvd2:1
Handrad

I actual D
I actual Q
I2t
P-Motor
DC-BUS
P-Regen
Tmotor
Tigbt
Tair
Ireda

Address
REGID 0x40
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9
Bit 10
Bit 11
Bit 12
Bit 13
Bit 14
Bit 15
Bit 16
Bit 17
Bit 18
Bit 19
Bit 20
Bit 21
Bit 22
Bit 23
Bit 24
Bit 25
Bit 26
Bit 27
Bit 28
Bit 29
Bit 30
Bit 31

Handwheel input selected

Measured values
Short symbol
Ncmd Ramp
N actual
Icmd Ramp

Parameter tables

State BIT

Function
Speed command value after ramp and limit
Actual speed value
Current command value after ramp and
limit
Actual current value D
Actual current value Q
Capacity I2xt
Motor power
Bus circuit voltage

Unit

Range

ID address
0x32
0x30
0x26

Effective motor temperature
Effective output stage temperature
Effective air temperature in the servo

0x28
0x27
0x45_L
0xf6
0xeb
0x45_H
0x49
0x4a
0x4b

Effective current limit

0x48

Software – Manual N-Drive 3xx

Version 2017 / V1

114

Parameter tables

Parameters
Switch and selection settings
Mode BIT
Short symbol
Reserve
SPEED = 0
ENABLE OFF
CANCEL CAL-CYCLE
d(status)->CAN
I-clip on
N-clip on
Mix ana on
Allow sync
Handwheel

Core option BIT

Function

Address
REGID 0x51
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9

Drive stop
Drive disabled
Reference run stopped
Current limit in % of the type current active
Speed limiting (positive and negative)
Digital plus analog speed command value
2. feedback as handwheel

Short symbol

Function

DC-BUS-comp
BALLAST_EXT
TJ_SPECIAL
coast stop
IISTINVERSE

Analog measured bus circuit value influences Uout
External ballast resistor
Sensor specialties
Coast Stop active, coasting to standstill
Inverted actual current value polarity (factory-setting active for
DS450, BAMO-D3)
Reverse ramp for reference run set from Limit to ‚Dec‘
BTB signal also at under-voltage error messages
Analog ZW-voltage watchdog
Enable delay
Inverted sequence of the Hall signals
Hall signal 2 inverted
Sensor specialties
Motor selection
Motor selection
Measuring range (Vdc bus, Vdc-Bat) 0 to 5 V (0 = 2.5 to 5 V)
Interface RS232 9600 Baud
Selection ‚S-ramp‘ active
Selection ‚4 ramps‘ active
Selection ‚with brake‘ active

REFSOFT
NOUESP_BTB
ANA_UESP
BTB_DELAY
Hxinv
H2inv
OL_comp
MotorType
MotorType
ANA_0up
lowbd
S-ramp
4-ramp
MotBrake
ACDC
PWM-Frequenz
PWM-Frequenz
PWM-Frequenz
NTC
delta
DC_1QdirVolt
DC_field
DEAD_2
block
DC_1QMV
DC_1Q3P
Frd<10Hz

115

Clock frequency setting
Clock frequency setting
Clock frequency setting
Motor phase triangle
DC 1-quadrant, direct voltage regulation PWM
DC field controller
Dead band *2
Block current at ROT feedback
DC 1-quadrant, min. switching losses
DC 1-quadrant, no High-Side, parallel -UB switch
<10 Hz switching frequence set to 4 kHz

Version 2017 / V1

Address
REGID 0x5a
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9
Bit 10
Bit 11
Bit 12
Bit 13
Bit 14
Bit 15
Bit 16
Bit 17
Bit 18
Bit 19
Bit 20
Bit 21
Bit 22
Bit 23
Bit 24
Bit 25
Bit 26
Bit 27
Bit 28
Bit 29
Bit 30
Bit 31

Software – Manual N-Drive 3xx

Parameters

Short symbol
Ncmd Ramp
N actual
Icmd Ramp
Iact monitor
I actual D
I actual Q
I2t
P-Motor
DC-BUS
P-Regen
Tmotor
Tigbt
Tair
Ireda
Vout

Function
Speed command value after ramp and
limit
Actual speed value
Current command value after ramp and
limit
Actual current value (filtered)
Actual current value D (reactive current)
Actual current value Q (active current)
Capacity I2xt
Motor power
Bus circuit voltage
Ballast power
Effective motor temperature
Effective output stage temperature
Effective air temperature in the servo
Effective current limit
Output voltage

Software – Manual N-Drive 3xx

Unit
num

Range
0 to +/-32767

ID address
0x32

num
num

0 to +/-32767
0 to 600

0x30
0x26

num
num
num
num
num
num
num
num
num
num
num

0 to 600
0 to 600
0 to 4000
0 to 4000
0 to +/-32767
0 to 4000
0 to 32767
0 to 32767
0 to 32767
0 to 600
0 to 4000

0x28
0x27
0x45_L
0xf6
0xeb
0x45_H
0x49
0x4a
0x4b
0x48
0x8a

Version 2017 / V1

Parameter tables

Monitor parameters

116

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Author                          : Evelin Menrad
Company                         : Hewlett-Packard Company
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Format                          : application/pdf
Creator                         : Evelin Menrad
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Page Layout                     : OneColumn
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