Uni Drive User Guide

User Guide
Unidrive
model sizes 1 to 5
Unidrive LV
model sizes 1 to 3
Universal Variable Speed Drive
for induction and servo motors
Part Number: 0460 0070

Issue Number: 6
General information
The manufacturer accepts no liability for any
consequences resulting from inappropriate ,
negligent or incorrect installation or adjustment of
the optional operating parameters of the equipment
or from mismatching the variable speed drive
(Drive) with the motor.
The contents of this User Guide are believed to be
correct at the time of printing. In the interests of a
commitment to a policy of continuous development
and improvement, the manufacturer reserves the
right to change the specification of the product or
its performance, or the contents of the User Guide,
without notice.
All rights reserved. No parts of this User Guide may
be reproduced or transmitted in any form or by any
means, electrical or mechanical including
photocopying, recording or by any informationstorage or retrieval system, without permission in
writing from the publisher.
Important...
Drive software version
This product is supplied with the latest version of
user-interface and machine-control software. If this
product is to be used with other Control Techniques
variable speed drives in an existing system, there
may be some differences between their software
and the software in this product. These differences
will cause a difference in functions. This may also
apply to variable speed drives returned from a
Control Techniques Service Centre.
If there is any doubt, contact a Control Techniques
Drive Centre.
Copyright
October 2000 Control Techniques Drives Ltd
Author:
RFD
Issue Code:
udxu6
Issue Date:
October 2000
S/W Version:
03.XX.07 onwards
Addendum
Using the Unidrive with ramps disabled (closed loop only)
When using the Unidrive in Closed-Loop mode (Vector or Servo) with the acceleration/deceleration
ramps disabled (Pr 2.02 = 0), the stop mode (Pr 6.01) must be set to no.rP. If this is not done, the
Drive may allow the motor to momentarily start running up in the forward direction following the
removal of the run reverse command.
More information:
When using the Unidrive with the ramps disabled (Pr 2.02 = 0), the stop mode at the default value
(Pr 6.01= rP) and the Drive running with full reference in the reverse direction; on the removal of the
run reverse command the final speed reference will momentarily go positive and will return to zero at a
rate dependant on the deceleration ramp (default setting = Pr 2.21).
If an application requires the ramps to be disabled (either in Closed-Loop Vector or Servo mode), the
stop mode [06.01] should be set to no.rP.
An alternative solution is to set the deceleration ramps to 0 (zero).
Contents
Chapter
2.7
Operating instructions
2-15
Terminal mode
2-15
Keypad mode
2-16
Trip and enable
2-17
Setting up operating limits
2-18
Maximum and minimum speeds
2-18
Introduction
1-1
1.1
How this User Guide can help you
1-1
1.2
Model sizes
1-1
1.3
Configuration layers
1-1
1.4
Default configurations
1-2
Acceleration rate
2-18
1.5
Operating modes
1-2
Deceleration rate
2-18
1.6
User-interface modes
1-3
Braking resistor
2-18
1.7
Macro configurations
1-3
Torque producing current limit
2-19
1.8
Plug-in option modules
1-6
1.9
Serial communications
1-6
1.10
Using Unisoft
1-6
1.11
Advanced functions
1-7
Getting Started
2-1
2.1
How to use this chapter
2-1
3.1
3-1
2.2
Making signal and power connections
2-1
3.2
2.3
Introduction to the display and keypad 2-7
Enabling a different
macro configuration
3-1
3.3
Advanced programming
3-2
3.4
Macro 0 General purpose

(default configuration)
3-3
3.5
Macro 1 Easy mode
3-9
2.4
2.5
2.6
2.8
Open-loop voltage-control modes
2-20
Boost voltage
2-20
Voltage/frequency characteristic
2-20
Dynamic performance
2-21
Setting Up the Drive

(Macro Configurations)
3-1
Display and keypad
2-7
Resetting the Drive
2-8
Working with software parameters
2-8
Parameters and menus
2-8
Types of parameter
2-8
3.6
Macro 2 Motorized potentiometer
3-15
Adjusting parameter values
2-8
3.7
Macro 3 Preset frequencies/speeds
3-21
Making new values effective,

and saving them
2-8
3.8
Macro 4 Torque control
3-27
Parameter 0.00
2-9
3.9
Macro 5 PID (set-point control)
3-33
3.10
Macro 6 Axis-limit control
3-40
3.11
Macro 7 Brake control
3-47
3.12
Macro 8 Digital lock

Shaft orientation
3-52
How macro configurations

change the arrangement of
the Menu 0 parameters
2-10
Initial setting up
2-11
Restoring the Drive to a default

configuration
2-11
Changing the operating mode
2-11
Enabling Macro 1
2-12
Configuring the Drive for the motor
2-12
Autotune
2-14
Changing the user interface mode
2-15
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Appendix
Programming Instructions
A-1
A.1
Electrical connections
A-1
A.2
Preparation
A-1
A.3
Status mode
A-2
A.4
Displaying the parameter

number in Status mode
A-2
Entering Parameter mode

and returning to Status mode
A-2
A.6
Selecting a parameter to access
A-3
A.7
Changing the value of a parameter
A-4
A.8
Saving new parameter-values
A-6
A.9
Flashing and non-flashing digits
A.10
A.11
Security, and Accessing the

Advanced Parameters
B-1
B.1
Security levels
B-1
B.2
Setting-up User Security
B-1
B.3
Unlocking User Security
B-1
B.4
Unlocking Standard Security
B-1
B.5
Locking Standard Security
B-1
B.6
Summary
B-2
Signal Connections
C.2
Encoder connections
C-4
C.3
Frequency and direction connections
C-5
A-6
Menu 0 Parameters
Negative values
A-6
D.1
Introduction
D-1
Changing the setting of

a bit parameter
D.2
A-6
Fixed-function parameters
common to all macros
D-2
A.12
Selecting a different option
A-7
D.3
A.13
Restoring the Drive to a

default configuration
A-7
Diagnostics
E-1
Summary of key operation
A-7
E.1
Status indications
E-1
E.2
Alarm indications
E-1
E.3
Trip codes
E-2
A.5
A.14
ii
C-1
D-1
Re-programmable parameters
specific to the macros
D-10
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Introduction
1.2
Model sizes
This User Guide refers to the models listed below.
1.1
How this User Guide

can help you
Unidrive
Model size
If this is your first encounter with a

Unidrive, read this User Guide before
referring to the accompanying
Installation Guide.
UNI 1401
This User Guide is arranged on a step-by-step basis

to lead you through the following:
Learning how to operate the Unidrive

(Drive)
When to refer to the Installation Guide
Setting up the Unidrive
For advanced programming of the Unidrive, a disk

containing the Advanced Parameter Descriptions in
TM
Windows Help file format, is supplied with the
Drive.
Printed copies of the Unidrive Advanced User Guide
(which includes the Advanced Parameter Descriptions
plus additional information) are available from the
Drive Centres and distributors listed at the end of
this User Guide.
Warning
Model code
Variable speed drives may be

hazardous if misused. Carefully
follow the instructions in this
User Guide and the Installation
Guide.
Nominal rating
for standard
AC motors
KW
HP
0.75
1.0
UNI 1402
1.1
1.5
UNI 1403
1.5
2.0
UNI 1404
2.2
3.0
UNI 1405
4.0
5.0
UNI 2401
5.5
7.5
UNI 2402
7.5
10
UNI 2403
11.0
15
UNI 3401
15.0
25
UNI 3402
18.5
30
UNI 3403
22.0
30
UNI 3404
30.0
40
UNI 3405
37.0
50
UNI 4401
45.0
75
UNI 4402
55.0
100
UNI 4403
75.0
125
UNI 4404
90.0
150
UNI 4405
110.0
150
UNI 5401
132.0
200
Unidrive LV
Model size
Model code
Nominal rating
for standard
AC motors
KW
Unidrive User Guide

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HP
UNI 1201
0.37
0.5
UNI 1202
0.55
0.75
UNI 1203
0.75
1.0
UNI 1204
1.1
1.5
UNI 1205
2.2
3.0
UNI 2201
3.0
4.0
UNI 2202
4.0
5.0
UNI 2203
5.5
10.0
UNI 3201
7.5
15.0
UNI 3202
11
20.0
UNI 3203
15
25.0
UNI 3204
22
30.0
Introduction
1-1
1.3
Configuration layers
The Drive has four layers of configuration, starting

from the base layer (1) as follows:
1.
Default configuration
2.
Operating mode
3.
User-interface mode
4.
Macro configuration
Each of the upper layers (2, 3, 4) is superimposed on

its preceeding layer.
1.4
Default configurations
The Drive has a separate default configuration for the

AC supply conditions in Europe or in the USA. These
two default configurations are distinguished as
follows:
European AC supply voltage at 50Hz
USA AC supply voltage at 60Hz
The Drive is despatched from the factory in the
appropriate default configuration for the continent
in which it is to be sold. The default configuration
is Macro 0 (described in Macro configurations later in
this chapter).
The default configuration also defines the following
functions:
Ability to select positive-logic for the digital

control inputs
Ability to adjust the current-loop PI gains
USA
Operating modes
The Drive can be configured to operate in any of the

following operating modes.
Open-loop
For use with standard
AC
induction motors.
This is the operating mode of the Drive when

despatched from the factory.
The Drive applies power to the motor at frequencies
which are controlled by the user. The motor speed
is a result of the output frequency of the Drive and
motor slip due to the mechanical load.
The Drive can power a number of motors connected
in parallel (each motor must be protected against
overload; this is described in the Installation Guide).
The Drive can improve the performance of the
motor by applying the following:
Slip compensation
Fixed boost or Open-loop Vector operation
Fixed boost applies a fixed voltage boost at low

frequencies.
Open-loop Vector operation maintains almost
constant flux by dynamically adjusting the
motor voltage according to the load on the
motor.
Closed-loop Vector
Europe
1.5
Ability to select digital control by two or

three wires
Frequency/speed demand indication
(These functions apply to Macro 0 only.)
For use with a standard AC induction motor

coupled to a quadrature encoder. When a
suitable option module is fitted in the
Drive, another type of feedback device can
be used instead (see Alternative feedback
device below).
The Drive directly controls the speed of the motor.
The Drive and motor form a closed-loop system
where the encoder is used to apply feedback to the
Drive.
Key used in this User Guide
The Drive can power only one motor.
The following key denotes the default

configuration:
Alternative feedback
EUR>
USA>
50Hz AC supply (Europe)

60Hz AC supply (USA)
When no key is stated, the information applies to

both default configurations.
1-2
Introduction
Feedbackdevice
Optionmodule required
SIN-COS encoder
UD52
SIN-COS encoder small option module
Resolver
UD53
Resolver small option module
Unidrive User Guide

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Closed-loop Servo
1.6
For use only with permanent-magnet

brushless AC servo motors coupled to a
quadrature encoder having commutation
signals. When a suitable option module is
fitted in the Drive, other types of feedback
device can be used instead (see Alternative
feedback devices below).
The motor can be started and stopped, the

direction of rotation reversed and the speed
changed by operation of the Drive in either of the
following user-interface modes:
Terminal mode
Applying signals from electrical contacts, a
system controller or PLC to digital and analog
inputs on the Drive.
For the USA default configuration, the Drive can
be configured for digital control by momentary
contacts.
Alternative feedback devices

Feedback device
Option module required
SIN-COS encoder
UD52
SIN-COS encoder small option module
Resolver
UD53
Resolver small option module
Keypad mode
Manual operation of the keypad on the front
panel of the Drive. Minimal signal connections
are made to the Drive.
Regeneration
Warning
Before a Drive is used in the

Regeneration mode, the Drive
and the accompanying
motoring Drive(s) may need to
be modified. Contact the
supplier of the Drive for
details.
User-interface modes
1.7
Macro configurations
The Drive can be used to control the motor speed in

various ways for different types of application. To
reduce the number of adjustments to the Drive for
each type of application, nine macro configurations
(0 to 8) are available.
The Regeneration mode is used for four-quadrant

operation. A Drive can be operated in Regeneration
mode only when it is connected to other Drive(s)
operating in one of the other (motoring) modes.
Each macro configuration requires specific signal

connections to be made to the Drive.
Regeneration mode allows the following:
This User Guide refers to operating the

Drive with these macro configurations and
does not include advanced programming of
the Drive.
AC supply to be fed from the Regeneration

Drive to the Drive(s) that are controlling the
motor
Regenerated power to be returned to the
AC supply by the Regeneration Drive instead
of being dissipated in braking resistors
For information on using the Drive in this mode,

contact the supplier of the Drive.
Key used in this User Guide

The following key denotes reference to the
operating modes:
OL>
CL>
VT>
SV>
Applies to Open-loop only

Applies to Closed-loop Vector and
Closed-loop Servo
Applies to Closed-loop Vector only
Applies to Closed-loop Servo only
When no key is stated, the information applies to all

three operating modes.
Unidrive User Guide

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Notes
Changing advanced parameters may affect

operation of a macro. Information in this
User Guide may then not be valid.
The macro configurations are as follows:
Macro 0
General purpose
Analog frequency/speed control for
general-purpose applications.
When the Drive is operating in open-loop, the
output frequency of the Drive is controlled by a
frequency reference. When the Drive is operating in
closed-loop, the motor speed is controlled by a
speed reference. In both cases, the motor speed will
follow the frequency/speed reference so long as the
maximum permissible output current of the Drive is
not exceeded. These principles also apply to all
other macro configurations except Macro 4.
Introduction
1-3
The macro configuration can be used for open-loop

or closed-loop operation, and in either Keypad or
Terminal mode.
The frequency/speed can be controlled in either of
the following ways...
Terminal mode: An analog frequency or
speed reference signal applied to the Drive
Keypad mode: By a user pressing keys on
the front panel of the Drive
Macro 1
Easy mode
Frequency/speed control for basic applications.
This is similar to Macro 0, except, for simplicity,
fewer adjustments are required.
or closed-loop operation, and in either Keypad or
Terminal mode.
The principles of controlling motor speed are the
same as for Macro 0.
Macro 5
PID control
The Drive is operated with a frequency/speed
reference and an analog feedback device in order to
dynamically maintain the speed to a user-defined
set-point under PID control.
or closed-loop operation, and in Terminal mode
only.
Macro 6
Axis-limit control
Axis-limit control is used for applications which
require the process to be automatically stopped
when a position limit has been reached. A bipolar or
unipolar frequency/speed reference can be used.
Macro 2
Motorized potentiometer

only.
The frequency/speed is controlled incrementally by

operation of up and down contacts.


only.
Macro 7
Brake control

Frequency/speed control with brake control for

crane or hoist applications.
Macro 3
Preset frequencies/speeds

or closed-loop operation, and in Terminal mode or
keypad mode.
Four preset frequencies/speeds that are selected by

external contacts.
only.
Macro 4
Torque control
The motor torque is defined by a torque demand.
The motor speed will vary continuously as a result
of the difference between the load torque and the
torque demand up to a maximum speed which is
defined by a speed over-ride level.
The torque demand is supplied by an analog torque
reference signal that is applied to the Drive.

Macro 8
Digital lock
Shaft orientation
Two independent functions, as follows:
Speed and position control for a slave Drive

in digital-lock applications
Shaft orientation when stopping the motor
and/or when enabling the Drive
The macro configuration can be used for

closed-loop operation only, and in Terminal mode
only.
For shaft orientation, the principles of controlling
motor speed are the same as for Macro 0.

only.
1-4
Introduction
Unidrive User Guide

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User interface
Frequency/speed
reference selection
Drive
Functions of the software

(controlled by the macro configurations)
Minimum and maximum

frequency/speed limits
Display and
keypad
Skip frequencies/speeds
Acceleration and
deceleration ramps
User
control
S-ramp
Monitoring
Current limit
Stop mode
Spinning motor sync.
External
control and
monitoring
(analog and
digital)
OL> Voltage control

CL> Speed-loop gains
Motor parameters
PWM switching
frequency
CL> Encoder
Control
Monitoring
DC bus
AC supply
Optional braking
resistor
Power circuits
Figure 11
Block diagram of the Drive showing the main functions of the software,
and power connections (signal connections vary according to the
macro configuration)
Unidrive User Guide

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Introduction
1-5
1.8
Plug-in option modules
Operation of the Drive can be extended by the use

of plug-in option modules. The following modules
are available from the supplier of the Drive; an
appropriate User Guide is included with each
module:
Small option modules

UD50
UD51
UD52
UD53
UD55
Additional I/O
Second encoder interface
SIN/COS encoder interface
Resolver interface
Cloning (parameter copying)
Large option modules

UD70
UD71
UD73
UD74
UD75
UD76
UD77
UD78
1-6
Intelligent applications
RS232/RS485 serial
communications
Profibus DP interface
InterBus S interface
CTNET interface
ModBus Plus interface
DeviceNet
Servo option (precision analog
input, and back-up control
supply)
Introduction
1.9
The Drive can be configured and fully controlled

from a system controller or PLC operating on a
RS232, a 4-wire RS485 or a 2-wire RS485 serial
communications link. A Basic serial communications
large option module or an appropriate Second
processor large option module must be fitted in the
Drive. More information can be obtained from a
Drive Centre or distributor listed at the end of this
User Guide.
Serial communications can be used in conjunction
with Terminal mode or Keypad mode.
1.10
Using Unisoft
The Drive can be configured and controlled from a

PC by use of the Unisoft program which is supplied
on diskette and operates under Microsoft
Windows (version 3.1 and later).
A Basic serial communications large option module or
an appropriate Second processor large option module
must be fitted in the Drive. A serial
communications interface must be fitted in the PC
for any of the following modes:
RS232
Four-wire RS485
Two-wire RS485
Unidrive User Guide

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1.11
Advanced functions
This User Guide covers the basic functions of the

Unidrive which are intended for the majority of
applications. The Unidrive also has advanced
functions which are covered in the Unidrive Advanced
User Guide. The advanced functions are as follows:
Three analog inputs programmable for

mode and function
Analog input 1 can operate as a
high-resolution differential input at 12-bit
plus sign
Two analog outputs programmable for
voltage or current mode and for function
Eight adjustable preset frequencies/speeds.
Adjustable precision frequency/speed
reference
Remote selection of frequency/speed
references
Motorized potentiometer function
Three adjustable skip bands
Adjustable output frequency up to 2000Hz
(open-loop) or 30,000rpm (closed loop)
Hard speed reference input
Torque control in open-loop
Three modes of torque control in
closed-loop
Five digital control (sequencing) modes
Unidrive User Guide

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PID control using an analog feedback device

Up to eight selectable and adjustable
acceleration and deceleration ramps
Selectable and programmable acceleration
and deceleration ramp rates for jog
Remote selection of ramps
Run-time log shows cumulative running time
of the Drive
Integral position loop for digital lock in
closed loop
Frequency slaving in open-loop
Master and multiple slave operation in
closed-loop
Multiple-purpose encoder and
frequency/direction interface for open- and
closed-loop
Two programmable thresholds
Three programmable digital I/O terminals
Three programmable digital input terminals
Trip log for last ten trips
Spindle orientation for machine tools
Three separate stop modes
Programmable trigger alarms based on run
time of the Drive.
Two programmable-logic functions
Programmable binary summation function
Introduction
1-7
1-8
Introduction
Unidrive User Guide

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Getting Started
2.1
It is recommended that you follow the instructions

in this chapter in the order that they appear. You
will be led through the initial stages of setting up
the Drive (in Macro 1 Easy mode) as well as being able
to familiarize yourself with operating the Drive.
Warning
Warning
Warning
Warning
2.2
Making signal and power

connections
Stored charge
Warning
The Drive must be operated

only by personnel having the
necessary training or
experience.
If this is the first time the
Drive has been operated,
ensure that no damage or
safety hazard could arise from
the motor starting
unexpectedly.
Isolation
Warning
The motor must be fixed down

and the shaft guarded against
inadvertent contact.
Do not change parameter
values without careful
consideration; wrong values
may cause damage or a safety
hazard.
The Drive contains capacitors

that remain charged to a
potentially lethal voltage after
the AC supply has been
disconnected. If the Drive has
been energized, the AC supply
must be isolated at least
ten minutes before work may
continue.
The control circuits and

terminals are isolated from the
power circuits only by basic
insulation to IEC6641. The
installer must ensure that all
external control circuits are
separated from human contact
by at least one layer of
insulation rated for use at the
AC supply voltage.
For instructions on removing the terminal covers,

see Mounting the Drive and RFI filter in Chapter 2
Installing the Drive in the Installation Guide.
Notes
Keep a note of changes
When changing the values of parameters,
make a note of the new values in case they
need to be entered again.
Saving the changes

For new parameter-values to apply after
the AC supply to the Drive is interrupted,
new values must be saved. This is described
in Saving new parameter-values in Appendix A
Programming Instructions.
Unidrive User Guide

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Figure 21
Removing the terminal covers for

access to the connectors
Getting Started
2-1
11
21
31
1.
Observe the safety warnings and cautions given

in Chapter 1 Safety information of the Installation
Guide and in this chapter.
2.
Refer to the following:
Figure 22
Location of the signal connector
Chapter 2 of the Installation Guide in order

to install the Drive
Figure 22 for the location of the
signal connector
Figure 23 for the locations of the
power connections
Figure 25 or 26 in this chapter in order to
make the signal and power connections for
operation in Terminal or Keypad mode.
Note that Macros 2, 3, 4, 5, 6, 8 operate only
in Terminal mode. If one of these macro
configurations is to be enabled after the
initial setting up covered in this chapter, you
may wish to set up the Drive now in
Terminal mode in order to learn how to
operate it in this mode.
Signal connector for all models The two

terminal blocks of the signal connector can be
unplugged from the Drive by pulling them
downward.
Power connector for model sizes 1
and 2 The power connector can be unplugged
from the Drive by pulling it downward.
Power connections to model sizes 3
and 4 The power connections are made to
M10 studs located in the power section of the
Drive.
3.
Note that the default user-interface mode is

as follows:
Continent
Operating
mode
User-interface
mode
EUR
CL> + OL>
Terminal
USA
CL>
Terminal
OL>
Keypad
(Instructions for changing the user-interface

mode are given later.)
4.
When connecting a motor to the Drive, observe

the following:
Figure 23
2-2
Locations of the power connectors
Getting Started
Preferably the motor should be identical to

the motor that is to be used in the
application, but this is not essential.
The motor shaft must not be attached to
any equipment, or exposed.
Unidrive User Guide

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5.
Connect a speed feedback device to the Drive,

as follows:
Feedback
device
Notes
Open-loop
None required
Closed-loop Vector
Quadrature
encoder
For electrical specifications of the connections and

for operation with a 15V encoder, refer to
Appendix C Signal Connections.
The D-type connector can also be used for
frequency slaving in open loop applications. For
more information on frequency slaving refer to the
Unidrive Advanced User Guide. For connection
information, see Appendix C.
EIA485/EIA422 standard
(formerly RS485/RS422)
5 VDC (or 15 VDC) supply requirement
See Figure 24 for connecting the
encoder to the 15-way D-type
connector on the Drive
SIN-COS encoder
Fit a UD52 SIN-COS encoder small option

module in the Drive and refer to the
UD52 User Guide for wiring details.
Resolver
Resolver specification:
Input impedance: 85 at 6kHz
Turns ratio: 3:1
Excitation voltage: 6V RMS
(For operation with a 2:1 turns ratio
and 4VRMS excitation voltage, see
the Unidrive Advanced User Guide or
the UD53 User Guide.)
No. of pole pairs: 1
Fit a UD53 Resolver small option module in
the Drive and refer to the UD53 User
Guide for wiring details.
Encoder connector
15-way D-type
Encoder
Signal
connections for
all encoders
Closed-loop Servo
Quadrature
encoder with
commutation
signals
EIA485/EIA422 standard
(formerly RS485/RS422)
5VDC (or 15 VDC) supply requirement
See Figure 24 for connecting the
encoder to the 15-way D-type
connector on the Drive
SIN-COS encoder
Fit a UD52 SIN-COS encoder small option

module in the Drive and refer to the
UD52 User Guide for wiring details.
Resolver
Resolver specification:
Input impedance: 85 at 6kHz
Turns ratio: 3:1
Excitation voltage: 6V RMS
(For operation with a 2:1 turns ratio
and 4VRMS excitation voltage, see
the Unidrive Advanced User Guide or
the UD53 User Guide.)
No. of pole pairs: 1
Additional
commutation
signal
connections for
use with servo
motors only
Signal connector
Figure 24
Encoder and possible

motor-thermistor connections to
the 15-way D-type connector
Fit a UD53 Resolver small option module in

the Drive and refer to the UD53 User
Guide for wiring details.
Unidrive User Guide

Issue code: udxu6
Getting Started
2-3
Note
The Drive can be used with an encoder that
does not produce Z marker pulses. In this
case, ensure that the Z marker pulse inputs
are left unconnected.
No motor thermistor connection is required at
this stage, but a thermistor will be required
later if the Drive is to be operated in any macro
configuration except Macros 1 and 5. If a speed
feedback device is being connected to the 15way D-type connector on the Drive, for
convenience the motor thermistor can be
connected now as shown in Figure 24 in
preparation for operation with the appropriate
macro configuration. When Macro 1 or Macro 5
is enabled, the thermistor is ignored by the
Drive. (Instructions for connecting a motor
thermistor to the signal connector are given for
each macro configuration in Chapter 3 Setting
Up the Drive.)
6.
Warning
7.
2-4
After having made control

connections, carefully check
that terminal 30 is open-circuit
to ensure the Drive is in the
Stop state when the AC supply
is first connected.
After re-fitting the terminal cover, connect the

Drive to the AC supply.
Getting Started
Unidrive User Guide

Issue code: udxu6
Refer to the Installation Guide for

cable sizes and fuse ratings
Status relay
Drive healthy
Optional
RFI filter
Analog frequency/speed
reference 1
(remote)
Signal
connector
Connections for
single-ended input
signal
Thermal
protection
device
0V common
Connections for
differential input signal
Stop
Start /
Reset
0V common
Analog
frequency/speed
reference 2
(local)
Optional braking resistor
0V common
Power
terminals
Refer to the Installation Guide for sizing

of the optional braking resistor
SPEED
TORQUE
Encoder
OL> AT SPEED
CL> AT ZERO SPEED
0V common
Encoder
connector
15-way
D-type
Signal
connections for
all encoders
RESET
JOG SELECT
RUN FORWARD
RUN REVERSE
LOCAL / REMOTE
REMOTE
LOCAL
OL> External trip

CL> Drive enable
0V common
Figure 25
Additional
commutation
signal
connections for
use with servo
motors only
Power connections, and signal connections for Terminal mode (Macro 1 only)
Unidrive User Guide

Issue code: udxu6
Getting Started
2-5
Refer to the Installation Guide for

cable sizes and fuse ratings
Status relay
Drive healthy
Optional
RFI filter
Signal
connector
Thermal
protection
device
Stop
Start /
Reset
Optional braking resistor
0V common
Power
terminals
Refer to the Installation Guide for sizing

of the optional braking resistor
SPEED
TORQUE
Encoder
OL> AT SPEED
CL> AT ZERO SPEED
0V common
Encoder
connector
15-way
D-type
Signal
connections for
all encoders
RESET
OL> External trip

CL> Drive enable
0V common
Figure 26
2-6
Additional
commutation
signal
connections for
use with servo
motors only
Power connections, and signal connections for Keypad mode (Macro 1 only)
Getting Started
Unidrive User Guide

Issue code: udxu6
2.3
Programming keys
Introduction to the
display and keypad
These are used for the following:
Display and keypad

The display and keypad are used for the following:
Reading and changing the values of software

parameters that are used to configure,
control and monitor the Drive
Displaying the operating status of the Drive
Displaying fault and trip codes
Changing the mode of operation of the

display
Selecting a parameter to edit
Editing the selected parameter
Saving new values given to parameters
The functions of the programming keys are as

follows:
Change the display mode
Select a parameter
Increase the value of a digit
Upper display
Select a parameter
Decrease the value of a digit
Lower display
Programming keys
Display the parameter number

Select the next left display digit
Select another menu
Control keys
Run
Figure 27
Stop
Reset
Display the parameter number

Select the next right display digit
Select another menu
Forward /
Reverse
Control keys
Display and keypad
The functions of the control keys are as follows:
Display
The display has three display modes as follows...
Status mode
Used to indicate the status of the Drive
Parameter mode
Used for selecting a parameter to edit
Edit mode
Used for editing the selected parameter
... and shows the following:

Display
Display mode
Status
Parameter
Edit
Upper
Value of
parameter 0
Value of
parameter 0
Value of
parameter 0
(selected digit
flashes)
Lower
Status of the
Drive
Parameter
number
0.10
Parameter
number
0.10
rdY
Operating instructions for the display and keypad

are given in Appendix A Programming Instructions.
Unidrive User Guide

Issue code: udxu6
(RUN) Start the Drive running.

The RUN key is active only when the Drive is
operating in Keypad mode (parameter 0.05
Reference select set at 4).
(STOPRESET) The three functions of
this key are as follows:
Stop the Drive

Reset the Drive after it has tripped
Make new parameter-values take effect
The STOP-RESET key is active when the Drive

is operating in Keypad mode. This key acts only
as RESET when the Drive is operating in
Terminal mode (parameter 0.05 Reference select
set at 0, 1, 2, 3 or 5).
(FWD/REV) Change the direction of
rotation of the motor. (This is not enabled by
default, and is described later in this chapter in
Enabling reverse direction in Keypad mode.)
Getting Started
2-7
Resetting the Drive
Types of parameter
Terminal mode
Variable and bit parameters
When the Drive is stopped, press:
There are two types of parameter, as follows:
Alternatively, close the RESET contact (see

Figure 25).
Keypad mode
When the Drive is stopped, press:
When the Drive is running, press and hold...
Bit parameters
Variable parameters
Bit parameters can be set at 0 or 1 to carry out the

following:
Enable and disable functions

Select from two options
Variable parameters can be set at any value within

the specified range to carry out the following:
Enter values
Select from more than two options
No distinction is made in the parameter numbering

system between variable and bit parameters. When
a bit parameter is selected on the Drive display, the
word bit appears.
... and press:
Readwrite and read-only

Release both keys at the same time.
2.4
Working with
software parameters
Parameters and menus

The software parameters are contained in a menu
named Menu 0. Each parameter has a number (that
includes the menu number) as well as a name. These
are represented in this User Guide as (for example,
parameter 03 in Menu 0):
0.03 Acceleration rate
When the value of a parameter is referred to, it is
indicated as [0.03].
These Menu 0 parameters are in fact duplicates of
certain parameters that are contained in advanced
menus. These can be accessed only after security
has been unlocked. For information on these
parameters, see the Unidrive Advanced User Guide.
(When the value of a Menu 0 parameter is adjusted,
actually its associated parameter in the advanced
menu is adjusted.)
Both types of parameter can be as follows:

Readwrite (RW)
Read-only (RO)
Readwrite parameters are programmable by the
user. Read-only parameters are for information
purposes; they cannot be programmed.
The settings of readwrite and read-only
parameters can be read on the display or remotely
using serial communications.
Adjusting parameter values

Instructions on adjusting parameter values are given
in Appendix A Programming Instructions.
Making new values effective,

and saving them
The new value of most parameters takes effect as
soon as it is entered. Some parameters (such as the
destination-selection parameters for the analog
inputs) require the Drive to be reset before their
new values take effect. (These parameters are
identified by the letter R in the parameter
descriptions in the Unidrive Advanced User Guide.)
Unless a save procedure is carried out, the new value
will be lost when the AC supply is disconnected from
the Drive (described in Saving new parameter-values
in Appendix A Programming Instructions).
2-8
Getting Started
Unidrive User Guide

Issue code: udxu6
Parameter 0.00
Parameter 0.00 is a special readwrite parameter
that is used for the following:
Saving new values given to parameters

Controlling security
Configuring the Drive
Enabling macro configurations
These functions are controlled by the user entering

specific values, as shown below:
Value
Function
Selecting Macros 0 to 8
The Drive must be stopped
(described in Chapter 3 Setting Up the Drive)
2001
Macro 1 Easy mode
2002
Macro 2 Motorized potentiometer
2003
Macro 3 Preset speeds
2004
Macro 4 Torque control
2005
Macro 5 PID (set-point) control
2006
Macro 6 Axis-limit control
2007
Macro 7 Brake control
2008
Macro 8 Digital lock and shaft orientation

(closed-loop only)
2009

(USA default configuration)
2010

(EUR default configuration)
Saving new parameter-values

The Drive can be running or stopped
(described in Appendix A Operating Instructions)
1000
Controlling security
The Drive can be running or stopped
(described in Appendix B Security and Accessing the
Advanced Parameters)
149
Unlock Standard Security
0 ~ 255
User security code
2000
Lock security
The Drive must be reset to make a newly selected

function or configuration take effect.
Instructions for using parameter 0.00 are given at
the appropriate places in this User Guide

(described later in this chapter)
1253
Enable the operating mode of the Drive to

be changed and restore default values to all
parameters for 50Hz AC supply frequency
(Europe) and the selected operating mode
1254

be changed and restore default values to all
parameters for 60Hz AC supply frequency
(USA) and the selected operating mode
Restoring the Drive to a default configuration

(described later in this chapter)
1233
Restore default values to all parameters for

50Hz AC supply frequency (Europe)
The operating mode is not changed
1244
Restore default values to all parameters for

60Hz AC supply frequency (USA)
The operating mode is not changed
Unidrive User Guide

Issue code: udxu6
Getting Started
2-9
2.5
How macro configurations

change the arrangement of
the Menu 0 parameters
Macro 0
When Macro 0 is enabled, the re-programmable
parameters have their default functions.
Macro 1
Note
Do not confuse the term Macro with the
term Menu. Menu 0 contains parameters;
macro configurations re-define some of
these parameters to perform specific
functions. Menu 0 always exists, but is
affected by the macro configuration that is
enabled.
When Macro 1 Easy Mode is enabled, none of the

re-programmable parameters are available.
Macros 2 to 8
When one of these macro configurations is enabled,
the functions of some re-programmable parameters
are specific to the macro configuration.
Only one macro configuration can be

enabled at a time.
Other factors that affect the

re-programmable parameters
Menu 0 contains 51 parameters which are arranged

in four groups, as shown in Figure 28.
In addition to the changes caused by the macro

configurations, the functions of some
re-programmable parameters are changed by the
following:
Common to
all macros
0.00
Configuration and saving

parameter
These are are shown in Appendix D Menu 0

Parameters.
0.01 ~ 0.10
Where to find information on

parameters
The functions of the parameters are listed for each

macro configuration in Chapter 3 Setting Up the Drive.
Specific to
each macro
0.11 ~ 0.30
Re-programmable parameters
Macro 0
Common
to all
macros
The default configuration of the Drive

(EUR or USA)
The operating mode that is selected
(Open-loop, Closed-loop Vector or
Closed-loop Servo)
The functions of the parameters for each macro

configuration are described in detail in Appendix D
Menu 0 Parameters.
0.31 ~ 0.50
Figure 28
2-10
How the Menu 0 parameters are

grouped and the relationship with
the macro configurations
Getting Started
Unidrive User Guide

Issue code: udxu6
2.6
Initial setting up
(reset key).
2.
Press
Noting the user values
3.
Set 0.00 at 1000.
A parameter table for each macro configuration in

Chapter 3 Setting Up the Drive has a column for you
to note the values entered in the parameters.
4.
Press
(reset key).
The following conditions now apply:
Restoring the Drive

to a default configuration
Warning
Do not attempt to restore the

Drive to a default
configuration when the Drive is
running.
default configuration enables
Macro 0 and returns all
parameters to their default
values including the motor
parameters. (If any one of the
macros 1 to 8 has been enabled,
the Drive still reverts to
Macro 0.)
All the default values (including those of the

motor parameters) take effect
The operating mode is not changed.
Macro 0 is enabled
If required, any other macro configuration can be

enabled.

It is not possible to change the
operating mode when the Drive
is running.
Warning
After restoring the Drive to a

default configuration, it will be
necessary for the required
parameter values to be
re-entered before the Drive is
next run.
Restoring the Drive to a default configuration is not
essential for initial setting up, but should be used
for achieving the following:
When one of the macros 2 to 8 is currently

enabled, and a different macro
configuration is required
Intentionally restoring all parameters to
their default values (this includes the motor
parameters)
Changing (or re-applying) the default
configuration for the continent in which the
Drive is to be used
Do not follow these instructions if the operating

mode is to be changed; follow the insructions in
Changing the operating mode.
1.

returns all parameters to their
default values including the
motor parameters. It will then
be necessary for the required
values to be re-entered before
the Drive is next run.
If any one of the macros 1 to 8
has been enabled, the Drive still
reverts to Macro 0.
Finding out which operating mode

is enabled
To find out which operating mode is enabled,
display the setting of parameter 0.48.
Procedure
Use the following procedure only if a different
operating mode is required:
1.
Enter either of the following values in

parameter 0.00, as appropriate:
1253 (Europe, 50Hz AC supply frequency)
1254 (USA, 60Hz AC supply frequency)

parameter 0.00:
EUR> (Europe, 50Hz AC supply): 1233
USA> (USA, 60Hz AC supply): 1244
Unidrive User Guide

Issue code: udxu6
Getting Started
2-11
2.
Change the setting of parameter 0.48

as follows:
0.48 setting
Operating mode
0 Open-loop
Closed-loop Vector
The configuration layers (see Chapter 1 Introduction)

are now as follows:
1.
Appropriate default configuration for the

continent (EUR or USA)
2.
Required operating mode (Open-loop,

Closed-loop Vector or Closed-loop Servo)
3.
Macro 1 Easy mode
Configuring the Drive for the motor

2
Closed-loop Servo
For operation in this mode, contact

the supplier of the Drive
The figures in the second column apply when serial

communications are used.
3.
Press
or, for Terminal mode,
momentarily close the RESET contact.
The new setting takes effect and all the parameters

revert to the appropriate default values for the new
mode.
Macro 0 is enabled in the selected operating mode.
Enabling Macro 1
Do not attempt to enable any
macro configuration when the
Drive is running.
Warning
Note
If the Drive is to be operated in Macro 1 or
5 and a braking resistor is to be used, now
set parameter 0.15 at FASt. Then follow
the instructions below.
The setting of parameter 0.15 must be
changed now because the function of this
parameter is changed when one of these
macro configurations is enabled.
1.
Set parameter 0.00 at 2001.
2.
Reset the Drive.
2-12
Getting Started
The values of the motor

parameters affect the
protection of the motor and
Warning the safety of the system.
Caution
When entering values, make

sure they are relevant to the
motor that is to be used. The
default values in the Drive
should not be relied upon.
The motor parameters should
be set to within 10% of the
required values for the motor.
Failure to do this may result in
poor response.
It is essential that the correct
value is entered in parameter
0.46 Motor rated current. This
affects the thermal protection
of the motor.
Keep a note of the values given
to the motor parameters, since
motor parameters are restored
to their default values when
either of the following
functions is used:
Restoring a default
configuration (this must be
done if the Drive has been
used with Macro 2 to 8
enabled and a different
macro configuration is to be
enabled)
Changing the
operating mode
Unidrive User Guide

Issue code: udxu6
Enter the motor ratings in the motor parameters of

the Drive, as follows:
Default value
Range
Unit
3, 4.5, 6, 9, 12
kHz
2 ~ 32
poles
When the number of motor poles

is not known
Calculate the number of poles from the following:
0.41 PWM switching frequency

All
0.42 Motor number of poles

OL>
VT>
SV>
4
4
6
Where:
Example
0.44 Motor rated voltage (standard models)

0 ~ 480
400 (EUR) 460 (USA)

400 (EUR) 460 (USA)
0
Rated motor speed: 1450 RPM

AC supply frequency: 50Hz
P=
0.44 Motor rated voltage (LV models)

OL>
VT>
SV>
220
220
0
supply frequency
Rated full-load speed of the motor
AC
The number of poles will be the whole number

immediately below the value of P. Enter this whole
number in 0.42.
0 ~ 1.0
0.92
0.92
1.0
(See Autotune later in this chapter)
OL>
VT>
SV>
f 120
N
f
N
0.43 Motor power factor

OL>
VT>
SV>
P=
0 ~ 240
50 120
= 4.14
1450
Therefore, the number of poles = 4

(The inaccuracy of the calculation is caused by slip,
in this case 50 RPM.)
OL> Enter the rated value.

VT> Enter the rated value.
Values of FLC
SV> Do not enter a value.

Model
0.45 Motor rated full load RPM

OL>
VT>
SV>
0
1450
0
0 ~ 6000
0 ~ 30 000
0 ~ 30 000
RPM
RPM
RPM
OL> When 0.45 is set at 0, no slip compensation is

applied by the Drive. When a value greater than zero is
entered, slip compensation is applied but instability can
occur with motor loads that have predominant inertia. To
avoid this instability, set 0.45 at 0. The value can be
changed at a later time.
FLC (A)
Model
FLC (A)
UNI 1401
UNI 1201
2.1
UNI 3401
UNI 3201
34
UNI 1402
UNI 1202
2.8
UNI 3402
40
UNI 1403
UNI 1203
3.8
UNI 3403
UNI 3202
46
UNI 1404
UNI 1204
5.6
UNI 3404
UNI 3203
60
UNI 1405
UNI 1205
9.5
UNI 3405
70
UNI 3204
74
SV> Do not enter a value.

0.46 Motor rated current
All
FLC
(see the following Values
of FLC table)
0 ~ FLC
Ensure that the motor current-rating applies to the

winding configuration used.
0.47 Motor rated frequency
OL>
VT>
SV>
50 (EUR) 60 (USA)
50 (EUR) 60 (USA)
0
0 ~ 1000.0
0 ~ 1000.0
Hz
Hz
UNI 2401
UNI 2201
12
UNI 4401
96
UNI 2402
UNI 2202
16
UNI 4402
124
UNI 2403
UNI 2203
25
UNI 4403
156
UNI 4404
180
UNI 4405
202
UNI 5401
240
OL> Enter the rated value.

SV> Leave 0.47 at zero
Unidrive User Guide

Issue code: udxu6
Getting Started
2-13
Saving the values
Direction of rotation
Use the following procedure:

1.
Stored charge

Warning
2.
. The display returns to Parameter

Press
mode. Do not press any keys within eight
seconds; the display then enters Status mode.
3.
Momentarily press
to reset the Drive.
Autotune
Autotune is a sequence of tests performed by the
Drive. The results of the tests are subsequently
used by the Drive for controlling the motor.
Autotune should be used after the operating mode
has been selected and after the motor parameters
have been entered, but before the Drive is used.
Normally (and if the motor is not changed),
Autotune needs performing only once.
Warning
During the following

procedures, the Drive will
power the motor and cause
the shaft to rotate at up to
2
/3 full speed. Before
starting, make sure it will be
safe for the motor to be run.
The motor shaft should rotate clockwise as viewed

from the free end of the shaft during Autotune. If
the shaft rotates in the reverse direction, stop the
test, remove the AC supply and check the motor
connections. If required, correct two of the motor
phase connections and repeat Autotune.
Procedure
Note
OL + VT> If the settings of parameters
0.41 to 0.47 are changed by a user after
Autotune has been performed, it is
essential that Autotune is repeated.
1.
Ensure the motor is unloaded and at a

stand-still.
2.
Ensure the EXTERNAL TRIP / DRIVE ENABLE

contact is closed.
3.
Follow this step only if the Drive has previously

been set up and both of the following have
occurred...
Note
To stop the test at any time, press
.
The motor will then coast to a stand-still
and the test will not be completed.
If the Drive trips

If the Drive trips during the test, note the trip code
that appears on the upper display and refer to
Appendix E Diagnostics. The test will not be
completed.
2-14
Getting Started
The Drive contains capacitors

that remain charged to a
potentially lethal voltage after
the AC supply has been
disconnected. If the Drive has
been energized, the AC supply
must be isolated at least
ten minutes before work may
continue.
The setting of parameter 0.07 Voltage mode

selector has been changed to Ur
A different motor is now connected to the
Drive
... change the setting of parameter 0.07 to

Ur_I. (See Open-loop voltage control modes later
in this chapter.)
Unidrive User Guide

Issue code: udxu6
4.
5.
Disconnect, then after at least 10 seconds,

re-connect the AC supply (this causes the Drive
to measure the stator resistance of the motor
it is essential for the Drive to be aware of the
actual value of stator resistance for Autotune
to be performed correctly).
Set parameter 0.40 Autotune enable at 1. The
following tests are performed:
VT> Total leakage inductance is measured

with the motor at stand-still
OL + VT> The motor is accelerated up to
two-thirds rated frequency in the forward
direction while the magnetizing current is
measured
VT> The motor is run at up to two-thirds
rated frequency for 30 seconds while the
saturation characteristic of the motor is
measured
SV> The motor shaft is rotated 360 while
the encoder phasing is checked
The motor is decelerated to a stand-still
6.
OL +VT> Parameter 0.43 Motor power factor

is automatically updated.
7.
Parameter 0.40 is automatically returned

to zero.
Saving the values

1.
2.

Press
2.7
Operating instructions
Before completing the initial setting up of the Drive,

you will need to learn how to operate it. Refer to
the following instructions for Terminal mode or
Keypad mode, as appropriate.
Terminal mode
Variable frequency/speed
In Terminal mode (with Macro 1), the Drive can
control the motor as follows:
Run (forward and reverse)

Jog/Preset frequency/speed (forward and
reverse)
1.
Ensure the control signal connections shown in

Figure 25 are made.
2.
Check that the FREQUENCY/SPEED

potentiometer is set at minimum.
3.
Ensure that the EXTERNAL TRIP /

DRIVE ENABLE contact is open.
4.
Connect the Drive to the AC supply.
5.
The display indicates as follows:

OL>
CL>
6.
Close the EXTERNAL TRIP / DRIVE ENABLE

contact.
Changing the user-interface mode
7.
Change the user-interface mode, as required. If jog

is required, select Terminal mode (jog is available
only in Macros 0, 1, 4, 7, 8).
OL> Press
RESET contact.
8.
The display indication changes as follows:
3.
Momentarily press
to reset the Drive.
OL>
User-interface mode
or momentarily close the
CL>
Set parameter 0.05 at...
Terminal
Keypad
Note
The main function of parameter 0.05 is a
reference selector which has other settings
that operate the Drive in Terminal mode.
At this stage, do not use any of these other
settings.
Use of parameter 0.05 is described for
Macros 0 and 1 in Chapter 3 Setting Up the
Drive.
Unidrive User Guide

Issue code: udxu6
9.
Ensure parameter 0.10 Motor speed is displayed

(default).
Getting Started
2-15
10. Close the RUN FORWARD contact. The display

indicates as follows:
Keypad mode
Enabling reverse direction in
Keypad mode
12. The value shown by the upper display increases

accordingly, and the motor speed increases.
In Keypad mode (with Macro 1),

(FWD/REV) is
disabled by default; the Drive can control the motor
in the forward direction only. If reverse operation is
required, enable this key by setting 6.13 Keypad
FWD/REV key (Parameter 0.30 in Macro 0) at 1. (See
Unlocking security in Appendix B Security and Accessing
the Advanced Parameters.)
13. Open the RUN FORWARD contact. The

following occur:
An alternative means of obtaining reverse operation

is to set 1.10 Bipolar reference select at 1.
11. Advance the FREQUENCY/SPEED

potentiometer.
The value of the upper display reduces

to zero
The lower display shows dEC, then rdY
The motor speed reduces to zero
14. If required, repeat steps 10 to 13 using the

RUN REVERSE contact.
If you do not require the use of jog / preset
frequency/speed, go to Trip and Enable later
in this chapter
Jog/Preset frequency/speed
and
This allows
bi-directional speed control.
to give
Variable frequency/speed
1.
Ensure the control signal connections shown in

Figure 26 are made.
2.
Ensure that the EXTERNAL TRIP /

DRIVE ENABLE contact is open.
3.
Connect the Drive to the AC supply.
4.
The display indicates as follows:
The jog function can be used alternatively as a

preset frequency. The default values are as follows:
OL>
CL>
OL> 1.5Hz
CL> 50RPM
1.
Close the JOG/PRESET SELECT contact. Then

close the RUN FORWARD contact. It is
essential that the contacts are closed in this
order, otherwise the Drive will run forward (or
reverse) normally at variable speed.
The display indicates a fixed low speed that
cannot be changed by the FREQUENCY/SPEED
potentiometer. The motor runs at this low
speed.
2.
Open the RUN FORWARD contact to stop

the Drive.
3.
If required, repeat steps 1 and 2 using the

RUN REVERSE contact.
4.
If the JOG/PRESET SELECT contact is opened

before the RUN FORWARD or RUN REVERSE
contact, the motor speed will become
controlled by the FREQUENCY/ SPEED
potentiometer.
5.
Close the EXTERNAL TRIP / DRIVE ENABLE

contact.
6.
OL> Press
7.
The display indication changes as follows:

OL>
CL>
8.
Ensure parameter 0.10 Motor speed is displayed

(default).
9.
Press
Go to Trip and Enable later in this chapter
2-16
Getting Started
to start the Drive running.

Unidrive User Guide
Issue code: udxu6
10. The upper display should indicate zero; the

lower display will indicate as follows:
Trip and enable

1.
If the Drive trips, and a motor is connected, the

motor will coast. See Appendix E Diagnostics.
or, for
To clear a trip, momentarily press
Terminal mode only, momentarily close the
RESET contact.
11. Press
to increase the speed. The value
of the upper display increases and the motor
speed increases.
to decrease the speed. The
12. Press
value of the upper display decreases and the
motor speed decreases. (If parameter 1.10 has
been set at 1, and you continue to press the key
after zero speed is reached, the motor speed
will increase in the reverse direction.)
to stop the Drive. The following
13. Press
occur:
The value of the upper display reduces

to zero
The lower display shows dEC, then rdY
The motor speed reduces to zero
Caution
2.
OL> If the EXTERNAL TRIP contact is opened

while the Drive is stopped or running, the Drive
trips (and the motor will coast). The display
will indicate as follows:
CL> If the DRIVE ENABLE contact is opened

while the Drive is running, the display will
indicate inh (inhibit) (and the motor will coast).
The display continues to show inh when the
Drive is stopped.
If the keypad mode has been

used previously, ensure that
the keypad reference has been
set to 0 using the
and
keys as if the Drive is

started using the keypad it will
run to the speed defined by the
keypad reference (0.35).
is enabled, press this key to change the

14. If
direction of rotation of the motor. If the
motor is running at the time, it will decelerate
to a stop, then accelerate to the same speed in
the opposite direction.
Unidrive User Guide

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Getting Started
2-17
2.8
Setting up operating limits
Maximum and minimum speeds
Warning
Do not set the maximum speed

at a value that is excessive for
the motor.
If the intended maximum speed
affects the safety of the
machinery, additional
independent over-speed
protection must be used.
Set parameter 0.02 Maximum frequency/speed at the

required value. When initially setting up the Drive,
leave 0.01 Minimum frequency/speed at the default
value of zero so that the motor shaft does not
rotate as soon as a RUN command is received. When
it is known to be safe to do so, set 0.01 at the
required value.
Note the following:
OL> Slip compensation can cause the

output frequency of the Drive to
exceed [0.02].
Caution
For operation at motor speeds

greater than twice base speed,
contact the supplier of the
motor.
Default values and range

0.01
Default value
Range
Unit
OL>
0 ~ [0.02]
Hz
CL>
0 ~ [0.02]
rpm
Acceleration rate
To adjust the acceleration rate, adjust parameter
0.03 Acceleration rate. Increase the value to
increase the time taken for acceleration (ie. reduce
the acceleration rate).
Mode
Range
Default
Unit
OL>
0 ~ 3200
s/100Hz
VT>
0 ~ 3200
s/1000RPM
SV>
0 ~ 32
0.2
s/1000RPM
If the required acceleration cannnot be achieved, it

may be necessary to increase the value of
0.06 Current limit.
Deceleration rate
To adjust the deceleration rate, adjust parameter
0.04 Deceleration rate. Increase the value to
increase the time taken for deceleration (ie. reduce
the deceleration rate).
Mode
Range
Default
Unit
OL>
0 ~ 3200
10
s/100Hz
VT>
0 ~ 3200
s/1000RPM
SV>
0 ~ 32
0.2
s/1000RPM
If the Drive trips when decelerating the motor and

the display indicates OU, this indicates that the
maximum permissible DC-bus voltage has been
exceeded during braking. Increase the value of
0.04 Deceleration rate or, if a braking resistor is not
currently connected, return to Planning the
installation in Chapter 2 Installing the Drive in the
Installation Guide for instructions on connecting a
braking resistor.
Braking resistor
0.02
Default value
Range
Unit
OL>
50 Hz (EUR)
60 Hz (USA)
0 ~ 1000
Hz
VT>
1500RPM (EUR)
1800RPM (USA)
0 ~ 30 000
rpm
SV>
3000
0 ~ 30 000
rpm
Note
If the application requires a braking
resistor, an external braking resistor must
be connected to the Drive (see the
Installation Guide); the Drive does not
contain a braking resistor.
If a braking resistor is required but not
connected, the Drive may trip due to
excessive voltage appearing on the DC-bus
during deceleration, leaving the motor free
to coast. Alternatively, deceleration may
remain under control but with deceleration
times becoming extended. When the Drive
is used with a position controller, these
could cause following-errors.
2-18
Getting Started
Unidrive User Guide

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If a braking resistor is to be used, set the following

parameter at FASt in order to prevent instability:
Macro
0234
15678
Parameter
0.15 Ramp mode selector
2.04 Ramp mode selector
(see the Unidrive Advanced User Guide)
For Macros 1, 5 and 6, the Note at the beginning of

Enabling Macro 1 earlier in this chapter gave
instructions for changing the setting of this
parameter. When Macro 7 is enabled, the setting is
made automatically. See 0.15 Ramp mode selector in
Appendix D Menu 0 Parameters.
Torque-producing current limit

Set parameter 0.06 Current limit at the required
percentage of rated motor torque (or rated active
torque-producing current).
The current limit is used to protect the motor and
Drive from excessive current and applies under
motoring and regenerating conditions. When the
Drive is operating in torque control, the current
limit limits the value of torque demand.
The total motor current comprises a magnetizing
current and an active (torque-producing) current.
Since the torque maximum produced by the motor
is proportional to the value of parameter 0.06
Current limit, this current limit is a torque-producing
current limit.
When 0.06 is set at its maximum value, the
maximum total motor current is as follows:
Closed-loop Servo model sizes 1 to 4

[0.06]MAX = 1.75
FLC
100 (%)
[0.46]
Closed-loop Servo model size 5

[0.06] MAX = 15
.
FLC
100 (%)
[0.46]
Where:
[0.46] = Value of Motor rated current
cos is the power factor of the motor.
The value of FLC is given in the following table.
Note
The results of these equations may not
correspond exactly with the current
delivered by the Drive, since the Drive may
round up the calculated figure.
Values of FLC
Model
FLC (A)
The maximum value of 0.06 is given by the

following (but cannot exceed 400 (%)):
Open-loop model sizes 1 to 5
[0.06]MAX =
(15
. ) 2 (1 cos 2 )
cos
FLC
100 (%)
[ 0.46]
FLC (A)
2.1
UNI 3401
UNI 3201
34
UNI 1402
UNI 1202
2.8
UNI 3402
40
UNI 1403
UNI 1203
3.8
UNI 3403
UNI 3202
46
UNI 1404
UNI 1204
5.6
UNI 3404
UNI 3203
60
UNI 1405
UNI 1205
9.5
UNI 3405
70
UNI 3204
74
OL> 150% x FLC

CL> 175% x FLC
Where FLC is the rated (full-load) current of the
Drive.
Model
UNI 1401
UNI 1201
UNI 2401
UNI 2201
12
UNI 4401
96
UNI 2402
UNI 2202
16
UNI 4402
124
UNI 2403
UNI 2203
25
UNI 4403
156
UNI 4404
180
UNI 4405
202
UNI 5401
240
Closed-loop Vector model sizes 1 to 4

[0.06]MAX =
(175
. ) 2 (1 cos 2 )
cos
FLC
100 (%)
[ 0.46]
Closed-loop Vector model size 5

[0.06]MAX =
(15
. ) 2 (1 cos 2 )
Unidrive User Guide

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cos
FLC
100 (%)
[ 0.46]
Getting Started
2-19
Open-loop voltage-control modes
Boost voltage
The default setting is as follows:
Open-loop only
Macro 1: Fd
Macros 0, 2, 3, 4, 5, 6, 7: Ur_I
Use this procedure only when 0.07 Voltage mode

selector has been set at Fd.
To change the voltage control mode, select the

required setting in parameter 0.07 Voltage mode
selector, as follows:
Setting
Where actions apply to a particular control mode,

the following key is used:
K>
T>
Function
Vector modes
Keypad mode
Terminal mode
1.
Connect the load to the motor.
Ur_S
0 Motor stator resistance is measured each

time the Drive is started.
2.
Close the EXTERNAL TRIP contact.
Ur_I
3.
Ensure the frequency reference is zero.
4.
K> Press
T> Close the RUN FORWARD or RUN
REVERSE contact.
Ur
Motor stator resistance is measured at

power-up if the EXTERNAL TRIP contact is
closed and no other trip condition exists.
2 Motor stator resistance is not measured

(use this mode only after having used
Ur_S or Ur_I to measure the stator
resistance).
Increase the frequency reference to a value

slightly above zero. If the motor shaft does
not rotate, increase the value of parameter
0.08 Boost voltage sufficiently to cause the
shaft to rotate.
Fixed boost mode

Fd
3 Fixed voltage boost that can be manually

adjusted by parameter 0.08 Boost voltage.
The Vector modes give better performance at low

speed than the fixed-boost mode, but require the
stator resistance to be accurately measured by the
Drive.
Default value: 3%
Range: 0 ~ 25%
5.
If the motor is noisy and becomes unnecessarily

heated, reduce the value of 0.08.
6.
Stop the Drive.
Note
If parameter 0.39 Synchronize to a spinning
motor is to be set at 1: for reliable
operation of the Drive, set parameter 0.07
at Fd.
When Ur_I is selected, the
motor might kick when the
supply is connected to the
Warning Drive (with the EXTERNAL TRIP
contact already closed).
Save the new parameter-value.
Voltage/frequency characteristic
Open-loop only
AC
If the motor is to drive a pump or fan where the load

can vary, set parameter 0.09 Dynamic V/f select at 1.
This selects an automatic voltage/frequency
characteristic which reduces power consumption
and acoustic noise in the motor when lightly loaded.
For an explanation of the effects of the
voltage/frequency characteristic, see parameter 0.09
Dynamic V/f select in Appendix D Menu 0 Parameters.
2-20
Getting Started
Unidrive User Guide

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Dynamic performance
Closed-loop only
Speed demand
The following parameters affect the dynamic

performance of the Drive when it is operating in a
closed-loop mode:
0.07 Speed-loop proportional gain
0.08 Speed-loop integral gain
0.09 Speed-loop derivative gain
Insufficient proportional
gain [0.07]
Procedure
Caution
Inappropriate values
entered in the parameters
for the speed-loop PID gains
can cause the control system
to become unstable.
The default values of the speed-loop PID gains can

be used for undemanding applications. Use the
following procedure when the performance is to be
improved in speed or torque control:
1.
Connect the load to the motor.
2.
Start and stop the Drive as required.
3.
Set the motor running at the required speed.
4.
To increase the speed of response to a change

in speed demand, or to a change in load,
increase 0.07 Speed-loop proportional gain. Set
0.07 just below the value that causes the
motor to vibrate. It is common for the
vibration to be worse at zero speed. An
excessive proportional gain can result
in instability.
5.
To improve the ability of the Drive to maintain

a speed or torque demand under steady-state
or slowly-changing conditions, increase
0.08 Speed-loop integral gain.
A high value of 0.08 can cause the motor speed
to vary sinusoidally around the speed demand.
This effect can be minimized by increasing the
value of 0.07 Speed-loop proportional gain.
6.
Excessive proportional
gain [0.07]
Excessive integral gain

[0.08]
Ideal response
Figure 29
Response to a step-change in
speed demand when the speedloop PID gains are adjusted
Default values and range

Pr
Default value
Range
0.07
200
0 ~ 32000
0.08
100
0 ~ 32000
0.09
0 ~ 32000
Summary
The waveforms shown in Figure 29 represent the
signals that would appear at terminal 9 of the signal
connector when the speed demand applied to
terminals 5 and 6 (or terminal 7) is a square-wave.
To reduce overshoot when the speed demand

or the load on the motor is suddenly changed,
increase 0.09 Speed-loop derivative gain.
Excessive derivative gain will cause noise in
the motor.
Unidrive User Guide

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Getting Started
2-21
2-22
Getting Started
Unidrive User Guide

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(Macro Configurations)
Warning
Do not change parameter

values without careful
consideration; wrong values
may cause damage or a safety
hazard.
Enabling a different
macro configuration
Do not attempt to enable any
macro configuration when the
Drive is running.
Warning
Note
Only one macro configuration can be
enabled at a time.
Notes
Keep a note of changes
When changing the values of parameters,
make a note of the new values in case they
need to be entered again.
Saving the changes

For new parameter-values to apply after
the AC supply to the Drive is interrupted,
new values must be saved. Refer to
Saving new parameter-values in Appendix A
Programming Instructions.
3.1
3.2
Enabling a different macro

configuration after getting started
with Macro 1
If Macro 1 is to remain enabled, ignore this section
and go to Macro 1 later in this chapter.
1.
When setting up the Drive for the first time, you

must first have followed Chapter 2 Getting Started;
Macro 1 Easy mode will then be enabled. Whether
you keep Macro 1 or enable a different macro
configuration, the settings you made in Chapter 2
will remain unchanged. During the course of setting
up the Drive, you may need to change some of these
settings. If so, refer again to Chapter 2.
To enable a different macro configuration, set

parameter 0.00 as follows:
Macro
Function
(frequency/speed control by up
and down contacts)
2002
Four preset speeds (selected by

digital control signals)
2003
Torque control
2004
PID (set-point) control
2005
Axis-limit control
2006
Brake control
2007
CL> Digital lock

CL> Shaft orientation
2008
General purpose
(USA default configuration)
2009
General purpose
(EUR default configuration)
2010
It is recommended that you follow the instructions

in this chapter in the order that they appear. You
will be led through the following:
Enabling the required macro

configuration (if a macro other than
Macro 1 is required)
Changing the signal connections
accordingly
Adjusting parameters that are
specific to the macro configuration
A list of subsidiary functions that
can be set up
Unidrive User Guide

Issue code: udxu6
Setting
Note
The values of the fixed parameters are not
changed when any one of these macro
configurations is enabled.
Caution
When Macro 0 is enabled, the

functions of parameters
0.27 to 0.29 differ between
the EUR and USA default
configurations.
2.
Reset the Drive.
3.
Go to the relevant section in this chapter for

the macro configuration that has been enabled.
3-1
Enabling a different macro

configuration after using Macros 2 to 8
If any of the macros from 2 to 8 has been enabled
(after the instructions in this chapter have
previously been followed), proceed as follows...
1.
Go to Initial setting up in Chapter 2 Getting

Started. Start proceeding through that section
by referring to either of the following, as
appropriate:
To keep the same operating mode, see

Restoring the Drive to a default configuration
To change the operating mode, see Changing
the operating mode.
2.
Follow the remainder of Initial setting up.
3.
Return to this chapter and follow Enabling a

different macro configuration after getting started
with Macro 1 earlier in this section.
3.3
Advanced programming
If you unlock security, the complete functionality of

the Drive becomes available for adjustment. In this
case, refer to Appendix B Security and Accessing the
Advanced Parameters and the Unidrive Advanced
User Guide.
3-2
Unidrive User Guide

Issue code: udxu6
3.4
Macro 0
General purpose
Signal connections for Macro 0

Signal
connector
Features
Status relay
Drive healthy
Specific features
reference 1
(remote)
Macro 0 places the Drive in a default configuration

for general-purpose use.
Connections for
single-ended input
signal
Standard features
Macro 0 operates in Terminal or Keypad

mode
In Terminal mode, digital control by
RUN FORWARD, RUN REVERSE and
JOG SELECT contacts
Local and remote analog frequency/speed
inputs, or setting of frequency/speed by use
of the keypad
Keypad control of speed can be
uni-directional or bi-directional
Selection of analog input modes
Adjustable Jog/Preset frequency/speed
Adjustment of minimum and maximum
frequencies/speeds
Adjustment of acceleration and deceleration
ramps
S-ramp
Selection of stopping modes
Selection of braking mode
Motor thermistor input
Negative logic for the digital inputs
(EUR> positive logic can be selected)
EUR> Adjustment of current-loop PI gains
USA> Indication of frequency/speed
demand
USA> Digital control by three-wire
momentary contacts can be selected
SPEED and TORQUE analog outputs
OL> AT SPEED digital output
CL> AT ZERO SPEED digital output
OL> External trip digital input
CL> Drive enable digital input
Drive RESET digital input
Unidrive User Guide

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0V common
Connections for
differential input signal
0V common
Analog
frequency/speed
reference 2
(local)
0V common
SPEED
TORQUE
Motor thermistor
0V common
OL> AT SPEED
CL> AT ZERO SPEED
0V common
RESET
JOG SELECT
RUN FORWARD
RUN REVERSE
LOCAL / REMOTE
REMOTE
LOCAL
OL> External trip

CL> Drive enable
0V common
Figure 31
Control signal and thermistor

connections for Macro 0
For electrical specifications, refer to Appendix C

Signal Connections.
3-3
LOCAL /
REMOTE
JOG
SELECT
29
Reference selection
Frequency/speed ref. 1
(remote)
26
RUN RUN
FORWARD REVERSE
27
RESET
28
25
Reference
selector
0.02
0.05
Analog input 1
mode selector
OL> EXTERNAL TRIP

CL> DRIVE ENABLE
30
Maximum
frequency/speed
clamp
Minimum
frequency/
speed clamp
0.24
0.01
Analog input 2
destination
selector
Analog input 2
mode selector
0.25
Skip
frequencies/
speeds
0.26
(local)
Preset references
(use Macro 3)
0.20
Skip frequency/
speed 1
0.21
0.38
0.35
Keypad
reference
Skip freq./speed
band 1
Power up
parameter
display
setting
0.22
Skip frequency/
speed 2
Precision reference
(not used with Menu 0)
0.23
Skip freq./speed
band 2
0.14
Jog
reference
Key
The parameters are shown at their default settings.

The logic diagram is valid when all parameters are
at their default settings but may not be valid when
certain parameters are adjusted.
Figure 33
3-4
0.XX
Read-write (RW)
parameter
0.XX
Read-only (RO)
parameter
Input terminals
Output terminals
Programmable software for Macro 0
Unidrive User Guide

Issue code: udxu6
THERMISTOR
OL> FREQUENCY
TORQUE
CL> SPEED
8
Pre-ramp
reference
Post-ramp
reference
0.11
0.12
OL> AT SPEED
CL> AT ZERO SPEED
10
24
Motor control
0.06
Torque
mode
selector
S-ramp
Ramps
S-ramp
enable
0.17
0.18
Current
limit
0.16
Stop mode
selector
0.39
Menu 4
Synchronize
to a spinning
motor
0.03
Acceleration
rate
CL> Speed-loop PID gains

Motor parameters
0.04
Deceleration
rate
0.19
0.07
S-ramp
da/dt limit
0.15
0.08
Ramp mode
selector
Other parameters
0.09
0.31 Macro number
Speed-loop
proportional
gain
0.42 ~ 0.47
No. of poles
Power factor
Rated voltage
Rated speed
Rated current
Rated frequency
Speed-loop
integral gain
Speed-loop
derivative
gain
OL> Motor-voltage control
0.32 Serial comms. mode
0.07
0.33 Drive rated current
Voltage mode
selector
0.34 User security code

0.36 Serial comms. baud rate
0.10
0.37 Serial comms. address
0.08
Boost voltage
0.40 Autotune
Estimated
motor
speed
0.48 Drive operating mode selector

0.49 Security status
0.09
Dynamic V/f
select
0.50 Software version number
Motor speed
0.10
Motor
active-current
0.13
Power stage
0.41
PWM switching
frequency
Unidrive User Guide

Issue code: udxu6
3-5
List of parameters specific to Macro 0
Pr
Function
User
value
[M] indicates the parameter is for monitoring only

For descriptions of these parameters,
see Appendix D Menu 0 Parameters.
0.00
0.01
Minimum frequency/speed clamp
0.02
Maximum frequency/speed clamp
0.03
Acceleration rate
0.04
Deceleration rate
0.05
Reference selector
0.06
Current limit
0.07
OL> Voltage mode selector

CL> Speed-loop proportional gain
0.08
OL> Boost voltage

CL> Speed-loop integral gain
0.11
Pre-ramp reference
[M]
0.09
OL> Dynamic V/f select

CL> Speed-loop derivative gain
0.12
Post-ramp reference
[M]
0.13
Motor active-current
[M]
0.14
Jog reference
0.10
OL> Estimated motor speed

CL> Motor speed
Pr
Function
Pr
[M]
[M]
Function
0.15
Ramp mode selector
0.16
Stop mode selector
0.17
Torque mode selector
0.18
S-ramp enable
0.19
S-ramp da/dt limit
0.20
Skip frequency/speed 1
0.21
Skip freq./speed band 1
User
value
0.22
0.23
[M]
0.24
Analog input 1 mode selector
0.25
User
value
0.31
Macro number
0.32
Serial comms. mode
0.33
Drive rated current (FLC)
[M]
0.26
Analog input 2 destination selector
0.34
User security code
[M]
0.27
0.35
Keypad reference
[M]
EUR> Positive logic select

USA> Sequencing mode selector
0.36
Serial comms. baud rate
0.28
0.37
Serial comms. address
EUR> Current-loop proportional gain

USA> Frequency/speed demand
0.38
Power up parameter display select
0.39
Synchronize to a spinning motor
0.40
Autotune
0.41
PWM
0.42
Motor number of poles
0.43
Motor power factor
0.44
Motor rated voltage
0.45
Motor rated full load RPM
0.46
Motor rated current
0.47
OL + VT> Motor rated frequency
0.48
Drive operating mode selector
0.49
Security status
[M]
0.50
[M]
3-6
0.29
EUR> Current-loop integral gain

USA> Terminal-29
destination parameter
0.30
FWD/REV
key enable
switching frequency selector
Unidrive User Guide

Issue code: udxu6
Setting up and using Macro 0

The following may require attention in addition to
the settings made in Chapter 2.
If jog or a preset frequency/speed is required,

ensure the Drive is in Terminal mode and set
0.14 Jog reference at the required value, as follows:
Reference selection
Use 0.05 Reference selector to select the required
frequency/speed source, as follows:
0.05
Source
Terminal(s)
Analog input 1 or 2 which can be

selected using the LOCAL/REMOTE
contact
5 and 6, or 7
Analog input 1
5, 6
Analog input 2
(Do not use this setting, use
Macro 3 instead)
Keypad control
(Refer to the Unidrive Advanced

User Guide)
Default
value
Range
OL>
1.5
0 ~ 400.0
Hz
VT>
50
0 ~ 4000
RPM
SV>
50
0 ~ 4000
RPM
To use jog or preset frequency/speed, close the

JOG SELECT contact (terminal 26) before closing
the RUN FORWARD contact (terminal 27) or RUN
REVERSE contact (terminal 28).
EUR> Selecting positive logic
Caution
Analog input modes

The analog inputs can be configured for the
following input signals:
0 ~ 20mA, 4 ~ 20mA or 0 ~ 10V
Refer to the following parameters in Appendix D
Menu 0 Parameters for selecting the required mode:
Analog
input
Terminal(s)
5, 6
0.24
0.25
Unit
Ensure the logic sense is

correct for the control circuit
to be used. Incorrect logic
sense could cause the motor to
be started unexpectedly.
By default, the digital inputs operate in negative

logic. For operation in positive logic, set
0.27 Positive logic select at 1.
USA> Digital control by three-wire

momentary contacts
1.
Set 0.05 Reference selector at 0, 1 or 2.
2.
Set 0.27 Sequencing mode selector at 0.
3.
Set 0.29 Terminal-29 destination selector at 6.34

to change the function of terminal 29 to
RUN PERMIT / STOP.
Parameter
Forward and reverse direction

in Keypad mode
Signal connector
JOG
RUN
REVERSE SELECT
The Drive is supplied with the

(FWD/REV) key
disabled to ensure the Drive is run only in the
forward direction. To enable this key, set 0.30
FWD/REV enable at 1.
STOP
0V common
Jog/Preset frequency/speed
The jog function can be used for low-speed jogging
or as a preset frequency/speed at any value up to
the maximum.
Unidrive User Guide

Issue code: udxu6
Figure 32
Connections for control by 3-wire

momentary contacts
(see Figure 31 for
other connections)
3-7
Stopping and braking modes

Menu 0 Parameters:
Parameter
Setting
Function
0.15
Ramp mode selector
Stnd.Ct
(Standard controlled)
Deceleration time is
extended if the DC-bus
voltage reaches its
maximum permissible
value during braking.
0.16
Stop mode selector
rP
Ramp to stop then the

Drive is disabled
3-8
Unidrive User Guide

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3.5
Macro 1
Easy mode

Signal
connector
Features
Specific features
Easy mode gives the simplest operation of the Drive
for basic applications.
Status relay
Drive healthy
Analog
frequency/speed
reference 1
(remote) 0 ~ 10V
Standard features
Macro 1 operates in Terminal or Keypad

mode
In Terminal mode, digital control by
RUN FORWARD, RUN REVERSE and
JOG SELECT contacts
Local and remote analog frequency/speed
inputs, or setting of frequency/speed by use
of the keypad
Keypad control of speed is uni-directional
only
Fixed analog input modes
Fixed jog frequency/speed
frequencies/speeds
ramps
Analog
frequency/speed
reference 2
(local) 4 ~ 20mA
0V common
0V common
SPEED
TORQUE
OL> AT SPEED
CL> AT ZERO SPEED
0V common
RESET
JOG SELECT
RUN FORWARD
RUN REVERSE
LOCAL / REMOTE
REMOTE
LOCAL
OL> External trip

CL> Drive enable
0V common
Figure 34
Control signal connections

for Macro 1

Signal Connections.
Unidrive User Guide

Issue code: udxu6
3-9
LOCAL /
REMOTE
JOG
SELECT
29
Reference selection
26
RUN RUN
FORWARD REVERSE
27
RESET
28
25
Reference
selector
(remote)
0.02
0.05
OL> EXTERNAL TRIP

CL> DRIVE ENABLE
30
Maximum
frequency/speed
clamp
Minimum
frequency/
speed clamp
5
6
0.01
7
(local)
Preset references
(use Macro 3)
0.38
0.35
Keypad
reference
Power up
parameter
display
setting
Precision reference
Key

Figure 35
3-10
0.XX
Read-write (RW)
parameter
0.XX
Read-only (RO)
parameter
Input terminals
Output terminals
Unidrive User Guide

Issue code: udxu6
OL> FREQUENCY
TORQUE
CL> SPEED
9
OL> AT SPEED
CL> AT ZERO SPEED
10
24
Motor control
0.06
Current
limit
Ramps
0.39
Synchronize
to a spinning
motor
0.03
Acceleration
rate

Motor parameters
0.04
0.07
Deceleration
rate
0.08
Other parameters
0.09
0.31 Macro number
Speed-loop
proportional
gain
0.42 ~ 0.47
No. of poles
Power factor
Rated voltage
Rated speed
Rated current
Rated frequency
Speed-loop
integral gain
Speed-loop
derivative
gain
0.07
Voltage mode
selector

0.10
0.08
Boost voltage
0.40 Autotune
Estimated
motor
speed

0.09
Dynamic V/f
select
Motor speed
Power stage
0.10
0.41
PWM switching
frequency
Unidrive User Guide

Issue code: udxu6
3-11
Pr
Function
User
value
For descriptions of these parameters, see Appendix D Menu

0 Parameters.
0.00
0.01
0.02
0.03
Acceleration rate
0.04
Deceleration rate
0.05
Reference selector
0.06
Current limit
0.07

0.08
OL> Boost voltage

0.09

0.10

CL> Motor speed
[M]
0.31
Macro number
[M]
0.32
Serial comms. mode
0.33
[M]
0.34
User security code
[M]
0.35
Keypad reference
[M]
0.36
0.37
0.38
0.39
0.40
Autotune
0.41
PWM
0.42
0.43
Motor power factor
0.44
Motor rated voltage
0.45
0.46
Motor rated current
0.47
0.48
0.49
Security status
[M]
0.50
[M]
3-12
Unidrive User Guide

Issue code: udxu6

Reference selection
frequency/speed source, as follows:
0.05
Source
Terminal(s)

contact
5 and 6, or 7
Analog input 1
5, 6
Analog input 2
(Do not use)
Keypad control
(Do not use)
Frequency/speed references
Keypad mode
The value of the keypad reference can be read by
displaying the value of 0.35 Keypad reference.
Terminal mode
Frequency/speed reference 1 (terminals 5, 6) is
configured for 0 to 10V signal.
Frequency/speed reference 2 (terminal 7) is
configured for 4 to 20mA signal. Loss of the
current signal will be treated as zero reference.
Jog
To use jog, close the JOG SELECT contact
(terminal 26) before closing the RUN FORWARD
contact (terminal 27) or RUN REVERSE contact
(terminal 28).
Jog will occur as follows:
OL> 1.5Hz
CL> 50RPM
These values cannot be altered.
Unidrive User Guide

Issue code: udxu6
3-13
Use this free space for notes
3-14
Unidrive User Guide

Issue code: udxu6
3.6
Macro 2

Signal
connector
Features
Special features
The digital inputs are configured to accept
momentary UP and DOWN contacts.
Selection can be made between motorized
potentiometer operation and normal
frequency/speed control. In both cases, analog
input 1 remains configured for an analog
frequency/speed reference signal (0 to 10V).
Motorized potentiometer is used by first closing the
RUN FORWARD or RUN REVERSE contact as
required, then closing the UP or DOWN contact to
increase or decrease the speed. When the UP and
DOWN contacts are both open, the Drive maintains
constant speed until the closed RUN contact is
opened.
The output of the motorized potentiometer can be
monitored by reading the value of 0.26 Motorized
pot. output indicator, and the frequency/speed by
reading the value of 0.11 Pre-ramp reference.
The motorized potentiometer is reset when the
RESET contact connected to terminal 25 is closed
momentarily. (This also resets the Drive.)
Selection can be made for the motorized
potentiometer to return to the previous set speed,
or start at zero, after each power-up.
Standard features
Macro 2 operates in Terminal mode only

Digital control by RUN FORWARD and
RUN REVERSE contacts
Analog frequency/speed input
frequencies/speeds
ramps
S-ramp
Unidrive User Guide

Issue code: udxu6
Status relay
Drive healthy
Analog
frequency/speed
reference 1
(remote) 0 ~ 10V
0V common
Motor thermistor
0V common
SPEED
TORQUE
UP
RESET and
MOT. POT. RESET
DOWN
RUN FORWARD
RUN REVERSE
MOT. POT. ENABLE
ANALOG I/P
MOT. POT.
OL> External trip

CL> Drive enable
0V common
Figure 36


Signal Connections.
3-15
MOTORIZED
POT. ENABLE
RESET and
RUN RUN
MOT. POT. RESET FORWARD REVERSE
29
Reference selection
(remote)
25
27
OL> EXTERNAL TRIP

CL> DRIVE ENABLE
28
30
Reference
selector
0.02
0.05
Analog input 1
mode selector
Minimum
frequency/
speed clamp
0.24
0.01
UP
DOWN
24
0.25
Motorized pot.
reset indicator
0.26
Motorized pot.
output indicator
0.27
0.20
Skip frequency/
speed 1
0.21
Skip freq./speed
band 1
Motorized pot.
zero-start select
0.28
Motorized pot.
bipolar select
0.29
Motorized pot. rate
0.30
Motorized pot.
output scale factor
Skip
frequencies/
speeds
0.22
Skip frequency/
speed 2
26
0.23
Skip freq./speed
band 2
0.38
Power up
parameter
display
setting
Key
Figure 37
3-16
0.XX
Read-write (RW)
parameter
0.XX
Read-only (RO)
parameter
Input terminals
Output terminals
Unidrive User Guide

Issue code: udxu6
THERMISTOR
OL> FREQUENCY
CL> SPEED
8
Pre-ramp
reference
Post-ramp
reference
0.11
0.12
TORQUE
10
Motor control
0.06
S-ramp
Ramps
Current
limit
S-ramp
enable
0.16
0.18
Stop mode
selector
0.39
Synchronize
to a spinning
motor
0.03
Acceleration
rate
0.04
Deceleration
rate
0.19
0.07
S-ramp
da/dt limit
0.15
0.08
Ramp mode
selector
Other parameters
0.09
Motor parameters
Speed-loop
proportional
gain
0.42 ~ 0.47
No. of poles
Power factor
Rated voltage
Rated speed
Rated current
Rated frequency
Speed-loop
integral gain
Speed-loop
derivative
gain
0.17 Status relay invert
0.07
0.31 Macro number
Voltage mode
selector

0.10
0.08
Boost voltage

Estimated
motor
speed

0.40 Autotune
0.09
Dynamic V/f
select

Motor speed
0.10
Motor
active-current
0.13
Power stage
0.41
PWM switching
frequency

Unidrive User Guide

Issue code: udxu6
3-17
Pr
Function
User
value

For descriptions of these parameters, see
0.00
0.01
0.02
0.03
Acceleration rate
0.04
Deceleration rate
0.05
Reference selector (do not adjust)
0.06
Current limit
0.07

0.08
OL> Boost voltage

0.11
Pre-ramp reference
[M]
0.09

0.12
Post-ramp reference
[M]
0.13
[M]
0.14
Jog reference (not used)
0.10

CL> Motor speed
Pr
Function
Pr
[M]
Function
0.15
Ramp mode selector
0.16
Stop mode selector
0.17
Status relay invert
0.18
S-ramp enable
0.19
S-ramp da/dt
0.20
0.21
User
value
0.22
0.23
[M]
0.24
0.25
Motorized pot. reset indicator
User
value
0.31
Macro number
0.32
Serial comms. mode
0.33
[M]
0.26
Motorized pot. output indicator
0.34
User security code
[M]
0.27
Motorized pot. zero-start select
0.35
Keypad reference
[M]
0.28
Motorized pot. bipolar select
0.36
0.29
Motorized pot. rate
0.37
0.30
Motorized pot. output scale factor
0.38
0.39
0.40
Autotune
0.41
PWM
0.42
0.43
Motor power factor
0.44
Motor rated voltage
0.45
0.46
Motor rated current
0.47
0.48
0.49
Security status
[M]
0.50
[M]
3-18
[M]
Unidrive User Guide

Issue code: udxu6
Reference selection

For correct operation of this macro configuration,

the setting of parameter of 0.05 Reference selection
should be at 0.
Motorized potentiometer settings

1.
2.
By default, the Drive operates in

frequency/speed control. To disable this and
enable the motorized potentiometer, close the
MOT. POT. ENABLE contact (terminal 29).
If required, change the value of 0.29 Motorized
pot. rate to change the rate of increase and
decrease. Increasing the value reduces the rate
of change of speed.
Default value: 20 s
Range: 0 ~ 250 s
3.
4.
5.
If bipolar operation is required, set 0.28

Motorized pot. bipolar select at 1.
By default, every time the Drive is powered-up
and enabled, the frequency/speed will return
under ramp control to the last setting of the
motorized potentiometer. If the Drive is
required to start at zero, set 0.27 Motorized
pot. zero-start select at 1.
To reset the motorized potentiometer,
momentarily close the RESET contact. (This
also resets the Drive.)
6.
If required, change the scaling of the

motorized potentiometer output by adjusting
0.30 Motorized pot. output scale factor.
7.
If required, monitor the output value of the

potentiometer by reading 0.26 Motorized pot.
output indicator.
Unidrive User Guide

Issue code: udxu6
Analog input modes

The analog input can be configured for the
0 ~ 20mA, 4 ~ 20mA or 0 ~ 10V
Refer to the following parameter in Appendix D
Analog
input
Terminal(s)
5, 6
Parameter
0.24
Jog frequency/speed
There is no need to adjust 0.14 Jog reference since
the jog function cannot be used.

Menu 0 Parameters:
Parameter
Setting
Function
0.15
Ramp mode selector
Stnd.Ct
voltage reaches its
maximum permissible
0.16
Stop mode selector
rP

Drive is disabled
3-19
Use this page for notes
3-20
Unidrive User Guide

Issue code: udxu6
3.7
Macro 3

Signal
connector
Features
Special features
Selection can be made between preset
frequencies/speeds and analog frequency/speed
control. In both cases, analog input 1 remains
configured for an analog frequency/speed reference
signal (0 to 10V).
Status relay
Drive healthy
Analog
frequency/speed
reference 1
(remote) 0 ~ 10V
0V common
Motor thermistor
Up to four preset frequencies/speeds can be used;

their values must be programmed into individual
parameters. Selection is made by external contacts
operating in binary logic.
Standard features

Analog frequency/speed input
frequencies/speeds
ramps
Operation of the status relay can
be inverted
S-ramp
Unidrive User Guide

Issue code: udxu6
0V common
SPEED
TORQUE
PRESET SELECT A
RESET
PRESET SELECT B
RUN FORWARD
RUN REVERSE
PRESET ENABLE
ANALOG I/P
PRESET REFS.
OL> External trip

CL> Drive enable
0V common
Figure 38


Signal Connections.
3-21
PRESET
ENABLE
RUN RUN
FORWARD REVERSE
29
Reference selection
(remote)
5
27
RESET
28
25
Reference
selector
0.02
0.05
Analog input 1
mode selector
30
Maximum
freq./speed
clamp
Minimum
frequency/
speed clamp
0.24
0.01
0.25
PRESET
SELECT A
PRESET
SELECT B
24
Preset
reference 1
0.26
Preset
reference 2
0.27
Preset
reference 3
0.28
Preset
reference 4
Skip
frequencies/
speeds
0.20
Skip frequency/
speed 1
0.21
Skip freq./speed
band 1
26
A
0
0
1
1
B
0
1
0
1
0.22
Skip frequency/
speed 2
Preset speed
0.23
1
2
3
4
Skip freq./speed
band 2
0.38
Power up
parameter
display setting
Key
Figure 39
3-22
0.XX
Read-write (RW)
parameter
0.XX
Read-only (RO)
parameter
Input terminals
Output terminals
Unidrive User Guide

Issue code: udxu6
THERMISTOR
SPEED
8
Pre-ramp
reference
Post-ramp
reference
0.11
0.12
TORQUE
10
Motor control
0.06
S-ramp
Ramps
Current
limit
S-ramp
enable
0.16
0.18
Stop mode
selector
0.39
Synchronize
to a spinning
motor
0.03
Acceleration
rate

Motor parameters
0.04
Deceleration
rate
0.19
0.07
S-ramp
da/dt limit
0.15
0.08
Ramp mode
selector
Other parameters
0.09
Speed-loop
proportional
gain
0.42 ~ 0.47
No. of poles
Power factor
Rated voltage
Rated speed
Rated current
Rated frequency
Speed-loop
integral gain
Speed-loop
derivative
gain
0.31 Macro number
0.07
Voltage mode
selector

0.10
0.08
Boost voltage

Estimated
motor
speed
0.40 Autotune
0.09
Dynamic V/f
select

Power stage
0.10
Motor
active-current
0.13
Power stage
0.41
PWM switching
frequency

Unidrive User Guide

Issue code: udxu6
3-23
Pr
Function
User
value

0.00
0.01
0.02
0.03
Acceleration rate
0.04
Deceleration rate
0.05
0.06
Current limit
0.07

0.08
OL> Boost voltage

0.11
Pre-ramp reference
[M]
0.09

0.12
Post-ramp reference
[M]
0.13
[M]
0.14
0.10

CL> Motor speed
Pr
Function
Pr
[M]
Function
0.15
Ramp mode selector
0.16
Stop mode selector
0.17
Status relay invert
0.18
S-ramp enable
0.19
S-ramp da/dt
0.20
0.21
User
value
0.22
0.23
[M]
0.24
0.25
Preset reference 1
0.31
Macro number
0.32
Serial comms. mode
0.33
[M]
0.26
Preset reference 2
0.34
User security code
[M]
0.27
Preset reference 3
0.35
Keypad reference
[M]
0.28
Preset reference 4
0.36
0.29
(Not used)
0.37
0.30
(Not used)
0.38
0.39
0.40
Autotune
0.41
PWM
0.42
0.43
Motor power factor
0.44
Motor rated voltage
0.45
0.46
Motor rated current
0.47
0.48
0.49
Security status
[M]
0.50
[M]
3-24
User
value
Unidrive User Guide

Issue code: udxu6
Reference selection


should be at 0.
Preset references
1.
2.
Analog input modes

enable the preset references, close the
PRESET ENABLE contact (terminal 29).
The analog input can be configured for the

Enter the required values in the following

parameters:
Refer to the following parameter in Appendix D

0.25 Preset frequency/speed 1
0 ~ 20mA, 4 ~ 20mA or 0 ~ 10V
Analog
input
Terminal(s)

5, 6
Parameter
0.24
3.
Default value: 0
Range: OL> 1000 Hz CL> 30 000 RPM
Jog frequency/speed
Select the required preset reference as follows:

Preset
reference
PRESET SELECT A
(terminal 24)
PRESET SELECT B
(terminal 26)
Open (0)
Open (0)
Open (0)
Closed (1)
Closed (1)
Open (0)
Closed (1)
Closed (1)
Unidrive User Guide

Issue code: udxu6

Menu 0 Parameters:
Parameter
Setting
Function
0.15
Ramp mode selector
Stnd.Ct
voltage reaches its
maximum permissible
0.16
Stop mode selector
rP

Drive is disabled
3-25
3-26
Unidrive User Guide

Issue code: udxu6
3.8
Macro 4
Torque control

Signal
connector
Features
Specific features
Selection can be made between torque control and
analog frequency/speed control.
When frequency/speed control is selected, the Drive
will run at the speed demand irrespective of load so
long as the maximum permissible output current of
the Drive is not reached.
Status relay
Drive healthy
Analog torque
reference 1 (0 ~ 10V)
0V common
CL> Analog speed

limit (0 ~ 10V)
When torque control is selected, analog input 1 is

configured for an analog torque reference. The
maximum frequency/speed is determined as follows:
OL> The maximum frequency is limited to the
value of 0.02 Maximum frequency.
CL> The maximum speed is limited to the value
of the frequency/speed reference applied to
analog input 2.
Both inputs accept 0 to 10V.
0V common
SPEED
TORQUE
Motor thermistor
OL> AT SPEED
CL> AT ZERO SPEED
Torque slaving
AT MIN. SPEED
Macro 4 can be used in applications where two or

more motors are mechanically linked and must share
the torque load in a controlled way.
RESET
Standard features
RUN REVERSE

Analog torque and frequency/speed inputs
Adjustment of maximum frequencies/speeds
ramps
Operation of the status relay can
be inverted
AT MINIMUM SPEED digital output
Unidrive User Guide

Issue code: udxu6
0V common
RUN FORWARD
TORQUE ENABLE
FREQ./SPEED CONTROL
TORQUE CONTROL
OL> External trip

CL> Drive enable
0V common
Figure 310 Control signal and thermistor

Signal Connections.
3-27
OL> EXTERNAL TRIP

RESET CL> DRIVE ENABLE
RUN RUN
FORWARD REVERSE
27
Reference selection
Analog
input 1
mode
selector
Analog torque
reference
5
28
25
Reference
selector
0.24
Analog
input 1
scaling
0.02
0.05
30
Maximum
frequency/speed
clamp
Minimum
frequency/speed
clamp
0.29
0.01
0.25
Analog
input 1
0.26
Analog
input 2
mode
selector
Freq./speed control:
Frequency /speed
reference
Torque control:
OL> (Not used)
CL> Speed over-ride
Skip frequencies/
speeds
0.30
Analog
input 2
scaling
0.20
0.27
Skip frequency/
speed 1
Analog
input 2
0.21
Skip freq./speed
band 1
0.22
Skip frequency/
speed 2
0.23
Skip freq./speed
band 2
0.38
Power up
parameter
display
setting
Key
Figure 311
3-28
0.XX
Read-write
parameter (RW)
0.XX
Read-only
parameter (RO)
Input terminals
Output terminals
Unidrive User Guide

Issue code: udxu6
TORQUE
ENABLE
29
THERMISTOR
OL> FREQUENCY
TORQUE
CL> SPEED
OL> AT SPEED
AT MIN.
CL> AT ZERO SPEED SPEED
10
24
26
Pre-ramp
reference
Post-ramp
reference
0.11
Motor control
0.12
0.06
S-ramp
Ramps
Current
limit
S-ramp
enable
0.16
0.18
Stop mode
selector
0.39
Synchronize
to a spinning
motor
0.03
Acceleration
rate

Motor parameters
0.04
Deceleration
rate
0.19
0.07
S-ramp
da/dt limit
0.15
0.08
Ramp mode
selector
Other parameters
0.09
Speed-loop
proportional
gain
0.42 ~ 0.47
No. of poles
Power factor
Rated voltage
Rated speed
Rated current
Rated frequency
Speed-loop
integral gain
Speed-loop
derivative
gain
0.28 Over-speed threshold
0.07
0.31 Macro number
Voltage mode
selector

0.10
0.08
Boost voltage

Estimated
motor
speed

0.40 Autotune
0.09
Dynamic V/f
select

Motor speed
0.10
Motor
active-current
0.13
Power stage
0.41
PWM switching
frequency

Unidrive User Guide

Issue code: udxu6
3-29
Pr
Function
User
value

0.00
0.01
0.02
0.03
Acceleration rate
0.04
Deceleration rate
0.05
0.06
Current limit
0.07

0.08
OL> Boost voltage

0.11
Pre-ramp reference
[M]
0.09

0.12
Post-ramp reference
[M]
0.13
[M]
0.14
0.10

CL> Motor speed
Pr
Function
Pr
[M]
Function
0.15
Braking mode selector
0.16
Stop mode selector
0.17
Status relay invert
0.18
S-ramp enable
0.19
S-ramp da/dt
0.20
Skip freq./speed 1
User
value
0.21
User
value
0.22
Skip freq./speed 2
0.23
[M]
0.24
0.25
Analog input 1 (torque reference)
0.31
Macro number
0.32
Serial comms. mode
0.33
[M]
0.26
0.34
User security code
[M]
0.27
0.35
Keypad reference
[M]
Analog input 2 (maximum speed

override level)
0.36
0.28
Over-speed threshold
0.37
0.29
Analog input 1 scaling
0.38
0.30
0.39
0.40
Autotune
0.41
PWM
0.42
0.43
Motor power factor
0.44
Motor rated voltage
0.45
0.46
Motor rated current
0.47
0.48
0.49
Security status
[M]
0.50
[M]
3-30
[M]
[M]
Unidrive User Guide

Issue code: udxu6

Torque control
1.
2.

enable torque control, close the
TORQUE ENABLE contact (terminal 29).
OL> Set 0.02 Maximum frequency at the
required value to limit the maximum speed of
the motor.
CL> Set the analog speed limit applied to
terminal 7 at the required value to define the
maximum permissible motor speed.
3.
Set the analog torque reference at the

required level.
4.
If required, adjust 0.29 Analog input 1 scaling to

change the scaling of the torque reference
input (see Torque slaving below).
5.
If required, adjust 0.30 Analog input 2 scaling to

change the scaling of the analog speed limit
input.
6.
Set 0.28 Over-speed threshold at the

frequency/speed that the Drive is to trip for
protecting the system.
Default value:
OL> ([0.02] x 1.2) Hz
VT> 2000 RPM
SV> 4000 RPM
Range:
OL> 0 ~ ([0.02] x 1.2) Hz
CL> 0 ~ 30 000 RPM
7.
Monitor the torque reference by displaying

parameter 0.25 Analog input 1.
Reference selection
the setting of parameter 0.05 Reference selection
should be at 0.

Analog
input
Terminal(s)
Parameter
5, 6
0.24
0.26
Torque slaving
1.
Set up a master Drive in Macro 0 with

frequency/speed control.
2.
Set up slave Drive(s) in Macro 4.
3.
Make connections between the Drives as shown

in Figure 311.
Master Drive
Slave Drive
Signal
connector
(part)
Signal
connector
(part)
Figure 311
4.
Torque slaving connections
If the slave Drive(s) is to deliver a different

torque from that of the master Drive, for
(each) slave Drive, adjust 0.29 Analog input 1
scaling accordingly.

Menu 0 Parameters:
Parameter
Setting
Function
0.15
Ramp mode selector
Stnd.Ct
voltage reaches its
maximum permissible
0.16
Stop mode selector
rP

Drive is disabled
Jog frequency/speed
Analog input modes

0 ~ 20mA, 4 ~ 20mA or 0 ~ 10V
Unidrive User Guide

Issue code: udxu6
3-31
3-32
Unidrive User Guide

Issue code: udxu6
3.9
Macro 5
PID (set-point control)

Signal
connector
Features
Specific features
PID control is used for applications where a process
is required to be maintained at a set-point. Typical
applications are as follows:
Closed-loop tension-control processes

where a dancer-arm is used
Closed-loop pressure-control systems
Selection can be made between PID and analog

frequency/speed control. When PID control is
selected, the three analog inputs are configured as
follows:
Frequency/speed reference to define the

frequency/speed demand
PID feedback from the feedback device
PID reference to define the set-point
The dynamic performance, scaling and range of the

PID control can be adjusted.
Additionally PID reference, PID feedback and an
optional PID enable can be used.
Status relay
Drive healthy
Frequency/speed
reference 1 (0 ~ 10V)
0V common
PID reference
(0 ~ 10V)
PID feedback
0V common
SPEED
TORQUE
OL> AT SPEED
CL> AT ZERO SPEED
0V common
RESET
Standard features

Analog frequency/speed inputs
ramps
Unidrive User Guide

Issue code: udxu6
RUN FORWARD
RUN REVERSE
PID ENABLE
FREQ./SPEED CONTROL
PID CONTROL
OL> External trip

CL> Drive enable
0V common
Figure 312
Control signal connections

for Macro 5

Signal Connections.
3-33
PID
ENABLE
RESET
29
Reference selection
25
27
28
30
Reference
selector
Analog
input 1
mode
selector
Frequency/speed
reference
OL> EXTERNAL TRIP

CL> DRIVE ENABLE
RUN
RUN
FORWARD REVERSE
0.02
0.05
Maximum
frequency/speed
clamp
Minimum
frequency/
speed clamp
0.14
0.01
0.17
Analog
input 2
Analog
input 1
PID
0.18
0.20
PID
reference
Analog input 2
mode selector
0.15
7
Analog
input 2
scaling
PID proportional
gain
0.21
PID integral
gain
0.28
0.22
PID derivative
gain
0.23
Analog
input 3
scaling
0.29
0.16
Analog input 3
mode selector
PID
feedback
PID output high

limit
0.38
Power up
parameter
display
setting
0.24
PID output
low limit
0.25
0.19
PID output
scale factor
Analog
input 3
Key

Figure 313
3-34
0.XX
Read-write (RW)
parameter
0.XX
Read-only (RO)
parameter
Input terminals
Output terminals
Unidrive User Guide

Issue code: udxu6
OL> FREQUENCY
CL> SPEED
TORQUE
9
Pre-ramp
reference
Post-ramp
reference
0.11
0.12
OL> AT SPEED
CL> AT ZERO SPEED
10
24
Motor control
0.06
Current
limit
Ramps
0.39
Synchronize
to a spinning
motor
0.03
Acceleration
rate

Motor parameters
0.04
0.07
Deceleration
rate
0.08
Other parameters
0.09
0.26 Preset reference 7
Speed-loop
proportional
gain
0.42 ~ 0.47
No. of poles
Power factor
Rated voltage
Rated speed
Rated current
Rated frequency
Speed-loop
integral gain
Speed-loop
derivative
gain
0.07
0.30 Optional PID-enable source selector
Voltage mode
selector
0.31 Macro number

0.10
0.08
Boost voltage

Estimated
motor
speed

0.09
Dynamic V/f
select
0.40 Autotune
Motor speed
0.10
Motor
active-current
0.13
Power stage
0.41
PWM switching
frequency
Unidrive User Guide

Issue code: udxu6
3-35
Pr
Function
0.00
0.01
0.02
0.03
Acceleration rate
0.04
Deceleration rate
0.05
0.06
Current limit
0.07

0.08
OL> Boost voltage

0.09

0.10

CL> Motor speed
Pr
Function
User
value

Pr
Function
User
value
0.11
Pre-ramp reference
[M]
0.12
Post-ramp reference
[M]
0.13
[M]
0.14
Analog input 1 (frequency/speed

reference) mode selector
0.15
Analog input 2 (PID reference) mode

selector
0.16
Analog input 3 (PID feedback) mode

selector
0.17
Analog input 1
(frequency/speed reference)
[M]
0.18
Analog input 2
(PID reference)
[M]
User
value
0.19
Analog input 3
(PID feedback)
[M]
[M]
0.20
PID proportional gain
0.21
PID integral gain
[M]
0.31
Macro number
0.32
Serial comms. mode
0.33
[M]
0.22
PID derivative gain
0.34
User security code
[M]
0.23
PID output high limit
0.35
Keypad reference
[M]
0.24
PID output low limit
0.36
0.25
PID output scale factor
0.37
0.26
Preset reference 7
0.38
0.27
Preset reference 8
0.39
0.28
0.40
Autotune
0.29
0.41
PWM
0.30
Optional PID-enable source selector
0.42
0.43
Motor power factor
0.44
Motor rated voltage
0.45
0.46
Motor rated current
0.47
0.48
0.49
Security status
[M]
0.50
[M]
3-36
Unidrive User Guide

Issue code: udxu6
3.
Setting up PID control

1.

enable PID control, close the PID ENABLE
contact (terminal 29).
2.
Set the PID REFERENCE potentiometer

(terminal 7) at the required set-point.
3.
Set the FREQUENCY/SPEED REFERENCE

(terminals 5, 6) for the required nominal motor
(process) speed.
4.
Connect the feedback device to terminal 8

(PID FEEDBACK).
5.
The values of the analog signals can be

monitored by displaying the following
parameters:
To define the minimum value of PID error, set

0.24 PID low limit at the required value.
Default value: 100 %
Range: 100 %
4.
To define the degree of control on the

frequency/speed reference, set 0.25 PID output
scale factor at the required value.
Default value: 1
Range: 0 ~ 4.000
Adjusting the PID gain settings

The following parameters are used:
0.20 PID proportional gain
Default value: 1
Range: 0 ~ 4.000
0.21 PID integral gain
Default value: 0.5
Range: 0 ~ 4.000
0.17 Frequency/speed reference
0.22 PID derivative gain

Default value: 0
Range: 0 ~ 4.000
0.18 PID reference

0.19 PID feedback
0.26Post-scaling PID reference
0.27 Post-scaling PID feedback
Adjusting the PID control range

In PID control, the PID reference and PID feedback
are each passed through a scaling stage, and the
error resulting from differences between these
references is passed through a limiter and then
through a final scaling stage.
The limiter is used for applying minimum and
maximum limits to the PID error. The minimum
error can be a negative value.
The final scaling stage is used for adjusting the
degree of change to the frequency/speed reference.
After these two stages, the error is added to the
frequency/speed reference.
1.
Instead of using external signals to define the PID

reference and PID feedback, values can be entered
into preset parameters
Use the following procedure to enable and set up
these preset references:
1.
Unlock security (see Appendix B Security, and

Accessing the Advanced Parameters).
2.
Set 7.14 at 0.
3.
Set 7.18 at 0.
4.
If required, re-lock security.
5.
Enter the required values in the following two

parameters:
The default scaling for analog inputs 2 and 3

is 1. If required, adjust the following
parameters to alter the scaling:
Frequency/speed reference:
PID reference: 0.27 Preset reference 8
0.28 Analog input 2 scaling (PID reference)
Note that the range of values for these

parameters is 1000, where 1000 represents
100%.
0.29 Analog input 3 scaling (PID feedback)

2.
Preset references
To limit the maximum value of PID error, set

0.23 PID high limit at the required value.
Default value: 100 %
Range: 0 ~ 100 %
Unidrive User Guide

Issue code: udxu6
3-37
Optional software PID-enable

0.30 is used for selecting a source bit parameter as
a software enable for PID control. This software
enable is AND-gated with the PID enable signal
applied to terminal 29. The source bit parameter
must be from one of the Advanced menus (Menu 0
parameters cannot be used with parameter 0.30).
For information on identifying a suitable parameter,
refer to the Unidrive Advanced User Guide.
Reference selection
should be at 0.
Analog input modes

0 ~ 20mA, 4 ~ 20mA or 0 ~ 10V
Analog
input
Terminal(s)
5, 6
0.14
0.15
0.16
3-38
Parameter
Unidrive User Guide

Issue code: udxu6
Unidrive User Guide

Issue code: udxu6
3-39
3.10
Macro 6
Axis-limit control
Standard features
Features
Specific features
Axis-limit control is used for applications which

require the process to be automatically stopped
when a position limit has been reached.
Speed can be controlled in both directions in either
of two ways, as follows:
Bipolar frequency/speed reference signal

and use of a RUN FORWARD contact
(bipolar control)
Unipolar frequency/speed reference signal
and use of RUN FORWARD and RUN
REVERSE contacts (unipolar control)

frequencies/speeds
Adjustment of acceleration and
deceleration ramps
Selection can be made between the following

frequency/speed reference inputs:
Local unipolar input (0 ~ 10V)
Remote differential input which can be used
as follows:
Single-ended unipolar input (0 ~ 10V)
Single-ended bipolar input (10V)
Bipolar or unipolar differential input (10V
on each line)
Travel in each direction is halted by use of a LIMIT
digital input. By default, these inputs require
normally-open contacts but can be configured for
normally-closed contacts.
To run the Drive, the appropriate RUN contact must
be closed. When the related LIMIT contact changes
state to mark the axis limit, the Drive decelerates to
zero speed at a rate set by the user. In order to
change direction, it is necessary to perform either of
the following, as appropriate:
Bipolar control: Reverse the polarity of the

frequency/speed reference
Unipolar control: Open the RUN switch, and
then close the RUN switch for the opposite
direction
The Drive is operated under frequency/speed

control.
Selection can be made to apply torque to the motor
at zero speed, or to allow the motor to rotate
freely.
3-40
Unidrive User Guide

Issue code: udxu6

Signal
connector
Signal
connector
Status relay
Drive healthy
Status relay
Drive healthy
Analog
frequency/speed
reference 1
(remote) 0 ~ 10V
Analog
frequency/speed
reference
10V
+10V
0V
0V common
10V
Analog
frequency/speed
reference 2
(local) 0 ~ 10V
0V common
0V common
SPEED
0V common
TORQUE
SPEED
TORQUE
Motor thermistor
OL> AT SPEED
CL> AT ZERO SPEED
Motor thermistor
OL> AT SPEED
CL> AT ZERO SPEED
RESET
LIMIT FORWARD
RESET
RUN
LIMIT FORWARD
LIMIT REVERSE
RUN FORWARD
OL> External trip
CL> Drive enable
RUN REVERSE
0V common
LIMIT REVERSE
Figure 315
OL> External trip

CL> Drive enable
0V common

connections for Macro 6 when
used in unipolar control
Unidrive User Guide

Issue code: udxu6

connections for Macro 6 when
used in bipolar control (typical
frequency/speed reference
connections)

Signal Connections.
3-41
RUN
(FORWARD)
27
LIMIT
REVERSE
LIMIT
FORWARD
RUN
REVERSE
28
29
26
0.15
0.16
0.14
Run
forward
indicator
Run
reverse
indicator
Limit
forward
indicator
Limit
forward
invert
Limit
reverse
invert
0.21
0.22
0.17
Limit
reverse
indicator
0 = RUN enabled
1 = RUN disabled (at limit)
Reference selection
(remote)
Reference
selector
Maximum
frequency/speed
clamp
Forward
freq./speed
reference
Minimum
frequency/
speed clamp
0.05
0.02
0.01
Frequency/speed
reference
Direction control
Bi-directional
frequency/speed
reference
(local)
Reverse
freq./speed
reference
0.38
Power up
parameter
display
setting
Key

0.XX
Read-write (RW)
parameter
0.XX
Read-only (RO)
parameter
Input terminals
Output terminals
Figure 316 Programmable software for Macro 6
3-42
Unidrive User Guide

Issue code: udxu6
RESET
OL> EXTERNAL TRIP

CL> DRIVE ENABLE
25
THERMISTOR
30
OL> FREQUENCY
TORQUE
CL> SPEED
Pre-ramp
reference
Post-ramp
reference
0.11
0.12
OL> AT SPEED
CL> AT ZERO SPEED
10
24
Motor control
0.06
Current
limit
0.18
Stop mode
selector
Ramps
0.19
Hold zero
speed
0.39
Synchronize
to a spinning
motor
0.03
Acceleration
rate

Motor parameters
0.20
0.07
OL> Limit
deceleration
rate
0.08
0.04
Speed-loop
proportional
gain
0.42 ~ 0.47
No. of poles
Power factor
Rated voltage
Rated speed
Rated current
Rated frequency
Speed-loop
integral gain
CL>
Deceleration
rate
0.09
Speed-loop
derivative
gain
0.07
Voltage mode
selector
Other parameters
0.10
0.08
Boost voltage
0.31 Macro number
Estimated
motor
speed

0.09
Dynamic V/f
select

0.40 Autotune
Motor speed
Motor
active-current

Unidrive User Guide

Issue code: udxu6
0.10
0.13
Power stage
0.41
PWM switching
frequency
3-43
Pr
Function
0.00
0.01
0.02
0.03
Acceleration rate
0.04
Deceleration rate
0.05
Reference selector (limited settings)
0.06
Current limit
0.07

0.08
OL> Boost voltage

0.09

0.10

CL> Motor speed
Pr
Function
0.31
Macro number
0.32
Serial comms. mode
0.33
User
value

Pr
[M]
Function
0.11
Pre-ramp reference
[M]
0.12
Post-ramp reference
[M]
0.13
[M]
0.14
Limit forward indicator
[M]
0.15
Run forward indicator
[M]
0.16
Run reverse indicator
[M]
0.17
Limit reverse indicator
[M]
0.18
Stop mode selector
[M]
0.19
Hold zero speed enable
[M]
0.20
OL> Limit deceleration rate

CL> (Not used)
User
value
0.21
Limit forward invert
[M]
0.22
Limit reverse invert
0.23
(Not used)
[M]
0.24
(Not used)
(Not used)
0.34
User security code
[M]
0.25
0.35
Keypad reference
[M]
0.26
(Not used)
(Not used)
(Not used)
0.36
0.27
0.37
0.28
0.38
0.29
(Not used)
0.39
0.30
(Not used)
0.40
Autotune
0.41
PWM
0.42
0.43
Motor power factor
0.44
Motor rated voltage
0.45
0.46
Motor rated current
0.47
0.48
0.49
Security status
[M]
0.50
[M]
3-44
User
value
Unidrive User Guide

Issue code: udxu6

Frequency/speed control
When Macro 6 is selected, the Drive always operates
in axis-limit control; unlike Macros 2 to 5, no digital
input exists to allow switching to and from normal
Operation in bipolar or unipolar frequency/speed
control is dependent only on the signal connections
made. When bipolar control is required, to prevent
confusion do not connect a RUN REVERSE contact.
No jog function exists.
Reference selection
frequency/speed reference source, as follows:
0.05
0
Source
Terminal(s)
Analog input 1 (bipolar or unipolar)
5, 6
5, 6
Analog input 1 (bipolar or unipolar)
Analog input 2 (unipolar only)
(Do not use)
(Do not use)
(Do not use)
Use 0.04 Deceleration rate for adjusting the

maximum deceleration rate that is to apply when
any of the following occurs:
The motor is stopped by removal of a RUN

command
The motor is stopped or slowed by
reduction of the frequency/speed reference
OL> For setting the deceleration rate at the limit of

travel, use parameter 0.20 Limit deceleration rate.
CL> No adjustment can be made to the
deceleration rate at the limit of travel; the Drive
decelerates under current limit with no ramp
control.
Braking mode
The FASt ramp mode is applied. This gives
continuous deceleration under maximum braking
conditions (the ramp mode should not be changed).
A braking resistor is normally required in order to
prevent the DC-bus voltage from reaching the trip
level.
Stopping modes
Refer to parameter 0.18 Stop mode selector in
Analog input mode

The analog inputs are configured for 0 ~ 10V; see the
Unidrive Advanced User Guide for selecting other
modes.
Limit switch types
Hold zero speed

Refer to parameter 0.19 Hold zero speed enable in
The default setting is as follows:
By default, the Drive requires normally-open limit

switches. When either or both limit switches are to
be normally-closed, set the following parameters
at 1, as appropriate:
LIMIT FORWARD
LIMIT REVERSE
The rate of deceleration to be applied when the

motor is being stopped at the limit of travel can be
adjusted separately from the normal deceleration
rate, as follows:
0.21
0.22
Operating
mode
0.19
Effect on motor...
OL
Free to rotate
VT
Free to rotate
SV
Held at zero speed
Deceleration rates
Caution
Unidrive User Guide

Issue code: udxu6
Position the limit switches

to allow for the distance
that will be travelled during
deceleration. This distance
will be increased if the
deceleration time is
extended (see Braking mode).
3-45
3-46
Unidrive User Guide

Issue code: udxu6
3.11
Macro 7
Brake control
Features
Specific features
Brake control is used for controlling the application
and release of a mechanical brake in hoist or crane
applications. The Drive issues a brake release signal
when all of the following conditions are met:
The Drive has not tripped (ie. healthy)

The motor is at zero speed
(closed-loop only)
Current above a user-defined threshold is
being supplied to the motor in order to hold
or move the load
The relevant change of state of the brake release

signal can be delayed by a user-defined time in order
to ensure that only appropriate conditions will cause
the following:
OL> Brake to be released
CL> Brake to be applied
The Drive applies the brake, by removing the brake
release signal, as the motor is stopping and motor
current falls below the threshold level.

Signal
connector
BRAKE RELEASE
Analog
frequency/speed
reference 1
(remote) 0 ~ 10V
0V common
Analog
frequency/speed
reference 2
(local) 0 ~ 10V
0V common
SPEED
TORQUE
Motor thermistor
RESET
CL> JOG
RUN FORWARD
RUN REVERSE
The Drive is operated under frequency/speed

control; selection can be made between local and
remote sources, as well as keypad control.
REMOTE
LOCAL / REMOTE
LOCAL
OL> External trip

CL> Drive enable
0V common
Standard features
Macro 7 can be operated in Terminal mode

(default) or Keypad mode
Digital control by RUN FORWARD, and
Analog frequency/speed inputs
frequencies/speeds
CL> Jog function
deceleration ramps
Unidrive User Guide

Issue code: udxu6
Figure 317

The BRAKE RELEASE output connection must be

made through the status relay, as shown in
Figure 317; the source for controlling the status
relay must not be changed. Note that the actual
BRAKE RELEASE output appears on terminal 24
which operates as shown in the following table.
Terminal 24
BRAKE RELEASE
logic state
Effect
Low
Release brake
High
Apply brake

Signal Connections.
3-47
LOCAL /
REMOTE
OL> (Not used)

CL> JOG SELECT
29
Reference selection
RUN RUN
FORWARD REVERSE
26
27
28
25
Reference
selector
(remote)
0.02
0.05
Minimum
frequency/
speed clamp
5
6
BRAKE
RELEASE
RESET
24
Maximum
frequency/
speed
clamp
0.01
7
(local)
Preset references
(see the Unidrive
Advanced User Guide)
0.38
Power up
parameter
display
setting
0.35
Current detected
indicator
Keypad
reference
0.15
Precision reference
Current
threshold
0.19
Motor current
magnitude
0.14
1.05
Jog reference
(see the Unidrive
0.18
Drive healthy
indicator
0.16
Brake release
indicator
0.20
At zero speed
indicator
Reference enabled
indicator
(see the Unidrive
At zero speed
indicator
0.17
Brake
release
delay
1.11
0.20
0.17
Brake
application
delay
3-48
Unidrive User Guide

Issue code: udxu6
OL> EXTERNAL TRIP

CL> DRIVE ENABLE
OL> FREQUENCY
CL> SPEED
THERMISTOR
30
Pre-ramp
reference
Post-ramp
reference
0.11
0.12
TORQUE
10
Motor control
0.06
Current
limit
Ramps
0.39
Synchronize
to a spinning
motor
0.03
Acceleration
rate

Motor parameters
0.04
0.07
Deceleration
rate
0.08
Other parameters
Speed-loop
proportional
gain
0.42 ~ 0.47
No. of poles
Power factor
Rated voltage
Rated speed
Rated current
Rated frequency
Speed-loop
integral gain
0.31 Macro number

0.09
Speed-loop
derivative
gain

0.07
0.40 Autotune
Voltage mode
selector

0.10
0.08
Boost voltage
Estimated
motor
speed
Key
0.XX
Read-write (RW)
parameter
0.XX
Read-only (RO)
parameter
Motor speed
0.10
Input terminals
Output terminals
0.09
Dynamic V/f
select
Motor
active-current
0.13
Power stage
0.41
PWM switching
frequency

Unidrive User Guide

Issue code: udxu6
3-49
Pr
Function
0.00
0.01
0.02
0.03
Acceleration rate
0.04
Deceleration rate
0.05
Reference selector (limited settings)
0.06
Current limit
0.07
OL> Boost voltage

0.08

0.09

CL> Motor speed
0.10

CL> Motor speed
Pr
Function
0.31
Macro number
0.32
Serial comms. mode
0.33
User
value

Pr
[M]
User
value
[M]
Function
0.11
Pre-ramp reference
[M]
0.12
Post-ramp reference
[M]
0.13
[M]
0.14
Motor current magnitude
[M]
0.15
Current detected indicator
[M]
0.16
Drive healthy indicator
[M]
0.17
At zero speed indicator
[M]
0.18
Brake release indicator
[M]
0.19
Current threshold
0.20
OL> Brake release delay

CL> Brake application delay
0.21
(Not used)
0.22
(Not used)
0.23
(Not used)
0.24
(Not used)
[M]
0.25
(Not used)
(Not used)
0.34
User security code
[M]
0.26
0.35
Keypad reference
[M]
0.27
(Not used)
(Not used)
0.36
0.28
0.37
0.29
(Not used)
0.38
0.30
(Not used)
0.39
0.40
Autotune
0.41
PWM
0.42
0.43
Motor power factor
0.44
Motor rated voltage
0.45
0.46
Motor rated current
0.47
0.48
0.49
Security status
[M]
0.50
[M]
3-50
User
value
Unidrive User Guide

Issue code: udxu6
2.

Frequency/speed control
When Macro 7 is selected, the Drive always operates

in brake control; unlike Macros 2 to 5, no digital
input exists to allow switching to and from normal
Reference selection
frequency/speed reference source, as follows:
Source
Terminal(s)

contact
5 and 6, or 7
Analog input 1
5, 6
Analog input 2
(see the Advanced User Guide)
Keypad control
Precision frequency/speed
reference
Analog input mode
0.16 Drive healthy indicator changes state

to 1
0.17 At zero speed changes state to 0
CL> If required, change the setting of 0.20

Brake application delay from the default value of
0.2 second to a suitable value (between 0 and
25 seconds) that will ensure a brake release
signal is not removed if the following occur
simultaneously under transient conditions:
The frequency/speed of the motor is controlled in

the same way as in normal frequency/speed control.
0.05
OL> If required, change the setting of 0.20

Brake release delay to a suitable value (between
0 and 25 seconds) that will ensure a brake
release signal is not issued if the following
occur simultaneously under transient
conditions:
1.11 Reference enabled indicator changes state

to 1
0.17 At zero speed change state to 1
Braking mode
The FASt ramp mode is applied. This gives
continuous deceleration under maximum braking
conditions (the ramp mode should not be changed).
A braking resistor is normally required in order to
level.
Stopping mode
The stopping mode is as follows:
Operating
mode

modes.
Stopping mode
OL
Ramp to a stop
VT
Ramp to a stop
SV
Stop under current limiting

(no ramp)
Brake-control settings
1.
The default setting of 10% for parameter 0.19

Current threshold is suitable for the majority of
applications. If required, change the value to
the required percentage of Imax (see below).
This value must ensure that adequate current
will flow through the motor to control the load
when the brake is released.
OL>
IMAX = FLC x 150%
CL>
IMAX = FLC x 175%
Unidrive User Guide

Issue code: udxu6
Jog
The jog function is available only when the Drive is
operating in a closed-loop mode. The default jog
speed is 50 RPM. To change the jog speed, see the
Unidrive Advanced User Guide.
3-51
3.12
Macro 8
Digital lock
Shaft orientation
Slave
Speed
Master
Features
Time
Macro 8 has two completely independent functions,

as follows:
Master
Position
Digital lock
The Drive operates as a slave in closed-loop
master-slave systems. The slave motor is
digitally locked to the master motor.
Slave
Time
Shaft orientation
The motor speed is controlled in the same way
as for Macro 1, but the motor shaft can be
orientated to a specified angular position
before and/or after running the motor.
Digital lock specific features

Closed-loop operation
For simplicity, both Drives must be operated in the
same closed-loop mode (closed-loop vector or
closed-loop servo). A feedback encoder or resolver
must be fitted to each motor and connected to the
related Drive. The slave Drive should be fitted with
one of the following:
UD51 Second encoder small option module

UD53 Resolver small option module
The master Drive can be operated with any of the

other macros, as appropriate for the application.
Figure 319 Rigid digital lock response of the

slave motor to a position error
Non-rigid digital lock
The speed of the slave motor is locked to the
speed of the master motor. When a speed error
occurs, the behaviour of the system depends on
the amount of error, as follows:
Speed errors within 5RPM Rigid digital
lock occurs (as described above).
Speed errors exceeding 5RPM
Rigid digital lock ceases; the correct speed
will subsequently be regained but without
any correction for change of relative angular
position. The slave motor will continue to
run at the new relative angular position until
a new speed error exceeding 5RPM occurs.
Speed
Digital-lock modes
The Drive can be operated in rigid digital lock or
non-rigid digital lock. The actions of these digital-lock
modes are as follows:
Master
Slave
Time
Rigid digital lock

The slave-motor shaft is maintained at a
constant angular position in relation to the
master-motor shaft (ie. relative-position lock).
This relative position is determined solely by
the shaft positions before a RUN contact is
closed.
If the angular position of the slave-motor shaft
becomes displaced (eg. due to current limiting
in the slave Drive affecting the motor speed),
the position error is corrected by the speed of
the slave motor being automatically increased
and decreased accordingly. See Figure 319.
3-52
Master
Position
Slave
Time
Figure 320 Non-rigid digital lock response

of the slave motor to a speed
error that exceeds 5RPM
Unidrive User Guide

Issue code: udxu6
Speed reference and speed feedback
RUN control
The speed reference for the slave Drive can be

obtained direct from the feedback encoder on the
master motor by connecting the Speed reference
inputs on the slave Drive in parallel with the encoder
connections on the master Drive. The signal is in
quadrature AB format. Alternatively, the simulated
encoder outputs of the small option module fitted in
the master Drive can be used to supply the
speed reference to the slave Drive. By default this is
also in the form of quadrature AB signals; if
frequency-and-direction signals are to be used, see
the Unidrive Advanced User Guide.
RUN FORWARD and RUN REVERSE contacts must

be used for starting and stopping the slave motor.
These contacts can be common to, or independent
of, the RUN contacts for the master Drive.
The output of the feedback encoder/resolver on the

slave motor is compared with the speed reference for
calculating, and compensating for, errors in position.
Speed ratio
By default, the slave motor is locked to the same
speed as the master motor; if required, the speed of
the slave motor can be locked to a ratio of the speed
of the master motor (eg. when different sized
pulleys are used on the motors, or gearing is
required).
Common contacts cause the slave Drive to be

started and stopped at the same time as the master
Drive. Independent contacts allow the following
for the slave Drive:
Digital-lock mode
Functions
Rigid
Jog
Non-rigid
Jog and Run
Jog and relative jog

Two types of jog are available depending on the
sequence used for closing contacts, as follows:
Jog The slave motor can be run at a jog speed
independently of the master Drive.
Relative jog The speed of the slave motor
can be increased by a small amount in relation
to the speed of the master.
Digital lock standard features

Digital feed-forward
Digital feed-forward is the use of the
speed reference obtained from the reference
encoder/resolver to control the speed of the slave
motor.
When digital feed-forward is not used, the speed
reference for the slave Drive must be obtained from
a separate speed reference, such as the speed
reference that controls the master Drive. (Selection
of speed reference can be made between local and
remote sources, as well as keypad control.)
Both digital-lock modes can be operated with or
without digital feed-forward.
Position loop
A position loop integrates the speed reference and
speed feedback in order to obtain position
information for the master and slave motors. The
result of comparing these positions is used to
modify the speed of the slave motor to correct for
position errors (as described above).
The dynamic response and maximum relative speed
when correcting errors can be controlled by
adjustments to parameters in the position loop.
Unidrive User Guide

Issue code: udxu6
Operation in Terminal mode only

frequencies/speeds
deceleration ramps
Drive enable digital input
Shaft orientation specific features

A feedback encoder or resolver must be fitted to
the motor and connected to the Drive. The Drive
should be fitted with one of the following:
UD51 Second encoder small option module

UD53 Resolver small option module
Shaft orientation can be selected to occur under

either of the following conditions:
Only after the Drive has been running

At the moment the Drive is enabled prior to
it being run, as well as after the Drive has
been running
3-53
The following adjustments can be made:
Orientation position relative to the zero

position of the encoder or resolver,
1
adjustable in steps of /4096 of a revolution
Orientation tolerance, adjustable in steps of
1
/4096 of a revolution
Speed at which orientation occurs
Shaft orientation occurs in the following sequence:
1.
The motor is decelerated or accelerated (as

appropriate) under ramp control to the
orientation speed.
2.
When the orientation speed is reached, ramps

are disabled and the motor shaft continues to
be rotated at this speed until the shaft almost
reaches the specified orientation position.
Digital lock
Signal
connector
Status relay
Drive healthy
Analog speed
reference 1
(remote) 0 ~ 10V
0V common
Analog speed
reference 2
(local) 0 ~ 10V
0V common
3.
4.
The speed demand is then set at zero and the

position loop is closed. This forces the shaft
towards the orientation position.
When the shaft speed is less than 2RPM and the
position is within the specified tolerance, an
ORIENTATION COMPLETE signal is issued and
the motor is stopped.
Shaft orientation standard features
Operation in Terminal mode only

Digital control by RUN FORWARD, and
frequencies/speeds
Jog function
deceleration ramps
Drive enable digital input
Installing the small option modules

Fit the appropriate small option module in the
master and slave Drives, as follows:
Encoder
UD51
Resolver
UD53
SPEED
TORQUE
Motor thermistor
RESET
(RELATIVE) JOG
SELECT
RUN FORWARD
RUN REVERSE
LOCAL / REMOTE
REMOTE
LOCAL
Drive enable
0V common
Figure 321

connections to the slave Drive for
digital lock
If any of the input sources (eg. RUN contacts,

Drive enable, analog speed reference) are to be
common to the master and slave Drives, ensure that
the 0V common terminals of the two Drives are
connected together.
Signal Connections.
For installing and making connections to the small

option module, refer to chapters 1 to 4 in the User
Guide supplied with the module. For the UD53,
ignore Modes of operation in Chapter 4.
3-54
Unidrive User Guide

Issue code: udxu6
Master
Drive
Slave
Drive
Simulated encoder
outputs
Encoder 2 inputs
(Reference encoder)
Encoder 1 inputs
(Feedback encoder)
Encoder 1 inputs
(Feedback encoder)
Feedback encoder
Feedback encoder
Figure 322 Master-slave signal connections for digital lock when encoders are used
Alternatively, a UD51 small option module need not
be fitted in the master Drive. In this case, the
Encoder 2 inputs for the slave Drive must be
connected direct to the feedback encoder on the
master Drive, in parallel with the Encoder 1 inputs on
the master Drive.
Unidrive User Guide

Issue code: udxu6
3-55
Master
Drive
Slave
Drive
Resolver inputs
(Feedback resolver)
Simulated encoder
outputs
Resolver inputs
(Feedback resolver)
Encoder 1 inputs
(Reference encoder)
Resolver
Resolver
Master-slave signal connections for digital lock when resolvers are used
See the UD51 or UD53 User Guide, as appropriate, for
ground connections.
3-56
Unidrive User Guide

Issue code: udxu6
Shaft orientation
Signal
connector
Status relay
Drive healthy
Analog speed
reference 1
(remote) 0 ~ 10V
0V common
Analog speed
reference 2
(local) 0 ~ 10V
0V common
SPEED
TORQUE
ORIENTATION
COMPLETE
RESET
JOG SELECT
RUN FORWARD
RUN REVERSE
LOCAL / REMOTE
REMOTE
LOCAL
Drive enable
0V common

connections for shaft orientation
Signal Connections.
Unidrive User Guide

Issue code: udxu6
3-57
LOCAL /
REMOTE
(RELATIVE)
JOG SELECT
29
Reference selection
26
Reference
selector
Speed reference 1
(remote)
RUN RUN
FORWARD REVERSE
0.05
5
6
27
Maximum
speed
clamp
28
0.02
Digital-lock
with feed-forward:
Digital-lock
without feed-forward:
Shaft orientation:
Minimum
speed clamp
0.01
Speed reference 2
(local)
Preset references
(see the Unidrive
0.38
Power up
parameter
display
setting
0.35
Digital
feed-forward
Keypad
reference
Positioning
speed limit
Precision reference
(Relative) Jog
reference
Reference-encoder /
Feedback-resolver
position
0.21
Feedback-encoder /
Reference-resolver
position
0.19
Reference-encoder /
Feedback-resolver
speed
0.22
Feedback-encoder /
Reference-resolver
speed
0.18
0.25
0.14
Reference
encoder/resolver
revolution counter
0.29
0.15
Position-loop
mode selector
0.27
Orientation
acceptance
window
Positionloop gain
0.24
Position
error
0.20
0.17
Reference
encoder/resolver
ratio
Digital-lock modes: 0
Orientation modes: 1
0.30
Feedback
encoder/resolver
revolution counter
Orientation
reference
UD53
Not fitted: 0
Fitted:
1
0.26
3-58
Unidrive User Guide

Issue code: udxu6
RESET
25
Pre-ramp
reference
Post-ramp
reference
0.11
0.12
DRIVE ENABLE
SPEED
30
TORQUE
ORIENTATION
COMPLETE
10
24
Motor control
0.06
Current
limit
Speed-loop PID gains

Ramps
0.07
Speed-loop
proportional
gain
0.08
Speed-loop
integral gain
0.39
Synchronize
to a spinning
motor
0.03
Acceleration
rate
0.04
0.09
Deceleration
rate
Motor parameters
Speed-loop
derivative
gain
0.42 ~ 0.47
No. of poles
Power factor
Rated voltage
Rated speed
Rated current
Rated frequency
Key
0.XX
Read-write (RW)
parameter
0.XX
Read-only (RO)
parameter
Input terminals
Output terminals
Motor speed
0.10
Motor
active-current
0.13
Power stage
0.41
PWM switching
frequency
Other parameters
0.31 Macro number
0.40 Autotune
Unidrive User Guide

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3-59
Pr
Function
0.00
0.01
0.02
0.03
Acceleration rate
0.04
Deceleration rate
0.05
Reference selector
0.06
Current limit
0.07
Speed-loop proportional gain
0.08
Speed-loop integral gain
0.09
Speed-loop derivative gain
0.10
Motor speed
Pr
User
value

Pr
[M]
Function
User
value
Function
User
value
0.11
Pre-ramp reference
[M]
0.12
Post-ramp reference
[M]
0.13
[M]
0.14
(Relative) jog reference
0.15
Position-loop mode selector
0.16
Feedback encoder
no. of lines / pulses per revolution
0.17
Reference encoder/resolver ratio
0.18
Feedback-encoder / Reference-resolver
speed
[M]
0.19
Feedback-encoder / Reference-resolver
position
[M]
0.20
Position error
[M]
0.21
Reference-encoder / Feedback-resolver
position
[M]
0.22
Reference-encoder / Feedback-resolver
speed
[M]
0.23
Reference encoder
no. of lines / pulses per revolution
0.24
Position-loop gain
0.31
Macro number
0.32
Serial comms. mode
0.33
[M]
0.34
User security code
[M]
0.35
Keypad reference
[M]
0.36
0.25
Positioning speed limit
0.37
0.26
Orientation reference
0.38
0.27
Orientation acceptance window
0.39
0.28
Stop mode selector
0.40
Autotune
0.29
PWM
Reference encoder/resolver revolution

counter
[M]
0.41
0.42
0.30
[M]
0.43
Motor power factor
Feedback encoder/resolver revolution

counter
0.44
Motor rated voltage
0.45
0.46
Motor rated current
0.47
VT> Motor rated frequency
0.48
0.49
Security status
[M]
0.50
[M]
3-60
[M]
Unidrive User Guide

Issue code: udxu6
Setting up and using Macro 8 for

digital lock
The following require attention in addition to the
settings made in Chapter 2.
Digital-lock mode
Set parameter 0.15 Position-loop mode selector
as follows:
Digital lock mode
Encoders
Digital
feed-forward
Rigid
Perform the following only when encoders are fitted

to the motors, and UD51 option modules are fitted
in the Drives:
Non-rigid
0.15
1
2
3
4
In the master Drive...
Enter into parameter 3.21 the number of lines

per revolution for the feedback encoder that
is fitted to the master motor.
In the slave Drive...
Enter into parameter 0.23 the same value as

above ([3.21] in the master Drive).
is fitted to the slave motor.
The working-speed ranges are as follows:

0.16 and 0.23
Quadrature
Frequency +
direction
Working-speed
range
5000
10000
0 ~ 3000
2500
5000
3001 ~ 6000
1250
2500
6001 ~ 12000
625
10250
12001 ~ 24000
500
1000
24001 ~ 30 000
Operation below a specified working-speed range

will result in progressively reducing resolution.
Operation cannot occur above a specified
working-speed range because of a limit on the
maximum possible pulse repetition frequency.
For operation with frequency and direction signals,
see the Unidrive Advanced User Guide.
Reference selection
When parameter 0.15 has been set at 2 or 4 (for no
digital feed-forward), use 0.05 Reference selector to
select the required speed-reference source, as
follows:
0.05
Source
Terminal(s)

contact
5 and 6, or 7
Analog input 1
5, 6
Analog input 2
Preset speeds
Keypad control
Precision speed reference

Speed reference
When parameter 0.15 has been set at 2 or 4 (for no
digital feed-forward), apply a suitable
speed-reference to the input selected by parameter
0.05 Reference selector. If required, use the
speed-reference that is applied to the master Drive;
otherwise use a speed-reference that always equals
the master speed-reference. In both cases, if a
speed ratio is to be used (see Speed ratio later in this
section), refer to Menu 7 in the Unidrive Advanced
User Guide for scaling the analog input accordingly.
Resolvers
Perform the following only when resolvers are fitted
to the motors, and UD53 option modules are fitted
in the Drives:
In the master and slave Drives...
Analog input mode

modes.
Refer to Chapter 5 Setting Up the UD53 in the

UD53 User Guide and follow the appropriate
procedure under Phase offset, as follows:
Resolver phasing test (Servo mode)
Magnetizing current test (Closed-loop Vector)
Unidrive User Guide

Issue code: udxu6
3-61
Stopping mode
Jog and relative jog
The stopping mode is as follows:
Setting up
Operating
mode
Stopping mode
VT
Ramp to a stop
SV
Stop under current limiting

(no ramp)
Do not change the setting of parameter 0.28 Ramp

mode selector.
Speed ratio
By default, the slave motor will run at the same
speed as the master motor. To apply a ratio to
these speeds, change the value of 0.17 Reference
encoder/resolver ratio, as follows:
To run the slave slower than the master,

increase the value
To run the slave faster than the master,
decrease the value
If required, change the (relative) jog speed from the

default value of 50RPM by adjusting parameter
0.14 (Relative) jog reference from 0 to 4000RPM.
Using jog
Use the following sequence to enable jog:
1.
Close the DRIVE ENABLE contact.
2.
Close the ( RELATIVE) JOG SELECT contact.
3.
Close the appropriate RUN contact.
Using relative jog

Use the following sequence to enable relative jog:
1.
2.
3.
Close the (RELATIVE) JOG SELECT contact.
In both cases, to stop jogging, open the (RELATIVE)

JOG SELECT contact.
Ramps
When adusting parameters 0.03 Acceleration rate
and 0.04 Deceleration rate in the master and slave
Drives, to help minimise the incidence of position
errors, ensure that the rates will not cause the
following:
Acceleration and deceleration times for the

slave to be greater than for the master
(allowing for any speed ratio)
Current limiting in the slave Drive
Positioning speed-limit
When a position error is being corrected, the
position loop produces a correction term which is
added to the speed reference that is applied to the
slave Drive. By default, the maximum value of the
correction term is limited to 150RPM. If required,
change the value of this limit by adjusting parameter
0.25 Positioning speed limit from 0 to 250RPM.
Dynamic response to correcting

position errors
Normally, there is no need to adjust the dynamic
response to the correction of position errors. If
required, adjust 0.24 Position-loop gain as follows:
3-62
Increase the value for a faster response, but

take care not to induce instability
Decrease the value for a slower response
Unidrive User Guide

Issue code: udxu6
Reference selection
Setting up and using Macro 8 for

shaft orientation
The following require attention in addition to the
settings made in Chapter 2.

speed reference source, as follows:
0.05
Source
Terminal(s)

contact
5 and 6, or 7
Analog input 1
5, 6
Analog input 2
Preset speeds
Keypad control
Precision speed reference

Encoder
Perform the following only when an encoder is
fitted to the motor, and a UD51 option module is
fitted in the Drive:

is fitted to the motor.

0.16
Quadrature
Frequency +
direction
Working-speed
range
5000
10000
0 ~ 3000
2500
5000
3001 ~ 6000
1250
2500
6001 ~ 12000
625
1250
12001 ~ 24000
500
1000
24001 ~ 30 000
Speed reference
Apply a speed reference to the input selected by
parameter 0.05 Reference selector.

Note that frequency and direction signals should
not be used with shaft orientation.
Orientation mode
Analog input mode

modes.
Jog
Setting up
If required, change the jog speed from the default
value of 50RPM by adjusting parameter
0.14 (Relative) jog reference from 0 to 4000RPM.
Using jog
Set parameter 0.15 Position-loop mode selector

as follows:
Use the following sequence to enable jog:

0.15
1.
Orientate when stopping
2.
Close the JOG SELECT contact.
Orientate when enabling the Drive, as well as

orientate when stopping
3.
Orientation mode
When the Drive is operating in the closed-loop

vector mode, set parameter 6.08 Hold zero speed at
1 (see Appendix B Security and Accessing the Advanced
Parameters).
Unidrive User Guide

Issue code: udxu6
Stopping mode
When parameter 0.15 Position-loop mode selector is
set at 5, set parameter 0.28 Ramp mode selector at
rP-Pos.
3-63
Orientation position and window

Set parameter 0.26 Orientation reference at the
1
required angular position in steps of /4096 revolution
from the zero point of the (absolute) encoder or
resolver.
Set parameter 0.27 Orientation acceptance window at
the required orientation tolerance in steps of
1
/4096 revolution. Orientation is completed when the
shaft speed is less than 2RPM and the position is
between WMAX and WMIN , where:
WMAX
WMIN
= [0.26] + [0.27]
= [0.26] [0.27]
Orientation speed
The default orientation speed is 150RPM. If required,
adjust parameter 0.25 Positioning speed limit from
0 to 250RPM.
Dynamic response when orientating

The dynamic response of the position loop is preset;
do not adjust 0.24 Position-loop gain.
3-64
Unidrive User Guide

Issue code: udxu6
Programming
Instructions
The instructions in this appendix take you step-bystep through learning how to use the display and
keypad, and alert you to avoid actions that could
cause confusion. It is in your interests to follow
these instructions carefully.
The instructions can be used when the Drive is
operating in Keypad or Terminal mode. They cover
the basic procedure for accessing a numerical
variable parameter. Instructions for accessing other
types of parameter, as well as for more advanced
operations, are given later in this appendix.
A.1
A.2
1.
Ensure that terminal 30 is connected to

terminal 31 or that a contact connected to
these terminals is closed.
2.
If these instructions are being followed when a

macro other than Macro 1 is enabled, ensure
terminal 8 is connected to terminal 11 or a
motor thermistor is connected to these
terminals. These connections will allow the
Drive to be operated.
3.
Ensure that terminals 27 and 28 are

open-circuit, or that contacts connected to
these terminals are open. This will prevent a
motor (if connected) from being driven.
4.
Ensure that if a FREQUENCY/SPEED

potentiometer is connected, it is set at
minimum (wiper at 0V common).
5.
Connect the AC supply to the Drive.
6.
The display is in Status mode and should indicate

as follows:
Electrical connections
Before following the instructions in this chapter

ensure the Drive has been connected in accordance
with the instructions in Chapter 2 Installing the Drive,
in the Installation Guide or Chapter 2 Getting Started
in this User Guide.
Preparation
When following the instructions in this appendix, It

is your responsibility to connect and disconnect the
AC supply as required.
Warning
Warning
Warning
The terminal cover must be

fitted to the Drive before the
AC supply is connected. If the
cover needs to be removed, the
AC supply must first be
disconnected for ten minutes.
The AC supply must be
connected to the Drive with
appropriate fuses or
protection, as described in the
Installation Guide.
Adjustment of parameter
values must be performed only
by suitably trained or
experienced personnel.
Incorrect values could be
hazardous.
(When the Drive is operated in the Closed-loop

Servo mode, the lower display shows StoP
instead of rdY.)
If the lower display shows triP and the upper
display shows one of the following, check the
cause and attend to the remedy:
Display
Cause and remedy
th
Motor thermistor not connected, or terminal 8

not connected to terminal 11. Make the
necessary connections.
Et
External trip signal received, or terminal 30 not

connected to terminal 31. Make the necessary
connections.
rS
Motor is not connected, one phase is not

connected or the motor is open-circuit.
7.
Press
to reset the Drive. The display
should now show:
OL + VT> rdY
SV> StoP
If the lower display still shows triP and another
code is shown on the upper display, see
Appendix E Diagnostics.
Unidrive User Guide

Issue code: udxu6
A-1
A.3
Status mode
A.5
1.
Entering Parameter mode

and returning to
Status mode
Momentarily press
Parameter mode.
. The display enters
The lower display shows parameter number

0.10. (A different parameter number could be
shown if the Drive has been used previously.)
The display appears as follows:
The lower display indicates that the Drive is ready to

drive a motor, as follows:
OL + VT> rdY
SV> StoP
The upper display indicates the output frequency of
the Drive or the motor speed. This is the value of
parameter 0.10. (The value of a different parameter
could be shown if the Drive has been used
previously.)
A.4
Displaying the parameter

number in Status mode
When the display is in Status mode, the upper

display shows the value of parameter 0.10 (or of the
last parameter to be selected). The number of this
parameter can be shown on the lower display,
instead of the Drive status.
1.
8 seconds
To show the parameter number, press:

or
2.
To show the status, press:

shown immediately.
. The status is
2.
Do not press any keys. After eight seconds, the

display returns to Status mode. This shows
that the display always returns from Parameter
mode to Status mode when no keys are pressed
within eight seconds.
You may repeat these two steps as many times
as required to obtain an understanding of the
operation.
A-2
Unidrive User Guide

Issue code: udxu6
A.6
Selecting
a parameter to access
Scrolling
1.
If the display returns to Status mode during the

course of selecting parameters (because no keys
have been pressed for eight seconds), to re-enter
Parameter mode, press:
1.
Momentarily press
Parameter mode.
Within eight seconds, press and hold down:
The parameter number continuously increases

(scrolls upward) until the highest numbered
parameter in the menu is reached.
2.
To start scrolling upward again from parameter

number 0.00, release then re-press:
3.
Repeat steps 1 and 2 using
. The display enters
Parameter number 0.10, or the number of the

last selected parameter, appears on the lower
display. The value shown on the upper display
remains the same.
The parameter numbers will now decrease. In

step 2, when parameter 0.00 is reached,
releasing and re-pressing the key will re-start
downward scrolling from the highest numbered
parameter in the menu.
Quick selection of parameter 0.00

1.
While the display is in Parameter mode, press at

the same time:
and
Parameter 0.00 is displayed.
2.
Within eight seconds, press

The parameter number decreases by one.
Repeat this step until 0.06 is displayed.
2.
Now select parameter number 0.06.
Notice that the upper display changes to show

the value of the parameter that is selected.
Unidrive User Guide

Issue code: udxu6
A-3
A.7
1.
Changing the value of a

parameter
Within eight seconds of selecting parameter

0.06, press:
The display enters Edit mode.

(If more than eight seconds have elapsed, the
display will have returned to Status mode. In
this case, twice press:
On the first press, the display will re-enter

Parameter mode where parameter 0.06 will
again be displayed; on the second press, the
display will enter Edit mode.)
The upper display still shows the value of the
parameter, but the least-significant digit
flashes. (The value shown is the default value
for 0.06; the value displayed may be different if
the Drive has been used previously.)
3.
Press and hold down

The value scrolls downward. Release the key
when the required value is reached.
To increase the value, press
4.
When the required value is displayed, press:
5.
The display returns to Parameter mode. If no

keys are pressed within eight seconds, the
display enters Status mode.
Making large changes in value quickly

So far, you have changed the value by incrementing
or decrementing the least significant digit. The
speed of change can be increased by selecting, then
scrolling either of the more significant digits, as
follows:
1.
Note that when the display is in Edit mode, it

will not return to Status mode after eight
seconds. You can spend as much time as
required changing the value of a parameter.
2.
To decrease the value, momentarily press:
When the display is in Edit mode, momentarily

press:
When the key is released, the digit at the left of

the least significant digit flashes. This
operation can be repeated to select the most
significant digit of the display. If this digit is
not currently displayed, it can still be selected.
When selected, a bar appears in its place.
The value of the flashing digit decreases by one.

You can repeat this step as many times as
required. The new value takes effect
immediately.
You can then change the value of the newly

selected digit.
A-4
Unidrive User Guide

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Quick selection from least to most

significant digit
To select the most significant digit when the
least significant digit is flashing, momentarily
press:
Quick selection of the

least significant digit
Irrespective of the digit that is selected, to select
the least significant digit, press at the same time:
and
Quick selection from most to

least significant digit
If the most significant digit of the display (not
just the displayed value) is flashing, to select
the least significant digit, momentarily press:
Reaching the maximum

or minimum value
A special condition arises when both the following
occur:
A digit other than the least significant digit

(LSD) is being increased, and the maximum
value is approached.
The displayed LSD is not the same value as
the LSD of the maximum value. For
example: if the displayed value is 126.4, and
the maximum value is 217.9, the displayed
LSD of 4 differs from 9.
The special condition allows the value to be set at

either of the following:
The highest permissible value that contains

the displayed LSD (eg. 4)
The maximum value for the parameter
Use the following procedure to see how the

operation works:
Unidrive User Guide

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1.
Ensure the selected digit is not the LSD.
2.
. When the
Press and hold down
maximum value is reached, the entire display
flashes the maximum value (eg. 217.9). Release
the key within three flashes of the display. The
display now shows the highest permissible value
(eg. 216.4) that contains the displayed LSD.
A-5
3.
Again press and hold down

. When the
maximum value is reached, the entire display
again flashes the maximum value (eg. 217.9).
Release the key after four flashes of the display.
The display now shows the maximum value.
A.9
Flashing and non-flashing

digits
When setting the value at maximum in normal

operation, it is not necessary to follow step 2.
When the display is in Edit mode, the flashing of a

digit indicates that the value of the digit can be
changed. If no digits flash, the parameter cannot be
edited because it is read-only (or protected).
The same principles apply when reaching the

minimum value.
A.10 Negative values
Setting the value at zero

1.
Momentarily press at the same time:
When the value of a bipolar variable parameter is

negative, a minus sign appears at the left of the
displayed value.
and
A.11 Changing the setting of a

bit parameter
When a bit parameter is selected and Edit mode
entered, the display appears as shown below. bit
appears at the left of the upper display. 0 or 1 is
displayed at the right.
When 0 is displayed, press
to select 1.
When 1 is displayed, press
to select 0.
Return the value to 150 before returning the

display to Parameter mode.
A.8
Saving new
parameter-values
Use the following procedure to save new

parameter-values. The new values will then apply
each time the AC supply is subsequently applied to
the Drive. If new parameter-values are not saved,
the previously saved (or default) values will apply
each time the AC supply is applied to the Drive.
1.
2.

Press
3.
to reset the Drive. If

Momentarily press
the Drive is running, press at the same time:
and
The new parameter-value(s) are now saved.
A-6
Unidrive User Guide

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A.12 Selecting a different option

Some variable parameters are used for selecting
among a number of options. These options can be
shown as numbers (as 1 to 5 in parameter 0.05
Reference selector) or as character strings (as Ur_S,
etc, in parameter 0.07 Voltage mode selector).
1.
To select a different option, press:

to ascend through the range of options
to descend through the range of options
When the first option is displayed, it is
necessary to ascend through the range in order
to select another option. When the last option
is displayed, it is necessary to descend through
the range.
2.
Press
The default values now take effect.
(The Drive is automatically restored to a default

state when the operating mode is changed.)
Saving the default values

If new parameter-values had previously been saved,
these (not the default) values will apply when the
AC supply is next connected to the Drive. If the
default values are required instead, they must be
saved in the same way as new values. Refer to
Saving new parameter-values earlier in this chapter to
save the default values.
A.14 Summary of key operation

A.13 Restoring the Drive
to a default configuration
Change the display mode
Parameter mode
Warning
Do not attempt to restore the

Drive to a default
configuration when the Drive is
running.
default configuration enables
Macro 0 and returns all
parameters to their default
values including the motor
parameters. (If any one of the
macros 1 to 8 has been enabled,
the Drive still reverts to
Macro 0.)
After restoring the Drive to a
default configuration, it will be
necessary for the required
parameter values to be
re-entered before the Drive is
next run.
or
and
or
and
Select a parameter
Select parameter 0.00
Select another menu
Select Menu 0
Edit mode
or
and
or
and
Change the value of a digit

Change the setting of a bit
parameter
Select a different option
Select the value at 0
Select a different digit
Select the least significant
digit
When the Drive is despatched from the factory, the

parameters have default values, some of which
depend on the AC supply frequency (European 50Hz
or USA 60Hz). Consequently, the Drive has a
default configuration for each of these supply
frequencies.
Use the following procedure:
1.

parameter 0.00:
1233 (Europe, 50Hz AC supply frequency)
1244 (USA, 60Hz AC supply frequency)
Unidrive User Guide

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A-7
A-8
Unidrive User Guide

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Security, and Accessing

the Advanced Parameters
This User Guide is focused on configuring and

operating the Drive within the confines of the
Menu 0 parameters. To access the advanced
parameters (described in the Unidrive Advanced User
Guide), you will first need to unlock security.
B.1
Security levels
Security operates at the following two levels to

prevent unauthorized editing of parameters:
User-defined Security
User-defined Security operates only when it has
been set-up by the user. When locked, it
prevents editing of all parameters in all the
menus except for parameter 00 in each menu.
Standard Security
When locked, Standard Security prevents
editing of all the parameters in the Advanced
Menus, but allows editing of the parameters in
the Menu 0. The Drive is supplied with this
level of security.
The code number used to unlock User-defined
Security is defined by the user. This gives
protection against unauthorized editing of
parameters. The code number can be read and
edited only when User Security has been unlocked.
B.2
Setting-up User Security
The Drive is supplied without User Security having

been set-up. Consequently, when Standard Security
is unlocked, all parameters can be read and all read
write parameters can be edited.
Set-up User Security as follows:
1.
Select parameter 0.34 User security code. The

default value 149 is displayed.
2.
Change the value to the required User Security

number which must be within the range 0 to
255. Do not use the default value 149.
3.
When the display is returned to Parameter

mode, the displayed value reverts to 149. This
hides the new User Security number.
4.
Follow the procedure in Saving new

parameter-values in Appendix A Programming
Instructions.
B.3
Unlocking User Security
When User Security has been set-up and AC power is

applied to the Drive, User Security is automatically
locked. No parameters can be edited except for
parameter .00 in any menu.
Unlock User Security as follows:
1.
Select parameter 00 in any menu.
2.
Set the value at the User Security code number.
All readwrite parameters can now be edited. To

enable read-write parameters in the Advanced
Menus to be edited, unlock Standard Security.
B.4
Unlocking Standard
Security
When AC power is applied to the Drive, Standard

Security is automatically locked. Only the
parameters in Menu 0 can be displayed for reading
and editing.
To read and edit parameters in the Advanced
Menus, unlock Standard Security, as follows:
1.
Select parameter 0.00
2.
Set the value at 149.
All the parameters can now be read and edited

unless User Security has been set.
Parameter 0.00 is now accessible in all the menus as
1.00, 2.00, etc.
B.5
Locking Standard Security
When AC power is removed and subsequently

re-applied, Standard Security and User Security
(when set-up) are locked.
Lock Standard and User Security without removing
AC power, as follows:
1.
Select parameter 00 in any menu.
2.
Set the value at 2000.
User Security is now set-up.

Unidrive User Guide
Issue code: udxu6
Security and Access
B-1
B.6
Summary
Condition
Standard
Security
User Security
Locked
Advanced
parameters cannot
be read or edited
(Menu 0 is fully
accessible)
Only parameter
.00 in each menu
can be edited; all
other parameters
can be read
Drive as
despatched
from the
factory
Advanced
parameters cannot
be read or edited
(Menu 0 is fully
accessible)
None
Setting up
security
Set 0.34 at 149
Set 0.34 at 0 ~ 255

(but not 149); the
display reverts to
149 hiding the true
value
Saving the code

number
Occurs
automatically at
power-down
Locking
Occurs automatically at power-down or

when parameter .00 in any menu is set
at 2000
Unlocking
Set 0.00 at 149
Set parameter .00

in any menu at the
user security code;
the display reverts
to 0, hiding the
true value
Changing the
code
Not possible
Set 0.34 at the

required value
Disabling
security
Set 0.34 at 0 and

interrupt the
AC supply
Set 0.34 at 149

(this value is
always displayed;
just enter Edit
mode and return to
Parameter mode)
Restoring a
default
configuration
B-2
No change
Security and Access
Unidrive User Guide

Issue code: udxu6
Descriptions of the control

signal connections
Signal Connections
Warning
Warning
The control circuits are

isolated from the power
circuits in the Drive by basic
insulation only. The installer
must ensure that the external
control circuits are insulated
from human contact by at least
one layer of insulation rated
for use at the AC supply
voltage.
If the control circuits are to be
connected to other circuits
classified as Safety Extra Low
Voltage (SELV) (eg. to a
personal computer), an
additional isolating barrier
must be included in order to
maintain the SELV
classification.
Logic levels of the digital inputs

Logic sense
Logic
state
Voltage
Negative
15V
5V
Connected to 0V
5V
Open-circuit
15V
Positive
Action
Open-circuit
The function and possibly the specification of some

terminals change according to the macro
configuration that is enabled. In these cases, the
number of the associated macro configuration(s) is
stated in italics before the function of the terminal.
Where no indication is given, the function and
specification apply to all the macro configurations.
1
2
Status relay contact
Function
Drive healthy
Contact voltage rating
240VAC
Installation category 1
Contact maximum current

rating
5A resistive
Contact minimum current

rating
10mA
Contact condition
Normally open
Isolation
1.5kV
Update period
8ms
0V common (analog)
Common connection for external analog devices.

4
+10V reference voltage
Function
Supply for external analog

signal devices
For positive logic, the supply can be obtained from

terminal 22 +24V output.
Voltage tolerance
1%
Maximum output current
10mA
Signal modes of the analog inputs
Protection
Current limit
Signal
Connected to +24V
Condition
Parameter
setting
0 ~ 10V
VOLt
0 ~ 20 mA
020
20 ~ 0 mA
200
4 ~ 20 mA
Trip on loss of signal

current
420.tr
20 ~ 4 mA
Trip on loss of signal

current
204.tr
4 ~ 20 mA
Minimum or low speed

on loss of signal current
420.Lo
20 ~ 4 mA
Minimum or low speed

on loss of signal current
204.Lo
4 ~ 20 mA
Previous speed on loss

of signal current
420.Pr
20 ~ 4 mA
Previous speed on loss

of signal current
204.Pr
Unidrive User Guide

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Signal Connections
C-1
Analog input 1
Non-inverting input
Macro
Inverting input
Macro
Analog input 3
Function
0 2 3 4 6 7 8 Motor thermistor input*

1
Function
No function
0 1 2 3 5 6 7 8 Freq./speed reference 1 (remote)
Internal pull-up voltage
Trip threshold resistance
3 k 15%
Bipolar differential analog
Reset resistance
1.9 k 15%
(For single-ended use,

connect terminal 6 to
terminal 3)
Short-circuit detection R
51 12%
Analog torque reference
Type of input
Macro
5
Operating in voltage mode
<5V
Function
PID feedback
Voltage range
10V ~ +10V
Type of input
Absolute maximum
voltage range
24V ~ +24V relative to 0V
24V differential
Voltage range
10V ~ +10V
Input resistance
100k
Absolute maximum
voltage range
24V relative to 0V
Input resistance
100k
Operating in current mode

Current ranges
0 ~ 20mA
20mA ~ 0
4 ~ 20mA
20 ~ 4mA
Absolute maximum current
50mA
Equivalent input resistance
200 at 20mA
Resolution
12-bit plus sign
Sampling period
OL> 2ms
CL> <450s
Analog input 2
Macro
Function
01678
Freq./speed reference 2 (local)
Freq./speed reference or
CL> Speed over-ride
PID reference
Type of input
Bipolar single-ended analog

Voltage range
10V ~ +10V
Absolute maximum
voltage range
24V relative to 0V
Input resistance
100k

Current ranges
0 ~ 20mA
20mA ~ 0
4 ~ 20mA
20 ~ 4mA
50mA
200 at 20mA
Bipolar single-ended analog

Current ranges
0 ~ 20mA
20mA ~ 0
4 ~ 20mA
20 ~ 4mA
50mA
200 at 20mA
* When the Drive is used with Macro 0, 2, 3, 4, 6, 7

or 8 and a motor thermistor is not connected to
terminal 8 (or terminal 15 on the 15-way D type
connector), terminal 8 must be connected to 0V
(terminal 3 or 11).
9
OL> FREQUENCY output signal

CL> SPEED output signal
10
TORQUE output signal
Type of output
Single-ended analog voltage

Bipolar
Maximum output voltage
10V ~ +10V
10mA peak
Load resistance
1k minimum
Protection
Short-circuit proof
Resolution
10-bit plus sign
Update period
8ms
11
0V common (analog)
Common connection for external analog devices.

21
0V common
When the Drive is used in torque control (Macro 4),

terminal 7 is used for the analog torque reference.
C-2
Signal Connections
Unidrive User Guide

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22
+24V digital supply
Voltage tolerance
10%
Nominal output current
200mA (total including

terminal 24)
Overload output current

terminal 24)
Protection
Current foldback
above 240mA
Supply for external digital signal devices.

23
30
OL> EXTERNAL TRIP input

CL> DRIVE ENABLE input
Inputs
Input
Negative-logic digital
Voltage range
0V ~ +24V
Absolute maximum
voltage range
3V ~ +30V
Input current when

0V applied
3.2mA
Negative-logic levels
Inactive state
(input open-circuit): > +15V
0V common (digital)
Active state: < +5V
Common connection for external digital devices.

Positive-logic levels
24
Macro
Active state: > +15V
0 1 4 5 6 OL> AT-SPEED output

CL> AT ZERO SPEED output
2
UP input
PRESET SELECT A input
BRAKE RELEASE output
ORIENTATION COMPLETE
output
25
26
018
Type of output
Negative-logic digital
(push-pull)
Voltage range
0V ~ +24V

terminal 22)
Overload output current

terminal 22)
Function
JOG SELECT input
DOWN input
PRESET SELECT B input
AT MIN. SPEED output
LIMIT FORWARD input
27
RUN FORWARD input
28
RUN REVERSE input
29
Outputs
RESET input
Macro
Macro
Function
0178
LOCAL/REMOTE input
MOT. POT. ENABLE input
PRESET ENABLE input
TORQUE ENABLE input
PID ENABLE input
LIMIT REVERSE input
Unidrive User Guide

Issue code: udxu6
Inactive state
(input open-circuit): < +5V
Function
31
0V common (digital)
Common connection for external digital devices.
Signal Connections
C-3
C.2
Encoder connections
Motor thermistor
If required a motor thermistor can be connected as
shown in Figure C1, as follows:
Macro
Condition
Required
May be connected but is not used by the Drive
Required
Required
Required
Do not connect
Required
Encoder connector
15-way D-type
Required
Required
Encoder
7
8
Grounding and shielding
Signal
connections for
all encoders
Connect the cable shield as shown. Do not connect

the cable shield to the motor frame.
Descriptions of the
Encoder connections
Additional
commutation
signal
connections for
use with servo
motors only
Signal connector
Figure C1
Encoder connections and

alternative motor-thermistor
connections
Quadrature channel A
Quadrature channel A
Quadrature channel B
Quadrature channel B
Marker pulse channel Z
Marker pulse channel Z
Commutation channel U
Commutation channel U
Commutation channel V
10
Commutation channel V
11
Commutation channel W
12
Commutation channel W
Type
C-4
Signal Connections
RS422 differential receivers
Maximum data rate
205kHz
Line termination
components
120
(see parameter 3.24 in the
Unidrive User Guide

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13
C.3
Encoder supply
Supply voltage
+5.15V or 15V
Voltage tolerance
2%
Nominal output current
300mA
Frequency and direction

connections
See parameter 3.23 in the Unidrive Advanced User

Guide.
Caution
14
15
The output voltage at

terminal 13 is 5V when
parameter 3.23 is set at 0
(default). When 3.23 is set at 1,
the output voltage will become
15V. This could damage
encoders that require a 5V
supply.
Encoder connector
15-way D-type
0V common
Frequency
reference
Direction
reference
Master
Frequency
reference
Direction
reference
Slave
Signal connector
Figure C2
Unidrive User Guide

Issue code: udxu6
Frequency and direction

connections and alternative
motor-thermistor connections
Signal Connections
C-5
Motor thermistor
If required a motor thermistor can be connected as
shown in Figure C1, as follows:
Macro
Condition
Required
May be connected but not required by the

Drive
Required
Required
Required
Do not connect
Required
Required
Required
Grounding and shielding

Connect the cable shield as shown. Do not connect
the cable shield to the motor frame.
Description of the Frequency and

Direction connections
1
Frequency input FIN
Frequency input FIN
Direction input DIN
Direction input DIN
Frequency output FOUT
Frequency output FOUT
Direction output DOUT
10
Direction output DOUT
Type
RS422 differential receivers
Maximum data rate
205kHz
Line termination
components
120
(see parameter 3.24 in the
14
0V common
15
Motor thermistor
For further information on using Frequency and

Direction signals with the Unidrive, see menu 3 in
C-6
Signal Connections
Unidrive User Guide

Issue code: udxu6
Menu 0 Parameters
D.1
Introduction
In the parameter descriptions in this chapter, the

number of the equivalent advanced parameter is
shown in brackets under the Menu 0 parameter
number.
The functions of parameters 0.11 to 0.30 can be
altered independently of any macro that is enabled
by programming the parameters 11.01 to 11.20 (see
the Unidrive Advanced User Guide).
Symbols
Default value
Range of values
[...] Indicates the value of the parameter

~
Indicates a range of values (in the case of bit
parameters, ~ indicates or)
Categories of the
fixed-function parameters
The parameters are arranged in the following
categories:
0.00
0.01 ~ 0.02
Speed limits
0.03 ~ 0.06
Ramps
Speed reference selection
Current limit
0.07 ~ 0.09
Voltage boost (open-loop)

PID gains (closed-loop)
0.10
Speed indication
0.31
Macro-number indication
Limitations of use
0.32 ~ 0.34
Miscellaneous
The Drive must be reset for a new value to

take effect.
0.35
Keypad-reference monitoring
The new parameter-value is saved when the

AC supply is disconnected from the Drive.
0.36 ~ 0.38
Parameter displayed at power-up
Protected parameter; the parameter cannot

be used as the destination parameter for a
programmable input (see Menu 11 in the
Unidrive Advanced User Guide).
0.39 ~ 0.41
Spinning motor
Autotune
PWM switching frequency
0.42 ~ 0.47
Motor parameters
0.48
Operating-mode selection
0.49 ~ 0.50
Security and software information
Key
Type of parameter
RO
Read-only
RW
Readwrite
...selector
Select from a number of settings
...select
Select from two settings
...enable
Make or allow a function to operate
...disable
Stop or disallow a function from

operating
...indicator
The value can only be read
Range
Bi
Variable parameter having bipolar value

range.
Uni
Variable parameter having unipolar value

range.
Txt
Variable parameter having text displayed. A

number is stated alongside the setting; this is
displayed on the system controller when the
Drive is accessed by serial communications
Bit
Bit parameter
FLC
Full-load current (maximum continuous

output current) (see Appendix C Data in the
Installation Guide)
Unidrive User Guide

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Menu 0 Parameters
D-1
D.2
common to all macro
configurations
Configuration
0.00
(1.07)
OL> Minimum frequency clamp

CL> Minimum speed clamp
Open-loop
RW
Minimum frequency clamp
RW
0 ~ 2010
0.01
(When the Drive is jogging, [0.01] has no effect.)
Operating mode,
Macro selection,
Configuration,
Saving
Speed limits
Uni
OL>
0 ~ [0.02]
Uni
0
Hz
Set 0.01 at the required minimum output frequency

of the Drive for both directions of rotation. The
Drive runs at the minimum frequency when the
frequency reference is zero.
Value
Function
1000
Save new parameter-values
[0.01] is a nominal value; slip compensation may

cause the actual frequency to be higher.
1233
Restore parameters to their default values

for 50Hz AC supply frequency (Europe)
Closed-loop
1244
Restore parameters to their default values

for 60Hz AC supply frequency (USA)
1253
1254

be changed and restore parameters to their
default values for 50Hz AC supply
frequency (Europe)
be changed and restore parameters to their
default values for 60Hz AC supply
frequency (USA)
2001
Macro 1
Easy mode
2002
Macro 2
2003
Macro 3
Preset speeds
2004
Macro 4
Torque control
2005
Macro 5
PID control
2006
Macro 6
Axis-limit control
2007
Macro 7
Brake control
2008
Macro 8
CL> Digital lock
CL> Shaft orientation
2009
Macro 0
General purpose (USA default configuration)
2010
Macro 0
General purpose (EUR default configuration)
Minimum speed clamp
CL>
RW
0 ~ [0.02]
Uni
RPM
Set 0.01 at the required minimum motor speed for

both directions of rotation. The motor runs at the
minimum speed when the speed reference is zero.
0.02
(1.06)
OL> Maximum frequency clamp

CL> Maximum speed clamp
(The Drive has additional over-speed protection.)
Open-loop
Maximum frequency clamp
OL>
0 ~ 1000.0
RW
Uni
50 (EURO)
60 (USA)
Hz
Set 0.02 at the required maximum output

frequency for both directions of rotation. The
frequency reference cannot cause the Drive to run
at a frequency higher than [0.02].
[0.02] is a nominal value; slip compensation may
cause the actual frequency to be higher.
Press
after setting parameter 0.00 at the
required value.
D-2
Menu 0 Parameters
Unidrive User Guide

Issue code: udxu6
Closed-loop
0.05
Reference selector
(1.14)
Maximum speed clamp
VT>
SV>
RW
0 ~ 30 000
0 ~ 30 000
Uni
1500 (EURO)
1800 (USA)
RPM
3000
RPM
RPM
Set 0.02 at the required maximum motor speed for

both directions of rotation. The speed reference
cannot cause the Drive to run the motor at a speed
higher than [0.02].
Caution
For operation at motor speeds

greater than twice base speed,
contact the supplier of the
motor.
VT>
0 ~ 3200.0
SV>
0 ~ 32.000
The default setting of 0.05 depends on the default

configuration of the Drive and the operating mode,
as follows:
EUR
All operating modes
Terminal mode
USA
Closed-loop modes
Terminal mode
USA
Open-loop mode
Keypad mode
Note
Use 0.05 to select the required frequency/speed

reference, as follows:
RW
0 ~ 3200.0
(See below)
Macros 7 and 8: All settings can be used.
Acceleration rate
OL>
Uni
Macro 6: Only settings 0, 1, 2 can be used.
(2.11)
0~5
Macros 2 to 5: Do not change the setting of

parameter 0.05.
Ramps,
Speed reference selection,
Current limit
0.03
RW
Setting
User-interface
mode
Terminal
reference selected by
LOCAL/REMOTE contact
Uni
5
s/100Hz
Function
s/1000RPM
0.2
s/1000RPM
Terminal
Set 0.03 at the required rate of acceleration. Note

that larger values produce lower acceleration. The
rate applies in both directions of rotation.
reference 1 selected
Terminal
reference 2 selected
Terminal
Preset frequency/speed
references selected
(used with Macro 3)
Keypad
Frequency/speed controlled
by the keypad
Terminal
Precision reference selected

0.03 does not apply to jog speed. See Menu 2 in

the Unidrive Advanced User Guide for jog acceleration
and deceleration rates.
0.04
Deceleration rate
(2.21)
RW
OL>
0 ~ 3200.0
VT>
0 ~ 3200.0
SV>
0 ~ 32.000
Uni
10
s/100Hz
s/1000RPM
0.2
s/1000RPM
Set 0.04 at the required rate of deceleration. Note

that larger values produce lower deceleration. The
rate applies in both directions of rotation.
0.04 does not apply to jog speed. See Menu 2 in
the Unidrive Advanced User Guide for jog acceleration
and deceleration rates.
0.06
Current limit
(4.07)
RW
OL>
0 ~ 150
VT>
0 ~ 175
SV
0 ~ 175
I RATIO =
Uni
150
% IRATIO
150
175
FLC
[ 0.46]
0.06 limits the maximum output current of the

Drive (and hence maximum motor torque) to
protect the Drive and motor from overload.
Unidrive User Guide
Issue code: udxu6
Menu 0 Parameters
D-3
Set 0.06 at the required maximum torque as a

percentage of the rated torque of the motor, as
follows:
[0.06] =
Use 0.07 (5.14) to select fixed voltage boost, or

Vector control of voltage boost. Fixed boost
requires a value to be set in 0.08 Boost voltage by
the user. See Figure D1. Fixed boost should be
used when 0.39 Synchronize to a spinning motor is set
at 1.
TR
100 (%)
TRATED
Where:
Motor voltage
Required maximum torque

Motor rated torque
TR
TRATED
Alternatively, set 0.06 at the required maximum

active (torque-producing) current as a percentage
of the rated active current of the motor, as follows:
[0.06] =
IR
100 (%)
I RATED
[0.08]
Voltage boost
Frequency
Where:
Required maximum active current
Motor rated active current
IR
IRATED
Figure D1
Refer to Setting the torque-producing current limit in

Chapter 3 Setting up the Drive.
Vector control causes the voltage boost to be

automatically regulated according to the load on
the motor.
Voltage boost (open-loop),

Speed-loop PID gains (closed-loop)
0.07
(5.14)
(3.10)

Voltage mode selector

OL>
(See below)
Setting
RW
Uni
Ur_I
Function
Vector modes
Ur_S
0 Motor stator resistance is measured each

time the Drive is started.
Ur_I
Ur
Setting
Vector control requires the value of stator winding

resistance to be stored in a parameter in the Drive.
The three Vector modes allow the resistance to be
measured under different circumstances.
Closed-loop
Open-loop
Effect of fixed voltage boost on

the voltage-to-frequency
characteristic
Speed-loop
proportional gain
CL>
0 ~ 32000
RW
Uni
200
0.07 (3.10) operates in the feed-forward path of

the speed-control loop in the Drive. See Setting up
operating limits in Chapter 2 Getting Started.
For analysis of the speed-loop, see parameter 3.10 in
Motor stator resistance is measured at

power-up if the EXTERNAL TRIP contact is
closed and no other trip condition exists.
2 Motor stator resistance is not measured

(use this mode only after having used
Ur_S or Ur_I to measure the stator
resistance).
Function
Fixed boost mode
Fd
D-4
3 Fixed voltage boost that can be manually

adjusted by parameter 0.08 Boost voltage.
Menu 0 Parameters
Unidrive User Guide

Issue code: udxu6
0.08
(5.15)
(3.11)
OL> Boost voltage

Motor
voltage
Open-loop
AC supply
voltage
IMOTOR
Boost voltage
OL>
0 ~ 25.0
RW
Uni
3.0
% x [0.44]
When 0.07 Voltage mode selector is set at Fd, set

0.08 (5.15) at the required value for the motor to
run reliably at low speeds. See Figure D1.
Excessive values of 0.08 can cause the motor to be
overheated.
Frequency
Figure D2
Fixed and variable

V/f characteristics
Closed-loop
Speed-loop
integral gain
CL>
0 ~ 32000
RW
Uni
100
0.08 (3.11) operates in the feed-forward path of

the speed-control loop in the Drive. See Setting up
0.09
(5.13)
(3.12)

Closed-loop
Speed-loop
derivative gain
CL>
0 ~ 32000
RW
Uni
0
0.09 (3.12) operates in the feedback path of the

speed-control loop in the Drive. See Setting up
Open-loop
Dynamic V/f select
OL>
0~1
RW
Bit
0
Set 0.09 (5.13) at 0 when the V/f characteristic

applied to the motor is to be fixed. It is then based
on the rated voltage and frequency of the motor.
Set 0.09 at 1 when reduced power dissipation is
required in the motor when it is lightly loaded. The
V/f characteristic is then variable resulting in the
motor voltage being proportionally reduced for
lower motor currents. Figure D2 shows the change
in V/f slope when the motor current is reduced.
Unidrive User Guide

Issue code: udxu6
Menu 0 Parameters
D-5
Speed indication
Miscellaneous
0.32
0.10
(5.04)
(3.02)

CL> Motor speed
Open-loop
OL>
RW
Estimated motor speed

6000
RO
RPM
0.12 Post-ramp frequency/speed reference

0.42 Motor no. of poles
The value of 0.10 is applied to the analog output on
terminal 9 to indicate estimated speed.
CL>
30 000
RO
ANSI 2
ANSI protocol, two-wire
ANSI 4
ANSI protocol, four-wire
Use the following modes to transfer the value of a

parameter in one Drive to a parameter in another Drive:
OUtPUt
Transmit the value of the parameter specified

by the setting of 11.27 Serial comms. source/
destination selector (CT protocol)
INPUt
Apply the received value to the parameter

specified by the setting of 11.27 Serial comms.
source/ destination selector (CT protocol)
Bi
RPM
0.10 (3.02) indicates the value of motor speed that

is obtained from the speed feedback.
The value of 0.10 is applied to the analog output on
terminal 9 to indicate speed.
0.33
(11.32)
Macro number indication

0.31
Txt
ANSI 4
Use 0.32 to select the required serial

communications mode as follows:
Closed-loop
ANSI 2
ANSI 4
OUtPUt
INPUt
Bi
0.10 (5.04) indicates the value of motor speed that

is estimated from the following:
Motor speed
Serial comms. mode
(11.24)
RO
2.10 ~ 1920
Uni
P
A
Macro number
(11.37)
0.34
User security code
(11.30)
RO
0~8
Uni
0.31 indicates the number of the macro that is

currently in operation.
RW
0 ~ 255
Uni
149
Use 0.34 to set up a User Security code.

Irrespective of the code number entered in 0.34, it
always indicates the default value 149. When 0.34
is actually set at 149, no User Security is applied.
See Setting-up User Security in Appendix B Security, and
Accessing the Advanced Parameters.
D-6
Menu 0 Parameters
Unidrive User Guide

Issue code: udxu6
Keypad-reference monitoring
0.38
(11.22)
0.35
Keypad reference
RO
OL>
[0.02]
CL>
[0.02]
Bi
P
Hz
RPM
0.35 indicates the value of the frequency/speed

reference when the Drive is operating in Keypad
mode. The reference is then controlled by the
following control keys (when the display is in Status
mode):
The value is automatically saved when the Drive is

powered-down. At the next power-up, the Drive
ramps up to the frequency/speed that applied
before the power-down.
RW
4800 (0)
9600 (1)
19200 (2)
Txt
4800
(0)
P
baud
(11.23)
Uni
0.10
At the time the AC supply is connected to the Drive,

parameter 0.10 Estimated motor speed is
automatically pre-selected as the initial parameter
to be displayed. This results in the following:
1.
After the AC supply is connected to the Drive,

and before any other parameter is selected, the
value of parameter 0.10 is shown on the upper
display. This allows the motor speed to be
monitored without the need to select the
parameter.
2.
If the keypad is subsequently used to select

another parameter, the value of the newly
selected parameter is displayed in place of the
initial parameter.
Spinning motor,
Autotune,
PWM switching frequency
0.39
Use 0.36 to select the required baud rate for serial

communications when a Basic serial communications
large option module is fitted in the Drive.
0.37
(11.25)
0.00 ~ 0.50
To select a different parameter to be displayed

initially, enter the required parameter number in
0.38 (eg. to display 0.12 Post-ramp reference, enter
0.12).
Serial communications,
Parameter displayed after power-up
0.36
RW
(1.17)
(6.09)
RW
OL>
0~1
CL>
0~1
Bit
0
1
Open-loop
RW
0.0 ~ 9.9
Uni
1.1
P
Group.Unit
Use 0.37 to select the required address for serial

communications when a Basic serial communications
large option module is fitted in the Drive.
Do not enter an address that contains a zero, since
this is used when addressing a group of Drives.
Unidrive User Guide

Issue code: udxu6
Set 0.39 at 1 for the Drive always to automatically

synchronize itself to the motor if the motor is
already rotating when the Drive is started.
If the Drive is started when the motor is already
spinning and 0.39 is set at 0, the Drive cannot
detect the speed of the motor; the normal
operation of the Drive will cause the motor to be
braked to a stand-still in the same way as
DC injection braking. The Drive will then accelerate
the motor to the value of the frequency reference.
Menu 0 Parameters
D-7
Notes
0.40
The Drive can be synchronized to a single

motor only. If more than one motor is
connected to the Drive, this function should
not be used.
For the Drive to operate correctly during
and after synchronization, parameter
0.07 Voltage mode selector must be set at Fd.
The Drive starts a sequence of operations at one
quarter of the rated motor voltage in order to
detect the frequency associated with the speed of
the motor. The sequence is stopped when the
motor frequency is detected. The stages in the
sequence are as follows:
1.
The frequency of the Drive is set at maximum

(the value of 0.02) in the direction that the
motor was last driven. (If the AC supply to the
Drive was interrupted before an attempt is
made to synchronize to a spinning motor, the
Drive always starts in the forward direction.)
2.
The frequency is reduced to zero. If the motor

frequency is detected during the reduction in
Drive frequency, the test is stopped. The Drive
frequency is set at the detected motor
frequency and the Drive takes control of the
motor.
3.
4.
If the motor frequency is not detected, the

Drive is set at maximum frequency in the
opposite direction, and the test is repeated.
If the motor frequency is still not detected, the
Drive frequency is set at 0Hz, and the Drive
takes control of the motor.
Closed-loop
0.39 is set at 1 by default. The value of 0.12 Postramp reference is automatically set at the value of
speed feedback. The Drive then takes control of the
motor.
0~1
Bit
Set 0.40 at 1 to start the Autotune sequence. See

Autotune in Chapter 2 Getting Started.
0.40 is related to the advanced parameters as
follows:
OL + CL>
SV>
5.12 Magnetizing current test enable

3.25 Encoder phasing test enable
Note
OL + VT> If the settings of parameters 0.41
to 0.47 are changed by a user after
Autotune has been performed, it is
essential that Autotune is repeated.
0.41
PWM
switching frequency
(5.18)
RW
3, 4.5, 6, 9, 12
Txt
3
P
kHz
See PWM switching frequency in Planning the installation

in Chapter 2 Installing the Drive in the Installation
Guide.
Thermal protection
Intelligent thermal modelling in the Drive effectively
monitors the junction temperature of the IGBTs in
the power stage. When the junction temperature is
calculated to reach the maximum permissible value,
two levels of protection occur, as follows:
1.
When a PWM switching frequency of 6kHz, 9kHz

or 12kHz is selected, the PWM switching
frequency is automatically halved. This reduces
switching losses in the IGBTs. (The value of
parameter 0.41 PWM switching frequency remains
at the value set by the user.)
Then at one-second intervals, the Drive will
attempt to return the PWM switching frequency
to the original value. This will be successful
when the thermal modelling has calculated that
the temperature has reduced sufficiently.
2.
Menu 0 Parameters
RW
When 0.39 is set at 0, the motor will be decelerated

under current limit until the motor speed meets the
value of 0.12 Post-ramp reference.
D-8
Autotune
(5.12)
(3.25)
If the junction temperature continues to rise

(due to the output current) after the PWM
switching frequency has been halved, and the
temperature reaches the maximum permissible
value, the Drive will trip. The display will
indicate trip code Oh1.
Unidrive User Guide

Issue code: udxu6
Motor parameters
0.45
(5.08)
0.42
(5.11)
RW
OL>
2 ~ 32
VT>
2 ~ 32
SV>
2 ~ 32
Txt
poles
poles
poles
Enter the number of motor poles (not pole pairs).

(See Configuring the Drive for the motor in Chapter 2
Getting Started.)
0.43
Motor power factor
OL>
0 ~ 1.000
VT>
0 ~ 1.000
SV>
Uni
0.92
Motor rated voltage
0 ~ 30 000
RPM
1450 (EUR)
1770 (USA)
RPM
RPM
Open-loop
Closed-loop Vector
Enter the value from the rating plate of the motor.
Getting Started.)
Leave 0.45 set at 0. This parameter is not used in

the servo operating mode.
Motor rated current
RW
0 ~ FLC
Uni
FLC
FLC is the maximum permissible continuous output

current of the Drive up to 40C ambient
temperature and 3kHz PWM switching frequency.
Getting Started.)
0.47
Motor rated frequency
(5.06)
RW
SV>
(5.09)
0 ~ 30 000
Uni
(5.07)
If Autotune is not used, enter the value in 0.43.
Unidrive
OL>
VT>
0.46
1.0
When Autotune is used, the power factor of the

motor is measured by the Drive and stored in 0.43.
The value can be seen when 0.43 is accessed. The
value may be higher than the value stated on the
motor rating plate.
0 ~ 6000
0.92
Open-loop
Closed-loop Vector
0.44
RW
OL>
Closed-loop Servo
(5.10)
RW
0 ~ 480
VT>
0 ~ 480
SV>
Unidrive LV
OL>
0 ~ 240
VT>
0 ~ 240
SV>
Uni
400 (EUR)
460 (USA)
400 (EUR)
460 (USA)
0
RW
OL>
0 ~ 1000.0
VT>
0 ~ 1000.0
SV>
Uni
50 (EUR)
60 (USA)
Hz
50 (EUR)
60 (USA)
Hz
Hz
220
220
Open-loop
Closed-loop Vector
Getting Started.)
Open-loop
Closed-loop Vector
Getting Started.)
Unidrive User Guide

Issue code: udxu6
Menu 0 Parameters
D-9
Operating-mode selection
0.48
D.3
Re-programmable
parameters specific to
the macro configurations
(11.31)
RW
(See below)
Txt
OPEN.LP
The settings for 0.48 are as follows:

Setting
Operating mode
0 Open-loop
Closed-loop Vector
Closed-loop Servo
Since the re-programmable parameters are specific

to individual macro configurations, most parameter
numbers appear more than once in this section, but
with different names; these are variants on the
parameter number. For guidance, a table headed
Applicable to Macros... appears for each parameter
variant. (In places, the listing is not able to be in
strict numerical order.)
A table at the end of this appendix shows the
variants for all the macro configurations (except
Macro 1 which does not use these parameters). The
figures in brackets indicate the numbers of the
related advanced parameters.
0.11
Pre-ramp reference
(1.03)
For operation in this mode, refer to

the supplier of the Drive.
See Changing the operating mode in Chapter 2 Getting

Started.
The operating mode cannot be changed while the
Drive is running.
Security status
RO
0~1
RO
OL>
1000.0
CL>
30 000
Bi
HZ
RPM
When the frequency/speed is constant,

[0.12] = [0.11]. During acceleration and deceleration,
the two values may differ.
Uni
1
0.49 normally indicates 1. This shows that access

to the advanced parameters is not possible. (See
0.50
Post-ramp reference
(2.01)
Applicable to Macros......
Security and software information

0.49
0.12
OL> [0.12] differs from [0.11] also under either of

the following conditions:
When the Drive is in current limit

During braking in a standard ramp (Stnd.Hd
or Std.Ct) mode.
Software version number
(11.29)
D-10
RO
1 .00~ 99.99
Uni
Menu 0 Parameters
Unidrive User Guide

Issue code: udxu6
0.13
0.14
(4.02)
(8.03)
RO
FLC
Bi
RO
Applicable to Macros...
0~1
Bit
When the motor is being driven below its rated

speed, the torque is proportional to [0.13].
0.14
0.14 indicates the state of the LIMIT FORWARD

contact, as follows:
Jog reference
0.21
LIMIT FORWARD
contact
0.14
Open
Limit not reached
Limit reached
(1.05)
RW
OL>
0 ~ 400.0
CL>
0 ~ 4000
Closed
1.5
Hz
Closed
Limit not reached
50
RPM
Open
Limit reached
Uni
0
7
OL>
CL>
Enter the required value of jog frequency/speed.

The frequency/speed limits affect the Drive when
jogging as follows:
Frequency-limit parameter
Limit applies
0.01 Minimum frequency/speed
No
0.02 Maximum frequency/speed
Yes
Note
Jog can be selected only when Macro 0 or
Macro 1 is enabled and operation is in
Terminal mode, or when Macro 8 is enabled.
Unidrive User Guide

Issue code: udxu6
Condition
0.14
(4.01)
RO
0 ~ Imax
Uni
P
A
0
0.14 indicates the measured value of phase current

in the motor; this is the vector sum of the active and
magnetizing currents.
OL>
IMAX = FLC x 150%
CL>
IMAX = FLC x 175%
Menu 0 Parameters
D-11
0.14
0.15
(7.06)
Ramp mode selector
(2.04)
0.15
(7.11)
0.16
RW
(See below)
Txt
Stnd.Ct
(7.15)
RW
(See below)
Txt
VOLt
Set the required mode as follows:
VOLt
Input signal
When current
signal 3mA...
0V to 10V
020
0 to 20mA
Signal treated as zero
200
20mA to 0
420.tr
4mA to 20mA
Drive trips
204.tr
20mA to 4mA
Drive trips
420.Lo
4mA to 20mA
Drive runs at minimum

or low speed
204.Lo
20mA to 4mA

or low speed
420.Pr
4mA to 20mA
Drive runs at previous

speed
204.Pr
20mA to 4mA

speed
th.SC
th
Select the required ramp mode as follows:
Setting
Thermistor with trip on short circuit

detection (Analog input 3 only)
10 Thermistor without short circuit

detection (Analog input 3 only)
(0)
Standard ramp with ramp hold
FASt
(1)
Fast ramp
Stnd.Ct
(2)
Standard ramp with proportional

control (refer to the Unidrive Advanced
User Guide)
Stnd.Hd
Set 0.15 Ramp mode selector for the required means

of controlling regenerated energy. Regeneration
arises when the Drive is braking the motor. This
occurs when the Drive decelerates the motor, or
prevents the speed of the motor from being
increased as a result of mechanical influences.
Regeneration causes the DC-bus voltage to be
increased. The settings for 0.15 determine the
braking action in relation to a DC-bus threshold level
known as the standard ramp voltage which is fixed at
750V.
Warning
Care should be taken when

changing the setting of
parameter 2.08. The value
entered in this parameter
must be greater than the
voltage produced on the
DC bus by the highest
AC supply voltage. Normally,
the DC-bus voltage will be
approximately the RMS AC
supply voltage x 2. It is
recommended that the value
entered in parameter 2.08
should be at least 50V
higher than the maximum
expected level of the DC-bus
voltage.
0.15 set at Stnd.Hd (0)

Standard hold
If motor regeneration causes the DC-bus voltage to
reach the standard ramp voltage, the braking is
interrupted until the DC-bus voltage reduces
sufficiently. Braking then continues until the next
time the DC-bus voltage reaches its limit, resulting in
maximum braking occurring in steps.
D-12
Menu 0 Parameters
Unidrive User Guide

Issue code: udxu6
0.15 set at FASt (1)

Fast ramp
0.15
This setting gives continuous deceleration under

maximum braking conditions. This can give faster
deceleration than the Stnd.Hd setting with the
result that the regenerated power is greater. A
braking resistor is normally required in order to
level.
0.15 set at Stnd.Ct (2)

Standard controlled
(default setting)
RW
CL>
Select the required position-loop mode as follows:

0.15
RO
Function
Position loop is disabled
Rigid digital lock with digital feed-forward
Rigid digital lock without digital feed-forward
Non-rigid digital lock with digital feed-forward
Non-rigid digital lock without digital feed-forward
Orientate when the motor is being stopped
Orientate when the Drive is being enabled, and

when the motor is being stopped
(8.04)
0~1
Uni
0~6
Deceleration is smoother than with the Stnd.Hd

setting. The deceleration is controlled by a current
controller in the Drive in order to maintain the
DC bus at or below the standard ramp voltage
(750V). When necessary, this extends the
deceleration time. Do not use this setting when a
braking resistor is connected to the Drive.
0.15
Position-loop mode selector
(13.08)
For further information, see Macro 8 in Chapter 3

Setting Up the Drive.
Bit
0.16
Stop mode selector
(6.01)
0
0.15 indicates the state of the RUN FORWARD

0.15
RUN FORWARD
contact
Open
Closed
RW
OL>
(See below)
VT>
(See below)
SV>
(See below)
Txt
rP
rP
no.rP
0
Select the required stop mode as follows:

Open loop
0.15
COASt
rP
(12.01)
rP-dcI
RO
0~1
Bit
0.15 indicates as follows:

0.15
Motor current magnitude...
Lower than the value set in 0.19
Higher than the value set in 0.19
Unidrive User Guide

Issue code: udxu6
Ramp to a stop
2 Ramp followed by 1 second DC injection
dcI
3 AC injection braking followed by 1 second

DC injection braking
td-dcI
4 DC injection braking for an adjustable time

(see the Unidrive Advanced User Guide).
0
0 The motor is allowed to coast
Closed loop
COASt
rP
no.rP
rP-POS

1
Ramp to a stop
2 Stop under current limiting (no ramp)

3 Ramp, orientate and stop
See Stopping and braking modes for the appropriate

macro configurations in Chapter 3 Setting up the Drive.
Menu 0 Parameters
D-13
0.16
Run reverse indicator
(8.05)
0.16
RO
0~1
Bit
Quadrature
Frequency +
direction
5000
10000
0 ~ 3000
2500
5000
3001 ~ 6000
1250
2500
6001 ~ 12000
0
0.16 indicates the state of the RUN REVERSE

0.16
RUN REVERSE
contact
Open
Closed
0.16
625
1250
12001 ~ 24000
500
1000
24001 ~ 30 000

0.17
Drive healthy indicator

RO
0~1
Torque mode selector
(4.11)
(10.01)
Working-speed
range
Bit
RW
OL>
0~1
CL>
0~4
Uni
0
0
0

0.16
Operating normally
Tripped
0.16
RW
VT>
256 ~ 10 000
SV>
256 ~ 10 000
Setting
Feedback encoder No. of lines /

pulses per revolution
(3.21)
Set 0.17 as follows:
Drive...
4096
lines/pulses
per rev.
Closed-loop
Frequency control
Speed control
Torque control
Torque control
Torque control with

speed over-ride
Coiler/uncoiler
mode
Speed control with

torque feed-forward
Uni
1024
Open-loop
For operation in setting 1 Torque control, see Macro 4

in Chapter 3 Setting Up the Drive.
0
For settings 3 and 4, refer to parameter 4.11 in the

Enter the value related to the feedback encoder that

is fitted to the motor (slave motor in digital-lock
operation). The correct value must be entered in
order for the position loop and revolutions counter
to operate correctly.
D-14
Menu 0 Parameters
Unidrive User Guide

Issue code: udxu6
0.17
Closed-loop
Status relay invert
(8.26)
RW
0~1
0.17
Motor speed
Bit
Above 2 RPM
Below 2 RPM
0
When 0.17 is set at 0 and the Drive trips, the status

relay contacts open.
If required, set 0.17 at 1 for the contacts to close
when the Drive trips.
0.17
To change the frequency/speed at which change of

state occurs (2Hz), see parameter 3.05 in the
0.17
Reference encoder/resolver ratio
(13.07)
RW
CL>
0.000 ~ 4.000
Uni
1
(8.06)
RO
0~1
Bit
0.17 indicates the state of the LIMIT REVERSE

LIMIT REVERSE
contact
0.17
Open
Values below unity cause the slave to run faster than

the master; values above unity cause the slave to
run slower than the master.
0.17
Condition
Analog input 1
(7.01)
0.18
Limit not reached
Analog input 2
(7.02)
Closed
Limit reached
Closed
Limit not reached
Open
Limit reached
0.17
Use 0.17 to specify a speed ratio between the

master and slave Drives in digital-lock operation.
0.22
0.19
Analog input 3
(7.03)
RO
100
Bi
P
%
(10.03)
RO
OL>
0~1
Bit
0
Open-loop
0.17
0.12
Above 2Hz
Below 2Hz
0
These parameters indicate the values of the

following inputs as percentages of the full-scale
values:
0.17
Frequency/speed reference
0.18
PID reference
0.19
PID feedback
The value of 0.12 is the output frequency of the

Drive when it is not in current limiting.
Unidrive User Guide

Issue code: udxu6
Menu 0 Parameters
D-15
0.18
S-ramp enable
(2.06)
0.18
RW
0~1
Brake...
Bit
Applied
Released
0
Set at 1 to enable S-ramp. See 0.19 S-ramp da/dt

limit.
0.18
Stop mode selector
VT>
(See below)
SV>
Txt
rP
no.rP
Select the required stop mode as follows:
Feedback-encoder speed
Reference-resolver speed
For shaft orientation, 0.18 indicates
feedback-encoder speed.
Ramp to a stop
2 Ramp followed by 1 second DC injection
0.19
dcI
3 AC injection braking followed by 1 second

DC injection braking
(2.07)
td-dcI
4 DC injection braking for an adjustable time

(see the Unidrive Advanced User Guide).
rP-dcI
Closed loop
COASt
rP
Ramp to a stop
rP-POS
See also 0.19 Hold zero speed enable.

0.18
0~1
Bit
0
D-16
RW
OL>
0 ~ 3000.0
VT>
0 ~ 30.000
SV>
0 ~ 30.000
Uni
3.1
s /100Hz
2
1.5
s /1000 RPM
0.03
s /1000 RPM
Use S-ramp to limit the rate of change of

acceleration and deceleration at the start and end
of ramps.
(9.01)
RO
S-ramp da/dt limit
no.rP
P
RPM
When a feedback encoder is used, correct indication

depends on the correct value having been entered in
0.16 Feedback encoder No. of lines / pulses per
revolution.
Open loop
Bi
For digital-lock operation, 0.18 indicates the

following, depending on which type of feedback
device is used:
rP
rP
COASt
RO
0 ~ 30 000
CL>
RW
OL>
Feedback-encoder /
Reference-resolver speed
(13.07)
(6.01)
0.18
Menu 0 Parameters
If a different rate of change of acceleration and

deceleration is required, set 0.19 S-ramp da/dt limit
at the required rate. (The acceleration and
deceleration rates are set in parameters 0.03 and
0.04).
Unidrive User Guide

Issue code: udxu6
0.19
Current threshold
(12.04)
Speed demand
RW
0.0 ~ 100.0
Uni
% Imax
Acceleration
0
Set 0.19 at the required percentage of Imax (see

below). This value must ensure that adequate
current will flow through the motor to control the
load when the brake is released.
Actual speed
Time
Figure D3
S-ramp time durations
OL>
IMAX = FLC x 150%
CL>
IMAX = FLC x 175%
0.19
Feedback-encoder /
Reference-resolver position
(3.27)
Refer to Figure D3. The time duration t of the

curved sections can be calculated as follows:
RO
CL>
For acceleration:
[ 0.19]
[0.03]
t=
[0.19]
[0.04]
In comparison with a normal ramp, S-ramp increases

the total ramp time by the value of t, since an
t
additional /2 is added at the beginning and end of
the ramp.
0.19
RW
OL>
0~1
VT>
0~1
SV>
0~1
P
1
/16384 rev
0.19 indicates position as a count in 1/16384 revolution.

When a Z marker pulse is detected by the small
option module, the position is counted from the
pulse. Otherwise, the position is counted from the
position at the moment the Drive was last
powered-up.
For digital-lock operation, 0.19 indicates one of the
device is used:
(6.08)
Uni
For deceleration:
t=
0 ~ 16383
Bit
Feedback-encoder position
Reference-resolver position
0
0

feedback-encoder position.
0
When a feedback encoder is used, correct indication

depends on the correct value having been entered in
0.16 Feedback encoder No. of lines / pulses per
revolution.
Set at 0 to cause the IGBT bridge to become disabled

when no RUN signal is applied. The motor shaft will
then be free to rotate.
Set at 1 to keep the IGBT bridge enabled when no
RUN signal is applied. The Drive will apply torque to
hold the motor shaft stationary.
Unidrive User Guide

Issue code: udxu6
Menu 0 Parameters
D-17
0.20
0.20
(1.29)
0.22
(1.31)

CL> Brake application delay
(9.19)
RW
OL>
0 ~ 1000.0
CL>
0 ~ 30 000
Uni
0
Hz
RPM
See 0.21 and 0.23 Skip bands.
0~4
OL> If required, change the setting of 0.20 Brake

release delay to a suitable value (between 0 and 25
seconds) that will ensure a brake release signal is not
issued if the following occur simultaneously under
transient conditions:
0.16 Drive healthy indicator changes state to 1
0.17 At zero speed changes state to 0
(14.10)
0.2

RW
0.0 ~ 25.0
Uni
0.20
RW
CL> If required, change the setting of 0.20 Brake

application delay to a suitable value (between 0 and
25 seconds) that will ensure a brake release signal is
not removed if the following occur simultaneously
under transient conditions:
Uni
1
0
Refer to the setting up instructions for Macro 5 in

Chapter 3 Setting Up the Drive.
1.11 Reference enabled indicator changes state

to 1
0.17 At zero speed change state to 1
0.20
Position error
(13.01)
0.20
Limit deceleration rate
(2.21)
RW
OL>
0 ~ 3200.0
RO
CL>
16384
Bi
P
1
/16384 rev
Uni
0.2
s/100Hz
0
OL> Set 0.20 at the required rate of deceleration

at the limit of travel (ie. when the relevant limit
switch has been activated). Note that larger values
produce lower deceleration. The rate is applied in
both directions of rotation.
0
0.20 indicates position as a count in

1
/16384 revolution, but only when the position loop is
closed (see Macro 8 in Chapter 3 Setting Up the Drive).
For digital-lock operation, this is the error between
the master and slave motors; for shaft orientation,
this is the position in relation to the value of
0.26 Orientation reference at the final stage of
orientation.
CL> 0.20 does not exist.

D-18
Menu 0 Parameters
Unidrive User Guide

Issue code: udxu6
0.21
Example
(1.30)
0.23
Skip speed 1 = 250RPM

Enter 250 in parameter 0.20
Required skip band = 60RPM
Enter 30 in parameter 0.21
(1.32)
RW
OL>
0 ~ 5.0
CL>
0 ~ 50
Uni
0.5
Hz
RPM
(Skip band = 2 Value of skip-band parameter.)

0.21
PID integral gain
(14.11)
0
Use skip frequencies/speeds and skip bands to

prevent the motor from running at speeds that
cause mechanical resonances in the machine. During
acceleration and deceleration, the Drive passes
through the skip bands, but it does not stabilize in a
skip band.
Up to two skip frequencies/speeds can be
programmed.
Enter the centre frequency/speed of the band in
0.20 (or 0.22) Skip frequency/speed, then enter the
width of each sideband in 0.21 (or 0.23) Skip
freq./speed band.
When the value of a skip frequency is zero, the
related skip band is disabled.
[0.11]
Pre-ramp reference
RW
0~4
Uni
0.5
0

0.21
Limit forward invert
(8.17)
RW
0~1
Bit
0
0
Set 0.21 at 1 when the LIMIT FORWARD contact is

normally closed.
0.21
Reference-encoder /
Feedback-resolver position
(16.03)
With skip frequency

Without skip frequency
RO
CL>
0 ~ 16383
Uni
P
1
/16384 rev
Input reference
Figure D4
Action of skip frequency/speed 1

and skip freq./speed band 1
When the frequency/speed (input) reference

ascends into a skip band, the resulting (output)
reference remains at the lower edge of the band
until the input reference has reached the upper edge
of the band. The output reference then jumps to
the value of the input reference.
When the frequency/speed (input) reference
descends into a skip band, the resulting (output)
reference jumps immediately to the lower edge of
the band.
Unidrive User Guide
Issue code: udxu6
0.21 indicates position as a count in /16384 revolution.

When a Z marker pulse is detected by the small option
module, the position is counted from the pulse.
Otherwise, the position is counted from the position at
the moment the Drive was last powered-up.
For digital-lock operation, 0.21 indicates one of the
device is used:
Reference-encoder position
feedback-encoder/resolver position.
Menu 0 Parameters
D-19
0.22 PID derivative gain

(14.12)
RW
0~4
0.23
Uni
RW
1

0 ~ 100
Uni
100

Limit reverse invert
0.23
(8.24)
Reference-encoder No. of lines /

pulses per revolution
(16.04)
RW
0.22
PID output high limit
(14.13)
0~1
Bit
RW
CL>
0 ~ 10 000
Uni
1024
lines/pulses
per rev.
0
Set 0.22 at 1 when the LIMIT REVERSE contact is

normally closed.
0.22
Reference-encoder /
Feedback-resolver speed
(16.02)
RO
CL>
0 ~ 30 000
Bi
P
RPM
0
For digital-lock operation, enter the value related to

the feedback encoder that is fitted to the master
motor. The correct value must be entered in order
for the position loop and revolutions counter to
operate correctly.
The same value must be entered in 3.21 Feedback
encoder No. of lines / pulses per revolution in the
master Drive.
0.23
Quadrature
Frequency +
direction
Working-speed
range
5000
10000
0 ~ 3000
2500
5000
3001 ~ 6000
1250
2500
6001 ~ 12000
625
1250
12001 ~ 24000
500
1000
24001 ~ 30 000
For digital-lock operation, 0.22 indicates the

device is used:
Reference-encoder speed
When a reference-encoder is used (ie. a feedback
encoder is used in the master Drive), correct
indication of 0.22 (in the slave Drive) depends on
the correct value having been entered in
3.21 Feedback encoder No. of lines / pulses per revolution
in the master Drive as well as in 0.23 Reference
encoder No. of lines / pulses per revolution in the slave
Drive.


feedback-encoder/resolver speed.

D-20
Menu 0 Parameters
Unidrive User Guide

Issue code: udxu6

0.24
PID output low limit
Setting
(14.14)
RW
100
Bi
VOLt
100
When current
signal 3mA...
0V to 10V
020
0 to 20mA
200
20mA to 0
420.tr
4mA to 20mA
Drive trips
Input signal
204.tr
20mA to 4mA
Drive trips
420.Lo
4mA to 20mA

or low speed
204.Lo
20mA to 4mA

or low speed
420.Pr
4mA to 20mA

speed
204.Pr
20mA to 4mA

speed

0.25
(14.15)
RW
0~4
Uni
1
0.24
Position-loop gain
(13.09)
0
(7.06)
0.25
(7.11)
RW
(See below)
Txt
RW
CL>
0 ~ 4.000
Uni
0.1

0.24
VOLt
For digital-lock operation, adjust 0.24 in order to

change the dynamic response of the position loop.
Increase the value to produce a faster response, but
take care not to induce instability. Decrease the
value for a slower response. See also 0.25
Positioning speed limit.
For shaft orientation, do not adjust 0.24.
0.24 Applicable to Macros...

0
0.25 Applicable to Macros...

0
0.25
(9.28)
Motorized potentiometer reset

indicator
RO
0~1
Bit
0
When 0.25 is set at 1, this indicates that the

motorized potentiometer output is reset to 0%.
The motorized potentiometer is reset when the
RESET contact is closed (terminal 25) (only when
Macro 2 is enabled).
Unidrive User Guide

Issue code: udxu6
Menu 0 Parameters
D-21
0.25
Preset reference 1
0.26
(1.21)
Analog input 2 destination selector
(7.14)
0.26
Preset reference 2
(1.22)
0.27
RW
Preset reference 3
0.00 ~ 20.50
Uni
1.37
(1.23)
0.28
Preset reference 4
(1.24)
RW
OL>
1000
CL>
30 000
Bi
0
Hz
Enter the required values.

Analog reference 1
(1.36)
RO
OL>
1000
CL>
30 000
Bi
By default, terminal 7 (Analog input 2) is used as the

local frequency/speed reference. If required, use
0.26 to change the function of terminal 7 by
entering the number of the required destination
parameter, which must be an advanced parameter
(not a Menu 0 parameter). Refer to the Unidrive
Advanced User Guide.
output indicator
RPM
RO
0.25 indicates the value of the torque reference

applied to terminals 5 and 6 of the signal connector.
RW
0 ~ 250
100
Bi
P
%
0
0.26 indicates the value of the output of the

motorized potentiometer as a percentage of the
maximum value.
(13.09)
CL>
(9.03)
0.26
Hz
0.25
A signal applied to an input terminal is converted

into a value which is applied to a (destination)
parameter. The function of this destination
parameter determines the function of the terminal.
RPM
0.25
Menu.
parameter
Uni
150
0.26
RPM
(7.11)
0
For digital-lock operation, use 0.25 to determine

the maximum variation in slave speed in relation to
that of the master when position errors are being
corrected. This speed limit can be used to suppress
large variations in speed that would otherwise arise
when high values of 0.24 Position-loop gain are used.
RW
(See below)
Txt
VOLt
0
For shaft orientation, adjust 0.25 for the required

shaft speed during the orientation process.
D-22
Menu 0 Parameters
Unidrive User Guide

Issue code: udxu6

Setting
VOLt
Input signal
0.27
When current
signal 3mA...
(8.27)
(6.04)
0V to 10V
020
0 to 20mA
200
20mA to 0
420.tr
4mA to 20mA
Drive trips
204.tr
20mA to 4mA
Drive trips
420.Lo
4mA to 20mA

or low speed
204.Lo
20mA to 4mA

or low speed
420.Pr
4mA to 20mA

speed
204.Pr
20mA to 4mA

speed
0.26
CL>
0 ~ 4095
Uni
0
/4096 REV.
0
Adjust 0.26 for the required shaft orientation

relative to the zero position of the (absolute)
encoder or resolver fitted to the motor. See also
0.27 Orientation acceptance window.
Not used for digital lock.
0.26
Preset reference 7
Preset reference 8
(1.28)
RW
OL>
1000
CL>
30 000
European configuration
RW
Positive logic select
0~1
Bit
Use 0.27 (8.27) to select the logic polarity of the

digital inputs, as follows:
0
Negative logic
Positive logic
RW
Sequencing mode
selector
Uni
0~4
Use 0.27 (6.04) to change the functions of the

digital inputs; these functions determine the digital
control mode.
The default setting (4) gives the functions shown in
the signal connection diagrams in Chapter 3 Setting
up the Drive.
Set 0.27 at 0 for digital control by momentary
contacts. See Macro 0 in Chapter 3 Setting up the
Drive.
It is essential that you see 0.29 USA> Terminal-29
destination selector in order to set up a RUN PERMIT /
STOP input.
(1.27)
0.27
USA configuration
(13.11)
RW

USA> Sequencing mode selector
For other settings of 0.27, refer to parameter 6.04

in the Unidrive Advanced User Guide.
Bi
0
Hz
RPM
0.27
(9.21)
0
These parameters are used as preset references for

the frequency/speed reference and PID reference.
Refer to Macro 5 in Chapter 3 Setting Up the Drive.
zero-start select
RW
0~1
Bit
0
0
Set 0.27 for the way the motorized potentiometer

is to behave at power-up of the Drive as follows:
Unidrive User Guide
Issue code: udxu6
Menu 0 Parameters
D-23
The motorized-potentiometer output returns to

the value it held when the Drive was previously
powered-down
The motorized-potentiometer output starts at

zero
RO
100
30,000
0 ~ 30 000
VT>
0 ~ 30 000
SV>
0 ~ 30 000
Bi
Hz
RPM
0
Orientation acceptance window
CL>
0 ~ 200
150
130
USA configuration
Uni
20
/4096 REV.
0
Adjust 0.27 for the required tolerance for shaft

orientation (see also 0.26 Orientation reference).
RO
OL>
0 ~ 1000
CL>
0 ~ 30 000
BI
Hz
RPM
0.28 differs from 0.11 Pre-ramp reference in that it

indicates the demanded reference before
frequency/speed limiting and skip bands.
0.29
EUR> Current-loop integral gain
(4.14)
(8.23)
Orientation is completed and an

ORIENTATION COMPLETE signal is issued when the
shaft speed is less than 2RPM and the shaft position is
between WMAX and WMIN, where:
WMAX
WMIN
20
Current-limit in frequency/speed control

Torque control
Braking when 0.15 Ramp mode selector is set
at Stnd.Ct (default)
Synchronizing the Drive to a spinning motor
(0.39 set at 1)
Loss of AC supply when 6.03 AC supply loss
mode selector is set at ridE.th.
(13.12)
RW
Uni
For information on adjusting these parameters, refer

to parameters 4.13 and 4.14 in the Unidrive Advanced
User Guide.
0.27 indicates the value of the torque reference

applied to terminal 7 of the signal connector.
0.27
RW
OL>
The values of 0.28 and 0.29 affect the dynamic

performance of the Drive in the following
conditions:
0.27 Analog reference 2

(1.37)
= [0.26] + [0.27]
= [0.26] [0.27]
USA> Terminal-29 destination

selector
0
Not used for digital lock.
0.28
(4.13)
EUR> Current-loop
proportional gain
(1.01)
USA> Frequency/speed demand
RW
OL>
0 ~ 30 000
VT>
0 ~ 30 000
SV>
0 ~ 30 000
Uni
40
2000
1200
USA configuration
RW
OL>
0.00~20.50
Uni
1.41
Menu.
parameter
Use 0.29 to change the function of the digital input

on terminal 29.
D-24
Menu 0 Parameters
Unidrive User Guide

Issue code: udxu6
The default setting (1.41) gives LOCAL/REMOTE

switching.
When 0.27 Sequencing mode selector is set at 0, it
is essential that you set 0.29 at 6.34. This makes
terminal 29 function as a stop input (RUN PERMIT /
STOP)
0.28
bipolar select
(9.22)
RW
0~1
The functions of the settings are as follows:

1
rP
Ramp to a stop
no.rP
rP-POS
For other settings, see parameter 6.01 in the Unidrive

Advanced User Guide.
Bit
0.29
Motorized potentiometer rate
(9.23)
0
RW
0 ~ 250
Uni
20
Set 0.28 as follows:

0
Unipolar output (0 ~ 100%)
Bipolar output (100%)
0.28
For shaft orientation, set 0.28 at rP-Pos.
Enter the required time for the

motorized-potentiometer output to change by
100%.
Overspeed threshold
(3.08)
0.28
RO
OL>
0 ~ 1000
VT>
0 ~ 30000
SV>
0 ~ 30000
Bi
Analog input 2 (PID reference)

scaling
(7.12)
1000
HZ
0.29
2000
RPM
(7.16)
4000
RPM
Analog input 3 (PID feedback)

scaling
RW
0~4
Uni
1
0
Enter the value of frequency (open-loop) or speed

(closed-loop) above which the Drive is to trip due to
overspeed. See parameter 3.29 in the Unidrive
Advanced User Guide for details of setting up the
open-loop overspeed trip.
0.28
(See below)
SV>
If required, change the scaling of the PID reference

and feedback inputs by entering appropriate values
in these parameters.
Reference encoder/resolver
revolution counter
(13.16)
RW
VT>
0.29
Stop mode selector
(6.01)
Txt
rP
RO
CL>
0 ~ 16384
Uni
P
revolutions
no.rP
0
For digital-lock operation, the default setting of

0.28 should be used.
Unidrive User Guide
Issue code: udxu6
For digital-lock operation, the value of 0.29 is

incremented by 1 for each forward revolution of the
Menu 0 Parameters
D-25
reference encoder, and decremented by 1 for each

reverse revolution.
0.30
When 16384 is passed during incrementation, [0.29]

changes to 1 and continues counting up. When 1 is
passed during decrementation, [0.29] changes to
16384 and continues counting down.
(7.08)
0.30
(7.12)
Analog input 1 (torque reference)

scaling
RW
0~4
Uni
FWD/REV
key enable
RW
0~1
RO
CL>
0 ~ 16384
Uni
P
revolutions
0
For digital-lock operation as well as shaft

orientation, the value of 0.30 is incremented by 1
for each forward revolution of the feedback
encoder, and decremented by 1 for each reverse
revolution.
(6.13)
Feedback encoder/resolver
revolution counter
(13.17)
If required, change the scaling of the torque

reference and frequency/speed reference inputs by
entering appropriate values in these parameters.
0.30
0.30
1
Bit
0
0.30 is used for selecting a source parameter as a

software enable for PID control. This software
enable is AND-gated with the PID enable signal
applied to terminal 29. Refer to Menu 14 in the
Analog input 2 (frequency/speed

reference) scaling
RW
0~1
Not used for shaft orientation.

0.29
Optional PID-enable source selector
(14.09)
Bit
0
0
When 16384 is passed during incrementation, [0.30]

changes to 1 and continues counting up. When 1 is
passed during decrementation, [0.30] changes to
16384 and continues counting down.
The Drive is supplied with the

key disabled.
To enable this key, set 0.30 FWD/REV enable at 1.
0.30
(9.24)
output scale factor
RW
0~4
Uni
1
0
By default, when the motorized potentiometer

output is 100%, the frequency/speed is set at 100%.
If necessary, enter the required value to reduce the
frequency/speed range.
D-26
Menu 0 Parameters
Unidrive User Guide

Issue code: udxu6
Pr
Macro 0
Macro 2
Macro 3
Macro 4
0.11
Pre-ramp reference (1.03)
0.12
Post-ramp reference (2.01)
0.13
(4.02)
(4.02)
(4.02)
(4.02)
0.14
Jog reference (1.05)
0.15
Ramp mode selector (2.04)
0.16
Stop mode selector (6.01)
0.17
Torque mode selector (4.11)
Status relay invert (8.26)
0.18
S-ramp enable (2.06)
0.19
S-ramp da/dt limit (2.07)
0.20
Skip freq./speed 1 (1.29)
0.21
(1.30)
(1.30)
(1.30)
(1.30)
0.22
0.23
(1.32)
(1.32)
(1.32)
(1.32)
Analog input 1 mode

selector (7.06)
Analog input 1 mode

selector (7.06)
Analog input 1 mode

selector (7.06)
Analog input 1 (torque

0.24
(7.06)
0.25
Analog input 2 mode

selector (7.11)
Motorized pot. reset

indicator (9.28)
Preset reference 1 (1.21)
Analog reference 1
(torque reference) (1.36)
0.26
Analog input 2 destination

selector (7.14)
Motorized pot. output

indicator (9.03)
Analog input 2 mode

selector (7.11)
Motorized pot. zero-start

select (9.21)
Analog input 2
(CL> Speed over-ride)
0.27
(8.27)
(1.37)
USA> Sequencing mode

selector (6.04)
0.28
EUR> Current-loop
Motorized pot. bipolar
proportional gain (4.13)
select (9.22)
USA> Freq./speed demand
Over-speed threshold
(3.08)
(1.01)
0.29
EUR> Current-loop
integral gain (4.14)
Motorized pot. rate (9.23)

(7.08)
USA> Terminal-29
destination selector (8.23)
0.30
FWD/REV
Unidrive User Guide

Issue code: udxu6
key enable (6.13)
Motorized pot. output

scale factor (9.24)

(7.12)
Menu 0 Parameters
D-27
Pr
Macro 5
Macro 6
Macro 7
Macro 8
0.11
0.12
0.13
(4.02)
(4.02)
(4.02)
(4.02)
0.14
Analog input 1
(frequency/speed

(8.03)

(4.01)
0.15
Analog input 2
(PID reference) mode
selector (7.11)

(8.04)

(12.01)
Position-loop mode
selector (13.08)
0.16
Analog input 3
(PID feedback) mode
selector (7.15)
Run reverse indicator (8.05) Drive healthy indicator

(10.01)
Feedback encoder No. of

lines / pulses per
revolution (3.21)
0.17
Analog input 1
(frequency/speed
reference) (7.01)

(8.06)

(10.03)
Reference encoder/
resolver ratio (13.07)
0.18
Analog input 2
(PID reference) (7.02)

(9.01)
Feedback-encoder /
reference-resolver speed
(3.26)
0.19
Analog input 3
(PID feedback) (7.03)

(6.08)
Current threshold (12.04)
Feedback-encoder /
reference-resolver position
(3.27)
Limit deceleration rate

(2.22)

CL> Brake application
delay
(9.19)
Position error (13.01)
(14.10)
0.21
PID integral gain (14.11)
Limit forward invert (8.17)
Reference-encoder /
(16.03)
0.22
PID derivative gain (14.12)
Limit reverse invert (8.24)
Reference-encoder /
(16.02)
0.23
PID output high limit (14.13)
Reference encoder No. of

lines / pulses per
revolution (16.04)
0.24
PID output low limit (14.14)
Position-loop gain (13.09)
0.25

(13.10)
(7.06)
0.20
(14.15)
0.26
(13.11)
0.27
Orientation acceptance
window (13.12)
0.28
(7.12)
0.29

(7.16)
0.30
D-28
Optional PID-enable source

selector (14.09)
Menu 0 Parameters
Reference encoder/
resolver revolution
counter (13.16)
Feedback encoder/
resolver revolution
counter (13.17)
Unidrive User Guide

Issue code: udxu6
Diagnostics
E.1
Status indications
Lower
display
Warning
Users must not attempt to

repair a Drive if it is faulty, nor
carry out fault diagnosis other
than through the use of the
diagnostic features described
in this appendix.
Conditions
Drive
output
rdY
The Drive is ready to be run.
Disabled
run
The Drive is running.
Enabled
inh
Under no circumstances must

the casing of the Drive be
opened when the AC supply is
connected.
The Drive cannot be run.
Disabled
If a Drive is faulty, it must be

returned to an authorized
Control Techniques distributor
for repair.
The Drive is holding the motor at zero

speed
CL> Drive enable signal not applied to

terminal 30.
StoP
Enabled
dEC
The Drive is decelerating the motor
Enabled
SCAn
When the Drive display is in Status mode, it is used

for displaying coded messages. These are
categorized as follows:
Status indications
When the Drive is in normal operation, the
lower display shows a code which indicates the
status of the Drive.
Alarm indications
If a critical condition is detected, the Drive
continues operating and the lower display
shows an alarm code in place of the status
code. If the condition is not rectified, the Drive
could trip.
The alarm message flashes alternately with the
normal display indication.
Trip codes
If the Drive trips, the output is disabled so that
the Drive stops controlling the motor. The
lower display indicates that a trip has occurred
and the upper display shows a trip code.
The Drive is searching for the motor

frequency when synchronizing to a
spinning motor.
Enabled
ACUU
The Drive has detected that the AC supply
is lost and is attempting to maintain the
DC-bus voltage by decelerating the motor.
Enabled
dc
The Drive is applying DC injection braking.
Enabled
POS
The Drive is positioning the motor shaft.
Enabled
triP
The Drive has tripped and is no longer
controlling the motor. The trip code
appears on the upper display.
E.2
Disabled
Alarm indications
Lower
display
Conditions
br.rS
The braking-resistor [I x t] accumulator in the Drive has
reached 75% of the value at which the Drive will be
tripped.
OVLd
The motor [I x t] accumulator in the Drive has reached 75%
of the value at which the Drive will be tripped.
hot
The Drive heatsink has reached 95C (203F) and the
output current has not been reduced (sufficiently).
Air
The temperature of the air around the control circuits is
near the maximum permissible.
Unidrive User Guide

Issue code: udxu6
Diagnostics
E-1
E.3
Trip codes
ENC.OVL
The number shown in the table is transmitted when

parameters 10.20 to 10.29 Trip log are accessed by
serial communications.
10
Encoder ASIC
(Encoder supply or frequency/direction output).
ENC.PH1
11
Encoder U phase missing.

Upper
display
No.
UU
Conditions
Insufficient DC-bus voltage

Standard models: <320VDC
Low-voltage models: <160VDC
This occurs when the AC supply is removed.
OU
Excessive DC-bus voltage

Standard models: >830VDC
Low-voltage models: >415VDC
Excessive regenerated power caused by the following:
0.04 Deceleration rate value too low
Braking resistor not being used
OI.AC
Excessive output current caused by the following:

0.03 Acceleration rate value too low
CL> 0.27 Proportional gain too high
(used in Macro 0 only)
Excessive motor-cable capacitance
Short-circuit at the output of the Drive
OI.br
Excessive current in the braking resistor.

A short-circuit exists across the braking resistor.
PS
Internal power supply fault.

Remove and re-connect the AC supply. If the trip persists,
contact the supplier of the Drive.
Et
OL> External trip signal applied to terminal 30.

Remove the trip signal, then reset the Drive.
OV.SPd
The motor has exceeded the over-speed threshold.

This can be caused by the following:
Sudden removal of a large mechanical load
Inappropriate setting for 0.16 Stop mode selector
0.19 S-ramp da/dt too high (not used in Macro 5)
Prc2
Trip in Processor-2 large option module.

SEP
Trip in the small option module. See the User Guide for
the relevant small option module.
E-2
Diagnostics
ENC.PH2
12
Encoder V phase missing.

ENC.PH3
13
Encoder W phase missing.

ENC.PH4
14
Encoder U V W commutation signals connected

incorrectly.
ENC.PH5
15
Encoder A channel missing.

ENC.PH6
16
Encoder B channel missing.

ENC.PH7
17
Encoder A and B channels connected incorrectly.

SIN-COS encoder or resolver SIN and COS connections
connected incorrectly or the phase sequence of the motor
is reversed.
ENC.PH8
18
Autotune fail (wrong test for operating mode,

limit-switch operated, trip, etc).
Resolver phasing test or magnetizing current test ended
prematurely.
It.br
19
Excessive braking-resistor [I x t].

It.AC
20
The [I x t] thermal overload accumulator has reached 100%

(see the OVLd alarm).
Oh1
21
Excessive heatsink temperature due to excessive [I xt]

(see the hot alarm).
Oh2
22
Excessive heatsink temperature detected by thermistor.

OA
23
The temperature of the air around the control circuits is

excessive (see the Air alarm).
th
24
The motor thermistor has detected excessive motor

temperature (or the thermistor or wiring is open-circuit).
thS
25
The motor thermistor or wiring is short-circuit.

OP.OVLd
26
The total current drawn from terminals 22 and 24

exceeds 200mA.
Unidrive User Guide

Issue code: udxu6
cL1
27
When configured for current signal, loss of signal current

at terminals 5 and 6 (Analog input 1).
cL2
29
tr 100
30
Loss of serial communications when slaving Drives. (Not

applicable to operation in Menu 0).
EEF
100
Process-generated trip (see parameter 10.38).

Ot inP
101
Input stage over-temperature (model size 5).

at terminal 8 (Analog input 3).
SCL
40 ~ 99
Trip codes defined by the user. XX indicates the trip

code number.
28

at terminal 7 (Analog input 2).
cL3
trXX
Ot HS n
102 ~ 109
Heatsink over-temperature on module n (model size 5)

detected by one of the two thermistors in the Drive.
Ensure that ventilation at the front and rear of the Drive is
adequate.
31
PS n
110 ~ 117
Fault in the internal EEPROM causing loss of parameter

values.
Power supply failure in module n (model size 5)
Follow the procedure Restoring all parameters

to the default values in Appendix A, then re-enter the values
for the application.
AC
Ph
32
OI.AC n
OU n
33
VT> Incorrect measurement of stator resistance due to

the following:
Motor cable disconnected when the measurement was
being made
Motor too small for the Drive
If required, set 0.07 Voltage mode at Ur and enter the
value of stator resistance in parameter 5.17. (Not
applicable to operation in Menu 0).
ST GL
34
Spurious trip (model size 5).

SEP EC
35
Communications failure with SIN-COS encoder small option

module. Absolute position information will not then be
obtained.
Possible causes of failure are as follows:
Incorrect serial comms. connections (terminals 46, 47)
DC supply to the encoder not connected (terminals 44,
45) or failed
Incorrect DC supply voltage for the encoder (parameter
16.15)
After rectifying the fault, remove, then re-apply the
AC supply to the Drive in order to obtain absolute position
information.
SEP EF
36
Fault in the SIN-COS encoder.

AN1.diS
37
Servo large option module removed.

L1.SYNC
39
Regeneration sinusoidal rectifier failed to synchronize to

the AC supply.
Unidrive User Guide

Issue code: udxu6
126 ~ 133
Over-voltage in module n (model size 5)
Loss of an AC supply phase.

rS
118 ~ 125
instantaneous current trip in module n (model size 5)
OI.dc n
DC
134 ~ 141
instantaneous current trip in module n (model size 5)

UFLt n
142 ~ 149
Unidentified fault in module n (model size 5)

Conf n
150 ~ 158
No. of modules has changed to n modules (model size 5)

tr XX
159 ~ 179
User trips where XX is the trip number

SEP.diS
180
The type of small option module that the Drive has been
programmed to operate with has been removed or is not
fitted correctly.
Perform either of the following:
Ensure the appropriate type of small option module is
correctly fitted
To operate the Drive in the present configuration, set
parameter .00 at 1000 and press the STOP/RESET key.
ENCPH9
181
VT> Loss of resolver output signals

SV> Resolver and/or motor phase connections incorrect,
causing reverse torque to be produced
FSH.Err
182
The memory of the UD55 small option module has been

found to be corrupt. If the trip has occurred at power-up,
the memory is automatically re-formatted and all the
parameter-sets are erased. If the trip occurs after powerup, the memory and parameter-sets are unaffected. See
the UD55 User Guide.
FSH.Dat
183
No values have been found in the selected parameter-set in

the UD55 small option module. Consequently, no values
have been copied to the destination Drive.
Diagnostics
E-3
FSH.TyP
184
The operating mode of the destination Drive is different

from that related to the selected parameter-set in the
UD55 small option module. Consequently, no values have
been copied to the destination Drive. Either select an
appropriate parameter- set, or change the operating mode
of the destination Drive.
FSH.ACC
185
Write-access to the UD55 small option module has not

been enabled. Consequently, no values have been copied
to the destination Drive. To enable write-access, connect
together terminals 40 and 41 on the UD55.
FSH.LO
186
The selected parameter-set in the UD55 small option

module contains values for Menu-20 parameters (which
relate to a specific large option module), but the related
module is not fitted in the destination Drive.
Consequently, values of Menu-20 parameters have not
been copied to the destination Drive.
FSH.20
187
The selected parameter-set in the UD55 small option

module does not contain values for Menu-20 parameters
(which relate to a specific large option module), but a
large option module is fitted in the destination Drive.
Consequently, values of Menu-20 parameters have not
been copied to the destination Drive.
FSH.rng
188
The current rating or voltage rating of the destination

Drive is different from that relating to the selected
parameter-set in the UD55 small option module.
Consequently, all parameter values have been copied to
the destination Drive except for those listed in Transferring
parameter-sets between Drives of different ratings in the UD55
User Guide.
tr XX
189 ~ 200
User trips where XX is the trip number
E-4
Diagnostics
Unidrive User Guide

Issue code: udxu6

Uni Drive User Guide

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User Guide

Part Number: 0460 0070

October 2000 Control Techniques Drives Ltd

Trip and enable

Setting up operating limits

Maximum and minimum speeds

How this User Guide can help you

Torque producing current limit

Plug-in option modules

How to use this chapter

How to use this chapter

Making signal and power connections

Introduction to the display and keypad 2-7

Macro 0 General purpose

Macro 1 Easy mode

Open-loop voltage-control modes

Setting Up the Drive

Display and keypad

Resetting the Drive

Working with software parameters

Parameters and menus

Macro 2 Motorized potentiometer

Adjusting parameter values

Macro 3 Preset frequencies/speeds

Making new values effective,

Macro 4 Torque control

Macro 5 PID (set-point control)

Macro 6 Axis-limit control

Macro 7 Brake control

Macro 8 Digital lock

How macro configurations

Restoring the Drive to a default

Changing the operating mode

Configuring the Drive for the motor

Changing the user interface mode

Unidrive User Guide

Displaying the parameter

Entering Parameter mode

Selecting a parameter to access

Changing the value of a parameter

Saving new parameter-values

Flashing and non-flashing digits

Security, and Accessing the

Setting-up User Security

Unlocking User Security

Unlocking Standard Security

Locking Standard Security

Frequency and direction connections

Changing the setting of

Selecting a different option

Restoring the Drive to a

Summary of key operation

Unidrive User Guide

This User Guide refers to the models listed below.

How this User Guide

If this is your first encounter with a

This User Guide is arranged on a step-by-step basis

Learning how to operate the Unidrive

For advanced programming of the Unidrive, a disk

Variable speed drives may be

Unidrive User Guide

The Drive has four layers of configuration, starting

Each of the upper layers (2, 3, 4) is superimposed on

The Drive has a separate default configuration for the