AXV Manual PDF

Axpact-V AXV
Digital brushless servodrive
Instruction manual
The information held in this manual may be modified without notice.
SIEI S.p.A. will not be responsible for changes that may occur in the future.
No part of this manual can be reproduced, for any reason, in any form, or by any means
(including recording and photocopying) without the written consent of SIEI S.p.A.
Before the inverter installation, wiring, commissioning and inspection, read this instruc-
tion manual carefully.
Keep the manual in a safe place and available to engineering and installation personnel
when the drive is operated.
SIEI S.p.A. is not responsible for those mistakes that may be found in this manual and for
the damages that they may cause.
All rights reserved.
This manual is updated according to software version V3.X00.

Variation of the number replacing “X” has no influence on the functionality of the drive.
The identification number of the software version can be read on the inverter nameplate
or on the label on the FLASH memories mounted on the regulation card.
2
CONTENTS
0. SAFETY INSTRUCTIONS ......................................................................................... 7

1. FUNCTIONS AND GENERAL FEATURES.................................................................. 9
2. DESCRIPTION, COMPONENT IDENTIFICATIONS AND SPECIFICATIONS ........... 11
2.1. STORAGE, SHIPPING ............................................................................................................ 11
2.1.1. In general .................................................................................................................... 11
2.1.2. Drive technical data ..................................................................................................... 11
2.1.3. Nameplate .................................................................................................................. 11
2.2. COMPONENT IDENTIFICATION ............................................................................................. 12
2.3. GENERAL SPECIFICATION .................................................................................................... 13
2.3.1. Rules and environmental conditions ............................................................................. 13
Drive disposal .............................................................................................................. 13
2.3.2. Line connection and drive output ................................................................................. 13
Power: ......................................................................................................................... 13
Regulation: .................................................................................................................. 13
2.3.3. Line side current .......................................................................................................... 14
2.3.4. Output ......................................................................................................................... 14
2.3.5. Performance ................................................................................................................ 15
3. MOUNTING PROCEDURES ................................................................................... 17
3.1. MECHANICAL SPECIFICATION ............................................................................................. 17
3.2. POWER LOSS ....................................................................................................................... 17
3.3. AMBIENT CONDITIONS ........................................................................................................ 18
3.4. DRIVE MOUNTING ................................................................................................................ 18
4. ELECTRIC CONNECTION ...................................................................................... 19
4.1. POWER SECTION .................................................................................................................. 19
4.2. REGULATION AND CONTROL SECTION ................................................................................. 19
4.2.1. Connection of the C1 terminal strip ............................................................................... 19
4.2.2. Connection of the C2 terminal strip .............................................................................. 20
4.2.3. S1 sensor connector ................................................................................................... 21
4.2.4. S2 sensor connector ................................................................................................... 21
4.2.5. Encoder / drive connections ....................................................................................... 22
4.3. RS 485 SERIAL INTERFACE .................................................................................................. 23
4.4. TYPICAL CONNECTION SCHEME .......................................................................................... 25
4.5. PROTECTION ......................................................................................................................... 27
4.5.1. External fuses in the power section ............................................................................. 27
4.5.2. EMC filters and AX-S power supply .............................................................................. 27
4.6. FAST LINK CONNECTORS .................................................................................................... 28
4.7. BRAKING UNIT ..................................................................................................................... 28
4.7.1. Internal braking unit ..................................................................................................... 29
4.7.1.1. External braking resistance ........................................................................... 29
4.7.1.2. Control of the external braking power ........................................................... 32
4.7.1.3. External resistance interaction with the system parameters ........................ 33
4.7.1.4. Choice of the thermal relay ........................................................................... 34
3
5. DIMENSIONING CRITERIA .................................................................................... 35
5.1. MOTOR CHECK ..................................................................................................................... 36
5.2. CHECK OF THE DRIVE SIZE ................................................................................................... 37
5.3. APPLICATION EXAMPLE: FLYING CUT ................................................................................. 38
6. MAINTENANCE ..................................................................................................... 41
6.1. CARE .................................................................................................................................... 41
6.2. SERVICE ............................................................................................................................... 41
6.3. REPAIRS ............................................................................................................................... 41
6.4. CUSTOMER SERVICE ............................................................................................................ 41
7. TROUBLESHOOTING ............................................................................................ 43
8. SETTINGS AND COMMISSIONING ...................................................................... 47
8.1. MENU STRUCTURE .............................................................................................................. 47
8.2. PC CONFIGURATOR .............................................................................................................. 58
8.3. COMISSIONING .................................................................................................................... 59
8.3.1. Connection with the PC ............................................................................................... 59
8.3.2. Essential parameters set up ......................................................................................... 60
8.3.3. Example in speed mode configuration .......................................................................... 61
8.3.4. Example in position mode configuration ....................................................................... 62
8.3.5. Example in electrical line shaft configuration ................................................................ 63
8.4. DOWNLOAD FIRMWARE ...................................................................................................... 64
8.5. ENCODER SIN.COS PHASING ............................................................................................... 65
8.6. DIGITAL ENCODER + HALL SENSOR PHASING .................................................................... 66
9. FUNCTION DESCRIPTION .................................................................................... 67
9.1. MONITOR ............................................................................................................................. 67
9.2. DRIVE PARAMETERS ............................................................................................................ 67
9.3. MOTOR PARAMETERS ......................................................................................................... 70
9.4. ENCODER PARAMETERS ...................................................................................................... 70
9.5. RAMP ................................................................................................................................... 71
9.6. SPEED ................................................................................................................................... 73
9.7. CURRENT ............................................................................................................................. 75
9.8. SPEED GAINS ....................................................................................................................... 77
9.9. DIGITAL INPUTS ................................................................................................................... 77
9.10. DIGITAL EXPANSION INPUTS ............................................................................................. 82
9.11. VIRTUAL DIGITAL INPUTS .................................................................................................. 83
9.12. DIGITAL OUTPUTS .............................................................................................................. 85
9.13. VIRTUAL DIGITAL OUTPUTS ............................................................................................... 89
9.14. DIGITAL EXPANSION OUTPUTS .......................................................................................... 90
9.15. ANALOG INPUTS ................................................................................................................ 91
9.16. ANALOG OUTPUTS ............................................................................................................. 95
9.17. ENCODER REPETITION ........................................................................................................ 98
9.18. JOG FUNCTION................................................................................................................... 99
9.19. MULTI SPEED FUNCTION .................................................................................................. 100
9.20. MULTI RAMP FUNCTION .................................................................................................. 102
9.21. POSITION PARAMETER ..................................................................................................... 104
9.21.1. Zero sensor ............................................................................................................. 104
9.21.1.1. Zero search ( Pos 0 search ) .................................................................... 104
4
9.21.2. Position start ........................................................................................................... 107
9.21.3. Value self-acquisition ............................................................................................... 107
9.21.4. Positioner parameters .............................................................................................. 108
9.21.5. Positioner inputs ...................................................................................................... 113
9.21.6. POSITION PRESET .................................................................................................. 113
9.21.7. ZERO CONFIGURATION .......................................................................................... 114
9.22. ELECTRICAL LINE SHAFT .................................................................................................. 120
Connection of the digital encoder ............................................................................... 121
Fast link connection ................................................................................................... 121
9.22.1. ELECTRICAL LINE SHAFT RATIO .............................................................................. 123
9.22.2. ELECTRICAL LINE SHAFT BEND ............................................................................... 124
9.23. FAILURE REGISTER........................................................................................................... 125
9.24. FAILURE QUEUE ............................................................................................................... 127
9.25. ALARM TO MASK ............................................................................................................ 127
9.26. EXPANSION BOARD ......................................................................................................... 129
9.27. SYSTEM ........................................................................................................................... 130
9.28. BRAKING UNIT ................................................................................................................. 130
9.29. DIGITAL OUTPUT RESET ................................................................................................... 131
9.30. UNDERVOLTAGE LIMITS ................................................................................................... 131
10. BLOCK DIAGRAMS .......................................................................................... 133
11. PARAMETER LIST ............................................................................................ 137
EC DECLARATION OF CONFORMITY ....................................................................... 155
LIST OF TABLES
Table 2.3.2.1: Rated power and efficiency .................................................................................... 13
Table 2.3.3.1: Line side current for a continuous service ............................................................... 14
Table 2.3.4.1: Peak and rated current ........................................................................................... 14
Table 3.1.1: Weights and dimensions ............................................................................................ 17
Table 3.2.1: Power loss and thermal capacity ............................................................................... 17
Table 4.1.1: Description of the power terminal strip ...................................................................... 19
Table 4.2.1.1: Description of the C1 terminal strip .......................................................................... 20
Table 4.2.1.1: Description of the C2 terminal strip......................................................................... 20
Table 4.2.3.1: Description of the S1 connector ............................................................................. 21
Table 4.2.4.1: Description of the S2 connector ............................................................................. 21
Table 4.2.5.1: Encoder connections for motors with terminal strip................................................. 22
Table 4.2.5.2: Encoder connections for motors with connector ..................................................... 22
Table 4.3.1: Connections of a serial link ........................................................................................ 23
Table 4.5.1.1: Fuses ..................................................................................................................... 27
Table 4.5.2.1: EMI filters .............................................................................................................. 27
Table 4.7.1.1: Internal braking unit ............................................................................................... 29
Table 4.7.1.1.1: List and technical data of the normalized external resistances ............................. 29
5
LIST OF FIGURES
Figure 2.2.1: Servodrive basic scheme ......................................................................................... 12
Figure 2.3.4.1: Variation % in the developed current according to the ambient temperature (oC).. 15
Figure 3.1.1: Weights and dimensions .......................................................................................... 17
Figure 3.4.1: Mounting distances ................................................................................................. 18
Figure 4.3.1: RS485 serial link ..................................................................................................... 24
Figure 4.4.1: Auxiliary circuits ...................................................................................................... 25
Figure 4.4.2: Typical connection scheme ...................................................................................... 26
Figure 4.6.1: Fast serial communication among the drives ............................................................ 28
Figure 4.7.1: Braking functioning scheme ..................................................................................... 28
Figure 4.7.1.1: Connections for internal and external braking resistor ........................................... 29
Figure 4.7.1.1.1: Braking cycle with a typical triangular profile ..................................................... 30
Figure 4.7.1.1.2: Braking cycle with TBR / TC = 20% .................................................................. 31
Figure 4.7.1.1.3: General braking cycle with triangular profile ....................................................... 32
Figure 9.2.1: Serial port configuration ........................................................................................... 69
Figure 9.5.1: Ramp circuit ............................................................................................................ 71
Figure 9.6.1: Speed reference ....................................................................................................... 74
Figure 9.7.1: Current reference .................................................................................................... 75
Figure 9.15.1: Differential analog inputs ....................................................................................... 93
Figure 9.16.1: Differential analog outputs ...................................................................................... 96
Figure 9.18.1: Jog function ......................................................................................................... 100
Figure 9.19.1: Multi speed function ............................................................................................ 102
Figure 9.20.1: Multi ramp function ............................................................................................. 103
Figure 9.21.1: Home search ....................................................................................................... 108
Figure 9.21.4: Value acquisition function .................................................................................... 109
Figure 9.21.7.1: Home position search active on the positive edge ............................................. 117
Figure 9.21.7.2: Home position search active on the logic level .................................................. 118
Figure 9.21.7.3: Home position search active on the logic level after the first encoder index ....... 119
Figure 9.21.7.4: Home position search active on the logic level after the first encoder index ....... 120
6
AXV - HGB
0. SAFETY INSTRUCTIONS
WARNING ! WARNING / ATTENTION !

According to the EEC norms, the AXV drive and its Variable voltage drives are electric drives, to be used in
accessories must only be used after checking that the industrial installations. Parts of the drives are voltage-
application has been developed by using those safety supplied during operation. The electrical installation and
drives required by the 89/392/EEC norm, referring to the drive opening of the enclosure can be carried out
the automation sector. by qualified personnel only. Incorrect motor installa-
tions can damage the drive and cause injuries or prop-
These systems cause mechanical movements. The user
erty damages.
must make sure that such mechanical movements do
not create any unsafe condition. The producer has to The drive has limited capability to control overspeed
foresee safety blocks and operative limits which can since it depends on the feedback drive for this purpose.
not be bypassed or overcome. Care should be taken to prevent personnel inijury should
an overspeed consition occur.
Refer to the instructions given in this manual and fol-
WARNING - FIRE AND ELECTRIC SHOCK
low the local and national safety rules.
DANGER
When using drives such as oscilloscopes which have to
be connected to equipment under power, the oscillo- WARNING !
scope chassis has to be grounded and a differential Do not connect power supply voltages exceeding the
amplifier has to be used. In order to obtain precise read- allowed voltage range. If excessive voltages are
ing procedures, choose your probes and pins with care applied to the drive, some internal components will
and pay attention to the oscilloscope operation. be damaged.
For correct use of the drive and the equipment opera-
tion see the manufacturer instruction manual. WARNING !
The drive can not be started without being properly
grounded. In order to prevent electrical noise, the mo-
WARNING - FIRE AND EXPLOSION DANGER tor chassis has to be grounded with a ground cable sepa-
The installation of a drive in explosion-risk areas, where rate from those of drives any other drive.
inflammable materials, fuel vapors or powders are The ground cable has to be sized according to the na-
present, could cause fires or explosions. The drives have tional electric code rules. The lug must be fixed using
to be placed far from such risk areas even though their the pliers suggested by the lug producer.
motors are suitable to be used in such conditions.
WARNING !
WARNING - DANGER OF PERSONAL Do not carry out megger tests on the drive or control
INJURIES circuit terminals.
If the drives are not lifted by suitable means, they can
cause severe or fatal damages. The drive has to be lifted
by a trained staff or by using suitable tools. WARNING !
Do not install the drive in places where the tempera-
ture is higher than that allowed by the specifications:
WARNING - DANGER OF ELECTRIC SHOCK the ambient temperature has a great influence on the
Motors and drives have to be ground connected accord- drive life and reliability.
ing to the national electric rules.
WARNING !
WARNING ! When the drive shows an alarm condition, refer to the
Place all the covers before applying voltage to the drive. chapter TROUBLESHOOTING in the instruction
The non-fulfillment of this warning may cause severe manual; the operation can be restarted only when the
personal injuries or death. alarm cause has been removed. Do not reset the alarm
automatically via an external sequence etc.
—————— Axpact-V AXV instruction manual —————— 7

SIEI
WARNING !
Remove the bag/s containing anti-condensation agents
while unpacking the drive (if such bags are not removed,
they could end up in the fans or they could obstruct the
cooling openings, thus causing drive overheating).
NOTES: In the industrial sector the words “Inverter”,

“Servodrive”, and “Drive” are often
interchanged. The word typically used in this
manual is “Drive”.
1. Never open the drive when the power 9. In case the drive remains stored for a
supply network voltage is connected. The period longer than three years, remem-
minimum waiting time before having the ber that the intermediate circuit capaci-
possibility to work on the terminals or tors keep their original features only if
inside the drive is stated in the manual. they are supplied with power within
2. Handle the drive avoiding to touch or three years from the delivery date. Be-
damage any of its parts. The isolation fore commissioning drives which have
distances can not be changed and the been stored for such a long time, it is
coverings and the isolation materials can necessary to supply power to the drives
not be removed. for at least two hours without running
the drive (disable), in order to recover
3. Protect the drive against any unallowed the capacitor original features.
stress (temperature, moisture, impact, etc.).
10. In case a failure occurs, if the drive is
4. No voltage can be applied on the drive disabled but network-connected, the
output (terminals U, V, W). Only one drive accidental movement of the motor shaft
can be connected on the output and no can not be excluded.
direct connection between the drive input
and output (Bypass) is allowed.
5. No capacitive load can be connected to
the drive output (terminals U, V, W) (for
example phase corrections capacitors).
6. Establish the ground connections (PE) via
the appropriate terminals. Variable
frequency drives and AC input filters have
a ground leakage higher than 3.5 mA.
According to EN 50178, in such cases the
ground connection cable (PE1) must
correspond to a specific type and be
doubled for redundancy.
7. The electrical commissioning has to be
carried out by qualified personnel. Such
personnel are responsible for suitable
ground connection and for protection of
the input power wiring according to local
and national guidelines. The motor has to
be protected against any overload.
8. No dielectric strength test has to be
carried out on the drive components. Use
suitable means to measure the signal
voltage (minimum internal resistance 10
kΩ /V).
8 —————— Axpact-V AXV instruction manual ——————

AXV - HGB
1. FUNCTIONS AND GENERAL FEATURES
AXV represents a new concept in motion control - Digital encoder repetition output with three chan-
technology; this very fast servodrive based on the nels (without the complementary ones), 24V
DSP (digital signal processor) VECONTM is aimed open collector.
at providing real-time control of servosystems and it - 3 analog differential inputs (11bits + sign).
is integrated with versatile and innovative power
hardware. - 4 analog outputs (9 bits + sign).
- 8 programmable digital inputs.
AXV is an IGBT servodrive particularly suitable for - 8 programmable digital outputs.

high bandwidth applications with brushless servo- - 1 relay 1A 250V.
motors. Thanks to the innovative software installed - 1 digital I/O expansion port (12 inputs + 4 out-
on the flash eprom, it can be considered as a combi- puts).
nation of a digital drive for controlled axes and a - 1 RS485 asynchronous opto-isolated multi-drop
PLC. serial port.
- 1 field bus expansion port.
AXV is featured by full-digital regulation with a - 2 fast synchronous serial ports for a peer to
16KHz cycle, a 5KHz current loop bandwidth, a peer communication between the drives.
position loop with zero tracking failure, an analog - IP20 protection, book case, removable connec-
interface, some dedicated digital interface and I/O tors, serial encoder interface carried out via 1/2
expansion. D-sub connectors, ground connection screws for
shielded cables mounted on board.
The drive position loop, (PI type) is based on two
symmetrical register circuits, which store the desired
and the actual information. The PID speed loop (a
position loop derivative) and the PID2 acceleration
control (a second position loop derivative) are added
to increase the accuracy of the controlled axes, both
in a feedback and in a feedforward condition.
The drive has the following features:

- Torque control.
- Speed control.
- Position control
- Electrical line shaft.
- PLC functions.
- Linear motor control.
- Two configurable encoder inputs:
sinusoidal encoder input with 5 or 3 channels,
absolute in a revolution or with Hall effect sig-
nals.
Input of a 3-channel encoder, which can be pro-
grammed as an input for a second encoder (Mas-
ter encoder) or as an encoder repetition output,
5V line driver, with programmable PPR accord-
ing to the motor encoder.

AXV - HGB
2. DESCRIPTION, COMPONENT IDENTIFICATIONS AND

SPECIFICATIONS
2.1. STORAGE, SHIPPING
2.1.1. In general
The drives of the AXV series are carefully packed in order to assure perfect delivery. The shipping has to
be carried out in a suitable way (see the weight indications). Follow carefully the indications printed on the
packaging.
When delivered, check immediately that:

- the packaging has not been seriously damaged
- the data on the shipping papers correspond to the order.
Carefully open the packaging and ensure that:

- during the shipping the drive has not been damaged
- the drive model corresponds to the ordered one
In case of damages or incorrect or incomplete delivery, call directly the supplier.

The drive has to be stored exclusively in dry areas within the stated temperature limits.
2.1.2. Drive technical data
The drive basic technical data are stated in the code on the identification nameplate.
Example: AXV-460/415-6/9
2.1.3. Nameplate
Make sure that all the data stated on the inverter nameplate correspond to the ordered product.
SIEI SPA
Type : AXV 6 / 9 S/N 99062162
Main Power In : 460 VAC 5A 50/60Hz 3Phase
Main Power Out : 415 VAC 5A 0-400Hz
LISTED
INDUSTRIAL CONTROL EQUIPMENT

SIEI
2.2. COMPONENT IDENTIFICATION
The drive switches the constant frequency and voltage of an existing three-phase line into a direct current
bus and obtains a new three-phase output with variable voltage and frequency. This variable three-phase
ouput allows the continous control of the speed of brushless motors.
2 3 4
6 7
1
Figure 2.2.1: Servodrive basic scheme
1 Line power supply voltage
2 Three-phase rectifier bridge It switches an alternating current into DC via a three-

phase bridge with full wave control.
3 Intermediate circuit With smoothing capacitors

Direct voltage (UDC) = √2 x line voltage (ULN).
4 IGBT inverter bridge It switches the DC voltage into a three-phase

alternating voltage with a variable frequency and
amplitude.
5 Configurable control section Cards controlling the power section with closed loop.
Commands, references and feedbacks are connected
to them.
6 Output voltage Alternating voltage variable from 0 to 95% of the

power supply voltage (ULN).
7 Encoder for speed and position feedback (See chapter 4.2.5).

AXV - HGB
2.3. GENERAL SPECIFICATION
2.3.1. Rules and environmental conditions
Climatic conditions: IEC 68-2 Part 2 and 3

Clearance and creepage: IEC 664-1; degree of pollution 2
Interference immunity: IEC 1000-4-2 and IEC 1000-4-4, immunity level 4
Degree of pollution: II
Vibration test: IEC 68-2 Part 6
EMC compatibility: EN 61800-3, see the “EMC Guidelines” instruction book
Drive disposal
The drives of the Axpact series can be disposed as electronic scraps in accordance with the currently valid
national regulations.
2.3.2. Line connection and drive output
Power:
The power circuit of the AXV drives can be connected to three-phase power supply line, whose range is
included between 200Vac –15% and 460Vac +10%. The drive can also be power supplied with 230Vac
single-phase line, thus decreasing the drive power by 40%.
Line frequency: 40/70 Hz ± 15%
Table 2.3.2.1: Rated power and efficiency
Type Nominal power (Kw) Efficiency (%)

AXV 6/9 2.8 96.5
AXV 10/14 4.6 96.6
AXV 23/40 11 95
axv001
Regulation:
The auxiliary circuits require a min 24Vdc (max 30Vdc) external power supply; the maximum absorbed
current is 600mA.
WARNING ! Voltage less than 24Vdc could generate an internal drive alarm.

SIEI
2.3.3. Line side current
Table 2.3.3.1: Line side current for a continuous service
Line current continuous duty

Type (IEC 146 class 1)
230Vac 400Vac 460Vac
AXV 6/9 5 5 5
AXV 10/14 9 9 9
AXV 23/40 18 18 18
axv002
2.3.4. Output
The output of the AXV drive is protected against any phase and ground short circuit. The 8 KHz switching
frequency remains constant over the entire speed range.
The maximum developed voltage is stated via the following relation: Vout = Vin x 0.95 (Vac)
The rated value of the output current depends on the line voltage and on the ambient temperature.
Table 2.3.4.1: Peak and rated current
Output nominal current continuous duty Arms

Type (IEC 146 class 1)
AXV6/9 8 6 5
AXV10/14 12 10 8
AXV23/40 32 23 18
Output max current (50% duty or 5 minutes) Arms

Type
AXV6/9 9 9 9
AXV10/14 14 14 14
AXV23/40 40 40 40
axv003

AXV - HGB
Figure 2.3.4.1: Variation % in the developed current according to the ambient temperature (oC)
2.3.5. Performance
Current loop bandwidth: 5KHz max

sampling time: 62,5µs
Speed loop bandwidth: 500 Hz max

sampling time: 125µs
resolution: 0,015rpm (2048 p/r Sincos encoder)
Position loop bandwidth: 500 Hz max

sampling time: 125µs
resolution: 33.554.432 counts/rev.
(2048 p/r Sincos encoder)
Sensor position bandwidth

digital encoder: 500 kHz
sincos encoder: 150 kHz
The bandwidths of the speed and position loop depends on the load inertia.

AXV - HGB
3. MOUNTING PROCEDURES
3.1. MECHANICAL SPECIFICATION
342
325
a 224
Figure 3.1.1: Weights and dimensions
Table 3.1.1: Weights and dimensions
Type Width (mm) Interax (mm) Weight (kg)

AXV 6/9 b = 85 a = 50 3.9
AXV 10/14 b = 85 a = 50 3.9
AXV 23/40 b = 182 a = 100 7.6
axv005
3.2. POWER LOSS
The drive dissipated power depends on the different working conditions of the connected motor. The
values of the dissipation stated in the following table refer to operation at continuous rated current. All the
models are provided with an internally powered, internal fan, which is active only in cases where the
temperature is too high. It is controlled by a thermal sensor mounted on the heatsink.
Table 3.2.1: Power loss and thermal capacity
Type Power loss (W) Thermal capacity (J)

AXV 6/9 120 1400
AXV 10/14 160 1400
AXV 23/40 300 2800
axv004
WARNING ! The AXV internal fan starts automatically when the heatsink temperature arrives
at 55°C (internal supply + 24V).

SIEI
3.3. AMBIENT CONDITIONS
Degree of protection: IP20
Installation altitude: Up to 1000 m above sea level; for higher altitudes a current
reduction of 4% for every 100 m of additional height applies.
Operating temperature: 0 ... 40°C (see figure 2.3.4.1)
Storage temperature: - 20°C ... + 70°C
Air humidity: 5% to 95%, 1g/m3 to 25g/m3 without moisture condensation

or icing (class 3K3 as per EN50178)
Vibration proof: 0.5g in all directions, 0 ... 10Hz
3.4. DRIVE MOUNTING
The drive has been designed to be assembled on a wall, on a panel board or enclosure surface and into
safe environments. Figure 3.1.1. shows the drive dimensions and the hole positions. In order to help the
dissipation of the developed heat, vertical mounting is necessary. It is also important to respect the
minimum distances between each drive and the enclosure walls and those between drives placed side by
side, as showed in figure 3.4.1.
100mm
10mm 10mm
200mm
Figure 3.4.1: Mounting distances

AXV - HGB
4. ELECTRIC CONNECTION
4.1. POWER SECTION
The power section is made of an innovative AC-AC inverter with a DC bus without electrolytic capacitors.
It is always in a position to supply the required current with the right wave shape according to the IEC 555.
It has 8KHz modulation frequency, internal braking resistance limited only by the duty-cycle, braking
chopper with a rated current, forced ventilation controlled by the drive temperature via a PTC. It is
normally protected against any module overtemperature, overvoltage, overcurrent, short circuit towards
the ground and short circuit between the motor turns. The drive connection is established via a 10-pole
removable connector. As for the motor cable, it is advisable to use a shielded cable with a 80% covering.
Table 4.1.1: Description of the power terminal strip
Terminal Description
U Motor phase U (A for UL motor blue wire)
V Motor phase V (B for UL motor red wire)
W Motor phase W (C for UL motor yellow wire)
L1 Line phase L1
L2 Line phase L2
L3 Line phase L3
BR- External brake resistor connection
DC+ Positive DC bus
DC- Negative DC bus
External brake resistor connection
BR+
(to use internal brake, connect to DC+)
axv0050
There is no physical limit for the length of the power cables between the drive and the motor, as such
length depends on the cable type, its section, its shielding etc. Anyway, for wiring longer than 25/30
meters, it is advisable to an inductor whose value is higher than or equal to the motor inductance.
4.2. REGULATION AND CONTROL SECTION
4.2.1. Connection of the C1 terminal strip
The drive connection is established via a 20-pole removable connector. As for the analog signals, it is
advisable to use a shielded cable with a 80% covering.
The relay placed on the drive and coded with RLM, RLO, RLC is programmed with the OK drive
function. The RLO contact closes when the regulation card is power supplied and no anomaly is detected.
In the same way, the RLC contact opens. The contacts revert to a rest position if no power supply is
present or if a failure occurs.

SIEI
Table 4.2.1.1: Description of the C1 terminal strip
Assigniment Function Description

1 R0P Analog input 0 positive ±10V , Zin = 10 kohm
2 R0N Analog input 0 negative ±10V , Zin = 10 kohm
5 AO0 Analog output 0 ±10V, 5mA
7 GND Analog GND 0V
8 DI0 Digital input 0 24-30V , 6,6 kohm
12 DO0 Digital output 0 24V, 100mA, PNP open collector
16 RLM Common contact relay 250Vac, 1A resistive
17 RLO N.O. contact relay 250Vac, 1A resistive
18 RLC N.C. contact relay 250Vac, 1A resistive
19 24V Regulation card external supply 24-30Vdc, 600mA
20 0V Common external supply 0V
axv0060
4.2.2. Connection of the C2 terminal strip
The drive connection is established via a 16-poles removable connector. As for the analog signals, it is
advisable to use a shielded cable with a 80% covering.
Table 4.2.1.1: Description of the C2 terminal strip

5 GND Analog GND 0V
14 REA Repetition encoder channel A 24V, 100mA, NPN open collector
15 REB Repetition encoder channel B 24V, 100mA, NPN open collector
16 REI Repetition encoder channel I 24V, 100mA, NPN open collector
axv0070

AXV - HGB
4.2.3. S1 sensor connector

The drive connection is established via a 15-pole standard D-sub connector. It is necessary to use a
shielded cable with a 80% covering.
Table 4.2.3.1: Description of the S1 connector

1 GND Analog GND 0V
2 HALL 1- Hall 1 negative sensor 0 ...5V,
square wave
3 HALL 1 Hall 1 positive sensor square wave
0 ...5V,
4 HALL 2 Hall 2 positive sensor 0 ...5V,
square wave
5 HALL 3 Hall 3 positive sensor 0 ...5V,
square wave
6 AUX + Auxiliary supply 5V
7 ENC A Digital input / output encoder ch. A positive 0 ...5V / 20mA, square wave RS422
8 PTC Digital input , motor thermal protection
9 ENC I- Digital input / output encoder ch. I negative 0 ...5V / 20mA, square wave RS422
10 HALL 2- Hall 2 negative sensor 0 ...5V, square wave
11 HALL 3- Hall 3 negative sensor 0 ...5V, square wave
12 ENC A- Digital input / output encoder ch. A negative 0 ...5V / 20mA, square wave RS422
13 ENC B- Digital input / output encoder ch. B negative 0 ...5V / 20mA, square wave RS422
14 ENC I Digital input / output encoder ch. I positive 0 ...5V / 20mA, square wave RS422
15 ENC B Digital input / output encoder ch. B positive 0 ...5V / 20mA, square wave RS422
axv0080
4.2.4. S2 sensor connector

The drive connection is established via a 25-pole standard D-sub connector. It is necessary to use a
shielded cable with a 80% covering.
Table 4.2.4.1: Description of the S2 connector

1 ENC A Analog / digital input encoder ch. A 1V pk-pk / 0 ... 5V
2 ENC B Analog / digital input encoder ch. B 1V pk-pk / 0 ... 5V
3 ENC I Analog / digital input encoder ch. I 1V pk-pk / 0 ... 5V
4 GND Analog GND 0V
5 COS - Analog input encoder COS negative 1V pk-pk absolute one cycle
6 SIN - Analog input encoder SIN negative 1V pk-pk absolute one cycle
7 HALL 1 Hall 1 positive sensor 0 ... 5V, square wave
10 GND Analog GND 0V
11 PTC+ Digital input motor thermal protection
12 RESEX Analog output resolver negative exitation 2V pk-pk / 8kHz
14 ENC A- Analog / digital input encoder ch. A negative 1V pk-pk / 0 ... 5V
15 ENC B- Analog / digital input encoder ch. B negative 1V pk-pk / 0 ... 5V
16 ENC I- Analog / digital input encoder ch. I negative 1V pk-pk / 0 ... 5V
17 COS Analog input encoder COS 1V pk-pk absolute one cycle
18 SIN Analog input encoder SIN 1V pk-pk absolute one cycle
20 HALL 1- Hall 1 negative sensor 0 ... 5V, square wave
23 ABREN Enable resolver supply low level active
24 RESEX Analog output resolver positive exitation 2V pk-pk / 8kHz
25 AUX+ Programmable encoder supply 4.5 ...15V / 250mA
axv0090

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4.2.5. ENCODER / DRIVE connections
Table 4.2.5.1: Encoder connections for motors with terminal strip
SinCos encoder Digital encoder

Ultract series motor
(standard) with Hall sensor
Encoder terminal box 25 poles S2 connector 25 poles S2 connector
UL motor AXV AXV
1 3 25
2 16 10
3 1 ( 21 )*
4 14 8
5 2 7
6 15 ( 20 )*
7 10 1
8 25 14
9 17 16
10 5 3
11 18 9
12 6 ( 22 )*
13 n.c. 15
14 n.c. 2
15 11 11
16 n.c. n.c.
17 n.c. n.c.
18 n.c. n.c.
axv0015
(*) Connect only when using a differential mode; they are not necessary for operation.
Table 4.2.5.2: Encoder connections for motors with connector
SinCos encoder Digital encoder

Ultract series motor
(standard) with Hall sensor
Encoder terminal box 25 poles S2 connector 25 poles S2 connector
UL motor AXV AXV
A 4
B 11
C 8
D 9
E 25
F 1
H 16
J 14
K 15
L 3
M 2
N Brake n.c.
P 7
R Brake n.c.
axv0016

AXV - HGB
4.3. RS 485 SERIAL INTERFACE
The drive connection is established via a 9-pole standard D-sub connector. The PC serial port is connected
with a pin to pin 9-wire connection. If the PC is not equipped with a RS485 serial port, it is possible to use
a standard RS232/RS485 converter or the SIEI interface type “PCI 485”.
The AXV drive uses a communication protocol type Slink-3. As for some specific details about the
controls and the figures used to communicate, refer to the Slink-3 specific manual.
The serial channel is programmed in the following way:
BAUD RATE: 38400

PARITY: NO
BITS PER BYTE: 8
STOP BITS: 1
RS 485 is multidrop, half duplex and 2500 Vdc isolated, the standard speed is 38400 B/R and the
hardware 1 MB.
Terminate the line at 120 Ohm via a switch on the drive panel.
For the connection of a serial link, make sure that:
- only shielded cables have been used
- the power and control cables of contactors and relays have been placed into different wireways.
Table 4.3.1: Connections of a serial link
Assigniment Function Type Max current

1 Rx TTL
2 Tx TTL
3 RxA / TxA I/O 8,3mA
4 Equipotential common (connected to 100 ohm) 8,3mA
5 GND In
6 +5V Out O
7 RxB / TxB I/O 8,3mA
8 Equipotential common (connected to 100 ohm) 8,3mA
9 Enable 485 I
axv0011

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AXV
X1
OFF
120
+5V
PE
5 4 3 2 1
9 8 7 6
RS485
Figure 4.3.1: RS485 serial link

AXV - HGB
4.4. TYPICAL CONNECTION SCHEME
K1M
MAINS CONTACTOR
K1M
K2
17 RLO
18 RLC
OK AXV
K2
START / STOP
ON / OFF
ON / START
K0
STOP
K2
OFF
S12
S11
S2
EMERGENCY
EMERGENCY
K0
L01
L00
Figure 4.4.1: Auxiliary circuits

26
I+
I-
A+
A-
B+
B-
L1 COM
L2 +5vdc
COS+
L3 COS-
PE SIN+
SIN-
Not used
F1 Not used
1 2 3 PTC+
K1M PTC-
4 5 6
PTC+
MOTOR SIGNAL TERMINAL BOX
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18
PTC-
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
L1
L2
L3
0V
GND
0V
0V
0V
0V
H1
H2
H3
BR-
DC-
SIN
BR+
DC+
PTC
H1N
H2N
H3N
GND
COS
IANA
SINN
PTC+
ENC I
AUX+
AANA
BANA
ANNA
COSN
ENC I-
ENC B
INANA
HALL 1
HALL 2
HALL 3
ENC A-
ENC B-
BNANA
ABREN
ENC A+
HALL 1-
HALL 2-
HALL 3-
RESEXP
RESEXN
AUX +5V
AXV L1 GND GND GND
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SENSOR CONNECTOR S1 SENSOR CONNECTOR S2

U
U A
V
120
M
CONNETTOR C1 CONNETTOR C2 RS485 V B

W
OFF W C
SERIAL LINKS
0V
0V
DI0
DI1
DI2
DI3
DI4
DI5
DI6
DI7
A00
A01
R0P
R1P
R2P
R0N
R1N
RLC
R2N
AO2
AO3
DO0
DO1
DO2
DO3
RLO
DO4
DO5
DO6
DO7
REA
REB
RLM
REC
GND
+24V
GND
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
X2 X3 X4
Figure 4.4.2: Typical connection scheme

START
RESET
FAULT
ENABLE
EXTERNAL
OK RELAY
-10V
+10V
K1M K2 K0
—————— Axpact-V AXV instruction manual ——————

THE CIRCUIT DIAGRAM IS FOR THE STANDARD CONFIGURATION OF THE DRIVE
EMC INSTALLATION AND WIRING TECHNIQUES ARE NOT SHOWN
0
FWD
REV
FOR THIS SEE APPROPRIATE CHAPTER
EXTERNAL
SUPPLY
AXV - HGB
4.5. PROTECTION
4.5.1. External fuses in the power section

Provide protection for the drive power input. It is possible to use time-delay fuses but extra rapid fuses
offer a higher degree of protection.
NOTE! When the terminals of the intermediate circuit (DC+ and DC-) are connected to exter-
nal devices, the protection must be provided via extra rapid fuses. For example in the
following cases:
Coupling of several drives of the intermediate circuit
Connection of external capacitors.
Table 4.5.1.1: Fuses
Drive Fuses Fuses

AXV 6/9 Jean-Müller GRD2/10 CSA 10A
axv0012
Fuse producer: Type GRD2... (E27), GRD3... (E33),

Z14... 14 x 51 mm, Z22... 22 x 58 mm Jean Müller, Eltville
FWP... Bussmann
NOTE! The fuse technical data, such as dimensions, weights, dissipated power, fuse blocks
etc., can be found in the manufactures catalogues.
4.5.2. EMC filters and AX-S power supply

AXV is a servodrive able to switch power signals with a 8KHz PWM frequency; therefore, on the basis of
the rules regarding electromagnetic compatibility, it is considered as a noise generator. In order to smooth
such effect, AXV integrates two ferrites directly into the power printed circuit: one on the three-phase
power supply line and one on the motor cable output. In order to meet the EMC levels, it is necessary,
anyway, to apply some external filters placed on the drive power supply input. The reference table is
provided below.
Table 4.5.2.1: EMI filters
Dimensions [mm] Weight

Drive Filtro EMI
L H P [kg]
AXV 6/9 EMI-520-8 EMI-480-8 50 255 126 1,1
AXV 10/14 EMI-520-19 EMI-480-19 55 305 142 1,7
AXV 23/40 EMI-520-36 EMI-480-36 60 335 150 1,8
axv0013
With multi-axis systems it is possible to do a centralized filtration, by installing one filter, of a suitable size,
at the beginning of the drive power supply input. In case such a solution turns out to be possible, use the
AX-S power supply module, which allows, in addition to the filtration, the energy exchange on the com-
mon DC bus and dynamic braking on a single module integrated resistance.
AX-S is available in a single size: 30A.

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4.6. FAST LINK CONNECTORS
The X3 and X4 connectors are used for a fast serial communication between drives by using a “field-bus”
system with a dedicated developed protocol (AXV-NET). The drives have to be connected so that the
previous X3 is connected to the following X4 and so on. X3 of the last drive is connected to X4 of the first
one, thus closing the loop. The connectors are telephone type (or type RJ) with 4 poles; also the cable is a
flat telephone type with 4 poles. The maximum allowed cable length is 0.5 meters. Following is a connec-
tion example.
NOTE ! It is available a standard AXV-NET cable with connectors, the length is 300 mm
(SIEI code S7YM4).
Max 0.5 m Max 0.5 m Max 0.5 m
X4 X4 X4 X4
X3 X3 X3 X3
AXV 1 AXV 2 AXV 3 AXV 4
Figure 4.6.1: Fast serial communication among the drives
4.7. BRAKING UNIT
During fast deceleration and/or with high inertial loads, the brushless servomotors act as generators; through
the drives they are in a position to recover energy, which flows into the intermediate circuit as direct
current. Such a condition causes a voltage increase in the DC bus; the braking unit is used in order to
prevent the voltage from reaching excessive values. The recovered energy is dissipated into heat in the
braking resistance, thus obtaining short deceleration times.
E
_ R BR
M
BU
Figure 4.7.1: Braking functioning scheme

AXV - HGB
4.7.1. INTERNAL BRAKING UNIT
All the AXV drives are equipped with an internal braking unit, derived from the IGBT power module; it is
capable of dissipating the drive rated current for short periods. An internal braking resistance is also available,
which is mounted on the drive heatsink and whose average power is 100W. In order to connect the internal
braking resistance, create a jumper between the terminals DC+ and BR+ of the power terminal strip.
Table 4.7.1.1: Internal braking unit
Internal resistor Power Current rms

TYPE
(ohm) (Wrms) (A)
AXV 6/9 80 100 6
AXV 10/14 80 100 6
AXV 23/40 25 100 14
axv0014
When the average braking power is higher than the values stated in the table, it is possible to use an external
braking resistance with a suitable power rating. In order to connect external braking resistance, connect one
end of the resistance to terminal DC+ and the other end to terminal BR- of the power terminal strip.
RBR
BR- BR-
DC+ DC+
DC- DC-
BR+ BR+
Internal braking External braking

resistor connection resistor connection
Figure 4.7.1.1: Connections for internal and external braking resistor
NOTE! It is advisable to connect the braking resistance by mounting a safety thermal contact
on the resistor to be inserted into the protection chain.
4.7.1.1. External braking resistance
Settings suggested for a use with an internal braking resistance:
Table 4.7.1.1.1: List and technical data of the normalized external resistances
Drive Resistor PNBR RBR Dimensions [mm]

Type Type [kW] [Ohm] L H P
AXV 6/9 MRI/T900 80R 0,9 80 380 160 120
AXV 10/14 MRI/T900 80R 0,9 80 380 160 120
AXV 23/40 MRI/T3000 25R 3 25 480 335 160
axv4190

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Symbol description:
P NBR Braking resistance rated power

R BR Braking resistance value
EBR Maximum energy dissipated by the resistance
P PBR Peak power applied to the braking resistance
TBRL Maximum braking time with a limit operating cycle (braking power = PPBR with
a typical triangular profile)
n,P
PPBR
EBR
TBRL t
TCL
Figure 4.7.1.1.1: Braking cycle with a typical triangular profile
TCL Minimum cycle time with a limit operating cycle (braking power = PPBR with a
typical triangular profile)
In order to prevent the resistor from being damaged, an alarm occurs when the operating cycle exceeds the
maximum allowed values.
Identification of the normalized resistances
Example: MRI/T900 68R

MRI = resistance type
900 = rated power (900 W)
T= with a safety thermostat
68R = resistive value (68 ohms)
NOTE! The suggested settings with a specific drive size and a specific resistance model allow a
rated torque braking with duty cycle TBR / T = 20%.

AXV - HGB
Where: TBR = Braking time

TC = Cycle time
P,n
TBR t
TC
Figure 4.7.1.1.2: Braking cycle with TBR / TC = 20%
The normalized resistances can be used with settings different from those stated above. Such resistances,
whose technical data are stated in the table 4.7.1.1.1, are sized for an overload equal to 4 times the rated
power for a 10-second period. They can stand an overload able to create the same energy dissipation to a
maximum power level defined by:
Where: VBR = intervention threshold of the braking unit.

Making reference to the figure 4.7.1.1.3., where the power profile is a typical triangular one, consider the
following example:
Resistance model: MRI/T600 100R
Rated power PNBR = 600 [W]

Maximum energy EBR = 4 x 600 [W] x 10 [s] = 24000 [J]
Drive power supply network = 460V
Intervention threshold VBR = 780V
VBR 2 780 2 E BR 24000

PPBR = = = 6084 [W] T BRL = 2 = 2 = 7.8[s]
R BR 100 P PBR 6084
The following relations have to be checked:
A) If TBR ≤ EBR / PNBR check that:
1) PMB ≤ 2 ⋅ EBR / TBR where: PMB is the maximum braking power required by the cycle
(see figure 4.7.1.1.3)

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x
2)
The cycle average power can not exceed the resistance rated power.
B) If TBR > EBR / PNBR that is in case of long time braking, the following relation is required PMB ≤ PNBR
n,P
PPBR
PMB
TBR t
TC
Figure 4.7.1.1.3: General braking cycle with triangular profile
If one of the above stated rules is not followed, it is necessary, by respecting the braking unit limits stated
in the table 4.7.1.1, to increase the resistance rated power.
4.7.1.2. Control of the external braking power
The braking resistance average power is defined by the following formula:
P = 0.2 · Jtot · ω2 · f
where: P = Dissipated power

Jtot = Total inertia ( Kgm2 )
ω = Max speed ( rad/sec )
f = Cycle frequency in Herz (number of cycles per second).
1
f =
TBR (sec)

AXV - HGB
4.7.1.3. External resistance interaction with the system parameters
When the external braking resistance is installed it is always necessary to carry out some modifications in
the parameters: “SISTEM \ BRAKING UNIT”.
Following are the parameters related to the braking resistance: SISTEM \ BRAKING UNIT
SYS_P_BRAKE_MAX Braking resistance power (in Watts).

As it is normally the internal braking resistance, the registered value is:
AXV 06/09 = 0 (default 0 = 100 W)
AXV 10/14 = 0 (default 0 = 100 W)
AXV 23/40 = 0 (default 0 = 200 W)
In case external braking resistance is installed, it’s necessary to modify this value
and insert that one related to the new resistance.
Example: the external braking resistance has a value of 80 ohm and 900 Watt.
Set up SYS_ P_BRAKE_MAX = 900.
SYS R_BRAKE Braking resistance value (in Ohm).

As it is normally the internal braking resistance, the registered value is:
AXV 06/09 = 0 (default 0 = 80 ohm)
AXV 10/14 = 0 (default 0 = 80 ohm)
AXV 23/40 = 0 (default 0 = 25 ohm)
In case external braking resistance is installed, it’s necessary to modify this value
and insert that one related to the new resistance.
Example: the external braking resistance has a value of 80 ohm and 900 Watt.
Set up SYS R_BRAKE = 80.
SYS OV_CLM_LIM To set up the internal braking unit operating point.

The factory this parameter is equal to a voltage value of 860V (DC link con-
tinuous voltage).
The overvoltage alarm operating point is fixed at 950V.
In case of alarm intervention due to an overvoltage with external braking resist-
ance, the turn on point of the braking unit can be reduced by this parameter.
Example: setting the intervention value at 830V.
Note ! Be careful don’t reduce this parameter too much with

main voltage supply of the drive at 460V.
SYS _BRAKE Setting of the braking resistance: it can be internal or external to the Drive. The
parameter default setting is INTERNAL. When the resistance is internal, the
Resistance and Power values are default values.

SIEI
4.7.1.4. Choice of the thermal relay
Here following is a procedure aimed at stating the coordination of a thermal relay for the protection of the
resistor bank belonging to an inverter dynamic braking system in case of a sudden failure (not detected),
when the DC bus power supply is continuous on the braking resistance.
It is anyway important to remember that the drives are supplied with a I2t function for the resistor bank
protection; such a function is in a position to avoid any possible overload.
As stated in the dimensioning procedure for the dynamical braking system, the resistor bank is featured,
with an adiabatic condition, by a possible instantaneous overload defined as Emax BR in [Joule] or as a
product given by Pmax_BR x Tmax_BR [Joule] supplied by the producer. Such parameters are able to define
the resistor overload possibility in case of continuous maximum power peaks.
According to Emax BR and to the peak power value, which the resistor bank is subject to, PPBR = V2BR / RBR
the maximum time for the peak power application is calculated as
Furthermore, the peak current on the resistors is IPK = VBR / RBR
Therefore, the time/current curves of the thermal relays are featured by an overload ratio requiring a
thermal relay intervention time lower than Tmax BR . This happens with the most unfavorable condition
caused by a curve dispersion.
Stating with K the overload ratio obtained from the curves, the current value, which the thermal relay has
to be set with, is I term = I PK / k
Now it is necessary to check that the product VBR x Iterm is higher than the average power, which can be
dissipated on the resistor bank; such value is stated during the dimensioning procedure of the braking
system.
In case the above-mentioned conditions are not satisfied, it is necessary to use a thermal relay with a time/
current feature able to obtain a K factor lower than the one stated above.
The thermal relays to be used are those coordinated for the protection of three-phase motors. In this case
it is advisable to use all the three contacts which have to be connected in series.

AXV - HGB
5. DIMENSIONING CRITERIA
Because of the high performances obtained by the drive/brushless motor set, the dynamic performance of
the entire system is strongly influenced by the mechanic of the system itself.
In particular, the following considerations are important:
- the degree of precision depends on the sensor and not on the motor
- the response speed depends on the transmission rigidity (mechanical passband)
- the system audible noise, sometimes very strong, does not depend on the motor and/or on the elec-
tronics, but on a mechanical design which is not suitable to the required performances.
- the motor noise is due to continuous acceleration and braking: in such conditions motor overheating
may occur, which may not be due to a too-small motor.
- the passband controlling the drive depends on the mechanics, as it is not possible to stabilize the
electronics less than a period equal to 3 times the ring time of the system mechanical oscillations.
The choice of the mechanical transmission must be carried out, therefore, according to the application. In
mandrel applications, with a significant transmitted power and marginal dynamic performance, common
reducer transmissions are used. In this case, the optimum economical choise.
In case of axis applications, where the system dynamic performance is fundamental, the required torque is
often equal to the sum of the motor and load inertial torques. The use of a reduction ratio in the transmis-
sion reduces, on one side, the load inertia influence, but, on the other, it increases the motor side. In such
applications, therefore, direct coupling is mainly used.
With direct coupling the system dynamics are influenced by the shaft torsional rigidity and by the relative
resonance frequency.
After choosing the motor and the transmission, it is necessary to check the application.
In case of applications whose speed and load are constant or variable for periods longer than the motor
time constant, it is sufficient to check that the maximum load is within the capacity limits stated for the
motor and the drive.
On the contrary, in applications where the load changes according to a faster cycle, do the following:
- Trace a cycle speed/time diagram, remembering that the reaching of a precise position or speed value
requires, apart from the time set by the system limit accelerations, a settling period equal to 3 times the
period of the system passband.
- Refer the system inertia and loads back to the motor axis.
- Calculate the acceleration cycle and the cycle of the relative inertial torques.
- State the cycle torque/time diagram by adding the inertial torques to the loads.
- Calculate from the torque/time diagram the cycle effective torque. If the cycle is made up of n duration
segments t1, t2, ... tn, and of their corresponding torques C1, C2, ... Cn, the cycle effective torque is
given by:

SIEI
C12 t1 + C22 t2 + … + Cn2 tn

Ceff =
t1 + t2 + … + tn
- Calculate, with the same formula, the average quadratic speed.

- Calculate the cycle average torque.
- Calculate the maximum duration period of the cycle maximum torque.
- Calculate the torque required with the cycle maximum speed.
- Calculate the cycle maximum torque.
The motor and the electronic have to be checked on the basis of the obtained data.
5.1. MOTOR CHECK
The motor check phases are:

- check of the peak torque
- thermal dimensioning
- electrical dimensioning
Check of the demagnetization current
Such check is carried out with a direct comparison with the peak current via the formula:
Cpk
Idemag = 2
Kt
where:
I demag = motor demagnetization current
C pk = cycle peak torque
Kt = motor torque constant
Check of the thermal dimensioning
Check first that the point Ceff , weff is within the area of the motor continuous operating range.
In particular, calculate the motor temperature increase, given by the relation:
Ceff
( ) ( )L
65 2 ωeff 2
∆Tmax = Ln +
Ln Tn ωn 0
where:
Ln = motor rated losses
Tn = motor rated torque
ωn = motor rated speed
L0 = motor rated losses in ωn
If the maximum temperature is higher than the motor maximum, a bigger motor is needed.

AXV - HGB
Check of the electric dimensioning
In this case, it is necessary to check that at maximum speed, the voltage required by the motor is lower
or equal to that supplied by the drive with the minimum expected power supply voltage. The following
relation must be satisfied:
Cpk C PN
(K ω (
) K )
2 2
Vmax = + Rw +
pk
ωpk Lw ≤ Emin
Kt
e pk
t 2
where:
E min = minimum voltage supplied by the drive

Ke = motor voltage constant
ωpk = cycle maximum speed
Rω = motor terminal to terminal resistance
Cpk = cycle maximum torque
PN = motor pole number
Lω = motor terminal to terminal inductance
If such condition is not satisfied, it is necessary to choose a motor with a winding suitable for a higher
speed; in this case a higher current will be needed.
5.2. CHECK OF THE DRIVE SIZE
The drive size is chosen according to the torque to be supplied to the motor with a specific winding, from
where the needed energy is derived. The thermal time constant of the drive is only a few seconds,
therefore a current supply longer than 2 seconds has to be considered as continuous current.
The peak and average currents required by the drive are provided by:
Cpk Cave
Imax = Imed =
Kt Kt
where:
Cpk = cycle maximum torque

Cav = cycle average torque
The drive must be in a position to develop continuous and peak currents higher than the calculated values;
remember that the drive maximum current must be compared to Imax only if the relative time is lower than
2 seconds; if not, the drive must have a rated current higher than Imax.

SIEI
5.3. APPLICATION EXAMPLE: FLYING CUT
Consider a continuous belt moving cutter.

The cutter is mounted on a carriage. The belt speed is 5 m/s.
The cutter must, with a command, increase its speed till reaching the belt, get synchronized with the belt
speed, keep such speed for 300 ms (cutting time), brake and return to the rest position.
The total stroke of the cutter carriage is 5 m. The cutter weighs 80 kilos plus the motor weight.
As the mechanical transmission system is rather complex, it is necessary to provide a speed stabilization
time Tst with transients to about 150 ms.
The cutting space with a constant speed is given by:
St = Vt x (Tt + Tst) = 5 x (300 x 10-3 + 150 x 10-3) = 2.25 m
The carriage will run across the remaining space during its acceleration and deceleration phase. If these two
spaces are equal:
Sacc = Sdec = (Stot - St) / 2 = (5 - 2.25) / 2 = 1.375 m
The average speed during the acceleration is:
Vmed = Vmax / 2 = 5 / 2 = 2.5 m/s
The acceleration and deceleration times are:
Tacc = Sacc / Vmed = 1.375 / 2.5 = 550 ms
The acceleration (and deceleration) is:
a = Vmax / Tacc = 5 / 0.55 = 9.091 m/s2
Assuming that the motor weight is about 20 kilos, the required inertial power is:
F = a x (Mcarr + Mmot) = 9.091 x (80 + 20) = 909.091 N
The total semi-cycle time is:
Tsc = 2 x Tacc + Tst + Tt = 2 x 0.550 + 0.150 + 0.300 = 1.55 s
The transmission is carried out via a pinion and a rack. The pinion dimensions are:
diameter Dp = 40 mm
length hp = 30 mm

AXV - HGB
The speed, acceleration and inertia brought to the motor axis are:
Speed: ωmax = Vmax / (Dp/2) = 5 / (0.04/2) = 250 rad/s
Acceleration: ma = a / (Dp/2) = 9.091/ (0.04/2) = 454.545 rad/s2
Inertia: J = Mtot x (Dp/2)2 = 100 x (0.04/2)2 = 0.04 kgm2
The pinion inertia is given by:
Jp = (Dp/2)4 x hp x π x δ = 5.806 x 10-5 Kgm2
where δ is the density of the material forming the pinion (steel).
Check now a UL7.14.30 motor with an inertia of 0.0017 kgm2.

The total inertia is:
Jtot = J + Jp + 0.0017 = 0.04 + 5.806 x 10-5 + 0.0017 = 0.0417 kgm2
Assuming a pinion efficiency equal to 0.95, the maximum torque required to the motor is:
Cmax = ma x Jtot / 0.95 = 454.545 x 0.0417 / 0.95 = 19.98 Nm
The average and effective torques are therefore:
Cmed = Cmax x Tacc x 2 / Tsc = 14.179 Nm
Ceff = Cmax x (2 x Tacc / Tsc)1/2 = 16.832 Nm
As the cycle effective torque is lower than the motor rated torque, a motor of a bigger size must be chosen.
Repeating the operations for a UL7.19.30 motor with an inertia of 0.0023 kgm2, the obtained average
torque is 14.383 Nm while the effective torque is 17.073 Nm. The motor is therefore suitable for the
application with a high margin.
Given the torque constant Kt = 1.77, the average and maximum current absorbed by the motor are:
Imax = Cmax / Kt = 11.4 A
Imed = Cmed / Kt = 8.1 A
The drive size to be used with the present application is therefore AXV 10/14.

AXV - HGB
6. MAINTENANCE
6.1. CARE
The drives of the AXV series must be installed according to the relevant installation regulations. They do
not require any particular maintenance. They should not be cleaned with a wet or moist cloth. The power
supply must be switched off before cleaning.
6.2. SERVICE
The screws of all terminals on the drive should be re-tightened two weeks after initial commissioning.
This should be repeated each year. If the drives have been stored for more than three years, the capaci-
tance of the intermediate circuit capacitors may have been impaired. Before commissioning these drives, it
is advisable to supply power to the drives for at least two hours in order to regain the capacitor original
ratings. To this purpose apply an input voltage without applying any load on the output.
After these steps, the drive is ready to be installed without limits.
6.3. REPAIRS
Repairs of the drive should only be carried out by qualified personnel (suggested by the manufacturer).
If you carry out a repair on your own, observe the following points:
- When ordering spare parts do not only state the drive type but also the drive serial number. It is also
useful to state the type of the regulation card and the system software version.
- When changing the cards ensure that the positions of switches and jumpers are observed!
6.4. CUSTOMER SERVICE
For customer service, please refer to your SIEI S.p.A. office.

AXV - HGB
7. TROUBLESHOOTING
The L1 LED placed on the drive front side is used as a functioning and alarm diagnostic.
When no alarm occurs on the drive, the LED is lighted up with a green color.
When the RS485 serial line is active on the drive, the LED is lighted up with a yellow color.
In case an alarm occurs, the LED blinks with a color intermittent sequence, stating the alarm origin code.
A 5-blink sequence is developed, followed by a pause and then repeated.
Sequence interpretation: greeen LED value 0

red LED value 1
Example: If the blink sequence is the following:
green → 0 x ( 24 ) = 0
green → 0 x ( 23 ) = 0
red → 1 x ( 22 ) = 4
red → 1 x ( 21 ) = 2
red → 1 x ( 20 ) = 1
→ for a total of 7
the alarm code is 7 (Motor Overtemperature).
Code 00001 Error n. 1 BRIDGE DESATURATION

Short circuit on the motor winding or on the power bridge.
Code 00010 Error n. 2 OVERCURRENT

Overcurrent protection intervention.
The cause could be an incorrect setting of the current regulator gains as com-
pared to the application.
Code 00011 Error n. 3 DC LINK OVERVOLTAGE

Overvoltage on the intermediate circuit.
The braking resistance is not connected in the right way or it is open.
The threeshold is 950V.
Code 00100 Error n. 4 HEATSINK OVERTEMP

Drive thermal protection.
The working cycle is too high for the drive size.
Code 00101 Error n. 5 MODULE JUNCTION OVERTEMP

Thermal protection of the power module.
The working cycle is too high for the drive size.

SIEI
Code 00110 Error n. 6 BRAKE DESATURATION

Short circuit on the braking resistance.
Code 00111 Error n. 7 MOTOR OVERTEMP

Intervention of the motor thermal protection. Overtemperature on the motor
winding or PTC sensor not connected to the drive.
Code 01000 Error n. 8 AUX POWER UNDERVOLT

Too low power supply voltage on the regulation circuit.
Code 01001 Error n. 9 DSP PROG ERROR

Firmware error.
Code 01010 Error n. 10 PRG 16KHZ OVERTIME

Firmware error.
Code 01011 Error n. 11 INVALID FLASH PARMS

The parameter value is not recognized. Do the Parameter Saving and Drive Reset
commands with the correct parameters.
Code 01100 Error n. 12 BAD FLASH MEMORY

Firmware error.
Code 01101 Error n. 13 BRAKE OVERPOWER

The internal braking resistance is too warm because of a too high working cycle.
Wait 30 seconds and give the Drive Reset command. The resistance temperature
is calculated by an algorithm of the drive.
Code 01110 Error n. 14 NTC DISCONNECTED

Alarm intervention on the drive internal NTC sensor; such sensor measures the
temperature. The NTC sensor could be damaged or the circuit could be interrupted.
Code 01111 Error n. 15 BRAKE ERROR

Intervention of braking alarm.
Code 10000 Error n. 16 LOCK DRIVE

Firmware error.
Code 10001 Error n. 17 DI ENCODER COUNT

The number of pulses of the feedback digital encoder between two index pulses
(zero slot) is not correct. Check the Encoder pulses parameter, the encoder
wiring and the ground and shielding connections.
Code 10010 Error n. 18 AD ENCODER COUNT

The number of pulses of the feedback sinusoidal encoder between two index
pulses (zero slot) is not correct. Check the Encoder pulses parameter, the en-
coder wiring and the ground and shielding connections.

AXV - HGB
Code 10011 Error n. 19 ENCODER SIMULATION

Encoder simulation alarm. Check the encoder simulation parameters.
Code 10100 Error n. 20 UNDERVOLTAGE

The function is only checked when the drive is enabled. The error is when the
DC bus voltage is less than 400V (default setting). The threeshold can be
modified setting the system parameter 18125 “SYS_UV_V_MIN”.
Code 11001 Error n. 25 EB-BUS LOSS

It gets automatically active if the bus communication at a HS or VHS level is
not present.
Code 11010 Error n. 26 EB-GENERIC FAIL

It gets active to signal any card problem: hardware, software, configuration
problem etc. In order to state the real problem causing such a condition, see the
“EB FAIL CAUSE” parameter.
Code 11011 Error n. 27 SEQUENCE ERROR

It gets active when the drive is power supplied with an active enable input.
Code 11100 Error n. 28 FAST LINK ALARM

It occurs in slave drives when the AXV-NET communication is phisically inter-
rupted.
Code 11101 Error n. 29 POSITION ERROR

It occurs in position slave and electrical line shaft slave modes, when the posi-
tion error is bigger than 8.388.608 counts (equal to 512 encoder pulses). The
threeshold level can be modified by setting the system parameter 18108
“SYS_POS_ERR_MAX”.
Code 11111 Error n. 31 EXTERNAL FAULT

External alarm. A digital input has been programmed as an external alarm, but
+24V is not available on this terminal.
The alarms 23 and 24 are programmable and they are dedicated only to MDPLC firmware
applications.

AXV - HGB
8. SETTINGS AND COMMISSIONING
8.1. MENU STRUCTURE
MONITOR
20040 ACTUAL SPEED
20041 MOTOR CURRENT
20043 DC LINK VOLTAGE
20044 DRIVE TEMPERATURE
DRIVE PARAMETERS
20000 DRIVE MAXIMUM CURRENT
20021 DRIVE ADDRESS
20023 DRIVE CONFIGURATION
20024 DRIVE BAUDRATE
20025 DRIVE SERIAL CONFIG
20026 DRIVE SER DELAY TIME
18110 DRIVE FAST LINK
20022 DRIVE FIRMWARE
29004 DRIVE ACTUAL CONFIG
MOTOR PARAMETERS
20002 MOTOR NUMBER OF POLES
20003 MOTOR MAXIMUM SPEED
ENCODER PARAMETERS
20010 ENCODER TYPE
20011 ENCODER PULSES
20012 ENCODER SUPPLY
RAMP
21102 RAMP ACC CW
21103 RAMP ACC CCW
21104 RAMP DEC CW
21105 RAMP DEC CCW
21210 RAMP ENABLE
21212 RAMP OUTPUT
SPEED
21200 SPEED REF1
21201 SPEED REF2
21204 SPEED MAX POS
21205 SPEED MAX NEG
21206 SPEED THR
21207 SPEED THR OFFSET
21213 SPEED THR DELAY
CURRENT
22000 T CURR REF1
22001 T CURR REF2
22004 T CURR LIM +
22005 T CURR LIM -
22007 T CURR THR
22009 MAX SPEED CUR LIM
22010 CURR THR DELAY
axv5010

SIEI
SPEED / POSITION GAINS

23000 GAIN SPEED
23001 GAIN POS
23002 GAIN INT
DIGITAL INPUTS
20100 DIGITAL INPUT 0
20162 DIG IN NEG
20163 DIG IN STATUS
DIGITAL EXPANSION INPUTS

20150 EXP DIGIT INPUT 0
20164 EXP DIG IN STATUS
VIRTUAL DIGITAL INPUTS

20170 VIRT DIGIT INPUT 0
20186 VIRT DI STATUS
20187 VIRT DI AT START
20188 VIRT DI AT DISABLE
20189 VIRT DI RESET AT FAIL
axv5020

AXV - HGB
DIGITAL OUTPUTS
20200 DIGITAL OUTPUT 0
20254 DIG OUT NEG
20255 DIG OUT STATUS
VIRTUAL DIGITAL OUTPUTS

20270 VIRT DIGIT OUTPUT 0
20289 VIRT DO RESET AT FAIL
20290 VIRT DO SET AT FAIL
20286 VIRT DO STATUS
DIGITAL EXPANSION OUTPUTS

20250 EXP DIGIT OUTPUT 0
20256 EXP DIG OUT STATUS
axv5030a

SIEI
ANALOG INPUTS
20300 ANALOG INPUT 0
ANALOG INPUT 0
20310 AN INPUT READ 0
20320 AN INPUT OFFSET 0
20330 AN INPUT ZPOS 0
20340 AN INPUT ZNEG 0
20350 AN INPUT SCALE 0
20360 AN INPUT VALUE 0
ANALOG INPUT 1
ANALOG INPUT 2
ANALOG OUTPUTS
20400 ANALOG OUTPUT 0
ANALOG OUTPUT 0
20410 AN OUTPUT WRITE 0
20420 AN OUTPUT SCALE 0
20430 AN OUTPUT OFFSET 0
20440 AN OUTPUT VALUE 0
ANALOG OUTPUT 1
ANALOG OUTPUT 2
ANALOG OUTPUT 3
axv5030

AXV - HGB
ENCODER REPETITION
20030 ENC PULSES REV
20032 GAIN INDEX STEP
20033 INDEX OFFSET
20034 INDEX OFFSET READ
20035 ENABLE ENC REPETITION
JOG FUNCTION
21000 JOG LIMIT
21001 JOG SET REFERENCE
21002 JOG REFERENCE
21003 JOG ACC CW
21004 JOG ACC CCW
21005 JOG DEC CW
21006 JOG DEC CCW
MULTI SPEED FUNCTION

21301 MULTI SPEED 1
21302 MULTI SPEED 2
21303 MULTI SPEED 3
21304 MULTI SPEED 4
21305 MULTI SPEED 5
21306 MULTI SPEED 6
21307 MULTI SPEED 7
21310 MULTI SPEED INDEX
21311 MULTI SPEED SERIAL
MULTI RAMP FUNCTION

21440 MULTI RAMP INDEX
21441 MULTI RAMP SERIAL
MULTI RAMP 1
21401 MULTI RAMP ACC CW1
21411 MULTI RAMP ACC CCW 1
21421 MULTI RAMP DEC CW 1
21431 MULTI RAMP DEC CCW 1
MULTI RAMP 2
21402 MULTI RAMP ACC CW 2
MULTI RAMP 3
21403 MULTI RAMP ACC CW 3
axv5040

SIEI
POSITION PARAMETER
30010 POS ACC CW
30011 POS ACC CCW
30012 POS DEC CW
30013 POS DEC CCW
30014 POS SPEED
30015 POS CURRENT
30094 POS STOP DEC
30016 POS ACTUAL POS
POS FUNCTION
30000 MEAS UNIT PER REV
30017 POS MINIMUM PRESET
30018 POS MAXIMUM PRESET
30055 POS MINIMUM ABS
30056 POS MAXIMUM ABS
30090 POS PRESET INDEX
30092 POS PRESET SERIAL
30091 POS ABS
30093 POS CONFIGURATION
30080 POS DEST REV
30081 POS DEST POS
POS THR CONFIG

30050 POS ABSTHR
30051 POS THR
30052 POS THROFF
30053 POS THR NEAR 1
30054 POS THR NEAR 2
POS PRESET [0]

30100 POS PRESET [0]
30200 POS SPEED [0]
30300 POS ACC [0]
30400 POS DEC [0]
POS PRESET [1]

30201 POS SPEED [1]
30301 POS ACC [1]
30401 POS DEC [1]
POS PRESET [2]

30202 POS SPEED [2]
30302 POS ACC [2]
30402 POS DEC [2]
axv5050

AXV - HGB
POS PRESET [3]

30203 POS SPEED [3]
30303 POS ACC [3]
30403 POS DEC [3]
POS PRESET [4]

30204 POS SPEED [4]
30304 POS ACC [4]
30404 POS DEC [4]
POS PRESET [5]

30205 POS SPEED [5]
30305 POS ACC [5]
30405 POS DEC [5]
POS PRESET [6]

30206 POS SPEED [6]
30306 POS ACC [6]
30406 POS DEC [6]
POS PRESET [7]

30207 POS SPEED [7]
30307 POS ACC [7]
30407 POS DEC [7]
POS PRESET [8...63]

301.. POS PRESET [...]
ZERO FOUND CONFIG

30020 POS ACC CW 0
30021 POS ACC CCW 0
30022 POS DEC CW 0
30023 POS DEC CCW 0
30024 POS SPEED MAX 0
30025 POS SPEED REFERENCE 0
30027 POS SPEED FINE 0
30030 POS ZPOS
30031 POS 0 FOUND
30035 POS ZREV OFFSET
30029 POS ZREV
ZERO RETURN CONFIG

30026 POS SPEED RET 0
30032 POS ACC RET 0
30033 POS DEC RET 0
30034 POS DSPEED RET 0
axv5060

SIEI
ELECTRICAL LINE SHAFT

32000 ELS PULS REV MAST
32008 ELS DELTA TIME
32009 ELS MASTER SEL
32014 ELS DELTA RATIO
32020 ELS SLIP
19113 POSITION ERROR
ELECT LINE SHAFT RATIO

32001 ELS RATIO [0]
32002 ELS RATIO [1]
32003 ELS RATIO [2]
32004 ELS RATIO [3]
32005 ELS ACT RATIO
32006 ELS RATIO INDEX
32007 ELS RATIO SERIAL
ELECT LINE SHAFT R BAND

32100 ELS RB SPEED MAX
32104 ELS RB SPEED REF
32101 ELS RB TIME
32102 ELS RB ACC
32103 ELS RB DEC
FAILURE REGISTER
24000 DRIVE FAULT
24001 EXTERNAL FAULT
24002 BRIDGE DESATURATION
24003 OVERCURRENT
24004 DCLINK OVERVOLTAGE
24005 HEATSINK OVERTEMP
24006 MOD JUNCT OVERTEMP
24007 BRAKE DESATURATION
24008 MOTOR OVERTEMP
24009 AUX POWER UNDERVOLT
24010 DSP PROG ERROR
24011 PRG 16KHZ OVERTIME
24012 INVALID FLASH PARMS
24013 BAD FLASH DEVICE
24014 BRAKE OVERPOWER
24015 NTC DISCONNECTED
24016 BRAKE ERROR
24017 LOCK DRIVE
24018 DI ENCODER COUNT
24019 AD ENCODER COUNT
24020 ENCODER SIMULATION
24021 UNDERVOLTAGE
24026 EB-BUS LOSS
24027 EB-GENERIC FAIL
24028 SEQUENCE ERROR
24029 FAST LINK ERROR
24030 POSITION ERROR
24040 FIRST ALARM
axv5070

AXV - HGB
FAILURE QUEUE
24200 DRIVE FAULT ( 0 )
24201 DRIVE FAULT TIME ( 0 ) sec.
24581 DRIVE FAULT TIME (19 ) sec.
PROGRAM ALARM
24100 ALARMS TO MASK
24101 ALARMS TO DELAY
24102 ALARM TO DELAY
axv5080

SIEI
EXPANSION BOARD
40000 EB TYPE
EB FIELD BUS
40100 EB ADDRESS
40101 EB BAUDRATE
40110 EB CC ENABLED
40111 EB HS ENABLED
40112 EB VHS ENABLED
40102 EB MAX NUM BYTE M->S
40103 EB MAX NUM BYTE S->M
40104 EB CONFIGURABILITY
40105 EB MAYOR FW VERSION
40106 EB MINOR FW REVISION
40107 EB COMPATIBILITY INDEX
40108 EB NUM BYTE M->S
40109 EB NUM BYTE S->M
40113 EB STATUS
40114 EB FAIL CAUSE
EB 1st M->S PARAMETER

40200 EB IPA
40210 EB FORMAT
40220 EB EXP

40201 EB IPA
40211 EB FORMAT
40221 EB EXP

40202 EB IPA
40212 EB FORMAT
40222 EB EXP

40203 EB IPA
40213 EB FORMAT
40223 EB EXP

40204 EB IPA
40214 EB FORMAT
40224 EB EXP

40205 EB IPA
40215 EB FORMAT
40225 EB EXP
axv5081

AXV - HGB

40206 EB IPA
40216 EB FORMAT
40226 EB EXP

40207 EB IPA
40218 EB FORMAT
40228 EB EXP
EB 1st S->M PARAMETER

40300 EB IPA
40310 EB FORMAT
40320 EB EXP

40301 EB IPA
40311 EB FORMAT
40321 EB EXP

40302 EB IPA
40312 EB FORMAT
40322 EB EXP

40303 EB IPA
40313 EB FORMAT
40323 EB EXP

40304 EB IPA
40314 EB FORMAT
40324 EB EXP

40305 EB IPA
40315 EB FORMAT
40325 EB EXP

40306 EB IPA
40316 EB FORMAT
40326 EB EXP

40307 EB IPA
40317 EB FORMAT
40327 EB EXP
axv5082

SIEI
EB HS CHANNEL M->S
40400 EB HS M->S ERROR MAP
40401 EB HS M->S ERROR IPA
40402 EB HS M->S ERROR VALUE
40403 EB HS M->S ERROR
EB HS CHANNEL S->M
40500 EB HS S->M ERROR MAP
40501 EB HS S->M ERROR IPA
40502 EB HS S->M ERROR VALUE
40503 EB HS S->M ERROR
SYSTEM
18100 SYS_ IC_P_FAK
18101 SYS _IC_I_ FAK
18102 SYS _IC_D_FA K
BRAKING UNIT
18124 SYS_ OV_CL_LIM
18123 SYS_BRAKE
18107 SYS_P_BRAKE_MAX
18109 SYS_R_BRAKE
DIGITAL OUTPUT RESET

18117 SYS_DO_RESET_AT_FAIL
18118 SYS_DO_SET_AT_FAIL
UNDERVOLTAGE LIMITS
18125 SYS_UV_V_MIN
18121 SYS_UV_P_FAK
SERVICE
axv5083
8.2. PC CONFIGURATOR
The configurator WIN AXV is a program supplied together with the product.
Its installation requires a PC with a Windows 95 system, with minimum 8 meg RAM. Contact SIEI if you
have another operating system.
The configurator communicates with the drive using the Slink-3 protocol.
Together with the drive parameterization, the configurator allows to download the firmware in order to
create some personalized applications using the MDPLC developing environment.

AXV - HGB
8.3. COMISSIONING
Before powering up the drive, carry out the following verifications:
- Check the connections with the line L1, L2, L3
- Check the connections with the motor U, V, W
- Check the breaking resistance connection (if present)
- Check the connections with the encoder S2 and/or S1 (if present)
- Check the input connection 24Vdc
- Check the I/O connections
- Check all the drive and motor ground connections
After having checked as shown above, it’s possible now to power the drive; then check:
- Line voltage (max permissible voltage 460Vac + 10%)
- Voltage of the intermediate circuit DC bus (270-350 for input voltage 230Vac, 480-650Vdc for input
voltage 400Vac, 550-715 for input voltage 460Vac; if the measured voltage is not in the indicated
range, check the line voltage)
- Regulation input voltage 24Vdc (term.19-20 of the connector C1) if the voltage is lower than 24Vdc,
the drive may not work, if the voltage is higher than 30Vdc the drive could be damaged.
8.3.1. Connection with the PC

The drive is delivered from the factory with a standard configuration in the speed mode. The input
and output state is already programmed as in the following example; therefore user is able to start up
the drive control and run the motor immediately (when used a motor series UL with encoder sin.cos
at 2048 p/r).

SIEI
To perform the correct parameter settings, it’s necessary to use the configurator WIN AXV. Connect the
drive to your PC using the serial communication as suggested in the manual; check the termination resist-
ance switch must be on 120 ohm position. In the Windows menu Start/Programs/Axpact AXV execute the
command WinAxv to start up the configurator. After starting the configurator, open from the File/Open
menu the Basic Vx_xxx.par file, where x_xxx states the version of the Basic firmware.
This file includes the list of all the parameters resident in the drive. The data is split into several windows
and a menu tree, typical of the Windows system, therefore easy to understand. When the Basic file has
opened, the PC will connected automatically with the drive and communicate. If you see no errors after
opening the Basic file, the drive is communicating with the PC (for commands and configurators specifica-
tions refer to the instruction manual of WIN AXV).
8.3.2. Essential parameters set up

The essential parameters to check before starting the motor are:
MENU PARAMETER
DRIVE CONFIGURATION DRIVE MAXIMUM CURRENT
MOTOR PARAMETERS MOTOR NUMBER OF POLES
MOTOR MAXIMUM SPEED
ENCODER PARAMETERS ENCODER TYPE
ENCODER PULSES
ENCODER SUPPLY
axv5091
It’s now possible to enable the drive and rotate the motor in the function of the inputs configuration and
setup. As an example three types of configurations are described.

AXV - HGB
8.3.3. Example in speed mode configuration
Terminal C2 Function Max

1 R2P
Not configurated ±10V
2 R2N
3 AO2 Configurated as +10V ±10V
P1 4 AO3 Configurated as -10V ±10V
5 GND Analog GND 0V
K5
6 DI4 Configurated as End run reverse 30V
K6
7 DI5 Configurated as End run forward 30V
K7
8 DI6 Configurated as External fault 30V
K8
9 DI7 Configurated as Failure reset 30V
10 DO4 Configurated as Drive fault 24V
11 DO5 Configurated as External fault 24V
12 DO6 Not configurated 24V
14 REA Repetition encoder channel A 24V
15 REB Repetition encoder channel B 24V
16 REI Repetition encoder channel I 24V

1 R0P
Configurated as Ramp ref 1 ±10V
2 R0N
3 R1P
4 R1N
5 AO0 Configurated as Actual speed ±10V
6 AO1 Configurated as Motor current ±10V
7 GND Analog GND 0V
K1
8 DI0 Configurated as Enable drive 30V
K2
9 DI1 Configurated as Start/Stop 30V
K3
10 DI2 Configurated as Ramp in = 0 30V
K4 11 DI3 Configurated as Inverse 30V
12 DO0 Configurated as Drive OK 24V
13 DO1 Configurated as Speed reached 24V
14 DO2 Configurated as Speed = 0 24V
15 DO3 Configurated as Current limit 24V
16 RLM OK relay common contact 250V
17 RLO OK relay open contact 250V
18 RLC OK relay closed contact 250V
External
power 19 24V Regulation card external supply +24V
supply 20 0V Common external supply 0V
Essential setting:
The drive is default configured in the speed mode.

After the principal settings (motor, encoder, max speed and max current) change the digital inputs/outputs
configuration and analog inputs/outputs configuration as shown.

SIEI
8.3.4. Example in position mode configuration

1 R2P
2 R2N
4 AO3 Configurated as -10V ±10V
5 GND Analog GND 0V
K5
6 DI4 Configurated as Pos-preset 0 30V
K6
7 DI5 Configurated as Pos-preset 1 30V
K7
K8

1 R0P
2 R0N
3 R1P
4 R1N
7 GND Analog GND 0V
K1
K2
9 DI1 Configurated as Start pos 30V
K3
10 DI2 Configurated as Pos 0 search 30V
K4
11 DI3 Configurated as Pos 0 sensor 30V
13 DO1 Configurated as Pos reached 24V
External
19 24V Regulation card external supply +24V
power
Essential setting:
Drive parameter → Drive configuration → Position

Configure as shown the digital inputs/outputs and analog inputs/outputs.
Configure 0 search in Position menu the parameters Zero found config and Zero return config.
Configure Preset position in Pos preset XX menu.

AXV - HGB
8.3.5. Example in electrical line shaft configuration

1 R2P
2 R2N
4 AO3 Configurated as -10V ±10V
5 GND Analog GND 0V
K5
6 DI4 Configurated as Els-inc ratio 30V
K6
7 DI5 Configurated as Els-dec ratio 30V
K7
K8

1 R0P
2 R0N
3 R1P
4 R1N
7 GND Analog GND 0V
K1
K2
9 DI1 Configurated as Els-ratio sel bit 0 30V
K3
10 DI2 Configurated as Els-ratio sel bit 1 30V
K4
11 DI3 Configurated as Els-ramp ratio dis 30V
13 DO1 Configurated as Pos reached 24V
External
power 19 24V Regulation card external supply +24V
Essential setting:
Configuration using hardware transmission on S1 connector
Drive Master Configured in Speed mode

Encoder repetition Enable enc repetition (Encoder + index)
Enc pulses rev (as desired)

SIEI
Drive Slave Configure as shown digital inputs/outputs and analog inputs/outputs.

Drive parameters Drive configuration (Line shaft)
Electrical line shaft Els puls rev master (Encoder master pulses)
Els master sel (Encoder)
Els ratio [0] (as desired)
Configuration using syncronous serial communication on X3 and X4 connectors

Drive Master Configurated in Speed mode
Drive parameters Drive fast link (Master X3)
Encoder repetition Enable enc repetition (OFF)
Drive Slave Configure as shown digital inputs/outputs and analog inputs/outputs.
Drive parameters Drive configuration (Line shaft)
Drive fast link (Slave X4)
Electrical line shaft Els puls rev master (Encoder master pulses)
Els master sel (Fast link)
Els ratio [0] (as desired).
8.4. DOWNLOAD FIRMWARE
The standard firmware loaded at the factory is an application called Basic.

The Basic application firmware is composed of 2 files.
- the low level firmware or firmware library (Basic.sre).
- the parameters file, used by the user for the drive application settings (Basic V3_000.par).
The firmware is already installed in the factory during the drives test; normally, therefore, the user only
needs the application file parameters (Basic.par) to configure and set up the drive.
When it’s necessary to use the drive for the dedicated applications, created by the customer, by the specific
program MDPLC, or perform upgrade of the firmware version, it’s possible to perform a firmware download,
from the PC into the drive, through the configurator and the serial communication RS485.
The firmware files have loaded directly into the user’s PC, during the configurator installation of WIN
AXV. They are identified as showed above, normally they are located in the file “Service”.
1) To perform a firmware upgrade:

- Open the configurator WIN AXV.
- Enable communication with the drive from the menu “Target/connect”.
- From the menu “Service/Load firmware” select the command “Browse”.
- The file Basic V3_000.sre of the last version will be indicated default, choose it and select the com-
mand “Load”.
- At this time the firmware download is activated, and the data quantity (number Bytes) transferred is
shown on the screen. The Basic is composed of nearly 90.000 bytes and the download time is around
60 sec.
- Reset the drive with the command of reset from configurator, or turn off and on the 24 vdc supply.
- In the menu “File/Open” open the Basic V3_000.par file.
- In the menu “Parameters/Write all” copy all the system parameters in the drive.

AXV - HGB
- In the menu “Parameters/Save parameters” save all the parameters in the drive.
- Reset the drive with the command “reset” configurator, or turn off and on.
At this time the firmware updating has finished, now the user can proceed setting the drive as desired.
2) To set up the drive in the MDPLC mode:
- Open the configurator WIN AXV.

- Enable communication with the drive in the menu “Target/connect”.
- In the menu “Service/Load firmware” select the command Browse.
- Search the file Vplc.sre and select the command Load.
- During the firmware download, the screen displays the data quantity (number Bytes) transferred.
- Reset the drive with the command of reset from configurator, or turn off and on the 24 vdc supply.
- In the menu “File/Open” open the Parameter MDPLC.par file .
- In the menu “Parameters/Write all” copy all the parameters in the drive.
- In the menu “Parameters/Save parameters” save all the parameters in the drive.
- Reset the drive with the command “reset”, or turn off and on the 24 vdc supply.
Now the drive is set up in the MDPLC mode and it’s ready to receive the dedicated application created
by the specific program.
NOTE ! The drive can be set up in the MDPLC mode only if the user has previously executed
the installation of the program in his own PC. That program, distributed with CDRom,
includes, as well as the compiler IEC1131, and the firmware file Vplc.sre.
8.5. ENCODER SIN.COS PHASING
The knowledge of the right phase ratio between the current and the motor magnetic angle is fundamental
for the drive performances.
All the motors are factory-phased. If the encoder has to be replaced, for example because of a failure, the
instructions below have to be followed:
1) Make sure that the drive has been disabled.

2) Free the motor shaft from possible mechanical couplings, in order to let the shaft rotate freely.
3) Via the BasicV3_000.par file set the Drive configuration (20023) parameter with ENCODER
PHASING
3) After writing the parameter, give the SAVE and RESET commands.
(With this functioning condition, the digital input 0 is default set with the ENABLE command, while
the digital input 1 with the RESET command).
4) Enable the digital input 0 via a +24V .

SIEI
5) The motor rotates in a clockwise direction, seen from the motor shaft side, it performs one revolution
and it is torque-stopped in a fixed point (make sure that the motor rotates in a clockwise direction,
otherwise check the wiring).
6) Loosen the encoder regulation screws and rotate the encoder by hand till the 4 digital outputs (DO0-
DO1-DO2-DO3) reach a high logic level.
The digital outputs state the phasing error: DO3 states that the O.k. phasing point has nearly been
reached with a maximum allowed error; a sequential reduction of such error takes DO2 -DO1-DO0 to
a high logic level. The O.k. phasing point has been reached when the DO3-DO2-DO1-DO0 digital
outputs are active.
7) After reaching the O.k. phasing point, fix the encoder mechanically.
8) Give a drive-reset command via the digital input 1.
9) Perform a new phasing command; the motor has to stop in the previously fixed O.k. phasing
point (the DO3-DO2-DO1-DO0 digital outputs HAVE TO BE ACTIVE, otherwise repeat the
points 6 and 7).
10) At the end of the procedure, set, via the BasicV3_000.par file, the Drive configuration (20023)
parameter with Speed (drive SAVE and RESET command) and check the motor functioning
condition.
Such a procedure can be performed via the control panel function on the Win AXV configurator.
8.6. DIGITAL ENCODER + HALL SENSOR PHASING
Procedure aimed at performing the phasing of a digital encoder + Hall traces.

In order to perform such a procedure it is necessary to enable the Motor window function of the Win AXV
configurator and to pull the HA POSITION (19022) parameter: Service —> serv. HA encoder —> HA
POSITION menu.
The encoder configuration (encoder type parameter) has to be digital+hall.
Make sure that the drive has been disabled.
1) Free the motor shaft from possible mechanical couplings, in order to let it rotate freely.
Via the BasicV3_000.par file, set the Drive configuration (20023) parameter with ENCODER
PHASING
2) After writing the parameter, give the SAVE and RESET command.
(With this functioning condition, the digital input 0 is default set with the ENABLE command while the
digital input 1 with the RESET command).
3) Enable the digital input 0 via a +24V. The motor rotates in a clockwise direction, seen from the motor
shaft side, it performs one revolution and it is torque-stopped in a fixed point (make sure that the motor
rotates in a clockwise direction, otherwise check the wiring).
4) Loosen the encoder regulation screws and rotate the encoder by hand till the HA POSITION value in
the monitor window reaches 14336. The 14336 value has to be closed to a possible switching with
18432.
5) After reaching the O.k. phasing point, fix the encoder mechanically.
6) Give a drive-reset command via the digital input 1.
7) Perform a new phasing command; the motor has to stop in the previously fixed O.k. phasing point.
8) At the end of the procedure, set, via the BasicV3_000.par file, the Drive configuration (20023)
parameter with Speed (drive SAVE and RESET command) and check the motor functioning
condition.

AXV - HGB
9. FUNCTION DESCRIPTION
The standard factory-loaded AXV application (or firmware) allows torque, speed, position and electric
shaft regulation. The drive is default supplied with speed regulation parameterization. The four regulation
modes are correlated one with the other and are enabled via a suitable bit parameter which can be
addressed as a digital input.
9.1. MONITOR
Value Access via

PARAMETER No. Format
min max Factory RS485 Terminal
ACTUAL SPEED (rpm) 20040 float 0 10000 - R
MOTOR CURRENT (A) 20041 float 0 Drive size - R
DC LINK V OLTAGE (V) 20043 float 0 1000 - R
DRIVE TEMPERATURE (°C) 20044 word 0 100 - R
A xvt91
ACTUAL SPEED Motor present speed (read only).
MOTOR CURRENT Motor present current (read only).
DCLINK VOLTAGE DC link voltage (read only).
DRIVE TEMPERATURE Drive temperature (read only).
9.2. DRIVE PARAMETERS
Value Access via

DRIVE MAXIMUM CURRENT (A) 20000 float 0 Drive size 6 R/Z
DRIVE ADDRESS 20021 word 0 127 0 R/Z
DRIVE CONFIGURATION 20023 enum 0 16 Speed R/W ID
Current 1
Speed 2
Position 4
els 8
encoder phasing 16
DRIVE BAUDRATE 20024 enum 1200 38400 38400 R/W
DRIVE SERIAL CONFIG 20025 enum 32785 32927 32785 R/W *
DRIVE SER DELAY TIME 20026 word 0.000 1.000 0.000 R/W
DRIVE FAST LINK 18110 enum 0 2 0 R/W *
OFF 0
Master [X 3] 1
Slave [X 4] 2
DRIVE FIRMWARE 20022 float R
DRIVE ACTUAL CONFIG 29004 enum 0 17 Speed R/W ID
Current 1
Speed 2
Position 4
els 8
encoder phasing 16
ATTENTION:encoder phasing 17
Axvt92

SIEI
DRIVE MAXIMUM CURRENT Setting the drive maximum current output to the motor.
DRIVE ADDRESS Drive address when it is connected via the RS485 serial line.
DRIVE CONFIGURATION Configuration of the drive functioning mode. It is possible to

select four different modes: torque, speed, electric axis and posi-
tion control (as for the selection see the table below).
The drive is factory programmed for speed control.
It is also possible to phase a new encoder, in case the old one has
to be replaced.
Function configuration Bit0 Bit1 Bit2 Bit3 Bit4 Bit5...15 (*)

Drive disabled 0 0 0 0 0 0
Torque control 1 0 0 0 0 0
Speed control 0 1 0 0 0 0
Position control 0 0 1 0 0 0
Electric line shaft control 0 0 0 1 0 0
Encoder phasing 0 0 0 0 1 0
axv6045
(*) These bits have to be set at 0 to be compatible with the future versions.
The different functioning modes can be selected also via a suitably programmed
digital input. See the chapter “Digital input programming” for further details.
DRIVE BAUDRATE Configuration of the communication speed (baudrate) of the drive

serial line. It is possible to select one of the following values:
- 1200 - 2400 - 4800
- 9600 - 19200 - 38400
The value in the factory configuration is 38400.

If this value is modified, it is advisable to code the drive in order
to underline the different serial line configuration; in this way,
possible communication problems between the drive and the
WINAXV configurator, whose default setting is 38400, will be
avoided.
DRIVE SERIAL CONFIG Configuration of the drive RS485 serial port. It is possible to
select one of the following values:
-32785 (NO parity, 8 data bit, 1 stop bit)
-36919 (Odd parity, 8 data bit, 1 stop bit)
-32823 (Even parity, 8 data bit, 1 stop bit)
-32793 (No parity, 8 data bit, 2 stop bit)
-36927 (Odd parity, 8 data bit, 2 stop bit)
-32831 (Even parity, 8 data bit, 2 stop bit)
The factory configuration is 32785 (no, 8, 1)

In this case too, as for the previous parameter, it is advisable to
code the drive in order to underline the modification.

AXV - HGB
Serial port
configuration
command
Figure 9.2.1: Serial port configuration
ATTENTION: The modification of the serial port configuration (Drive baudrate and Drive serial
config parameters) becomes active only after a drive Reset.
It is necessary to configure the drive and the WinAxv configurator in the same way.
Command Target →
→ communication setting →
→ Port (Enter the required parameters by using the same values set in the drive).
DRIVE SER DELAY TIME Setting of the minimum delay between the drive reception of the
last byte and the beginning of its response. Such delay avoids
any conflict on the serial line when the RS485 interface is not set
for an automatic TX/RX switching.
DRIVE FAST LINK Enable of fast link on the X3 and X4 connectors.

Using fast link in electrical line shaft configuration, it is neces-
sary configure this parameter
OFF The fast link is disabled
Master [ X3 ] Fast link enable (configure as master)
Slave [ X4 ] Fast link enable (configure as slave).
The enable of this parameter is active only after a reset
command.
DRIVE FIRMWARE Displaying of the firmware version active on the drive Flash
Eprom.
DRIVE ACTUAL CONFIG Only-reading parameter: it states the selected functioning

method (see the DRIVE CONFIGURATION parameter).

SIEI
9.3. MOTOR PARAMETERS
Value Access via

MOTOR NUMBER OF POLES 20002 word 2 8 8 R/Z *
MOTOR MAXIMUM SPEED (rpm) 20003 float 0 10000 3000 R/Z
Axvt93
MOTOR NUMBER OF POLES Setting of the motor pole number. All the motors belonging
to the SIEI ULTRACT series have 8 poles; only the UL2
model has 4.
MOTOR MAXIMUM SPEED Setting of the motor maximum speed (unit of measure Rpm).
The drive maximum speed is limited according to the value set
in this parameter.
9.4. ENCODER PARAMETERS
The signals coming from the position sensors are mainly used in two points of the brushless motor control
system: to modulate the three stator currents in order to obtain an equivalent field presenting a 90 electric
degree phase shifting as compared to the field of the permanent magnets. They are also used as a feedback
of the speed/space loop. These two functions are usually performed by two different position sensors (at
least at the beginning of the functioning phase before the passing of an index), which are often integrated
into one single encoder. The features of the two sensors are, in fact, different.
In order to keep the stator field in the desired position, it is necessary to know, also at power-on, the
absolute position in the electrical revolution; for this purpose the absolute Sincos sensors (a revolution
sinusoid) are used.
The feedback of the speed/space loop requires the maximum possible resolution; the loop quality defines the
limit of the control loop. To this purpose some incremental traces are used (not absolute) with thousands of
pulses per revolution.
If such traces are analog (pulses with sinusoidal wave), the AXV drive carries out an interpolation inside
the single pulse with a resolution increase of 214, thus obtaining a high precision level and very good
behavior in conditions of low speed and locked shaft.
In the AXV drives, after the passing of the first index, the field modulation is based on the reading of the
sensor with the highest resolution, which becomes absolute since the sensor mechanical position is known.
Value Access via

ENCODER TYPE 20010 enum 0 6 Sin. 5 traces R/Z *
Sincos 5 tracks 1
Dig + Hall port S2 2
Hall 4
sincos 2 traks 5
sincos+ hall 6
ENCODER PULSES 20011 word 0 32767 2048 R/Z
ENCODER SUPPLY (V) 20012 float 4.8V 14.4V 5,2V R/W
Axvt94

AXV - HGB
ENCODER TYPE Setting of the encoder type used for the feedback, to be con-
nected to the S2 connector (standard connection).
Sincos 5 tracks Absolute sine and cosine once per revolution, incremental and
sinusoidal A and B, I zero slot or index.
Digital+Hall Port S2 Hall sensors, incremental digital A-B channel, I zero marker or
index. Encoder connections on S2 connector (25 pins).
Digital+Hall Port S1 Hall sensors, incremental digital A-B channel, I zero marker or
index. Encoder connections on S1 connector (15 pins).
Hall Hall sensors. Connections on S2 connector (25 pins).
Sincos 2 tracks Absolute sine and cosine once per revolution. Connections on
S2 connector (25 pins).
Sin + Hall Hall sensors, sinusoidal incremental A-B channel, I zero marker
or index.
ENCODER PULSES Number of pulses per revolution of the encoder.
ENCODER SUPPLY Setting of the encoder power supply voltage. In order to balance
possible voltage drops on a long encoder cable, it is possible to
program the power supply level of the encoder itself, so that the
width of the motor response signals is suitable to be read by the
drive. It is possible to program from a minimum of 4.8V to a
maximum of 14.4V. It is usually sufficient to set a value of 5.2V.
9.5. RAMP
The acceleration and deceleration of the speed reference is set by the Ramp acc/dec CW parameters for
clockwise rotation direction and by Ramp acc/dec CCW for counterclockwise rotation direction.
The Fast stop function allows stopping the motor in the shortest possible time in case of emergency. Set a
digital input as Fast/stop.
These parameters are active in the speed control configuration; for a position control application see the
specific paragraph.
Ramp enable Jog enable
Reference =0
Speed max pos
Ramp in=0
Ramp output
Speed max neg
Figure 9.5.1: Ramp circuit

SIEI
The drive behavior after the Start command depends on the parameterization:
- If the ramp circuit is used (Enable ramp = enable) the motor reaches the desired speed with a
set ramp time. If the command is disabled, the drive stops with the deceleration ramp time. If
during the deceleration time a new start command is given, the drive regains the set speed.
- If the ramp circuit is not used (Enable ramp = disable) the motor reaches the desired speed in
the shortest possible time.
When the motor is stopped, the drive is torque-enabled. The drive can be disabled by disabling the
Enable drive command.
The Jog function does not require the Start command.
In case the Start and Jog+ or Jog- commands are given simultaneously, the start command has the
priority.
Value Access via

RAMP ACC CW (msec/rpm) 21102 float 0 17476/enc pul 0,332 R/W
RAMP ACC CCW (msec/rpm) 21103 float 0 17476/enc pul 0,332 R/W
RAMP DEC CW (msec/rpm) 21104 float 0 17476/enc pul 0,332 R/Z
RAMP DEC CCW (msec/rpm) 21105 float 0 17476/enc pul 0,332 R/W
RAMP ENABLE 21210 enum 0 1 Enable R/Z
Disable 0
Enable 1
RAMP OUTPUT (rpm) 21212 float -10000 10000 0 R
Axvt95
RAMP ACC CW Setting of the clockwise acceleration time.

Unit of measure (msec/rpm).
RAMP ACC CCW Setting of the counterclockwise acceleration time.

RAMP DEC CW Setting of the clockwise deceleration time.

RAMP DEC CCW Setting of the counterclockwise deceleration time.

Unit of measure (msec/rpm) .
RAMP ENABLE Ramp enabling command.
RAMP OUTPUT Parameter reading the speed reference on the output of the ramp
block.

AXV - HGB
Speed
1 2
time(msec/rpm)
3 4
1 ramp acc cw 3 ramp acc ccw

2 ramp dec cw 4 ramp dec ccw
Fast stop (Fast stop)
The fast stop command is used in emergency and dangerous situations in order to stop the drive in the
shortest possible time. If a digital input is set as Fast stop, this imput must be high to run in any mode.
The fast stop command must be present before the drive enabling command (Enable command).
By disabling the voltage on this command while the drive is active, it is possible to cause a braking stop
with the shortest possible time.
With a start following a Fast/stop intervention it is necessary to set the Enable digital input with a
low logic status and the Fast/stop digital input with a high logic status; before a jog function can be
performed.
9.6. SPEED
The value of the speed reference determines the value of the motor speed, while the sign defines the
rotation direction.
When the ramp is enabled (parameter Ramp Enable = enable), the speed reference (Speed ref) follows
the time set in the acc and dec parameters (CW - CCW).
The Speed ref1, Speed ref 2, Speed max pos and Speed max neg parameters are active only in the
Speed loop configuration. See the specific paragraph for the Position loop configuration.
Value Access via

SPEED REF1 (rpm) 21200 float -10000 10000 0 R/W
SPEED MAX POS (rpm) 21204 float 0 10000 3000 R/W
SPEED MAX NEG (rpm) 21205 float 0 10000 3000 R/W
SPEED THR (rpm) 21206 float 0 10000 1000 R/W
SPEED THR OFFSET (rpm) 21207 float 0 10000 10 R/W
SPEED THR DELAY (sec) 21213 float 0 10 0 R/W
A xvt96

SIEI
Jog+ Jog- Speed max pos

Speed ref1(rpm)
Inverse End run rev End run forward Ramp in=0
Speed ref (rpm)
* (-1)
Jog ref Multispeed
Speed ref2 (rpm)

Speed max neg
Figure 9.6.1: Speed reference
SPEED REF1 Speed reference 1.

Setting of the speed reference if no analog input has been set as
SPEED REF .
In case an analog input is set as SPEED REF, the Speed Ref 1
parameter is read-only. Unit of measure (rpm).
SPEED REF2 Speed reference 2 .

Setting of the speed reference 2 if no analog input has been set
as SPEED REF .
In case an analog input is set as SPEED REF, the Speed Ref 2
parameter is read-only. Unit of measure (rpm).
The total reference is the result of the sum of the values of Speed ref 1 and Speed ref 2 .
Example 1: Speed ref 1 = 1500 rpm Speed ref 2 = 500 rpm

Speed ref = 1500 + 500 = 2000 rpm
Example 2: Speed ref 1 = 1500 Rpm Speed ref 2 = -500 rpm

Speed ref = 1500 - 500 = 1000 rpm
SPEED MAX POS Setting of the maximum speed for motor clockwise rotation di-
rection. Unit of measure (rpm).
SPEED MAX NEG Setting of the maximum speed for motor counterclockwise rota-
tion direction. Unit of measure (rpm).
SPEED THR Setting of the threshold value for overspeed. Such threshold is
stated as an absolute value. When the speed is higher than the
value set in this parameter, the digital output set as “speed
threshold” goes to +24V.
Unit of measure (rpm)

AXV - HGB
SPEED THR OFFSET Offset setting of the zero speed threshold. It states how much
the speed can oscillate around zero before the digital output pro-
grammed as “Speed 0 thr” will be considered as active.
Unit of measure (rpm).
SPEED THR DELAY Setting of the delay time signalizing a “not overcome delayed
speed”. When the motor speed is higher than the value set in
SPEED THR for a time higher than the value of this parameter,
the digital output set with SPEED THR DELAY is brought to
+24V. Unit of measure in seconds (sec).
9.7. CURRENT
The current loop is the fastest control section and has a sampling frequency of 16 KHz.
There are two current loops working simultaneously. The components of the forward and quadrature
current are calculated directly from the phase currents read by the AD converters; both components are
controlled in order to obtain the desired behavior. The quadrature component contributes to the rotating
torque while the forward component is (usually) set at zero.
The operation with current or torque control is active if the Drive configuration parameter is set as
“Current loop”. In this case the motor supplies a torque proportional to the current reference Tcurr ref.
T curr lim+ (A)

T curr ref1(A) End run forward
Inverse End run rev Reference =0
* (-1)
T curr ref2 (A)

T curr lim- (A)
Figure 9.7.1: Current reference
Value Access via

T CURR REF1 (A) 22000 float - drive size +drive size 0 R/W
T CURR LIM + (A) 22004 float 0 drive size 6 R/W
T CURR LIM - (A) 22005 float 0 drive size 6 R/W
T CURR THR (A) 22007 float 0 drive size 0 R/W
MAX SPEED CUR LIM (rpm) 22009 float 0 10000 3000 R/W
CURR THR DELAY (sec ) 22010 float 0 10 0 R/W
Axvt97

SIEI
T CURR REF 1 Current reference 1.

Setting of the current reference if no analog input has been set as
T CURR REF 1 .
In case an analog input is set as T CURR REF 1, the parameter
is read-only. Unit of measure : Ampere.
T CURR REF 2 Current reference 2.

Setting of the current reference if no analog input has been set as
T CURR REF2 .
In case an analog input is set as T CURR REF 2, the parameter
is read-only. Unit of measure : Ampere.
The T curr ref 1 and Tcurr ref 2 parameters are active if the operating mode is selected as Current loop.
The total reference is the result of the sum of the values of T curr ref 1 and Tcurr ref 2.
T CURR LIM+ Setting of the positive current limit.

The maximum current which will be supplied by the drive is
stated by this parameter. Unit of measure : Ampere.
T CURR LIM - Setting of the negative current limit.

The maximum current which will be supplied by the drive is
stated by this parameter. Unit of measure : Ampere.
T CURR LIM+ and T CURR LIM- should never exceed the

Drive maximum current parameter.
T CURR THR Setting of the threshold value for maximum current. Such threshold
is stated as an absolute value. When the current is higher than
the value set in this parameter, the digital output set as “Curr
threshold” goes to +24V. Unit of measure : Ampere.
MAX SPEED CUR LIM Setting of the speed limit in torque control. When the motor is
torque controlled, the speed can not exceed the value set in this
parameter.
CURR THR DELAY Setting of the delay time signalizing a “not overcome de-
layed current”. When the current supplied by the drive is
higher than the value set in T CURR THR for a time higher
than the value of this parameter, the digital output set with
CURR THR DELAY is brought to +24V. Unit of measure
in seconds (sec).
ATTENTION: In order to change the gains (proportional, integral and derivative part) of the current
regulator, it is necessary to modifie the parameters in “System” menu.
Change the parameters:
SYS_IC_P_FAK Proportional gain
SYS_IC_I _FAK Integral gain
SYS_IC_D_FAK Derivative gain

AXV - HGB
9.8. SPEED GAINS
The AXV drives are supplied with a speed/position control loop.

The position loop is supported by the DSP and has a sampling frequency of 8 kHz.
Value Access via

GAIN SPEED 23000 int 0 32767 100 R/W
GAIN POS 23001 int 0 32767 50 R/W
GAIN INT 23002 int 0 32767 50 R/W
Axvt98
GAIN SPEED Speed proportional gain (this value is factory set at 100)
GAIN POS Position proportional gain (this value is factory set at 50)
GAIN INT Position integral gain (this value is factory set at 50)
9.9. DIGITAL INPUTS
The AXV drives are supplied with 8 programmable digital inputs on the C1 and C2 terminal strips.
Value Access via

DIGITAL INPUT 0 20100 enum 0 2007 enable R//Z
DIGITAL INPUT 1 20101 enum 0 2007 start/stop R/Z
DIGITAL INPUT 2 20102 enum 0 2007 ramp in=0 R/Z
DIGITAL INPUT 3 20103 enum 0 2007 inverse R/Z
DIGITAL INPUT 4 20104 enum 0 2007 end run rev R/Z
DIGITAL INPUT 5 20105 enum 0 2007 end run fwd R/Z
DIGITAL INPUT 6 20106 enum 0 2007 exter. Fault R/Z
DIGITAL INPUT 7 20107 enum 0 2007 failure reset R/Z
DIG IN NEG 20162 dword 0H 0FFFFFFFFH 0H R/Z
DIG IN STATUS 20163 word 0H 0FFFH 0H R
Axvt99
DIGITAL INPUT XX Choice of the parameters to be set on a digital input.

The possibilities listed as “Coding for the input association”
are available.
DIG IN NEG This parameter allows to change the logic level of the set
digital inputs. The digital inputs become active when a switch-
ing from a low to a high logic level occurs. Through this bit-
set parameter it is possible to decide whether to change the
logic condition, i.e. active low logic level, inactive high logic
level.

SIEI
Example: the intervention of two limit switches (END RUN

FORWARD and END RUN REVERSE) has to be set on two
digital inputs, digital input 3 and digital input 4; the limit switch
intervention has to be active with a low logic level.
DIGITAL INPUT 7 6 5 4 3 2 1 0
DIG IN NEG 0 0 0 1 1 0 0 0
1 8
axv6046
It is necessary to set DIG IN NEG = 18H
DIG IN STATUS Only-reading parameter stating the present condition (high logic
level 1 and low logic level 2) of the digital inputs. It is an
hexadecimal parameter.
Example: The digital inputs are:
DIG IN 0 = 1 DIG IN 1 = 1 DIG IN 6 = 1
DIGITAL INPUT 7 6 5 4 3 2 1 0
DIG IN STATUS 0 1 0 0 0 0 1 1
4 3
axv6047
The value displayed by the DIG IN STATUS parameter is 43H .
Coding for the input association:
OFF (0) Unconfigured input.
Enable (1) Drive enable command. It is active if high. This is the only input which
must always be configured. When this command is active, the motor is
stopped with torque at zero speed.
Failure reset (2) Alarm Reset command. Momentary input active on the edge. The drive
must be disabled for a reset to occur.
External fault (3) External alarm signal. It is active on the leading edge.
Start/stop (4) Start /stop command. It is active on the leading edge. In the current and
speed configuration this command must be programmed on a digital input.
If its value is high, it starts the drive operation; if its value is low, the drive
will stop. When this command is active, if a speed reference is present,
the motor goes to the set speed.
Fast/stop (5) Emergency stop command. It is active on the leading edge, it stops the
speed command instantly, braking the motor with no decel ramp in the short-
est possible time till zero speed has been reached (see fast/stop paragraph).
Jog+ (6) Jog forward function command. It is active only in the speed and position
configurations. When this input is active, the speed reference and the ramp
times are those set in the Jog parameter menu.

AXV - HGB
Jog- (7) Jog reverse function command. It is active only in the speed and posi-
tion configurations. When this input is active, the speed reference and the
ramp times are those set in the Jog parameter menu.
Ramp in=0 (8) Ramp In = 0 command. It is active only in the speed and position
configurations. When this input is active (high logic status), it replaces the
present reference with a zero reference and uses the set ramp. This digital
zero keeps the motor rotor stopped in a torque condition, without any
offset drift typical for A/D (analog/digital) converters.
Inverse (9) Inverse command. When the command is active, it changes the motor
rotation direction by following the set ramp.
End Run Reverse (10 ) Clockwise end run command. It is active only in the speed and position
configuration. It only allows, regardless of reference, motor rotation in a
clockwise (CW) direction.
End Run Forward (11 ) Counterclockwise end run command. It is active only in the speed and
position configuration. It only allows, regardless of reference, motor
rotation in a counterclockwise (CCW) direction.
Reference=0 (12 ) Speed reference = 0. It has the same function as Ramp In = 0 but it does
not perform the decel ramp, it stops immediately.
Memo virtual zero (13 ) Storage of the Zero pulse. Momentary input active on the edge. It makes
the Index signal (or zero slot) the present position.
Current loop (14 ) Select the mode Current regulation.
Speed loop (15 ) Select the mode Speed regulation.
Position loop (16 ) Select the mode Position regulation.
Line Shaft loop (17 ) Select the mode Electrical line shaft control.
Disable An inp 0 (18 ) Command Disabling analog input 0 (both the value and the offset are
disabled). With a high logic level analog input 0 is disabled.
Disable An inp 1 (19 ) Command Disabling analog input 1 (both the value and the offset are
disabled). With a high logic level the analog input 1 is disabled.
Disable An inp 2 (20 ) Command Disabling the analog input 2 (both the value and the offset
are disabled). With a high logic level analog input 2 is disabled.
Speed sel bit 0 (21 ) Multi-speed function, Bit 0 selection.

When this digital input is active, it is possible to select a digital speed
reference set in the parameters of the Multi speed function.

SIEI


Ramp sel bit 0 (24 ) Multi-ramp function, Bit 0 selection.

When this digital input is active, it is possible to select a ramp time set in
the parameters of the Multi ramp function.
Ramp sel bit 1 (25 ) Multi-ramp function, Bit 1 selection.

When this digital input is active, it is possible to select a ramp time set in
the parameters of the Multi ramp function.
Virtual DI OK (26) When the virtual digital input 14 (only this one) is set with VIRTUAL
DI OK, all the set Virtual digital inputs are active only if this input is
equal to 1 (high logic level).
Pos-preset 0 (1001) Bit 0 position preset. Active only in the position configuration. When
this digital input is active, the relative value set in the Position Preset is
selected.
this digital input is active, the relative value set in the Position Preset
parameters is selected.
Pos-0 search (1007) Command to Search for the zero position. It is active only in the
position configuration. Momentary input active on the risind leading
edge (see Pos config parameter).
When this command is active, the motor starts rotating with a speed set in
the POS SPEED REF 0 parameter (see the commissioning paragraph).

AXV - HGB
Pos-Start pos (1009) Positioning start command. Momentary input active on the edge (see
Pos config parameter). Initiates the start of a move to new position.
Pos memo 0 (1010) Command Storing the 0 position. Momentary input active on the
rising leading edge, it allows storage of the present position as a zero
position. Such function is normally used in point-to-point self-acquisi-
tion positioning procedures.
Pos memo pos (1011) Position storing command. Momentary input active on the rising
leading edge; it allows storage of the present position as a destination
position. Such function is normally used in point-to-point self-acquisi-
tion positioning procedures.
Pos-abs 0 sensor CW (1012) Command Searching an absolute 0 position CW. If the 0 position
searching function is active, the motor rotates with the reference POS
SPEED REF 0 ; when the Pos-abs 0 search CW digital input becomes
active, the motor moves very slowly in a clockwise direction with the
reference POS SPEED FINE 0 till finding the first encoder zero slot. The
zero position will be stored here.
Pos-abs 0 sensor CCW (1013) Command Searching an absolute 0 position CCW. If the 0 position
searching function is active (1007), the motor rotates with the reference
POS SPEED REF 0 ; when the Pos-abs 0 search CCW digital input
becomes active, the motor moves very slowly in a counterclockwise di-
rection with the reference POS SPEED FINE 0 till finding the first en-
coder zero slot. The zero position will be stored here.
Pos- 0 sensor (1015) Position 0 command. During the zero position searching phase, the
motor is in a rotation condition: when the digital input of “Pos_0 sensor”
becomes active, the motor stops. This position is stored as a zero posi-
tion. If during the stopping phase, the motor stops beyond this point, it
automatically changes its rotation direction and reaches the zero position.
Els-ratio sel bit 0 (2001) Electric Line Shaft function: Preset selection of the bit 0 ratio. This
command is active in the electric Line Shaft configuration. When this
digital input is active, a speed ratio set in the parameters of the Electrical
line shaft function is selected.
Els-ratio sel bit 1 (2002) Electric Line Shaft function: Preset selection of the bit 1 ratio. This
command is active in the electric Line Shaft configuration. When this
digital input is active, a speed ratio set in the parameters of the Electrical
line shaft function is selected.
Els-inc ratio1 (2003) Ratio increasing command. When this command is active, the selected
ratio between master and slave is increased with a time constant defined
by the “Els delta time” and “Els delta ratio” parameters.
Els-dec ratio (2004) Ratio decreasing command. When this command is active, the selected
ratio between master and slave is decreased with a time constant defined
by the “Els delta time” and “Els delta ratio” parameters.
Els-ramp ratio dis. (2005) Ramp disabling command during a ratio switching phase. When this com-
mand is active, the ramp time set via the Els delta ratio parameter (ramp for
ratio switchings) is ignored and the change will be made immediately.

SIEI
Els bend rec Cw (2006) Command to activate the correction reference (slave drive), bend recover,
in CW rotation.
Els bend rec Ccw (2007) Command to activate the correction reference (slave drive), bend recover,
in CCW rotation.
9.10. DIGITAL EXPANSION INPUTS
Inside the drive it is possible to install an optional card for the expansion of the digital inputs and outputs.
This card is supplied with 12 digital inputs and 4 digital outputs.
Together with these 12 + 4 digital I/Os, those on the drive ( 8 + 8 ) are also available.
The programming procedure is the same of the digital inputs.
Value Access via

EXP DIGIT INPUT 0 20150 enum 0 2007 OFF R/Z
EXP DIG STATUS 20164 word 000H 0FFFH 0H R
A xvt910
EXP DIGIT INPUT XX Choice of the programmable parameters on a digital input.

The same possibilities stated for the digital inputs are available.
See paragraph digital inputs.
EXP DIGIT IN STATUS Only-reading parameter stating the present condition (high logic
level 1 and low logic level 0) of the digital inputs on the EB-DIO
expansion card. It is an hexadecimal parameter.
Example: The digital inputs are:

EXP DIGIT INPUT 0 = 1
EXP DIGIT INPUT 11 10 9 8 7 6 5 4 3 2 1 0

EXP DIG IN STATUS 0 0 1 0 1 0 1 0 0 0 0 1
2 A 1
axv6048
The value displayed by the EXP DIG IN STATUS parameter is = 2A1 H .

AXV - HGB
9.11. VIRTUAL DIGITAL INPUTS
Value Access via

VIRT DIGIT INPUT 0 20170 enum 0 2007 OFF R/Z
VIRT DI STATUS 20186 word 0000H FFFFH 0000H R/W
VIRT DI AT START 20187 word 0000H FFFFH FFFFH R/Z
VIRT DI AT DISABLE 20188 word 0000H FFFFH FFFFH R/Z
VIRT DI RESET AT FAIL 20189 word 0000H FFFFH 0000H R/Z
A xvt911
Digital virtual inputs which are not physically present on the terminals but which are available to program
possible commands, Digital input, supported via the serial line.
With an application where some command inputs are supported directly by the serial line (example PLC),
it is always necessary to configure this function on a Virtual digital input.
By programming them in the Virtual digital input parameters, the Digital inputs can be used for the
commands via the terminal strip.
The functionality of a digital input programmed on Digital input or Virtual digital input is the same.
The programming procedure is the same as the one stated for the digital inputs.
DIGITAL EXP INPUT XX Choice of the programmable parameters on a digital input.

The same possibilities stated for the digital inputs are available.
See the paragraph Digital inputs.
VIRTUAL DI STATUS It displays and sets the status of the virtual digital inputs.
Hexadecimal setting.
Programming example:
If the virtual digital inputs have to be enabled via the serial line:
VIRTUAL DIGITAL INPUT 0 Programmed as Pos preset 0


SIEI
If we set to high logic level : the bit 0 referring to VIRTUAL DIGITAL INPUT 0 =1
the bit 1 referring to VIRTUAL DIGITAL INPUT 1 =1
VIRTUAL DIG IN 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
VIRTUAL DI STATUS 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1
axv6051
The drive will write in the Virtual DI status parameter the value obtained by adding
1 (bit 0) + 2 (bit 1) + 4 (bit 2) + 8 (bit 3) = 15 = F

Virtual DI status = 000FH
VIRTUAL DI AT START Setting of the status of the virtual digital inputs when the drive is
started. Through this parameter it is possible to state if each
configured input will be reset or not at the power-on.
1 = The parameter is not reset at each drive starting.
0 = The parameter is reset at each drive starting.
Application example:
If the virtual digital inputs 0 and 2 must be reset at the power-on, it is necessary to:
(reset ) VIRTUAL DIGITAL INPUT 0 Programmed as Pos preset 0
(do not reset) VIRTUAL DIGITAL INPUT 1 Programmed as Pos preset 1
(reset) VIRTUAL DIGITAL INPUT 2 Programmed as Pos preset 2
(donot reset) VIRTUAL DIGITAL INPUT 3 Programmed as Pos preset 3
It is necessary to set with a high logic level (not reset):

bit 1 referring to VIRTUAL DIGITAL INPUT 0 = 1
It is necessary to set with a low logic level (reset):

VIRTUAL DIG IN 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
VIRTUAL DI STATUS 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0
axv6052
it is therefore necessary to write in the Virtual DI reset parameter the value obtained by adding
0 (bit 0) + 2 (bit 1) + 0 (bit 2) + 8 (bit 3) = 10 = A

Virtual DI reset = A

AXV - HGB
VIRTUAL DI AT DISABLE Setting of the status of the virtual digital inputs when the drive is
disabled. Through this parameter it is possible to state if each
configured input will be reset or not when the drive is disabled.
1 = The parameter is not reset at each drive starting.
0 = The parameter is reset at each drive starting.
See the programming procedure of the VIRTUAL DI START
parameter.
VIRTUAL DI RESET AT FAIL Setting of the virtual digital input condition when a drive alarm
gets active. Through this parameter it is possible to state if each
configured input has to be reset or not when an alarm inter-
venes. Hexadecimal setting.
1 = The parameter is reset when the drive is in an alarm condition
0 = The parameter is not reset when the drive is in an alarm
condition.
The procedure to be followed is the same as the one used for the
VIRTUAL DI START parameter.
9.12. DIGITAL OUTPUTS
The AXV drives are supplied with 8 programmable digital outputs placed on the C1 and C2 terminal strips.
Value Access via

DIGITAL OUTPUT 0 20200 enum 0 1008 drive ok R/Z
DIGITAL OUTPUT 1 20201 enum 0 1008 speed reach. R/Z
DIGITAL OUTPUT 2 20202 enum 0 1008 speed 0 thr R/Z
DIGITAL OUTPUT 3 20203 enum 0 1008 curr.limit R/Z
DIGITAL OUTPUT 4 20204 enum 0 1008 drive fault R/Z
DIGITAL OUTPUT 5 20205 enum 0 1008 exter.fault R/Z
DIGITAL OUTPUT 6 20206 enum 0 1008 OFF R/Z
DIG OUT NEG 20254 dword 0H 0FFFFFFFFH 00H R/Z
DIG OUT STATUS 20255 word 00H 0FF 00H R
A xvt912
DIGITAL OUTPUT XX Choice of the programmable parameters on a digital output.

The possibilities listed as “Coding for the output association”
are available.
NOTE! It is possible to set all the drive alarms on a digital output. The logic status is
normally low and it becomes high when the drive is in an alarm condition.
DIG OUT NEG This parameter allows to change the logic level of the programmed
digital outputs. The digital outputs usually have a 0 logic level
when they are inactive and they switch to a high logic level when
they become active. Via this bit-mapped parameter it is possible
to choose which output the normal logic level has to be switched
to. Hexadecimal setting.

SIEI
Example: the digital outputs 1, 4 and 5 have to be programmed

with an inverted condition:
DIGITAL OUTPUT 7 6 5 4 3 2 1 0
DIG OUT STATUS 0 0 1 1 0 0 1 0
3 2
axv6053
It is necessary to set DIG OUT NEG = 32H
DIG OUT STATUS Only-reading parameter stating the present condition (high logic
level 1 and low logic level 0) of the digital outputs. It is an hexa-
decimal parameter.
Example: the digital outputs are:
DIG OUT 3 = 1 DIG OUT 6 = 1 DIG OUT 7 = 1
DIGITAL OUTPUT 7 6 5 4 3 2 1 0
DIG OUT STATUS 1 1 0 0 1 0 0 0
C 8
axv6054
The value displayed by the DIG OUT STATUS parameter is C8H
Coding for the output association:
OFF (0) Output not configured.
Drive ready to start ( 1 ) The digital output reaches high logic status when the drive is power
supplied, enabled (enable command active) and no alarm is present.
Drive O.K (2) The digital output reaches high logic status when the drive is power sup-
plied and no alarm is present.
Speed reached (3) Reached speed. The digital output reaches high logic status when the
motor present speed is equal to the reference one with an error set
defined by the SPD THR OFF parameter.
Speed 0 threshold (4) Speed n = 0. The digital output reaches high logic status when the motor
speed is zero with an dead band (positive and negative) defined by the
SPD THR OFF parameter.
Current limit (5) Current limit. The digital output reaches high logic status when the drive
supplied current is equal to the one set in the Drive maximum current
parameter.
Current Threshold (6) Exceeded high current. The digital output reaches high logic status if the
current, both positive and negative, is higher than the value set in the
Curr Thr parameter (Current paragraph).

AXV - HGB
Speed Threshold (7) Exceeded high speed. The digital output reaches high logic status if the
speed, either positive and negative, is higher than the value set in the
Speed Thr parameter (Speed paragraph).
AD index (8) Repetition of incremental encoder index connected on S2 connector.

he signal remains active for 8 ms.
DI index (9) Repetition of incremental encoder index connected on S1 connector.

he signal remains active for 8 ms.
Position error (10) The drive is in Position error (exceeded the threshold of “Drive max
position error” set in the Service menu).
Fast link Rx (11) On slave drive active during reception of Fast link. This output can be
used only on a slave drive.
UV actived (12) The drive is in undervoltage alarm (the voltage of power supply is lower
than the threshold set in the SYS_UV_V_MIN parameter).
UV active (13) When there is a Main loss condition, it activates the energy recovery,
braking to a stop; in this way the motor can brake in controlled mode.
Speed not 0 thr (14) Speed n = 0. Same meaning of Speed 0 threshold but with an inverted
logic level.
Speed thr delayed (15) Delayed overcome speed. The digital output reaches a high logic level
if the speed, both positive and negative, is higher than the value set in
the SPEED THR parameter for a time higher than the value set in the
SPEED THR DELAY parameter.
Curr thr delayed (16) Delayed overcome current. The digital output reaches a high logic level
if the current, both positive and negative, is higher than the value set in
the CURR THR parameter for a time higher than the value set in the
CURR THR DELAY parameter.
Alarm warning (17) Active alarm. When a previously masked alarm gets active (see the
section referring to the alarm setting), the digital output set as Alarm
warning reaches the high logic level.
Alarm coming (18) Delayed alarm. When a previously delayed alarm gets active (see the
section referring to the alarm setting), the digital output set as Alarm
coming reaches the high logic level.
Drive fault (100) Drive in an alarm condition.
Bridge short circuit (101) Short circuit alarm of the power module.
Overcurrent (102) Overcurrent alarm.
Dc link overvoltage (103) Overcurrent alarm on the DC LINK intermediate circuit.

SIEI
Heatsink (104) Heatsink overtemperature alarm.
Module junction fault (105) Junction overtemperature alarm.
Brake short circuit (106) Short circuit alarm in the power section of the braking circuit.
Motor overtemp fault (107) Motor overtemperature alarm.
Aux power undervoltage (108) Undervoltage alarm on the auxiliary circuits.
Dsp program error (109) DSP program alarm.
Prg 16 KHZ fault (110) Fast task overtime alarm.
Invalid flash parms fault (111) Invalid flash parameter alarm.
Bad flash fault (112) Flash error alarm.
Brake overtemp fault (113) Brake overpower alarm.
Ntc disconnected fault (114) Disconnected NTC alarm.
Brake error fault (115) Brake alarm.
Lock drive (116) Lock drive alarm.
Di encoder count fault (117) DI encoder count alarm.
Ad encoder count fault (118) AD econder count alarm.
Encoder simulation fault (119) Encoder simulation alarm.
Undervoltage fault (120) Undervoltage alarm.
Sequence fault (127) Alarm for a wrong sequence in the drive power supply. The drive is
already enabled when the alarm gets active.
Fast link fault (128) The Fast link is interrupted.
Position fault (129) The drive is in Position error alarm.
External fault (131) External alarm for the drive.
Pos-pos 0 reacheD (1001) Position 0 reached. The digital output reaches high logic status when the
motor present position is equal to the zero position with an dead band
defined by the Pos Thr Off parameter.

AXV - HGB
Pos- pos reached (1002) Reached position. The digital output reaches high logic status when the
motor present position is equal to the destination position.
Pos-threshold (1003) Position threshold. The digital output reaches high logic status if the
position is higher than the value set in the POS THR parameter.
Pos-pos Abs threshold (1004) Absolute position threshold. The digital output reaches high logic sta-
tus if the position is higher than the value set in the POS ABS THR
parameter.
Pos Zero found (1005) Found zero position. The digital output reaches high logic status at the
end of the zero searching phase. It keeps the high logic status till the drive
looses its zero position .
Pos-thr near 1 (1006) Reached position threshold 1. The digital output reaches the high logic
status when the motor present position is equal to the destination position
minus the Pos thr near 1 parameter.
Pos-thr near 2 (1007) Reached position threshold 2. The digital output reaches the high logic
status when the motor present position is equal to the destination position
minus the Pos thr near 2 parameter.
Pos-out of limits (1008) A value has been set up out of range Pos min/max preset. If a value
required is out of range, it is not executed and the digital output pro-
grammed as Pos out of limit changes to high logic status.
9.13. VIRTUAL DIGITAL OUTPUTS
Value Access via

VIRT DIGIT OUTPUT 0 20270 enum 0 1008 OFF R/Z
VIRT DO RESET AT FAIL 20289 word 0000H FFFFH 0000H R/Z
VIRT DO SET AT FAIL 20290 word 0000H FFFFH 0000H R/Z
VIRT DO STATUS 20286 word 0000H FFFFH 0000H R/Z
A xvt913

SIEI
Virtual digital outputs, which are not physically present on the terminals but which are available to set
possible Digital outputs to be read via the serial line or the field bus.
By setting the Virtual digital outputs, the Digital outputs on the terminal strip are still available.
The function performed by a digital output programmed on a Digital output or on a Virtual digital
output is the same.
The programming procedure is the same as the one stated for the digital outputs.
VIRTUAL DIGIT OUTPUT XX Choice of the parameters to be programmed on a digital output.

The same possibilities stated for the digital outputs are available.
See the Digital outputs paragraph.
VIRTUAL DO RESET AT FAIL Setting of the virtual digital output state when a drive alarm gets
active. This parameter allows to state, when an alarm condition
intervenes, which virtual output, corresponding to the set bit, is
brought to a 0 logic level. Hexadecimal setting.
1 = The output does not change its logic level
0 = The output is reset and set with 0.
VIRTUAL DO SET AT FAIL Setting of the virtual digital output state when a drive alarm gets
active. This parameter allows to state, when a drive alarm inter-
venes, which virtual digital output, corresponding to the set bit,
is brought to a high logic level. Hexadecimal setting.
As a setting example see VIRT DI START.
1 = The output does not change its logic level
0 = The output is reset and set with 0.
VIRTUAL DO STATUS Only-reading parameter stating the present condition of the vir-
tual digital outputs (high logic level 1 and low logic level 0).
9.14. DIGITAL EXPANSION OUTPUTS
It is possible to install inside the drive an option card for the expansion of the digital inputs and outputs.
Such card is supplied with 12 digital inputs and 4 digital outputs. (They are added to the standard ones).
The programming procedure is equal to the digital input one.
Value Access via

EXP DIGIT OUTPUT 0 20250 enum 0 1008 OFF R/Z
EXP DIG OUT STATUS 20256 word 00H 0FH 0H R
Axvt914

AXV - HGB
EXP DIGITAL OUTPUT XX Choice of the programmable parameters on a digital output.

The same possibilities as the digital outputs are available.
See the paragraph digital outputs.
EXP DIG OUT STATUS Only-reading parameter stating the present condition (high logic
level 1 and low logic level 2) of the digital outputs set on the
EB-DIO expansion card.
9.15. ANALOG INPUTS
The drives of the AXV series are supplied with three +/-10V differential analog inputs , a 12-bit A/D
converter .
Value Access via

ANALOG INPUT 0 20300 enum 0 24 speed ref 1 R/Z
AN INPUT READ 0 (V) 20310 float -10V +10V 0V R
AN INPUT OFFSET 0 (V) 20320 float -10V +10V 0V R/W
AN INPUT ZPOS 0 (V) 20330 float -10V +10V 0V R/W
AN INPUT ZNEG 0 (V) 20340 float -10V +10V 0V R/W
AN INPUT SCALE 0 20350 float -3 +3 1 R/W
AN INPUT VALUE 0 (V) 20360 float -10V +10V 0V R
ANALOG INPUT 1 20301 enum 0 24 t curr ref 1 R/Z
ANALOG INPUT 2 20302 enum 0 24 OFF R/Z
A xvt915
ANALOG INPUT 0 Choice of the parameter to be programmed on an analog input.
AN INPUT READ 0 Parameter reading the analog input. Unit of measure : Volt.
AN INPUT OFFSET 0 Writing parameter for the offset setting to be algebraically added
to the analog signal. Unit of measure : Volt.
AN INPUT ZPOS 0 Writing parameter for the setting of a positive reference thresh-
old, under which the analog value is set to 0.
Unit of measure : Volt.

SIEI
An inp Z pos 2 (V)
An ‘inp scale 2
C2 Disable An 2
An inp value 2 (V)
R2P
+ x
R2N
An inp read 2 (V)
An inp Z neg 2 (V)
An inp offset 2 (V)
Figure 9.15.1: Differential analog inputs
AN INPUT ZNEG 0 Writing parameter for the setting of a negative reference thresh-
old, under which the analog value is set to 0.
AN INPUT SCALE 0 Writing parameter for the setting of a multiplicative factor of the
analog signal.
AN INPUT VALUE 0 Parameter reading the real value of the analog input.
ANALOG INPUT 1 Choice of the parameter to be programmed on the analog input.
old under which the analog value is set to 0.
analog signal.

AXV - HGB
ANALOG INPUT 2 Choice of the parameter to be programmed on the analog input.
analog signal.
Coding for the analog input association
OFF (0) The analog input is not configured.
T curr ref 1 (1) Current 1 reference signal (active in the current loop configuration).
T curr ref 2 (2) Current 2 reference signal (active in the current loop configuration).
Speed ref 1 (3) Speed 1 reference signal.
Speed ref 2 (4) Speed 2 reference signal.
Speed max pos (5) Signal setting the maximum speed with a clockwise rotation direction.
Speed max neg (6) Signal setting the maximum speed with a counterclockwise rotation
direction.
Speed limit (7) Signal setting the maximum speed with a clockwise and a counterclockwise
rotation direction.
Jog reference (8) Reference signal for a jog functioning procedure.
T curr lim + (9) Signal setting the limit of the maximum positive current.

SIEI
T curr lim - (10) Signal setting the limit of the maximum negative current.
T curr limit (11) Signal setting the limit of the maximum positive and negative current.
Max speed curr lim (12) Signal for the speed limit with a torque control.
Pos speed (13) Speed reference during the positioning procedures.
Pos speed ref 0 (14) Speed reference during the zero search.
Speed threshold (15) Analog signal setting the “over-speed” threshold.
Current threshold (16) Analog signal setting the “over-current” threshold.
Multi speed 1 (17) Analog input of Speed 1 reference for the multi-speed function.
Els RB spd ref (20) Analog signal to set the bend recover reference in electrical line shaft
mode.
Els ratio (0) (21) Analog signal to set the active ratio (ratio 0) with an electric axis mode.

AXV - HGB
9.16. ANALOG OUTPUTS
The drives of the AXV series are supplied with 4 +/-10V differential analog outputs and a 10-bit A/D
converter.
An out scale 2
An out value 2 (V)
4 AO3
x +
An out write 2 (V)

An out offset 2 (V)
Figure 9.16.1: Differential analog outputs
Value Access via

ANALOG OUTPUT 0 20400 enum 0 9 actual speed R/Z
AN OUTPUT WRITE 0 (V ) 20410 float -10V +10V 0V R
AN OUTPUT SCALE 0 20430 float -3 +3 1 R/W
AN OUTPUT OFFSET 0 (V) 20420 float -10V +10V 0V R/W
AN OUTPUT VALUE 0 (V) 20440 float -10V +10V 0V R
ANALOG OUTPUT 1 20401 enum 0 9 motor curr R/Z
ANALOG OUTPUT 2 20402 enum 0 9 +10V R/Z
A xvt916
ANALOG OUTPUT 0 Choice of the parameter to be programmed on an analog output.
AN OUTPUT WRITE 0 Parameter reading the analog output. Unit of measure : Volt.
AN OUTPUT SCALE 0 Writing parameter for the setting of a multiplication factor of the
analog signal.

SIEI
AN OUTPUT OFFSET 0 Writing parameter for the offset setting to be algebraically added
AN OUTPUT VALUE 0 Parameter reading the real value of the analog input.
analog signal.
analog signal.
AN OUTPUT VALUE 2 Parameter reading the real value of the analog input. Unit of
measure : Volt.
analog signal.

AXV - HGB
Coding for the analog output association:
OFF (0) The analog output is not configured.
Actual speed (1) Analog signal proportional to the actual motor speed. With a scale factor
equal to 1, the analog output supplies 10V when the speed is equal to the
Motor Maximum speed parameter.
Motor current (2) Analog signal proportional to the actual current supplied by the drive.
With a scale factor equal to 1, the analog output supplies 10V when the
current is equal to the Motor Peak current parameter.
Output voltage (3) Analog signal proportional to the drive output voltage. With a scale
factor equal to 1, the analog output supplies 10V when the voltage is
equal to 1250 V.
Dc link voltage (4) Analog signal proportional to the Voltage of the DC+/ DC- drive inter-
mediate circuit (DC Bus). With a scale factor equal to 1, the analog
output supplies 10V when the voltage is equal to 1250 V.
Drive temperature (5) Analog signal proportional to the drive internal temperature.
temperature is equal to 128 °C.
ATTENTION :
The drive internal fan is normally stopped.
It gets active when the temperature exceeds 55°C.
Ramp output (6) Analog signal proportional to the output of the ramp circuit.
output voltage of the ramp circuit is equal to the Motor Maximum
speed parameter.
+10V (7) +10V Analog signal. Signal available for possible potentiometer connec-
tions for the drive references. Unit of measure : Volt.
-10V (8) -10V Analog signal. Signal available for possible potentiometer connec-
tions for the drive references. Unit of measure : Volt.
Position error (9) Analog signal proportional to the position error. The analog output reaches
10V when the position error is equal to the “Drive max pos error A0”
parameter (32200 Service menu).

SIEI
9.17. ENCODER REPETITION
The signal coming from the encoder and used as a feedback for the speed/space loop can be repeated on
the S1 port with a desired ratio. This port can be configured both as an input (frequency reference, coming
from the master encoder, for the electric axis) and as an output.
The repetition can be enabled/disabled via the software (in order to avoid possible failures the S1 connec-
tor is default configured as an input).
The maximum repetition frequency is 500 kHz; if such frequency is exceeded, a drive alarm occurs as the
counting storage can not be assured.
The index can be repeated with an pulse pass with a limit of 131070 pulses.
It is possible to set the position of the first repeated index pulse as compared to the first master index after
the index repetition has been enabled.
The following indexes will be repeated with a frequency set independently of the master index.
Value Access via

ENC PULSES REV 20030 dword 0 131070 1024 R/W
GAIN INDEX STEP 20032 long 0 131070 1024 R/W
INDEX OFFSET 20033 long 0 131070 0 R/W
INDEX OFFSET READ 20034 long 0 131070 0 R
ENABLE ENC REPETITION 20035 enum 0 3 OFF R/Z
OFF 0
Encoder only 1
Encoder+index 3
A xvt917
ENC PULSES REV Parameter setting the pulse/revolution number for the encoder
simulation signal.
GAIN INDEX STEP Parameter setting the gain for the simulation of the zero slot.
It states the pulse frequency with which the encoder index is
repeated. For example, 100 means that a zero index is obtained
every 100 repeated pulses.
INDEX OFFSET Parameter setting the offset for the simulation of the zero slot
signal. With this parameter it is possible to program the position
of the first repeated index pulse as compared to the first master
index, after the index repetition has been enabled. The following
indexes will be repeated with the set frequency (Gain index
step parameter) independently of the master index.
INDEX OFFSET READ Parameter reading the offset of the zero slot simulation.
ENABLE ENC REPETITION Parameter enabling the encoder repetition signal.

The following possibilities are available:

AXV - HGB
OFF Disabled signal for the encoder repetition. S1 port

available as a frequency input signal.
Encoder only Signal for the encoder repetition enabled only for the sig-
nals A-Aneg and B-Bneg. The index signal is disabled.
Encoder+index Signal for the encoder repetition enabled for all signals:
A-Aneg, B-Bneg, C-Cneg.
9.18. JOG FUNCTION
In the speed control configuration it is possible, by programming the suitable “Jog+” and/or “Jog-” digital
inputs, to replace the speed reference Speed ref with the jog reference.
The Jog function requires the Start command.
In case the Start and Jog+ or Jog- commands are assigned simultaneously, the start command has the
priority.
Speed ref1(rpm) Jog+ Jog-
Speed ref2 (rpm)
Jog limit (rpm)
Jog Set ref (%)
Jog reference (rpm)
Figure 9.18.1: Jog function

SIEI
Value Access via

JOG LIMIT (rpm) 21000 float 0 10000 1500 R/W
JOG SET REFERENCE (%) 21001 float 0 100 0 R/W
JOG REFERENCE (rpm) 21002 float 0 10000 0 R
JOG ACC CW (msec/rpm) 21003 float 0 17476/enc pul 0,332 R/W
JOG ACC CCW (msec/rpm) 21004 float 0 17476/enc pul 0,332 R/W
JOG DEC CW (msec/rpm) 21005 float 0 17476/enc pul 0,332 R/W
JOG DEC CCW (msec/rpm) 21006 float 0 17476/enc pul 0,332 R/W
Axvt918
JOG LIMIT Parameter setting the maximum reference limit for the jog
function. Unit of measure : rpm .
JOG SET REFERENCE Jog function reference, which can be set also via an analog in-
put. Its percentage value states the jog reference.
Unit of measure : % .
JOG REFERENCE Only-reading parameter. It shows to the motor the actual jog
speed reference.
JOG ACC CW Setting of the clockwise acceleration time (active on the Jog +
reference).
JOG ACC CCW Setting of the counterclockwise acceleration time (active on the
Jog - reference).
JOG DEC CW Setting of the clockwise deceleration time (active on the Jog +
reference).
JOG DEC CCW Setting of the counterclockwise deceleration time (active on the
Jog - reference).
9.19. MULTI SPEED FUNCTION
As an alternative to the Speed ref analog reference (in the speed control configuration), it is possible to
enable the Multispeed function. Enabling some digital inputs configured as Multi speed sel bit.. it is
possible to recall up to seven fixed speeds set in the Multi speed xx parameters.
The references can be supplied with signs, so that their definition allows to set also the desired rotation
direction.
In case the digital inputs programmed as Speed sel bit are all at 0, the reference Speed ref 1/2 remains
active.
Speed sel bit 0 Speed sel bit 1 Speed sel bit 2

Multi speed 1 high low low
Multi speed 2 low high low
Multi speed 3 high high low
Multi speed 4 low low high
Multi speed 5 high low high
Multi speed 6 low high high
Multi speed 7 high high high
axv6050

AXV - HGB
Jog+ Jog-
Speed ref1 (rpm)
Speed ref (rpm)
+
Jog ref (rpm)
1 Multi speed index
Multi speed serial

Speed ref2 (rpm) 7
Speed sel bit 0
Speed sel bit 1
Speed sel bit 2
Figure 9.19.1: Multi speed function
Value Access via

MULTI SPEED 1 (rpm) 21301 float -10000 +10000 0 R/W
MULTI SPEED INDEX 21310 word 0 7 0 R/W
MULTI SPEED SERIAL 21311 enum 0 1 Dig input R/W
Digital input 0
Parameter 1
A xvt919
MULTI SPEED 1 Setting of the multispeed 1speed reference.

Unit of measure : rpm .
MULTI SPEED 2 Setting of the multispeed 2 speed reference ( rpm ).

SIEI
MULTI SPEED INDEX Reading parameter if Multi speed serial = Digital input. It
states the currently used speed reference.
Reading/writing parameter if Multi speed serial = Parameter.
Setting of the multi speed reference.
MULTI SPEED SERIAL Parameter for the selection of the commands enabling the multi
speed references.
0 = Digital input Reference selection via digital input
1 = Parameter Reference selection via the
Multi speed index parameter
It is also possible to select up to 3 analog references as Multi speed (see paragraph analog input), which can
be recalled via the selection of three digital inputs.
9.20. MULTI RAMP FUNCTION
Ramp enable Jog enable
Reference =0
Ramp output
Multi ramp index

1
2
Multi ramp serial 3
Ramp sel bit 0
Ramp sel bit 1
Figure 9.20.1: Multi ramp function
The Multiramp function allows to recall up to three different ramps (in addition to the main ramp). The
acceleration and deceleration times can be set in an independent way. The recall of the desired ramp is
carried out via a / two digital signals programmed as Ramp sel bit 0 and ramp sel bit 1.
The selection of each different ramp allows the reference to follow the new ramp during the acceleration
and deceleration phase.

AXV - HGB
Ramp sel bit 0 Ramp sel bit 1

Ramp 1 high low
Ramp 2 low high
Ramp 3 high high
axv6055
Value Access via

MULTI RAMP INDEX 21440 word 0 3 0 R/W
MULTI RAMP SERIAL 21441 enum 0 1 Dig input R/W
Digital input 0
Parameter 1
MULTI RAMP ACC CW1 (msec/rpm) 21401 float 0 17476/enc pul 0,332 R/W
MULTI RAMP ACC CCW 1 (msec/rpm) 21411 float 0 17476/enc pul 0,332 R/W
MULTI RAMP DEC CW 1 (msec/rpm) 21421 float 0 17476/enc pul 0,332 R/W
MULTI RAMP DEC CCW 1 (msec/rpm) 21431 float 0 17476/enc pul 0,332 R/W
MULTI RAMP ACC CW 2 (msec/rpm) 21402 float 0 17476/enc pul 0,332 R/W
A xvt920
MULTI RAMP INDEX Reading parameter if Multi ramp serial = Digital input.
It states the used ramp.
Reading/writing parameter if multi speed ramp = Parameter.
Setting of the multi-ramp selection.
MULTI RAMP SERIAL Parameter for the selection of the multi-ramp enabling commands
0 = Digital input Ramp selection via digital input
1 = Parameter Ramp selection via the Multiramp
index
MULTI RAMP ACC CW 1 Time 1 setting of the clockwise acceleration (msec/rpm).
MULTI RAMP ACC CCW 1 Time 1 setting of the counterclockwise acceleration (msec/rpm).
MULTI RAMP DEC CW 1 Time 1 setting of the clockwise deceleration (msec/rpm).
MULTI RAMP DEC CCW 1 Time 1 setting of the counterclockwise deceleration (msec/rpm).
ULTI RAMP ACC CW 2 Time 2 setting of the clockwise acceleration (msec/rpm).

SIEI
MULTI RAMP ACC CW 3 Time 3 setting of the clockwise acceleration (msec/rpm).
9.21. POSITION PARAMETER

On all AXV drives in the default installed Basic software it is possible to configure the Position operating
mode.
Drive parameter →
→ Drive configuration →
→ Position
WARNING ! In order to carry out correct positioning procedures of the desired position, it is
always necessary to have initially set the drive in a 0 position (or home position).
After finding the home position, each climbing leading edge of the “Pos 0 search”
input takes the axis back into the desired position.
If you need to reset the effective 0 position, it is necessary to delete the found home
flag, the drive or the alarms must be reset, or disable the drive.
9.21.1. Zero sensor

It is possible to make the zero sensor active on the rising leading edge both from the high and from the low
logic status. In order to change such configuration act on the Pos configuration parameter. When the zero
position has been found, the Pos zero found digital output reaches the high logic status.
9.21.1.1. Zero search ( Pos 0 search )
The zero search phase can be carried out with different modes:
A - Via a digital input programmed as: Pos Abs 0 sensor CW (absolute 0 search CW in clockwise direction)
1) Enable the drive: “Enable” digital input with a high logic status
2) Enable (high logic status) a digital input programmed as Pos 0 search
3) The motor, when the drive receives the Pos 0 search command, starts rotating with the reference Pos
speed reference 0. When the Pos Abs 0 search CW digital input intervenes, Pos speed fine 0 becomes the
active speed reference (clockwise rotation direction).The motor stops when the “POS ZPOS” position is
detected as compared to the encoder index. This position is acquired as a zero position.

AXV - HGB
(DI) Enable
(DI) Pos 0
search
(DI) Pos
Abs sensor
Cw
Index
encoder
Pos speed
reference 0
Pos speed
fine 0
(DO)Pos
Zfound
B - Via a digital input programmed as: Pos Abs 0 search CCW (absolute 0 search CCW in
counterclockwise direction).
1) Enable the drive: “Enable” digital input with a high logic status.
2) Enable (high logic status ) a digital input programmed as Pos 0 search.
3) The motor, when the drive receives the Pos 0 search command, starts rotating with the reference
Pos speed reference 0. When the Pos ABS 0 search CCW digital input intervenes, Pos speed fine
0 becomes the active speed reference (counterclockwise rotation direction). The motor stops when
the “POS ZPOS” position is detected as compared to the encoder index. This position is acquired as
a zero position.
(DI) Enable
(DI) Pos 0
search
(DI) Pos
Abs sensor
Ccw
Index
encoder
Pos speed
reference 0
Pos speed
fine 0
(DO) Pos
Zfound

SIEI
C - Search procedure equal to mode A and B, with the possibility to add an offset after having reached
the index.
When necessary due to machine limitations it is possible to change the 0 point (correspond to the
encoder index). Within one revolution of the motor it’s possible to put in an offset with the parameter
Pos Z pos.
That number is from 0 up to the pulses number * 214 (for example with 2048 pulses per round: Pos
Z pos from 0 up to 33554432).
When the procedure A/B has finished, upon reaching the index the motor will continue to move till the
reaching of the position inserted with Pos Z pos.
Moreover, it’s possible to modify the 0 machine position adding an offset of n rotations with the
parameter Pos Z rev offset.
When the procedure A/B has finished, at the reaching of the index the motor will continue to move till
the reaching of the position inserted with Pos Z rev offset.
It’s possible to use both the parameter Pos Z pos and Pos Z rev offset.
(DI) Enable
(DI) Pos 0
search
(DI) Pos
Abs sensor
Cw
Index
encoder
Pos speed
reference 0
Pos Pos Z Rev
Z Pos offset
Pos speed
fine 0
(DO)Pos
Zfound
After the zero position has been found, each rising leading edge of the Pos 0 search input takes the axis
back to the zero position stored with the reference Pos speed Ret 0.
If a new zero position search sequence has to be performed, the found zero flag can be cancelled by
resetting the drive and the alarms or by disabling the drive.

AXV - HGB
Index enc.
sensor Ccw
Pos abs 0
sensor Cw
Pos abs 0
0
Pos 0 search Enc
Pos Z Rev
Pos speed max 0 Ramp Offset Pos Z pos
Pos speed ref 0
Pos dec neg 0

Pos dec pos 0
Pos acc pos 0
Pos acc neg 0
Pos speed fine 0
Figure 9.21.1: Home search
9.21.2. Position start
At the end of the zero search phase it is possible to carry out the position start. The motor, when the drive
(enabled) receives the Pos start pos command, starts rotating with the reference Pos speed and reaches
the set value.
There are 64 registers where it is possible to store the desired values and to recall them via digital inputs
programmed as Pos preset bit 0,1,2,3,4,5. (They are used to state in a binary way the positioning value. It
is not necessary to use them all. If they have not been programmed, the bits are set at 0).
For each value of the first 8 registers it is possible to set a maximum speed and a personalized acceleration
and deceleration ramp. As for the other registers, the speed, the acceleration and deceleration ramp is the
same for them all.
9.21.3. Value self-acquisition
It is possible to use the value self-acquisition function:

Pos memo zero: it stores the present position as a zero position. If the zero position is stored, the value
is considered to have been found (a further zero search is not necessary to perform the positioning
procedure).
Pos memo pos: it stores the present position as a value xx . The register where the value has to be
stored is stated by the Pos Preset Index parameters if the Pos Preset serial parameter has been set as
Parameter, or by the digital input if Pos Preset serial has been set as Digital Input .

SIEI
9.21.4. Positioner parameters
Pos start pos Z found
Pos start pos Z found &
Ramp Speed limit Current limit

Actual preset
&
Position reference
Pos index Position set Ramp set Speed set Pos current
Pos acc/dec 0 Pos speed 0
Preset 0
Preset 1 Pos acc/dec 1 Pos speed 1
Pos zero search
Pos serind 2
3
Pos MU
per rev
Ramp
Pos speed ret 0
Pos abs Preset 63
Pos acc/dec pos (8..63) Pos speed (8..63)
Pos dec ret 0

Pos acc ret 0
Zero found
Pos preset 0
Pos preset 1
Pos preset 2
Pos preset 3
Pos preset 4
Pos preset 5
Pos preset 0
Pos preset 1
Pos preset 2
Pos preset 3
Pos preset 4
Pos preset 5
Pos preset 0
Pos preset 1
Pos preset 3
Pos preset 4
Pos preset 5
Pos preset 2 Retourn to 0 position
Pos 0 search Zero search
Figure 9.21.4: Value acquisition function
Value Access via

POS ACC CW (msec/rpm) 30010 float 0 17476/enc pul 0,332 R/W
POS ACC CCW (msec/rpm) 30011 float 0 17476/enc pul 0,332 R/W
POS DEC CW (msec/rpm) 30012 float 0 17476/enc pul 0,332 R/W
POS DEC CCW (msec/rpm) 30013 float 0 17476/enc pul 0,332 R/W
POS SPEED (rpm) 30014 float 0 10000 3000 R/W
POS CURRENT (A) 30015 float 0 Drive size 6 R/W
POS STOP DEC (msec/rpm) 30094 float 0 17476/enc pul 0,332 R/W
POS ACTUAL POS 30016 float 0 31
2 -1 0 R
MEASURE UNIT PER REV 30000 dword 0 100000 1000 R/W
22 22 22
POS MINIMUM PRESET 30017 float -2 2 -1 -2 R/W
POS MAXIMUM PRESET 30018 float -2 22 22
2 -1 2 -1
22
R/W
POS MINIMUM ABS 30055 float 0 31
2 -1 0 R/W
POS MAXIMUM ABS 30056 float 0 31
2 -1 0 R/W
POS PRESET INDEX 30090 word 0 63 0 R/W
POS PRESET SERIAL 30092 enum 0 1 Dig input R/W
Digital input 0
Parameter 1
POS ABS 30091 enum 0 1 Incremental R/W
Incremental 0
Absolute 1
POS CONFIGURATION 30093 dword 00000000H 0FFFFFFFFH 0H R/W
POS DEST REV 30080 long -2
22 22
2 -1 0 R
POS DEST POS 30081 long -2
22 22
2 -1 0 R
POS ABSTHR 30050 float -2
22 22
2 -1 0 R/W
22
POS THR 30051 float 0 2 -1 0 R/W
POS THROFF 30052 float 0 222 -1 0 R/W
POS THR NEAR 1 30053 float 0 22
2 -1 0 R/W
2 -1 0 R/W
A xvt921

AXV - HGB
POS ACC CW Setting of the clockwise acceleration time during the positioning
procedures (ramp time active for the positions set by the regis-
ters 8 to 63). Unit of measure : msec/rpm .
POS ACC CCW Setting of the counterclockwise acceleration time during the po-
sitioning procedures (ramp time active for the positions set by
the registers 8 to 63). Unit of measure : msec/rpm .
POS DEC CW Setting of the clockwise deceleration time during the positioning
procedures (ramp time active for the positions set by the regis-
ters 8 to 63). Unit of measure : msec/rpm .
POS DEC CCW Setting of the counterclockwise deceleration time during the po-
sitioning procedures (ramp time active for the positions set by
the registers 8 to 63). Unit of measure : msec/rpm .
POS SPEED Setting of the speed reference during the positioning procedures
(active for the positions set by the registers 8 to 63).
POS CURRENT Setting of the maximum current during the positioning proce-
dures (active for all positions set by the registers 0 to 63).
POS STOP DEC Setting of the clockwise/counterclockwise deceleration time ac-

tive during an emergency stop before reaching the position (see
Pos configuration parameter). Unit of measure : msec/rpm .
POS ACTUAL POS Read-only parameter. It states the motor present position as com-
pared to the zero position. It is active only at the end of the zero
search phase. Unit of measure : user unit.
MEASURE UNIT PER REV Setting of the space covered by the encoder during one revolu-
tion. Parameter used to state the position in engineering units.
Unit of measure : user unit.
POS MINIMUM PRESET Parameter stating the minimum value to be set in the different
position registers. Unit of measure : user unit.
In case the setting of a position is lower than this value, such
setting is not accepted.
POS MAXIMUM PRESET Parameter stating the maximum value to be set in the different
position registers. Unit of measure : user unit.
In case the setting of a position is higher than this value, such
setting is not accepted.
POS MINIMUM ABS Minimum absolute position setting. When set to 0 it is not enabled.
If the user writes a position out of range, the command is not
activated and the drive activates the digital output Pos-out of
limits (1008).
POS MAXIMUM ABS Maximum absolute position setting. When set to 0 it is not enabled.
If the user writes a position out of range, the command is not
activated and the drive activates the digital output Pos-out of
limits (1008).

SIEI
POS PRESET INDEX Reading parameter if Pos preset serial = Digital input.
Reading/writing parameter if Pos preset serial = Paramater.
It states which position preset is currently used.
POS PRESET SERIAL Parameter selecting the enabling commands of the position
registers.
0 = Digital input Register selection via digital input
1 = Parameter Register selection via the Pos preset index parameter.
POS ABS This parameter states if the positioning values make reference to
the zero position or to the actual position. (Relative or absolute
moves).
0 = Incremental It states that the value of the position register is incremental

as compared to the actual position.
Example: If the currently selected position preset is 2000 u.u.
(user units), with every Pos start pos command the posi-
tion increases by 2000 u.u.
1 = Absolute It states that the value of the position register is absolute as

compared to the zero position.
Example: If the currently selected position preset is 2000 u.u.,
with the first command of Pos start pos the destination
position is 2000 u.u. (referred to the zero position); with the
following commands (if the register is not modified) the po-
sition will not change.
POS CONFIGURATION Programming of particular functions in the positioner configu-

ration: bit-configured parameter with an hexadecimal setting.
bit 0 Set with bit 0 = 1; the digital output configured as Pos reached
(reached position) remains with a high logic status only if the
Pos start pos digital input is in a high logic status condition.
Pos start pos
Pos reached
By setting bit 0 = 0 , the digital output configured as Pos

reached (reached position) keeps a high logic level till the
following command starting the positioning procedure is given.

AXV - HGB
Pos start pos
Pos reached
Bit 1 Set with bit 1 = 1; by disabling the Pos start pos command during
a positioning phase, the motor stops with the ramp time Pos dec
CW/CCW
Bit 2 Set with bit 2 = 1; by disabling the Pos start pos command during a
positioning phase, the motor stops as fast as possible (without ramp).
Bit 3 Set with bit 3 = 1; by disabling the Pos start pos command during a
positioning phase, the motor stops with a ramp time set in the Pos
stop dec parameter.
Note If bit 1, bit 2, bit 3 are all equal to 0, it is not possible to stop the motor
during the positioning phase (only by disabling the drive), as the pos
start pos command is active on the climbing leading edge.
Bit 4 Set with bit 4 = 1; even though the drive is disabled (enable drive
command), the 0 position remains stored. In order to reset the 0 posi-
tion storage, it is necessary to disable the power supply on the regula-
tion card.
Bit 4 = 0 When the drive is disabled, the zero position is lost and it is
therefore necessary to perform a new 0 search sequence.
Bit 5 Set with bit 5 = 1; the zero sensor (digital input programmed as Pos 0
sensor CW/CCW) is active on the sensor output leading edge (stand-
ard configuration bit 5 = 0, sensor active on the rising leading edge).
Bit 6 Set with bit 6 = 1; the zero sensor (digital input programmed as Pos
0 sensor CW/CCW) is active on the high logic level.
Bit 7 Set with bit 7 = 1; the zero sensor (digital input programmed as Pos
Abs 0 sensor CW/CCW) is active on the low logic level.
Bit 8 Set up bit 8 = 1; it starts the search mode of the home position only
after having passed the first encoder index.
This procedure is necessary in applications where the feedback en-
coder is of digital type with Hall sensor and there is the possibility of
finding the 0 position before executing at least one motor turn.

SIEI
Programming example
If bit 0 is to be enabled (reset of pos reached ), the bit 1 (pos stop ) and the bit 6 (sensor active on the high
logic status) are necessary:
bit 0 = 1
bit 1 = 1
bit 6 = 1
POS CONFIGURATION 11 10 9 8 7 6 5 4 3 2 1 0
Bit 0 0 0 0 0 1 0 0 0 0 1 1
0 4 3
axv6056
Therefore, in the Pos configuration parameter it is necessary to set the value 043H.
POS DEST REV Read-only parameter (valid only for debug ); it states the revolutions to the
destination position.
POS DEST POS Read-only parameter (valid only for debug ); it states the position in the revo-
lution of the destination position.
POS ABS THR Setting of the threshold signalizing the “overcome position” referred to the zero
position. When the position is higher than the value set in this parameter, the
digital output programmed as “Pos Abs threshold” reaches +24V.
Unit of measure : user unit .
POS THR Setting of the threshold signalizing the “overcome position” referred to the last
positioning: if the positioning procedure is carried out in a clockwise direction
and the present value is higher than the one set in this parameter + the starting
one, the “position threshold” output is set. When the positioning procedure is
carried out in a counterclockwise direction and the present value is lower than the
starting one - the one set in this parameter, the “position threshold” is set.
POS THR OFF Offset setting of the zero speed threshold. It states how far the position can oscillate
around the zero position before considering active the digital output programmed as
“Speed 0 thr”. Unit of measure : user unit .
POS THR NEAR 1 Reached position threshold 1. The digital output reaches high logic status when
the motor present position is equal to the destination position minus the Pos thr
near 1 parameter.
POS THR NEAR 2 Reached position threshold 2. The digital output reaches high logic status when
the motor present position is equal to the destination position minus the Pos thr
near 2 parameter. “Speed 0 thr”. Unit of measure (u.u.).

AXV - HGB
9.21.5. Positioner inputs
Pos preset 0...5 They are used to state in a binary way the positioning value.
It is not necessary to use them all.
If they have not been programmed, the bits are at 0.
Pos-0 search If set at 1 the drive reaches the home value, if such value has been previ-
ously found. If not, the ramp block becomes active till a 0 sensor input
intervenes.
See paragraph 9.21.3.
Pos-Abs 0 sensor CW See paragraph 9.21.1.
Pos-Abs 0 sensor CCW See paragraph 9.21.1.
Pos- 0 sensor See paragraph 9.21.1.
Pos-Start pos The drive carries out a positioning procedure with the presently selected
value. The zero position has been found previously.
Pos-Memo 0 See paragraph 9.21.3.
Pos-Memo pos See paragraph 9.21.3.
9.21.6. POSITION PRESET
Value Access via

POS PRESET [0…7] 3010. float -2
22
222-1 0 R/W
POS SPEED [0…7] (rpm) 3010. float 0 10000 0 R/W
POS ACC [0…7] (msec/rpm) 3010. float 0 17476/enc pul 0,332 R/W
POS DEC [0…7] (msec/rpm) 3010. float 0 17476/enc pul 0,332 R/W
POS PRESET [8] 30108 float -222 222-1 0 R/W
POS PRESET [...] 301.. float -222 222-1 0 R/W
POS PRESET [63] 30163 float -222 222-1 0 R/W
Axvt9211
POS PRESET (0...7) Setting of the position value in the register (0...7).
Unit of measure : user unit.
POS SPEED (0...7) Maximum speed setting during the positioning phase of pre-
set 0...7. Unit of measure : rpm .
(Active if the Pos speed analog input is not programmed).
If this value is set with 0 (rpm) the Pos speed parameter in the
Position parameter menu becomes active.

SIEI
POS ACC (0...7) Setting of the acceleration time during the positioning phase of
preset 0...7. Unit of measure : msec /rpm .
POS DEC (0...7) Setting of the deceleration time during the positioning phase of
preset 0...7. Unit of measure : msec /rpm .
POS PRESET 8 Setting of the position value in the register 8.

POS PRESET (9...62) Setting of the position value in the register 9...62.
POS PRESET 63 Setting of the position value in the register 63.

9.21.7. ZERO CONFIGURATION
Value Access via

POS ACC CW 0 (msec/rpm) 30020 float 0 17476/enc pul 0,332 R/W
POS ACC CCW 0 (msec/rpm) 30021 float 0 17476/enc pul 0,332 R/W
POS DEC CW 0 (msec/rpm) 30022 float 0 17476/enc pul 0,332 R/W
POS DEC CCW 0 (msec/rpm) 30023 float 0 17476/enc pul 0,332 R/W
POS SPEED MAX 0 (rpm) 30024 float 0 10000 1500 R/W
POS SPEED REF 0 (%) 30025 float -100% +100% 10% R/W
POS SPEED FINE 0 (rpm) 30027 float 0 10000 50 R/W
POS ZPOS 30030 long 0 231-1 0 R/W
POS 0 FOUND 30031 int 0 1 0 R
POS ZREV OFFSET 30035 dword 0 10000 0 R/W
POS ZREV 30029 long -231 31
2 -1 0 R
POS SPEED RET 0 (rpm) 30026 float 0 10000 1000 R/W
POS ACC RET 0 (msec/rpm) 30032 float 0 17476/enc pul 0,332 R/W
POS DEC RET 0 (msec/rpm) 30033 float 0 17476/enc pul 0,332 R/W
POS DSPEED RET 0 (rpm) 30034 float 0 10000 50 R/W
Axvt9212
POS ACC CW 0 Clockwise acceleration during the home search.
POS ACC CCW 0 Counterclockwise acceleration during the home search.
POS DEC CW 0 Clockwise deceleration during the home search.
POS DEC CCW 0 Counterclockwise deceleration during the home search.
POS SPEED MAX 0 Maximum speed during the home search.

AXV - HGB
POS SPEED REF 0 Speed reference during the home search.
POS SPEED FINE 0 Speed reference while searching the home absolute position.
POS Z POS Zero position inside a revolution.

Position setting (from 0 to n encoder pulses per 214 ) to shift
homing in one encoder cycle.
POS 0 FOUND Position indicator of the found home.
POS ZREV OFFSET Motor cycle number that the user can “plus” POS Z POS
parameter, to do an offset homing position.
POS ZREV Only-reading, number of revolutions of the zero position.
POS SPEED RET 0 Speed reference while returning to the home position.
POS ACC RET 0 Setting of the acceleration time with a clockwise/counterclockwise

rotation direction during the phase returning to the 0 position.
Unit of measure : msec /rpm .
POS DEC RET 0 Setting of the deceleration time with a clockwise/counterclockwise

rotation direction during the phase returning to the 0 position.
Unit of measure : msec /rpm .
POS DSPEED RET 0 Establish the increase of the speed reference for every complete
motor turn, while the axis gets back to 0.
It’s used to avoid high speed of the motor during short moves.
Example:
POS DSPEED RET 0 = 100
POS SPEED RET 0 = 1500
When there is an large distance from 0 the max speed is 1500

rpm, while from 0 up to 15 turns the speed has increased at a
step of 100 rpm per revolution.

SIEI
Riferimento di velocità Fine corsa sensore Ricerca di 0 attiva anche Index = tacca di
ricerca di zero = positivo di zero = attivo sul fronte senza il primo index encoder zero encoder
Start motore
Index
Ingresso digitale fine corsa
sensore di zero programmato:
Pos abs 0 sensor Cw
Fine corsa posizione 0

Senso di rotazione motore x
Index
Pos abs 0 sensor Ccw

ricerca di zero = negativo di zero = attivo sul fronte senza il primo index encoder zero encoder
Ingresso digitale fine corsa Index Start motore



sensore di zero programmato: Index
Pos abs 0 sensor Cw

Figure 9.21.7.1: Home position search active on the positive edge

AXV - HGB
ricerca di zero = positivo di zero = attivo sul livello senza il primo index encoder zero encoder
Index
A) start fuori dal sensore x
B) start all’interno del sensore x
Ingresso digitale fine corsa Index

ricerca di zero = negativo di zero = attivo sul livello senza il primo index encoder zero encoder
Index
Pos abs 0 sensor Cw
A) start all’interno del sensore x
B) start fuori dal sensore x
Ingresso digitale fine corsa Index

A) start all’interno del sensore x
B) start fuori dal sensore x
Figure 9.21.7.2: Home position search active on the logic level

SIEI
Riferimento di velocità Fine corsa sensore Ricerca di 0 attiva solo se Index = tacca di
ricerca di zero = positivo di zero = attivo sul livello passato il primo index encoder zero encoder

Pos abs 0 sensor Cw
Index Index

index enc passato
B) start all’interno del sensore

x
index enc passato
x
C) start fuori dal sensore
index enc non passato
x
D) start all’interno del sensore

Pos abs 0 sensor Ccw Index Index
A) start fuori dal sensore

x
index enc passato
x
index enc passato
x

x
Figure 9.21.7.3: Home position search active on the logic level after the first encoder index

AXV - HGB
Riferimento di velocità Fine corsa sensore Ricerca di 0 attiva solo se Index = tacca di
ricerca di zero = negativo di zero = attivo sul livello passato il primo index encoder zero encoder

Pos abs 0 sensor Cw Index Index

index enc passato

index enc passato
x
x

sensore di zero programmato: Index Index

x
A) start fuori dal sensore
index enc passato
x
index enc passato
x
x
Figure 9.21.7.4: Home position search active on the logic level after the first encoder index

SIEI
9.22. ELECTRICAL LINE SHAFT
In the configuration Electrical line shaft it is possible to provide synchronism between 2 or more motors.
The master encoder can be connected to the door S1 (connector 15 poles front AXV) or it is possible to
use the fast link (AXV-NET).
Moreover, it is possible to save into the drive up to 4 ratios selectable through 2 programmed digital input
as Els ratio sel bit 0,1. Whatever ratio is actually selected, it is possible to increase/decrease by two
programmed digital inputs as Els inc ratio and Els dec ratio.
Value Access via

ELS PULS REV MAST 32000 word 512 32767 2048 R/W
ELS DELTA TIME (sec) 32008 float 0 10 sec 1 sec R/W
ELS MASTER SEL 32009 enum 0 1 Encoder R/Z
Encoder 0
Fast link 1
ELS DELTA RATIO 32014 float 10 +7.900 1 R/W
ELS SLIP 32020 enum 0 1 Ratio R/Z
Ratio 0
Slip 1
ELS POSITION ERROR 19113 long 0
22
2 -1 0 R
Axvt922
ELS PULS REV MASTER Set up number pulses per turn of the master encoder present on
the connector S1 or on the fast-link.
ELS DELTA TIME This parameter is used together with the programmed digital
input as Els inc ratio and Els dec ratio.
It defines the change rate of the set ratio.
Measurement unit (sec). This parameter is used together with
the parameter Els delta ratio.
Example: when the inputs Els Inc /Dec ratio are active, the
ratio changes the set value by Els Delta ratio (es. 0.002) within
the set time in the parameter Els Delta time (es 0.1 sec).
ELS MASTER SEL Set up to define the reference source of the master encoder.
Encoder Master encoder door S1.
Fast link Connectors X3-X4.
ELS DELTA RATIO Define how much the ratio should vary every cycle of slow task
(8msec).
Example: if through the digital input a new ration is selected
changing from 1.000 up to 2.000 the changes is not immediate
but follow a ramp profile with a set increase in this parameter.
If els delta ratio imposed: 1.000 means a variation of 1.000 every
8msec, therefore it changes to the new ratio in 8msec.

AXV - HGB
If els delta ratio imposed: 0.010 means a change of 0.01 every

8msec, therefore it changes to the new ratio (2.000) in 800msec.
Through a programmed digital input, Els ramp ratio dis it’s
possible to disable this time to ramp.
ELS SLIP If set up to Ratio the ratio is activated.

If set up on Slip the parameters ELS RATIO 0, 1, 2, 3, are not
set as ratio but as % of slipping from the Master.
ELS POSITION ERROR Max position error allowed. Measurement unit encoder pulses
for 214.
Connection of the digital encoder
AXV Master: connector S1 connects the channels A-Aneg, B and Bneg and 0V to the connector S1 slave.
Set up: enable the encoder repetition, parameter Enable anc repetition and program the correct pulses
number with the parameter Enc pulses rev.
AXV Slave: connector S1 connect the channels A-Aneg, b and Bneg and 0V to the connector S1 master.
WARNING : Before connecting the connector S1 on the slave operation verify the parameter Enable
enc repetition is set to disable. The factory set up is disable.This parameter is automati-
cally disabled when the drive is set in mode Electric line shaft and configured as slave.
S1 S1
Master Slave
1=Fast link Encoder master from Fast link
Fast link connection
AXV Master: connector X3 (master) connect to the connector X4 (slave)

Set up: enable the fast link, parameter Drive fast link set as Master [X3]
AXV Slave: Connector X4 (slave) connect the connector X3 (master).
Set up: enable the fast link, parameter Dreive fast link set as Slave [X4].
The fast link is active only after a reset drive command.

SIEI
WARNING : The main supply (+24V) for the regulator AXV of the master and slave must be
the same with 0V connected together.
X X
3 4
Master Slave
In applications with a drive master and n drive slave it is possible to make a connection with fast link X3
(master) -X4 (slave) because from the connector X3 there is always the master encoder frequency.
X X X
4 4 4
X X X X
3 3 3 3
drive master drive slave 1 drive slave 2 drive slave 3
The drive slave 1,2,3 are all synchronized with the drive master.
In applications where it is necessary to synchronize the drive in cascade, master –slave, where the previous
is always the master of the next it is necessary to use both the encoder repetition and the fast link.
X X X X
4 4 4 4
X X X X X
3 3 3 3 3
S S S S S
1 1 1 1 1
Drive 1 Drive 2 Drive 3 Drive 4 Drive 5

Master Slave dr 1 Slave dr 2 Slave dr 3 Slave dr 4
Master dr 3 Master dr 4 Master dr 5

AXV - HGB
9.22.1. ELECTRICAL LINE SHAFT RATIO
It is possible to load into the drive up to 4 ratios selectable through 2 programmed digital input as Els ratio
sel bit 0,1 or from configurator.
It is possible to set the 4 ratios also via the analog input.

The set ratio is calculated as: R = slave speed/master speed.
Example: if the master speed is 1000 rpm and the slave must rotate at 2000 rpm it is necessary to set a
ratio: Ratio = 2000 rpm / 1000 rpm = 2.000.
Value Access via

ELS RATIO [0] 32001 float -8.000 +7.900 1.000 R/W
ELS ACT RATIO 32005 float -8.000 +7.900 1.000 R
ELS RATIO INDEX 32006 word 0 3 0 R/W
ELS RATIO SERIAL 32007 enum 0 1 Dig input R/W
Digital input 0
Parameter 1
A xvt9221
ELS RATIO [ 0 ] Set up speed ratio for electric axis. Preset 0
ELS ACT RATIO Read parameter, show the value of actually selected ratio.
ELS RATIO INDEX Read parameter if Els ratio serial = Digital input.
Shows which ratio is actually in use.
Parameter reading/writing if Els ratio serial = Parameter
Set up of the ratio selection (ratio 0, 1, 2, 3).
ELS RATIO SERIAL Parameter for the selection of the enable commands Els ratio.
0 = Digital input The ratio selection (0, 1, 2, 3) is possible through 2

programmed digital inputs as Els ratio sel bit 0,1.
1 = Parameter The ratio selection (0, 1, 2, 3) is possible through the

parameter Els Ratio Index.

SIEI
9.22.2. ELECTRICAL LINE SHAFT BEND
Through an external command it is possible to increase/decrease the motor slave speed momentarily to
create a phase offset or “bend” in the shaft.
For a fixed time the motor slave is not in synchronism with the master, because its reference is modified.
At the end of the fixed time by parameter or when the digital input is not longer present, the slave gets back
in synchronism with the master.
The modifing speed can be set on an analog input or fixed by parameter.
Value Access via

ELS RB SPEED MAX [rpm] 32100 float -10000 +10000 1000 R/W
ELS RB SPEED REF [%] 32104 float -100 +100 10 R/W
ELS RB TIME [sec] 32101 float 0 500 500 sec R/W
ELS RB ACC [sec] 32102 float 0 10000 1 sec R/W
ELS RB DEC [sec] 32103 float 0 10000 1 sec R/W
A xvt9222
ELS RB SPEED MAX Parameter to set up the max limit of speed reference for the
bend recover function.
Measurement unit : rpm .
ELB RB SPEED REF Reference for bend recover function, settable also from an ana-
log input (Els Rb Spd Ref).
Expressed in % show the speed reference to add to the synchro-
nism reference.
ELS RB TIME Time setting for the correction reference to be active.

The digital input that enables this function (Els-bend rec CW/
CCW) must be kept activated during the recovery. At the end
of the acceleration phase of the bend recover function, the
timing starts. When the time is equal to that one set in this
parameter the bend recover reference becomes the zero.
If the digital input that enables this function (Els-bend rec
CW/CCW) goes low before the time expires (0V) the bend
recover reference becomes the zero.
ELS RB ACC Acceleration time during the speed change. Increase the speed
of the set revolutions number in the parameter every 8 msec.
Measurement unit : seconds .
ELS RB DEC Deceleration time during the speed change. Decrease the speed
of the set revolutions number in the parameter every 8 msec.
Measurement unit : seconds .

AXV - HGB
9.23. FAILURE REGISTER
Value Access via

DRIVE FAULT 24000 dword 0 2 -1 0 R
EXTERNAL FAULT 24001 int 0 1 0 R
BRIDGE DESATURATION 24002 int 0 1 0 R
OVERCURRENT 24003 int 0 1 0 R
DCLINK OVERVOLTAGE 24004 int 0 1 0 R
HEATSINK OVERTEMP 24005 int 0 1 0 R
MODULE JUNCTION OVERTEMP 24006 int 0 1 0 R
BRAKE DESATURATION 24007 int 0 1 0 R
MOTOR OVERTEMP 24008 int 0 1 0 R
AUX POWER UNDERVOLT 24009 int 0 1 0 R
DSP PROG ERROR 24010 int 0 1 0 R
PRG 16KHZ OV ERTIME 24011 int 0 1 0 R
INVALID FLASH PARMS 24012 int 0 1 0 R
BAD FLASH DEVICE 24013 int 0 1 0 R
BRAKE OVERPOWER 24014 int 0 1 0 R
NTC DISCONNECTED 24015 int 0 1 0 R
BRAKE ERROR 24016 int 0 1 0 R
LOCK DRIVE 24017 int 0 1 0 R
DI ENCODER COUNT 24018 int 0 1 0 R
AD ENCODER COUNT 24019 int 0 1 0 R
ENCODER SIMULATION 24020 int 0 1 0 R
UNDERVOLTAGE 24021 int 0 1 0 R
EB-BUS LOSS 24026 int 0 1 0 R
EB-GENERIC FAIL 24027 int 0 1 0 R
SEQUENCE ERROR 24028 int 0 1 0 R
FAST LINK ERROR 24029 int 0 1 0 R
POSITION ERROR 24030 int 0 1 0 R
FIRST ALARM 24040 word 0 31 0 R
A xvt923
DRIVE FAULT This parameters shows the present alarms.
EXTERNAL FAULT External alarm present (alarm code 31).
BRIDGE DESATURATION Bridge short circuit alarm (alarm code 1).
OVERCURRENT Overcurrent alarm (alarm code 2).
DCLINK OVERVOLTAGE DC link overvoltage (alarm code 3).
HEATSINK OVERTEMP Heatsink overtemperature (alarm code 4).
MODULE JUNCTION OVERTEMP Module junction overtemperature (alarm code 5).
BRAKE DESATURATION Short circuit alarm in the braking circuit (alarm code 6).

SIEI
MOTOR OVERTEMP Motor overtemperature alarm (alarm code 7).
AUX POWER UNDERVOLT Undervoltage of regulator supply (alarm code 8).
DSP PROG ERROR DSP program alarm (alarm code 9).
PRG 16KHZ OVERTIME 16 KHz program alarm (alarm code 10).
INVALID FLASH PARMS Invalid flash parameter alarm (alarm code 11).
BAD FLASH DEVICE Alarm on a non preset flash (alarm code 12).
BRAKE OVERPOWER Brake overtemperature alarm (alarm code 13).
NTC DISCONNECTED Non connected NTC alarm (alarm code 14).
BRAKE ERROR Brake Alarm (usually brake threshold too low) (alarm code 15).
LOCK DRIVE Blocked drive alarm (alarm code 16).
DI ENCODER COUNT Digital encoder alarm (alarm code 17).
AD ENCODER COUNT Analog (SINCOS) encoder alarm (alarm code 18).
ENCODER SIMULATION Encoder simulation alarm (alarm code 19).
UNDERVOLTAGE Undervoltage, mains supply (alarm code 20).
EB-BUS LOSS Bus communication alarm at a HS or VHS level (alarm code 26).
EB-GENERIC FAIL EB-PDP card generic alarm. (alarm code 27).
SEQUENCE ERROR Sequence error alarm (alarm code 28).
FAST LINK ERROR AXV-NET communication alarm (alarm code 29).
POSITION ERROR Position error alarm (alarm code 30).
FIRST ALARM This parameter shows the code of the first intervened alarm
(alarm code 40).

AXV - HGB
9.24. FAILURE QUEUE
Value Access via

32
DRIVE FAULT ( XX ) 24200 dword 0 2 -1 0 R
DRIVE FAULT TIME ( XX ) sec. 24201 dword 0 232-1 0 R
Axvt924
DRIVE FAULT ( XX ) It shows the code of the intervened alarm. The last alarm acti-
vated by the drive is set in position 24 (drive fault 24), therefore
the queue is moved in an upward direction (i.e. the first alarm of
the queue is automatically cancelled).
DRIVE FAULT TIME ( XX ) sec. It states the time in which the XX alarm has been activated. It is
stated in seconds and refers to the drive lasting hours (service \
service counter-total power on time menu).
9.25. ALARM TO MASK
Value Access via

ALARMS TO MASK 24100 dword 0 232-1 19000000H R/W
ALARMS TO DELAY 24101 dword 0 232-1 0 R/W
ALARMS DELAY 24102 float 0 10 0 R/W
Axvt925
ALARMS TO MASK This parameter allows to mask the intervention of some alarms
thus making them inactive. It is an hexadecimal alarm.
When the masked alarm gets active, the drive goes on function-
ing properly (the OK relay does not change its state) and the
digital output programmed as ALARM WARNING changes its
logic level.
List of possible excluded alarms:

DI encoder count (error code 17)
AD encoder count (error code 18)
Encoder simulation (error code 19)
Undervoltage (error code 20)
EB-bus loss (error code 25)
Sequency error (error code 27)
Fast link (error code 28)
Position error (error code 29)
External fault (error code 31)
This parameter is default set with: 19000000H (it means that the Pos.error, fast link and EBbus loss
parameters are excluded).

SIEI
Example for a parameter setting :
32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1
0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
1 9 0 0 0 0 0 0
axv6057
1° column : Alarm code

2° column : Setting of the alarm functions :
0 = active
1 = masked
3° column : Parameter hexadecimal setting
ALARMS TO DELAY This parameter allows to set the intervention of some alarms
thus making them active with a delayed effect.
Hexadecimal parameter
When the parameter with a delayed setting becomes active, the
drive goes on functioning properly (the OK relay does not change
its state) and the digital output set as ALARM COMING changes
immediately its logic condition. After the time set in the Alarms
delay parameter (sec.) has been overcome, the drive reaches a
stop condition signalizing, via the multi-function led, the active
alarm.
List of possible delayed alarms :

Heatsync overtemp (error code 4)
Motor overtemp (error code 7)
Ntc disconnected (error code 14)
DI encoder count (error code 17)
AD encoder count (error code 18)
Encoder simulation (error code 19)
Undervoltage (error code 20)
EB-bus loss (error code 25)
Sequency error (error code 27)
Fast link (error code 28)
Position error (error code 29)
External fault (error code 31)
This parameter is default set with: 00000000H (it means than no alarm has been set with a delayed
effect).
Example for a parameter setting: the aim is to delay the intervention of the Motor overtemp and
Heatsync overtemp alarms.

AXV - HGB
32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 1 0 0 0
0 0 0 0 0 0 4 8
axv6058
1° column : alarm code

2° column : Setting of the alarm functions:
0 = active
1 = delayed
3° column : Parameter hexadecimal setting
The setting of the ALARMS TO DELAY parameter is = 48H
ALARMS TO DELAY (sec.) Setting of the delay time for the drive to stop after an alarm
intervention. The programming procedure for the alarm to be
delayed has to be performed in the ALARMS DELAY pa-
rameter.
9.26. EXPANSION BOARD
Value Access via

EB TYPE 40000 enum 0 5 none R/W
none 0
EB_DIO old 1
EB_DIO 2
EB_PDP 3
EB_DN 4
EB_COP 5
A xvt926
EB TYPE This parameter shows the expansion card installed on the AXV
drive.
EBDIO old : the EBDIO card is a first generation card; this
value must be set.
EBDIO : last generation EBDIO card. An automatic recogni-
tion procedure is performed.
EB-PDP : EB-PDP card for Profibus field bus
EB-DN : EB-DN card for Device-Net field bus
EB-COP : EB-COP card for Can Open field bus
WARNING! The recognition procedure of the expansion cards is always automatically performed.
If the parameter is set as EB-DIO old, no research is carried out.
All parameters referring to the programming procedure of the Profibus expansion card are listed in the
EB-PDP card manual.

SIEI
9.27. SYSTEM
Value Access via

SYS_ IC_P_FAK 18100 word 0 32767 256 R/W
SYS _IC_I_ FAK 18101 word 0 32767 256 R/W
SYS _IC_D_FAK 18102 word 0 32767 256 R/W
A xvt927
The current loop is controlled by a PID loop; the maximum control band is 5 kHz.
The gains of this loop are factory set with some default values, in order to allow the AXV drive to control,
in the right way, a large motor range.
For advanced applications such values have to be optimized according to the used motor.
SYS_ IC_P_FAK Current loop proportional gain

Default value 256 = drive AXV6/9
512 = drive AXV10/14
1000 = drive AXV 23/40
SYS _IC_I_ FAK Current loop integral gain

1000 = drive AXV 23/40
SYS _IC_D_FAK Current loop derivative gain

1000 = drive AXV 23/40
9.28. BRAKING UNIT
Value Access via

SYS_ OV_CLM_LIM 18124 float 0 1250 850
SYS_BRAKE 18123 enum 0 1 internal R/W
internal 0
external 1
SYS_P_BRAKE_MAX 18107 word 0 0 R/W
0 = default value 0
SYS_R_BRAKE 18109 word 0 0 R/W
0 = default value 0
Axvt928
Parameters required for the optimization of the internal or external braking resistance system
(see paragraph 4.7.1 Braking unit)
The parameters are described in the paragraph 4.7.1.3.

AXV - HGB
9.29. DIGITAL OUTPUT RESET
Value Access via

SYS_DO_RESET_AT_FAIL 18117 long 00000000H FFFFFFFFH 00000000H R/W
SYS_DO_SET_AT_FAIL 18118 long 00000000H FFFFFFFFH 00000000H R/W
Axvt929
These parameters allow to state the logic level of the digital outputs when an alarm intervenes.
SYS_DO_RESET_AT_FAIL This parameter allows to set the digital outputs with a low logic
level when an alarm intervenes.
Bit-mapped parameter with a value hexadecimal setting.
0 = the output does not change
1 = the output is set with 0V
The bits 0...7 refer to the DO0...7 digital outputs of the AXV
drive, the bits 16...19 refer to the digital outputs of the EB-DIO
card.
SYS_DO_SET_AT_FAIL This parameter allows to set the digital outputs with a high logic
level when an alarm intervenes.
Bit-mapped parameter with a value hexadecimal setting.
0 = the output does not change
1 = the output is set with +24V
The bits 0...7 refer to the DO0...7 digital outputs of the AXV
drive, the bits 16...19 refer to the digital outputs of the EB-DIO
card.
9.30. UNDERVOLTAGE LIMITS
Value Access via

SYS_UV_V_MIN 18125 float 0 460 400 R/W
SYS_UV_P_FAK 18121 word 0 32767 30 R/W
Axvt930
SYS_UV_V_MIN This parameter allows to set the intervention value of the

undervoltage alarm on the power section.
The value is factory set with 400V (power supply voltage on the
drive power section).

Digital input C1 8 9 10 11 6 7 8 9 C2 Digital output C1 12 13 14 15 10 11 12 13 C2 C1 19 20 C1 RLM RLO RLC
I/O Parameter
Parameter
Internal variable
0V
DI1
DO3
DI0
DI3
DI4
DI5
DI6
DI7
DO0
DO1
DO5
DO6
DO7
DI2
DO2
DO4
+24V
Drive O.K. Failure
Drive fault FAILURE Failure reset
External fault
Disable drive
Analog input An inp Z pos0 (V)
C1 An inp scale0
Disable An0 Ramp enable Jog enable
An inp value 0(V)
ROP Reference =0
+ Jog+ Jog- Speed max pos
x Speed ref1(rpm)
RON Inverse End run forward Ramp in=0
End run rev
An inp. Read 0 (V) Speed ref(rpm) Ramp output
An inp Z neg 0(V)
An inp offset 0(V) +
* (-1)
An inp Z pos1 (V) Speed ref2 (rpm)

An inp scale1 Speed max neg Analog output
Disable An1 C1
An inp value 1(V) Jog limit (rpm)
R1P
+ x 7 GND
R1N 1 Multi speed index Multi ramp index 1
Jog Set ref 2 An out scale0 An out value0 (V)
An inp. Read 1 (V)
(rpm) Multi speed serial 3
7 Multi ramp serial
An inp Z neg1 (V)
An inp offset 1(V) 5 AO0
x +
Jog reference (rpm)
AXV - HGB
An out write0 (V)

An inp Z pos2 (V) An out offset0 (V)
An‘ inp scale2
C2 Disable An2 An out scale1
An inp value 2(V) An out value1 (V)
R2P
Ramp sel bit 1
Ramp sel bit 0
Speed sel bit 0

Speed sel bit 2
x
Speed sel bit 1

6
R2N x AO1
+
An inp. Read2 (V) T curr lim+ (A)
T curr ref1(A) An out write1 (V)
An inp Z neg2 (V) An out offset1 (V)
Inverse End run rev End run forward Reference =0
10. BLOCK DIAGRAMS
An inp offset 2(V)

An out scale1 An out value1 (V)
C2
+ 3 AO2
Speed thr Speed threshold x +
Actual * (-1)
Speed An out write1 (V)
Speed 0 An out offset1 (V)
Speed ref T curr ref2 (A)

Speed reached T curr lim- (A) An out scale2 An out value2 (V)
Speed thr off
4 AO3
Cao x +
Current limit
Motor
current An out write2 (V)
An out offset2 (V)
Current threshold 5 GND
Curr thr INPUTS , OUTPUTS , REFERENCES , RAMPS AND LIMITS
133
134
+
+ + Inv.park transf.
Ki Pwm
+
-
+
+
Ki
Mod.
Current loop -
Park transf
Speed loop Id
Position loop
Gain pos
Line shaft loop Iq
Gain int AANA
BANA
High speed IANA
Gain speed deflux 0V
Motor flux angle SINN
algorithm Encoder COSN
Analog speed ref. Gain acc
H1
+ H2
Position ref. H3-
- 0V
Target +
Actual PTC+
position + - Xn RESEXN
position 0V
register + - register ANNA
BNANA
- INANA
SIN
COS
SIEI
Absolute
0V
position H1N
H2N
H3N
SENSOR CONNECTOR S2
ABREN
RESEXP
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
AUX+
X n.n position
command from
Enc puls rev electric gear
master
0V
HALL 1-
HALL 1
HALL 2
Els delta time HALL 3
AUX +5V
ENC A+
PTC
ENC I-
Actual ratio HALL 2-
Ratio 0 HALL 3-
Els ratio index ENC A-
1 ENC B-
2 ENC I
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Els ratio serial ENC B

SENSOR CONNECTOR S2
Ratio 3

Inc ratio
Dec ratio
Ratio sel bit 0

Ratio sel bit 1
REGULATION DIAGRAM
Pos start pos Z found
&
Pos start pos Z found Ramp Speed limit Current limit

&
Actual preset
Position reference
Position set Ramp set Speed set Pos current

Pos index Pos acc/dec 0 Pos speed 0
Preset 0 Pos zero
Pos serind Preset 1 Pos acc/dec 1 Pos speed 1
2 search
3
Pos M.U. Pos acc/dec 5 Pos speed 5 Ramp
per rev
Preset 63 Pos speed
Pos abs Pos acc/dec pos (8..63) Pos speed (8..63) ret 0
Zero found
Pos dec ret 0
Pos acc ret 0 to 0 position return
Pos preset 0
Pos preset 2
Pos preset 3
Pos preset 4
Pos preset 5
Pos preset 1
Pos preset 0
Pos preset 2
Pos preset 3
Pos preset 4
Pos preset 5
Pos preset 0
Pos preset 2
Pos preset 3
Pos preset 4
Pos preset 5
Pos preset 1
Pos preset 1
AXV - HGB
Index enc.
Pos abs 0
sensor Cw
Pos abs 0
sensor Ccw
0
Pos 0 search Enc
Pos Z Rev Pos Z pos

Ramp Offset
Pos speed max 0
Pos speed ref 0 Pos zero

Pos 0 pos
Pos thr off
Pos reached

Pos thr
Pos thresold
Actual preset
Pos acc pos 0

Pos dec pos 0
Pos acc neg 0
Pos dec neg 0
Pos thr near1
Pos thr near1
Pos speed fine 0 Pos thr near2
Pos thr near2
Pos abs thresold

Pos abs thr
POSITION BLOCK
135
AXV - HGB
11. PARAMETER LIST
Explanation of tables: R/W/Z/*
Access possibilities via the serial interface, Bus or RS485 asynchronous

communication:
R = Read,
W = Write,
Z = Write only when drive disabled.
* = The enabling is active only after the drive reset command.
Format : parameter format
INT = integer signed 16 bits

ENUM = integer signed 16 bits
WORD = integer unsigned 16 bits
LONG = integer signed 32 bits
DWORD = integer unsigned 32 bits
FLOAT = floating point
In order to perform a SAVE PARAMETER INTO TARGET or a drive RESET

command.
Via the serial line, the number of the parameter index to be brought to a high logic
level is:
SAVE PARAMETER = 18011
RESET DRIVE = 18010

SIEI
Value Access via

MONITOR
ACTUAL SPEED (rpm) 20040 float 0 10000 - R
MOTOR CURRENT (A) 20041 float 0 Drive size - R
DC LINK VOLTAGE (V) 20043 float 0 1000 - R
DRIVE TEMPERATURE (°C) 20044 word 0 100 - R
DRIVE PARAMETERS
DRIVE MAXIMUM CURRENT (A) 20000 float 0 Drive size 6 R/Z
DRIVE ADDRESS 20021 word 0 127 0 R//Z
DRIVE CONFIGURATION 20023 enum 0 16 Speed R/W ID
Current 1
Speed 2
Position 4
els 8
encoder phasing 16
DRIVE BAUDRATE 20024 enum 1200 38400 38400 R/W
1200 1200
2400 2400
4800 4800
9600 9600
19200 19200
38400 38400
DRIVE SERIAL CONFIG 20025 enum 32785 32927 32785 R/W *
No parity, 8 data bit, 1stop bit 32785
Odd parity, 8 data bit, 1 stop bit 36919
Even parity, 8 data bit, 1 stop bit 32823
No parity, 8 data bit, 2 stop bit 32793
Odd parity, 8 data bit,2 stop bit 36927
Even parity, 8 data bit, 2 stop bit 32831
DRIVE SER DELAY TIME 20026 word 0.000 1.000 0.000 R/W
DRIVE FAST LINK 18110 enum 0 2 0 R/W *
OFF 0
Master [X 3] 1
Slave [X 4] 2
DRIVE FIRMWARE 20022 float R
DRIVE ACTUAL CONFIG 29004 enum 0 17 Speed R/W ID
Current 1
Speed 2
Position 4
els 8
encoder phasing 16
ATTENTION:encoder phasing 17

AXV - HGB
Value Access via

MOTOR PARAMETERS
MOTOR NUMBER OF POLES 20002 word 2 8 8 R/Z *
MOTOR MAXIMUM SPEED (rpm) 20003 float 0 10000 3000 R/Z
ENCODER PARAMETERS
ENCODER TYPE 20010 enum 0 6 Sin. 5 traces R/Z *
Sincos 5 tracks 1
Hall 4
sincos 2 traks 5
sincos+ hall 6
ENCODER PULSES 20011 word 0 32767 2048 R/Z
ENCODER SUPPLY (V) 20012 float 4.8V 14.4V 5,2V R/W
RAMP
RAMP ACC CW (msec/rpm) 21102 float 0 17476/enc pul 0,332 R/W
RAMP ACC CCW (msec/rpm) 21103 float 0 17476/enc pul 0,332 R/W
RAMP DEC CW (msec/rpm) 21104 float 0 17476/enc pul 0,332 R/Z
RAMP DEC CCW (msec/rpm) 21105 float 0 17476/enc pul 0,332 R/W
RAMP ENABLE 21210 enum 0 1 Enable R/Z
Disable 0
Enable 1
RAMP OUTPUT (rpm) 21212 float -10000 10000 0 R
SPEED
SPEED MAX POS (rpm) 21204 float 0 10000 3000 R/W
SPEED MAX NEG (rpm) 21205 float 0 10000 3000 R/W
SPEED THR (rpm) 21206 float 0 10000 1000 R/W
SPEED THR OFFSET (rpm) 21207 float 0 10000 10 R/W
SPEED THR DELAY (sec) 21213 float 0 10 0 R/W
CURRENT
T CURR LIM + (A) 22004 float 0 drive size 6 R/W
T CURR LIM - (A) 22005 float 0 drive size 6 R/W
T CURR THR (A) 22007 float 0 drive size 0 R/W
MAX SPEED CUR LIM (rpm) 22009 float 0 10000 3000 R/W
CURR THR DELAY (sec ) 22010 float 0 10 0 R/W
SPEED / POSITION GAIN
GAIN SPEED 23000 int 0 32767 100 R/W
GAIN POS 23001 int 0 32767 50 R/W
GAIN INT 23002 int 0 32767 50 R/W

SIEI
Value Access via

DI GI TAL INPUTS
DIGITAL INPUT 0 20100 enum 0 2007 enable R//Z
OFF 0
enable 1
failure reset 2
external fault 3
start/stop 4
fast stop 5
jog+ 6
jog- 7
ramp in=0 8
inverse 9
end run reverse 10
end run forward 11
reference=0 12
memo virtual zero 13
current loop 14
speed loop 15
position loop 16
line shaft loop 17
disable an inp 0 18
disable an inp 1 19
disable an inp 2 20
speed sel bit 0 21
speed sel bit 1 22
speed sel bit 2 23
ramp sel bit 0 24
ramp sel bit 1 25
virtual DI ok 26
pos-preset 0 1001
pos-preset 1 1002
pos-preset 2 1003
pos-preset 3 1004
pos-preset 4 1005
pos-preset 5 1006
pos-0 search 1007
pos-start pos 1009
pos-memo 0 1010
pos-memo pos 1011
pos-abs 0 sensor Cw 1012
pos-abs 0 sensor Ccw 1013
pos 0 sensor 1015
els-ratio sel bit0 2001
els-ratio sel bit1 2002
els-inc ratio 2003
els-dec ratio 2004
els ramp ratio dis 2005
els bend rec Cw 2006
els bend rec Ccw 2007
DIGITAL INPUT 1 20101 enum 0 2007 start/stop R/Z
(select like input 0)
DIGITAL INPUT 2 20102 enum 0 2007 ramp in=0 R/Z
DIGITAL INPUT 3 20103 enum 0 2007 inverse R/Z
DIGITAL INPUT 4 20104 enum 0 2007 end run rev R/Z
DIGITAL INPUT 5 20105 enum 0 2007 end run fwd R/Z

AXV - HGB
Value Access via

DIGITAL INPUT 6 20106 enum 0 2007 exter. Fault R/Z
DIGITAL INPUT 7 20107 enum 0 2007 failure reset R/Z
DIG IN NEG 20162 dword 0H 0FFFFFFFFH 0H R/Z
DIG IN STATUS 20163 word 0H 0FFFH 0H R
DI GI TAL EXPANSION INPUTS
(select like digital input 0)
EXP DIG STATUS 20164 word 000H 0FFFH 0H R
VIRTUAL DI GI TAL INPUTS

SIEI
Value Access via

VIRT DI STATUS 20186 word 0000H FFFFH 0000H R/W
VIRT DI AT START 20187 word 0000H FFFFH FFFFH R/Z
VIRT DI AT DISABLE 20188 word 0000H FFFFH FFFFH R/Z
VIRT DI RESET AT FAIL 20189 word 0000H FFFFH 0000H R/Z
DIGITAL OUTPUTS
DIGITAL OUTPUT 0 20200 enum 0 1008 drive ok R/Z
OFF 0
drive enable 1
drive Ok 2
speed reached 3
speed 0 threshold 4
current limit 5
current thresold 6
speed thresold 7
AD index 8
DI index 9
position error 10
fast link Rx 11
UV actived 12
UV active 13
speed not 0 thr 14
speed thr delayed 15
curr thr delayed 16
alarm warning 17
alarm coming 18
drive fault 100
bridge short circuit 101
overcurrent 102
dc link overvoltage 103
heatsink 104
module junction fault 105
brake short circuit 106
motor overtemp fault 107
aux power undervoltage 108
dsp program error 109
prg 16khz fault 110
invalid flash parms fault 111
bad flash fault 112
brake overtemp fault 113
ntc disconnected fault 114
brake error fault 115
lock drive 116
Di encoder count fault 117
ad encoder count fault 118
encoder simulation fault 119
undervoltage fault 120
sequence fault 127
fast link fault 128
position fault 129
external fault 131
pos-0 pos 1001
pos-pos reached 1002
pos-pos threshold 1003
pos-pos abs threshold 1004
pos zero found 1005
pos-thr near 1 1006
pos-thr near 2 1007
pos-out of limits 1008

AXV - HGB
Value Access via

DIGITAL OUTPUT 1 20201 enum 0 1008 speed reach. R/Z
(select like output 0)
DIGITAL OUTPUT 2 20202 enum 0 1008 speed 0 thr R/Z
DIGITAL OUTPUT 3 20203 enum 0 1008 curr.limit R/Z
DIGITAL OUTPUT 4 20204 enum 0 1008 drive fault R/Z
DIGITAL OUTPUT 5 20205 enum 0 1008 exter.fault R/Z
DIG OUT NEG 20254 dword 0H 0FFFFFFFFH 00H R/Z
DIG OUT STATUS 20255 word 00H 0FF 00H R
VIRTUAL DIGITAL OUTPUTS
(select like digital output 0)
VIRT DO RESET AT FAIL 20289 word 0000H FFFFH 0000H R/Z
VIRT DO SET AT FAIL 20290 word 0000H FFFFH 0000H R/Z
VIRT DO STATUS 20286 word 0000H FFFFH 0000H R/Z
DIGITAL EXPANSION OUTPUTS
EXP DIG OUT STATUS 20256 word 00H 0FH 0H R

SIEI
Value Access via

ANALOG INPUTS
ANALOG INPUT 0 20300 enum 0 24 speed ref 1 R/Z
OFF 0
Tcurr ref 1 1
t curr ref 2 2
speed ref 1 3
speed ref 2 4
speed max pos 5
speed max neg 6
speed limit 7
jog setrefence 8
t curr lim + 9
t curr lim - 10
t current limit 11
max speed curr lim 12
pos speed 13
pos speed ref 0 14
speed threshold 15
current threshold 16
multi speed 1 17
multi speed 2 18
multi speed 4 19
els RB spd ref 20
els ratio (0) 21
els ratio (1) 22
els ratio (2) 23
els ratio (3) 24
AN INPUT ZNEG 0 (V ) 20340 float -10V +10V 0V R/W
AN INPUT VALUE 0 (V ) 20360 float -10V +10V 0V R
ANALOG INPUT 1 20301 enum 0 24 t curr ref 1 R/Z
(select like analog input 0)
ANALOG INPUT 2 20302 enum 0 24 OFF R/Z
(select like analog input 0)

AXV - HGB
Value Access via

ANALOG OUTPUTS
ANALOG OUTPUT 0 20400 enum 0 9 actual speed R/Z
OFF 0
actual speed 1
motor current 2
output voltage 3
dc link voltage 4
drive temperature 5
ramp output 6
+10V 7
-10V 8
position error 9
AN OUTPUT WRITE 0 (V) 20410 float -10V +10V 0V R
ANALOG OUTPUT 1 20401 enum 0 9 motor curr R/Z
(select like analog output 0)
ENCODER REPETITION
ENC PULSES REV 20030 dword 0 131070 1024 R/W
GAIN INDEX STEP 20032 long 0 131070 1024 R/W
INDEX OFFSET 20033 long 0 131070 0 R/W
INDEX OFFSET READ 20034 long 0 131070 0 R
ENABLE ENC REPETITION 20035 enum 0 3 OFF R/Z
OFF 0
Encoder only 1
Encoder+index 3
JOG FUNCTION
JOG LIMIT (rpm) 21000 float 0 10000 1500 R/W
JOG SET REFERENCE (%) 21001 float 0 100 0 R/W
JOG REFERENCE (rpm) 21002 float 0 10000 0 R
JOG ACC CW (msec/rpm) 21003 float 0 17476/enc pul 0,332 R/W
JOG ACC CCW (msec/rpm) 21004 float 0 17476/enc pul 0,332 R/W
JOG DEC CW (msec/rpm) 21005 float 0 17476/enc pul 0,332 R/W
JOG DEC CCW (msec/rpm) 21006 float 0 17476/enc pul 0,332 R/W

SIEI
Value Access via

MULTI SPEED FUNCTION
MULTI SPEED INDEX 21310 word 0 7 0 R/W
MULTI SPEED SERIAL 21311 enum 0 1 Dig input R/W
Digital input 0
Parameter 1
MULTI RAMP FUNCTION
MULTI RAMP INDEX 21440 word 0 3 0 R/W
MULTI RAMP SERIAL 21441 enum 0 1 Dig input R/W
Digital input 0
Parameter 1
MULTI RAMP FUNCTION \ MULTI RAMP 1
MULTI RAMP ACC CW1 (msec/rpm) 21401 float 0 17476/enc pul 0,332 R/W
POSITION PARAMETER
POS ACC CW (msec/rpm) 30010 float 0 17476/enc pul 0,332 R/W
POS ACC CCW (msec/rpm) 30011 float 0 17476/enc pul 0,332 R/W
POS DEC CW (msec/rpm) 30012 float 0 17476/enc pul 0,332 R/W
POS DEC CCW (msec/rpm) 30013 float 0 17476/enc pul 0,332 R/W
POS SPEED (rpm) 30014 float 0 10000 3000 R/W
POS CURRENT (A) 30015 float 0 Drive size 6 R/W
POS STOP DEC (msec/rpm) 30094 float 0 17476/enc pul 0,332 R/W
POS ACTUAL POS 30016 float 0 31
2 -1 0 R

AXV - HGB
Value Access via

POSITION PARAMETER \ POS FUNCTI ON
MEASURE UNIT PER REV 30000 dword 0 100000 1000 R/W
22 22 22
POS MINIMUM PRESET 30017 float -2 2 -1 -2 R/W
POS MAXIMUM PRESET 30018 float -222 22
2 -1
22
2 -1 R/W
POS MINIMUM ABS 30055 float 0 31
2 -1 0 R/W
POS MAXIMUM ABS 30056 float 0 31
2 -1 0 R/W
POS PRESET INDEX 30090 word 0 63 0 R/W
POS PRESET SERIAL 30092 enum 0 1 Dig input R/W
Digital input 0
Parameter 1
POS ABS 30091 enum 0 1 Incremental R/W
Incremental 0
Absolute 1
POS CONFIGURATION 30093 dword 00000000H 0FFFFFFFFH 0H R/W
POS DEST REV 30080 long -2
22 22
2 -1 0 R
POS DEST POS 30081 long -2
22 22
2 -1 0 R
POSITION PARAMETER \ POS THR CONFI G
22 22
POS ABSTHR 30050 float -2 2 -1 0 R/W
POS THR 30051 float 0 222 -1 0 R/W
POS THROFF 30052 float 0 22
2 -1 0 R/W
2 -1 0 R/W
2 -1 0 R/W
POSITION PARAMETER \ POS PRESET [0]
POS PRESET [0] 30100 float -2
22 22
2 -1 0 R/W
POS SPEED [0] (rpm) 30200 float 0 10000 0 R/W
POS ACC [0] (msec/rpm) 30300 float 0 17476/enc pul 0,332 R/W
POS DEC [0] (msec/rpm) 30400 float 0 17476/enc pul 0,332 R/W
22 22
2 -1 0 R/W
22 22
2 -1 0 R/W
22 22
2 -1 0 R/W
22 22
2 -1 0 R/W
22 22
2 -1 0 R/W

SIEI
Value Access via

22 22
2 -1 0 R/W
POS PRESET [7] 30107 float -222 22
2 -1 0 R/W
POSITION PARAMETER \ POS PRESET [8 ... 63]
2 -1 0 R/W
POS PRESET [...] 301.. float -2 22 22
2 -1 0 R/W
2 -1 22
0 R/W
POSITION PARAMETER \ ZERO FOUND CONFIG
POS ACC CW 0 (msec/rpm) 30020 float 0 17476/enc pul 0,332 R/W
POS ACC CCW 0 (msec/rpm) 30021 float 0 17476/enc pul 0,332 R/W
POS DEC CW 0 (msec/rpm) 30022 float 0 17476/enc pul 0,332 R/W
POS DEC CCW 0 (msec/rpm) 30023 float 0 17476/enc pul 0,332 R/W
POS SPEED MAX 0 (rpm) 30024 float 0 10000 1500 R/W
POS SPEED REF 0 (%) 30025 float -100% +100% 10% R/W
POS SPEED FINE 0 (rpm) 30027 float 0 10000 50 R/W
POS ZPOS 30030 long 0 231-1 0 R/W
POS 0 FOUND 30031 int 0 1 0 R
POS ZREV OFFSET 30035 dword 0 10000 0 R/W
POS ZREV 30029 long -231 231-1 0 R
POSITION PARAMETER \ ZERO RETURN CONFIG
POS SPEED RET 0 (rpm) 30026 float 0 10000 1000 R/W
POS ACC RET 0 (msec/rpm) 30032 float 0 17476/enc pul 0,332 R/W
POS DEC RET 0 (msec/rpm) 30033 float 0 17476/enc pul 0,332 R/W
POS DSPEED RET 0 (rpm) 30034 float 0 10000 50 R/W
ELECTRICAL LINE SHAFT
ELS PULS REV MAST 32000 word 512 32767 2048 R/W
ELS DELTA TIME (sec) 32008 float 0 10 sec 1 sec R/W
ELS MASTER SEL 32009 enum 0 1 Encoder R/Z
Encoder 0
Fast link 1
ELS DELTA RATIO 32014 float 10-6 +7.900 1 R/W
ELS SLIP 32020 enum 0 1 Ratio R/Z
Ratio 0
Slip 1
ELS POSITION ERROR 19113 long 0 222-1 0 R
ELECTRICAL LINE SHAFT \ ELECTRICAL LINE SHAFT RATIO
ELS ACT RATIO 32005 float -8.000 +7.900 1.000 R
ELS RATIO INDEX 32006 word 0 3 0 R/W
ELS RATIO SERIAL 32007 enum 0 1 Dig input R/W
Digital input 0
Parameter 1

AXV - HGB
Value Access via

ELECTRICAL LINE SHAFT \ ELECTRICAL LINE SHAFT BAND
ELS RB SPEED MAX [rpm] 32100 float -10000 +10000 1000 R/W
ELS RB SPEED REF [%] 32104 float -100 +100 10 R/W
ELS RB TIME [sec] 32101 float 0 500 500 sec R/W
ELS RB ACC [sec] 32102 float 0 10000 1 sec R/W
ELS RB DEC [sec] 32103 float 0 10000 1 sec R/W
FAILURE REGISTER
DRIVE FAULT 24000 dword 0 2 -1 0 R
EXTERNAL FAULT 24001 int 0 1 0 R
BRIDGE DESATURATION 24002 int 0 1 0 R
OV ERCURRENT 24003 int 0 1 0 R
DCLINK OVERVOLTAGE 24004 int 0 1 0 R
HEATSINK OVERTEMP 24005 int 0 1 0 R
MODULE JUNCTION OVERTEMP 24006 int 0 1 0 R
BRAKE DESATURATION 24007 int 0 1 0 R
MOTOR OVERTEMP 24008 int 0 1 0 R
AUX POWER UNDERVOLT 24009 int 0 1 0 R
DSP PROG ERROR 24010 int 0 1 0 R
PRG 16KHZ OVERTIME 24011 int 0 1 0 R
INVALID FLASH PARMS 24012 int 0 1 0 R
BAD FLASH DEVICE 24013 int 0 1 0 R
BRAKE OVERPOWER 24014 int 0 1 0 R
NTC DISCONNECTED 24015 int 0 1 0 R
BRAKE ERROR 24016 int 0 1 0 R
LOCK DRIVE 24017 int 0 1 0 R
DI ENCODER COUNT 24018 int 0 1 0 R
AD ENCODER COUNT 24019 int 0 1 0 R
ENCODER SIMULATION 24020 int 0 1 0 R
UNDERVOLTAGE 24021 int 0 1 0 R
EB-BUS LOSS 24026 int 0 1 0 R
EB-GENERIC FAIL 24027 int 0 1 0 R
SEQUENCE ERROR 24028 int 0 1 0 R
FAST LINK ERROR 24029 int 0 1 0 R
POSITION ERROR 24030 int 0 1 0 R
FIRST ALARM 24040 word 0 31 0 R

SIEI
Value Access via

FAILURE REGISTER \ FAILURE QUEUE
DRIVE FAULT ( 0 ) 24200 dword 0 2 -1 0 R
DRIVE FAULT TIME ( 0 ) sec. 24201 dword 0 2 -1 0 R
DRIVE FAULT TIME (19 ) sec. 24581 dword 0 2 -1 0 R

AXV - HGB
Value Access via

FAILURE REGISTER \ PROGRAM ALARM
32
ALARMS TO MASK 24100 dword 0 2 -1 19000000H R/W
ALARMS TO DELAY 24101 dword 0 232-1 0 R/W
ALARMS DELAY 24102 float 0 10 0 R/W
EXPANSION BOARD
EB TYPE 40000 enum 0 5 none R/W
none 0
EB_DIO old 1
EB_DIO 2
EB_PDP 3
EB_DN 4
EB_COP 5
EXPANSION BOARD/ EB FIELD BUS
EB ADDRESS 40100 word 0 1023 0 R/W
EB BAUDRATE 40101 dword 0 100000000 0 R/W
EB CC ENABLED 40110 enum 0 1 enable R/W
0
1
EB HS ENABLED 40111 enum 0 1 enable R/W
0
1
EB VHS ENABLED 40112 enum 0 1 disable R/W
0
1
EB MAX NUM BYTE M->S 40102 dword 0 16 0 R
EB MAX NUM BYTE S->M 40103 dword 0 16 0 R
EB CONFIGURABILITY 40104 dword 0 31 0 R
EB MAYOR FW VERSION 40105 dword 0 1000 0 R
EB MINOR FW REVISION 40106 dword 0 65535 0 R
EB COMPATIBILITY INDEX 40107 dword 0 1000 0 R
EB NUM BYTE M->S 40108 dword 0 16 0 R
EB NUM BYTE S->M 40109 dword 0 16 0 R
EB STATUS 40113 enum 0 5 Wait EB bec R R
EB FAIL CAUSE 40114 dword 0 65535 0 R
EXPANSION BOARD/ EB 1st M->S PARAMETER
EB IPA 40200 word min IPA max IPA 0 R/W
EB FORMAT 40210 enum 0 6 16 bit integer R/W
16 bit integer 1
16 bit unsigned integer 2
32 bit integer 3
Floating point 6
EB EXP 40220 int -7 7 0 R/W
EXPANSION BOARD/ EB 2st M->S PARAMETER
16 bit integer 1
32 bit integer 3
Floating point 6
EB EXP 40221 int -7 7 0 R/W

SIEI
Value Access via

EXPANSI ON BOARD/ EB 3st M->S PARAMETER
16 bit integer 1
32 bit integer 3
Floating point 6
EB EXP 40222 int -7 7 0 R/W
16 bit integer 1
32 bit integer 3
Floating point 6
EB EXP 40223 int -7 7 0 R/W
16 bit integer 1
32 bit integer 3
Floating point 6
EB EXP 40224 int -7 7 0 R/W
16 bit integer 1
32 bit integer 3
Floating point 6
EB EXP 40225 int -7 7 0 R/W
16 bit integer 1
32 bit integer 3
Floating point 6
EB EXP 40226 int -7 7 0 R/W
16 bit integer 1
32 bit integer 3
Floating point 6
EB EXP 40227 int -7 7 0 R/W

AXV - HGB
Value Access via

EXPANSI ON BOARD/ EB 1st S->M PARAMETER
16 bit integer 1
32 bit integer 3
Floating point 6
EB EXP 40320 int -7 7 0 R/W
16 bit integer 1
32 bit integer 3
Floating point 6
EB EXP 40321 int -7 7 0 R/W
16 bit integer 1
32 bit integer 3
Floating point 6
EB EXP 40322 int -7 7 0 R/W
16 bit integer 1
32 bit integer 3
Floating point 6
EB EXP 40323 int -7 7 0 R/W
16 bit integer 1
32 bit integer 3
Floating point 6
EB EXP 40324 int -7 7 0 R/W
16 bit integer 1
32 bit integer 3
Floating point 6
EB EXP 40325 int -7 7 0 R/W

SIEI
Value Access via

EXPANSION BOARD/ EB 7st S->M PARAMETER
16 bit integer 1
32 bit integer 3
Floating point 6
EB EXP 40326 int -7 7 0 R/W
EXPANSION BOARD/ EB 8st S->M PARAMETER
16 bit integer 1
32 bit integer 3
Floating point 6
EB EXP 40337 int -7 7 0 R/W
EXPANSION BOARD/ EB HS CHANNEL M->S
EB HS M->S ERROR MAP 40400 dword 0 232-1 0 R
EB HS M->S ERROR IPA 40401 dword 0 232-1 0 R
32
EB HS M->S ERROR VALUE 40402 dword 0 2 -1 0 R
EB HS M->S ERROR 40403 enum 0 232-1 0 R
EXPANSION BOARD/ EB HS CHANNEL S->M
EB HS S->M ERROR MAP 40500 dword 0 232-1 0 R
32
EB HS S->M ERROR IPA 40501 dword 0 2 -1 0 R
32
EB HS S->M ERROR VALUE 40502 dword 0 2 -1 0 R
EB HS S->M ERROR 40503 dword 0 232-1 0 R
SYSTEM
SYS_ IC_P_FAK 18100 word 0 32767 256 R/W
SYS _IC_I_ FAK 18101 word 0 32767 256 R/W
SYS _IC_D_FAK 18102 word 0 32767 256 R/W
SYSTEM / BRAKING UNIT
SYS_ OV_CLM_LIM 18124 float 0 1250 850
SYS_BRAKE 18123 enum 0 1 internal R/W
internal 0
external 1
SYS_P_BRAKE_MAX 18107 word 0 0 R/W
0 = default value 0
SYS_R_BRAKE 18109 word 0 0 R/W
0 = default value 0
SYSTEM / DIGITAL OUTPUT RESET
SYS_DO_RESET_AT_FAIL 18117 long 00000000H FFFFFFFFH 00000000H R/W
SYS_DO_SET_AT_FAIL 18118 long 00000000H FFFFFFFFH 00000000H R/W
SYSTEM / UNDERVOLTAGE LIMITS
SYS_UV_V_MIN 18125 float 0 460 400 R/W
SYS_UV_P_FAK 18121 word 0 32767 30 R/W
SERVICE

AXV - HGB
EC DECLARATION OF CONFORMITY
The possible validity of the EMC directive ( 89 / 336 ) applied to PDS

“CE marking” summarizes the presumption of compliance with the
Essential Requirements of the EMC Directive, which is formulated in the EC Declaration of Conformity
Clauses numbers [.] refer to European Commission document “Guidelines on the Application of Council Directive 89/336/EEC”
Brussels, 25 & 26 Oct. 1993
Validity Field Description
-1- Placed on the market.

Free movement based on compliance with the EMC Directive
Complex component - EC Declaration of conformity required - CE marking required
sold “directly to final consumer”
[clause 4.7 (4th §) and clause 4.7b] The manufacturer of the PDS (or CDM/BDM) is responsible for the EMC
behaviour of the PDS (or CDM/BDM), under specified conditions.
A PDS (or CDM/BDM) Additional EMC measures outside the item are described in an easy to
of the Unrestricted Distribution understand fashion and could actually be implemented by a layman.
The resulting EMC behaviour is the responsiblity of the assembler of the
class
final product, by following the manufacturer’s recommendations and
guidelines.
-2- Intended only for professional assemblers who have a level of technical
Complex component competence to correctly install. Does not have intrinsic function for the
end user.
only for professional assemblers
- No EC Declaration of conformity - No CE marking
[clause 4.7 (2nd and 3rd §) and clause 4.7a]
- PDS should comply with IEC-22G/21/CDV
The manufacturer of the PDS (or CDM/BDM) is responsible for the provision of
A PDS (or CDM/BDM) installation guidelines that will assist the manufacturer of the apparatus, system or
of the Restricted Distribution class installation to achieve compliance.
sold to be included as part of an The resulting EMC behaviour is the responsibility of the manufacturer of the
apparatus, system or installation apparatus, system, or installation, for which its own standards may apply.
-3- Not intended to be placed on the market as a single functional unit.

Installation Each apparatus or system included is subject to the provisions of the
[clause 4.6]
EMC Directive.
- No EC Declaration of conformity - No CE marking of the installation
One or more PDSs, possibly of
different classes - Restricted or - The PDSs should comply with IEC-22G/21/CDV
Unrestricted - brought together at a Resulting EMC behaviour is the responsibility of the installer (e.g. by
given place, in or with apparatus, following an appropriate EMC plan). Essential protection requirements
system or other components. of EMC Directive apply regarding the neighbourhood of the installation.
-4-
Apparatus / system Has an intrinsic function for the final user and placed on the market as a
[clause 4.4 and 4.5] single commercial unit.
- EC Declaration of conformity required - CE marking required
(A) PDS(s) or (CDM/BDM) (for the apparatus or system)
of the Unrestricted Distribution
class Resulting EMC behaviour is the responsibility of the manufacturer of
in finished item(s). the apparatus or system.

SIEI

Headquarters
SIEI PETERLONGO SIEI

Distribution and Safety, Regulation and Control
Automation and Telecontrol, Via Carducci, 24
Fluidics 21040 Gerenzano VA - Italia
Via Lomellina, 41 Tel. **39 - 02.96760.1
20133 Milano MI - Italia Fax **39 - 02.9682653
Tel. **39 - 02.7522.1 e-mail: sieispa@sieispa.it
Fax **39 - 02.7522.222
e-mail: sieiptl@siei.it
Safety Products Industrial

Division
Via Calabria, 8
20017 Rho MI - Italia
Tel. **39 - 02.9399020.1
Fax **39 - 02.93990249
e-mail: sieiptl-dsp@siei.it www.siei.it
Associates
SIEI FRANCE SIEI AREG SIEI ASIA - Beijing Office ELESTREAM.COM

4, Rue d’Otterswiller Zachersweg 17 Room 1010 Golden Land e-Commerce
F 67700 Saverne - France 74376 Gemmrigheim - Germany Building - 32 Liang Ma He Rd. Via Lomellina, 41
Tel. **33 - 3 - 88021414 Tel. **49-7143-9730 Chao Yang District 20133 Milano MI - (I)
Fax **33 - 3 - 88021410 Fax **49-7143-97397 Beijing - Pechino Tel. **39 - 02.7522.323
e-mail: sieispa.fr@wanadoo.fr e-mail: sieiareg@t-online.de Tel. **86-10-64623833 Fax **39 - 02.7522.222
Fax **86-10-64672271 e-mail: mail@elestream.com
SIEI TECNO e-mail: linwm@siei.com.cn
SIEI AMERICA
www.elestream.com
Centro de Empresas
del Baix de Lobregat 2744 Yorkmont rd - Charlotte SIEI SISTEMI
Avda. Tirso de Molina, S/N North Carolina 28208 - Usa Industrial process regulation
Módulo 11 Tel. **1 - 704 - 3290200 and control systems
08940 Cornellà de Llobregat Fax **1 - 704 - 3290217 Via Calamelli, 40
Barcelona - España e-mail: 40026 Imola BO - Italia
Tel. **34-93 - 4750319 salescontact@amicondrive.com Tel. **39 - 0542.640245
**34-93 - 4750321 Fax **39 - 0542.641018
Fax **34-93 - 3772754 e-mail: sieisistemi@imola.queen.it
e-mail: sieitecno@retemail.es SIEI ASIA
160, # 05-07 PKSIEI
SIEI UK Orion Industrial Building Development and MANUALE AXV V3 -HGB 04/00
Rev. 0.0 / 30.3.2000
Derby Road Kingsbridge Paya Lebar Road manufacturing
Devon TQ7 1JL - England 409022 Singapore 54 Senawang Industrial Estate
Tel. **44-1548-852552 Tel. **65 - 8418300 70450 Seremban - Malaysia
Fax **44-1548-853118 Fax **65 - 7428300 Tel. **60 - 6 - 772993
e-mail: sales@siei.co.uk e-mail: info@sieiasia.com.sg Fax **60 - 6 - 771811 1S3A12

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Axpact-V AXV

Digital brushless servodrive

All rights reserved.

This manual is updated according to software version V3.X00.

0. SAFETY INSTRUCTIONS ......................................................................................... 7

WARNING ! WARNING / ATTENTION !

—————— Axpact-V AXV instruction manual —————— 7

NOTES: In the industrial sector the words “Inverter”,

8 —————— Axpact-V AXV instruction manual ——————

1. FUNCTIONS AND GENERAL FEATURES

AXV is an IGBT servodrive particularly suitable for - 8 programmable digital outputs.

The drive has the following features:

—————— Axpact-V AXV instruction manual —————— 9

2. DESCRIPTION, COMPONENT IDENTIFICATIONS AND

2.1. STORAGE, SHIPPING

When delivered, check immediately that:

Carefully open the packaging and ensure that:

In case of damages or incorrect or incomplete delivery, call directly the supplier.

2.1.2. Drive technical data

—————— Axpact-V AXV instruction manual —————— 11

2.2. COMPONENT IDENTIFICATION

Figure 2.2.1: Servodrive basic scheme

1 Line power supply voltage

2 Three-phase rectifier bridge It switches an alternating current into DC via a three-

3 Intermediate circuit With smoothing capacitors

4 IGBT inverter bridge It switches the DC voltage into a three-phase

6 Output voltage Alternating voltage variable from 0 to 95% of the

7 Encoder for speed and position feedback (See chapter 4.2.5).

12 —————— Axpact-V AXV instruction manual ——————

2.3. GENERAL SPECIFICATION

2.3.1. Rules and environmental conditions

Climatic conditions: IEC 68-2 Part 2 and 3

2.3.2. Line connection and drive output

Table 2.3.2.1: Rated power and efficiency

Type Nominal power (Kw) Efficiency (%)

—————— Axpact-V AXV instruction manual —————— 13

2.3.3. Line side current

Table 2.3.3.1: Line side current for a continuous service

Line current continuous duty

Table 2.3.4.1: Peak and rated current

Output nominal current continuous duty Arms

Output max current (50% duty or 5 minutes) Arms

14 —————— Axpact-V AXV instruction manual ——————

Current loop bandwidth: 5KHz max

Speed loop bandwidth: 500 Hz max

Position loop bandwidth: 500 Hz max

Sensor position bandwidth

—————— Axpact-V AXV instruction manual —————— 15

3.1. MECHANICAL SPECIFICATION

Figure 3.1.1: Weights and dimensions

Table 3.1.1: Weights and dimensions

Type Width (mm) Interax (mm) Weight (kg)

3.2. POWER LOSS

Table 3.2.1: Power loss and thermal capacity

Type Power loss (W) Thermal capacity (J)

—————— Axpact-V AXV instruction manual —————— 17

3.3. AMBIENT CONDITIONS

Degree of protection: IP20

Operating temperature: 0 ... 40°C (see figure 2.3.4.1)

Storage temperature: - 20°C ... + 70°C

Air humidity: 5% to 95%, 1g/m3 to 25g/m3 without moisture condensation

Vibration proof: 0.5g in all directions, 0 ... 10Hz

3.4. DRIVE MOUNTING