Door Dive: User Manual

NLD5
Door Dive
User Manual
Driving Syn. & Asyn. Motor

Single-phase 200 - 240VAC, 0.4kW
V1.0 2016.10
FORWARD
Thank you for purchasing NLD5 door drive.
This User Manual describes how to use NLD5 and its installation wiring, parameter
setting, troubleshooting and daily maintenance etc.
Before using the product, please read through this User Manual carefully. In addition,
please do not use this product until you have fully understood safety precautions.
Note:
 Preserve this Manual for future.
 If you need the User Manual due to damage, loss or other reasons, please contact
the regional distributor of our company or directly contact our company Technical
Service Center.
 If you still have some problems during use, please contact our company Technical
Service Center.
 Due to product upgrade or specification change, and for the purpose of
improving convenience and accuracy of this manual, this manual’s contents may
be modified.
 Email address: [email protected]
Version and Revision Records
Time: 2016/10
Version: V1.0
Revised chapter Revised contents
• 1.0 published.
CONTENTS
Chapter 1 Safety Information and Precautions ......................................................................... 1
Chapter 2 Product Information ................................................................................................ 3

Rated Value .......................................................................................................... 3
Technical Data ...................................................................................................... 3
Dimension and Installation .................................................................................. 5
Installation Site Requirement............................................................................... 6
Chapter 3 Electrical Installation ............................................................................................... 7

Precautions .......................................................................................................... 7
Electrical Requirement ......................................................................................... 7
Interface Description ........................................................................................... 9
Power supply switch ........................................................................ 9
Power terminal ............................................................................. 10
Connecting encoder ........................................................................ 10
Control Terminal ........................................................................... 10
External keypad ............................................................................ 11
Chapter 4 Operation .............................................................................................................. 13

Keypad Description ............................................................................................ 13
Display on keypad ........................................................................................15
Restore to default parameter .............................................................................. 18
User’s password ................................................................................................. 18
Upload and download parameter ..................................................................19
Chapter 5 Function introduction ............................................................................................ 21

Group d: Display Parameters .............................................................................. 21
d00: System parameters. .................................................................. 21
d01: Drive status parameters ............................................................. 22
Group F: General function parameter .................................................................. 23
F00: Basic parameters ..................................................................... 23
F01: Motor parameters .................................................................... 25
F02: Encoder Door Width Parameter ..................................................... 26
F03: OD curve parameter .................................................................. 27
F04: CD Curve Parameters................................................................. 28
F05: Torque Parameters ................................................................... 29
F06: Boost Parameters ..................................................................... 31
F07: Vector Control Parameter ........................................................... 34
F08: Demo Running Parameter ........................................................... 35
F09: Fault Record Parameters ........................................................... 36
Group y: Manufacturer Parameters .................................................................... 36
Chapter 6 Application commissioning .................................................................................... 37

Motor Parameter auto-tuning ...................................................................... 37
Distance control................................................................................................. 39
Wiring ........................................................................................ 39
Door width self-learning ................................................................... 40
Distance control OD running .............................................................. 41
Distance control CD running .............................................................. 42
Speed control .................................................................................................... 43
Connection .................................................................................. 44
Speed control OD running. ................................................................ 45
Speed control CD running ................................................................. 46
Chapter 7 Troubleshooting and maintenance ................................................................. 49

Troubleshooting ................................................................................................ 49
Maintenance ...................................................................................................... 51
Appendix A Parameter ................................................................................................... 53

Chapter 1 Safety Information and Precautions
Chapter 1 Safety Information and Precautions

Safety Definition
Pay attention to contents with following marks in the user manual or on the product.
Danger
Danger: A Danger contains information which is critical for avoiding safety hazard.
Warning
Warning: A Warning contains information which is essential for avoiding a risk of damage to products or other
equipements.
Note
Note: A Note contains information which helps to ensure correct operation of the product.
Professional personnel
Only qualified electrical engineer can perform electrical wiring.
Only a trained and authorized professional person can maintain the product.
NLD5 Door Drive User Manual ―1―

Chapter 2 Product Information

Rated Value
Power (kW) Capacity (kVA) Rated input current (A) Rated output current (A) G.W. (kg)
0.4 1.0 5.8 2.5 1.7
Technical Data
Electrical
Single-phase: 200 - 240V
Input voltage
Fluctuating within ± 5%, unbalance rate < 3%
Input frequency 50/60Hz ± 5%
Output voltage 0 - input voltage
Output frequency 0 - 99.99Hz
Control
Control mode SVC; VC
Speed governing range 1:100 (SVC) ; 1:1000 (VC)
Speed governing accuracy ± 0.5% (SVC) ; ± 0.05% (VC)
Starting torque 180% rated torque at 0.5Hz (SVC); 180% rated torque at 0Hz (VC)
Frequency setting Keypad setting mode
Resolution Frequency: 0.01Hz; current: 0.01A
Capacity 150% rated output current for 1 minute, 180% rated output current for 1 second
Function
• When controlling AC asynchronous motor, support motor parameter dynamic
tuning
• When controlling AC PMSM, support motor parameter no-load/load tuning and
encoder zero point position
Main functions • Support normal ABZ encoder, achieve closed-loop vector control of AC PMSM
• Support receiving open collector or push-pull type encoder input signal
• Distance control and speed control
• Support door width self-learning, auto demo loop, resistance auto recognization
and parameter upload/download (optional keypad)
Overload protection, overvoltage protection, under-voltage protection, overcurrent
Protection
protection, inter-phase short-circuit protection, etc.

Input / Output
Power supply +24V, max. output current 200mA
Digital input DI1 - DI5, OD, CD
DOA, DCA, PA/PB/PC
Relay output
Contact rating: 125VAC/0.5A or 24VDC/1A
Communication CAN+, CAN-
Keypad
Optional LCD keypad 8 keys, 5 digit 8 segment nixie tube display, 5 unit indicators, 5 status indicators
Optional LED keypad 8 keys, 5 LED nixie tube, 5 unit indicators, 5 status indicators
LCD / LED display Function parameter setting, status parameter checking, fault code checking, etc.
Environment
-10 - +40℃, max. 50℃, air temperature fluctuation is less than 0.5℃/min
Running temperature The derating value of output current shall be 2% for each degree centigrade above 40.
Max. allowed temperature is 50℃
Storage temperature -40 - +70℃
Indoor, preventing from direct sunlight, no dust, corrosive, flammable gases, oil mist,
Location for use
water vaper, dripping or salt etc.
Altitude Lessthan 1000 meters, otherwise should be derating use
Humidity Less than 95%RH, non-condensing
Oscillation Less than 5.9m/s2 (0.6g)
Protection class IP20
Pollution level 2 (Dry, non conducting dust pollution)
Accessories
LED keypad (HD-LED)
About keypad
1m extension cable to keypad (HD-CAB-1M)
―4― NLD5 Door Drive User Manual

Dimension and Installation

The dimension of NLD5 and mounting size is shown as below, the unit is mm.
60
4-Ø5
220 5
7
8-8×5 Oblong hole
NLD5
32
135
32
32
19.5
220 5
230
Note:
Do not install if NLD5 is incomplete or impaired upon unpacking.

Installation Site Requirement

Ensure the installation site meets the following requirements:
• Do not install at direct sunlight, moisture, water droplet location;
• Do not install at flammable, explosive, corrosive gas and liquid location;
• Do not install at oily dust, fiber and metal powder location;
• Be vertical installed on fire-retardant material with a strong support;
• Make sure adequate cooling space for NLD5 to keep ambient temperature between -10 - +
40℃;
• Install at where the vibration is less than 5.9m/s2 (0.6g);
• Install at where humidity is less than 95%RH and no-condensed location;
• Inverter meets IP20 and pollution level 2 (Dry, none conducting dust pollution).
Note:
1. It needs derating use if running temperature exceeds 40℃. The derating value of NLD5 shall be 2% for
each degree centigrade. Max. allowed temperature is 50℃.
2. Keep ambient temperature between -10 - +40℃. It can improve the running performance if install at
location with good ventilation or cooling devices.

Chapter 3 Electrical Installation

Precautions
Danger
• Only qualified electrical engineer can perform wiring job.
• To facilitate the input side over-current protection and outage maintenance, connect NLD5 with supply via the
MCCB or fuse.
• Do not do wiring until the power of NLD5 is cut off for more than 10 minutes.
• Check the wiring carefully before connecting emergency stop or safety circuit.
• There is more than 3mA leakage current in NLD5 grounding, depending on the operating conditions. To ensure
safety, NLD5 and the motor must connect to separate and independent grounding wire, so as to ground
reliably. It must use Type B mode when utilize ground leakage protection devices (ELCB/RCD).
• Do not touch the wire terminals of NLD5 when it is live. The main circuit terminals are neither allowed
connecting to the enclosure nor short-circuiting.
• The bare portions of the power cables must be bound with insulation tapes.
Warning
• Do not do dielectric strength test on NLD5.
• Connect the terminals firmly.
• Do not start or stop NLD5 by connect/disconnect the contactor.
• Do not connect the input power to U/V/W t erminals of NLD5.
• Do not connect the phase-shifting capacitors to the output circuit.
• Be sure the AC input power supply voltage is same as rated input current of NLD5.
Electrical Requirement
The recommended specifications of cables are shown as below table.
The size of ground wire should accord with the requirement in 4.3.5.4 of IEC61800-5-1.
Power supply cable (mm2) Motor cable (mm2) Ground cable (mm2)
0.75 0.5 2.5

Ground connection
Danger
• Connect the ground terminal of NLD5 to ground reliably before power on.
There is current leakage to ground in NLD5. The grounding terminals PE must be connected to ground
properly and be as close to grounding point as possible. The grounding area should be as large as
possible. The grounding resistance should be less than 10Ω.
Do not share the grounding wire with other devices (A). NLD5 can share grounding pole with other
devices (C). It achieves the best effect if NLD5 and other devices use dedicated grounding poles (B).
NLD5 Other NLD5 Other NLD5 Other

PE PE PE PE PE PE
A. Sharing grounding wire B. Dedicated grounding pole C. Sharing grounding pole
Wiring requirement
In order to avoid interference intercoupling, it is recommended to separate the power supply cables,
motor cables and the control cables, and keep enough distance among them, especially when the
cables are laid in parallel and are long enough.
The signal cables should cross the power supply cables or motor cables, keep it perpendicular (90°) as
shown in the figure below.
Distribute the power supply cables, motor cables and control cables in different pipelines.
Power supply cable
NLD5 >30 cm
Motor cable
Control cable 90° 90° Control cable
>20 cm >50 cm
Power supply cable Motor cable

Power supply cable
Warning
• Do not connect the input power to U/V/W t erminals of NLD5.
• Do not connect the phase-shifting capacitors to the output circuit.
• Be sure the AC input power supply voltage is same as rated input current of NLD5.
Refer to page 7 for the selection of power supply cable.
Motor cable
Refer to page 7 for the selection of motor cable.
The longer motor cable is, the higher frequency leakage current will be, causing higher harmonic
output current to increase. This may affect peripheral devices.
Control cable
To reduce the interference and attenuation of control signal, length of control cable should limit within
50m.
The control cable must be shielded cable. The analogue signal cable must be shielded twisted pair.
Shielded cable should use high frequency low impedance shielded cable. For example: copper net,
aluminum net or iron net.
Interface Description
Power supply switch
The power supply switch of NLD5 is designed to
improve convenient commissioning and
maintenance of door machine, as shown below.
Danger
• When power switch of NLD5 is switched
Power supply off, high voltage exists in input 220V
switch NLD5 terminal. It’s strictly forbidden to touch /
connect / disconnect this terminal before
external power supply is completely off.
Otherwise electrical shock may occur.

Power terminal
The power terminals are pictured at right.
Terminal Description Power terminal
L, N 1 phase AC 220V input U PE
V L NLD5
Output terminal of NLD5,
U, V, W W N
connect to motor
PE
Ground terminal, connect to
PE
protective ground
Connecting encoder
DB9 of NLD5 is for connecting encoder.
Pin Description
5
Power supply ground of DB9
1 COM 9 NLD5
encoder
6
A/B phase signal of encoder,
2 A 1
there is 90° difference which is
used to judge the rotary speed
6 B
and direction
Z phase signal of encoder, the
3, 7 Z falling edge is valid, used for
positioning the datum point
+24V power supply of encoder,
5 +24V_U
max. output current is 100mA
4, 8, 9 Unused
Control Terminal
Warning
• If the controller is connected to external devices with live touchable port, it should increase an additional isolating
barrier to ensure that classification of external devices not be changed.
• If connect the communication terminal of the control circuit to the PC, choose the RS485/232 isolating converter
which meets the safety requirement.
• Only connect the relay terminal to AC 220V voltage. Other control terminals are strictly forbidden for this
connection.

CAN+ DI1 COM PA

CAN- DI2 DI5 PB
NLD5 DI3 CD PC
DI4 OD DOA
Control P24 DCA
terminal COM CME
Control terminal Description

CAN+, CAN- CAN input CAN communication terminal port
DI1 - DI5 Digital input Optical-cupler isolated input signal
OD Open door command input Connect to COM (ON): command is valid.
CD Close door command input Disconnect to COM (OFF): command is invalid
• Use F06.03 - F06.07 to set DI1 - DI5 function
P24 +24V power supply
COM Input reference ground +24V power supply, max. output current is 200mA
Contact rating: 125VAC/0.5A or 24VDC/1A
• F06.01 sets the function
PA/PB/PC Replay output
• F06.00 sets low level or high level is valid
• PA, PB: Normally close; PA, PC: Normally open
DOA, CME Complete OD relay DOA, DCA: Normally close; CME is isolated from COM
DCA, CME Complete DC relay • F06.00 sets low level or high level is valid
External keypad
Keypad terminal can connect external FWD REV ALM LO/RE LOCK
keypad to set and check parameter of Hz A V RPM %
NLD5, as shown at the right. Refer to NLD5 PRG JOG
Chapter 4, on page 13 for more details. Keypad SHF ENT
RUN STOP
The external keypad is HD - LED. If needed,

HD-LED
please order goods.
NLD5 Door Drive User Manual ―11


Chapter 4 Operation
Chapter 4 Operation
Keypad Description
NLD5 is equipped with LCD keypad by standard, and LED keypad is an option.
The LCD keypad cannot be dismantled. Connection of LED keypad is shown in 3.3.5, on page 11.
1a
NLD5 1b
1c
6
2 3
LCD keypad
Standard 8 9
4 5
7
FWD REV ALM LO/RE LOCK

1a
1b
1c
Hz A V RPM %
LED keypad
Optional
HD-LED
2 PRG JOG 3
6
8 SHF ENT 9
7
4 RUN STOP 5

Chapter 4 Operation
No. Description
1 a, c. Indicator: Display the current status or unit.
LCD LED Name Status
Open door running Lighting: NLD5 is in door open status
OD FWD
status Flashing: NLD5 is in stop status
Close door running Lighting: NLD5 is in door close status
CD REV
status Flashing: NLD5 is in stop status
Err ALM Warning status Lighting: NLD5 has fault
DOA / Complete OD status Lighting: NLD5 is complete door open status
Lighting: NLD5 is controlled be terminal
/ LO/RE Remote/Local status
Lightless: NLD5 is controlled by keypad
DCA / Complete CD status Lighting: NLD5 is complete door close status
/ RPM Rotory speed unit Lighting: the unit is rpm
Hz Hz Frequency unit Lighting: the unit is Hz
A A Current unit Lighting: the unit is A
V V Voltage unit Lighting: the unit is V
% % Percentage unit Lighting: the unit is %
LOCK LOCK Password status Lighting: NLD5 has password
b. Display area: Display parameter in normal condition; fault code will flash when fault occurs.
Display Meaning Display Meaning Display Meaning Display Meaning
0 A J U
1 b L u
2 C n y
3 c o -
4 d P Dot
5 E q Full display
6 F r No display
Flash
7 H S
modifiable
8 h T
9 i t

Chapter 4 Operation
No. Description
Program / Exit key: entry or exit key; switch between programming status and status
2
monitoring.
3 Close key: CD command when controlled by keypad
4 Open key: OD command when controlled by keypad
5 Stop / Reset key: stop NLD5 by using keypad; reset the fault when detecting a fault.
Increase key: increase parameter when selecting it; increase value when setting
6
parameter.
Decrease key: decrease parameter when selecting it; increase value when setting
7
parameter.
8 Shift key: when selecting parameter or setting parameter, shift to the next value.
9 Entry / Confirm key: enter lower menu; save the value when setting parameter.
Display on keypad
Display of stop/run parameter
When NLD5 is in stop/run status, the keypad displays stop/run status OD CD Err DOA DCA
parameters, as shown at the right.

Press key to display stop status parameter in loop: Hz A V % LOCK
Stop para. d01.03

d01.03 (setting frequency), d01.00 (door position pulse), d01.08 (bus voltage),
d01.01 (door position percentage), d01.02 (fully open/close signal of door). OD CD Err DOA DCA
Press key to display the running status parameter in loop:

d01.03 (setting frequency), d01.04 (output frequency), d01.05 (output Hz A V % LOCK
voltage), d01.06 (output current), d01.07 (output torque), d01.00 (door Run para. d01.03
position pulse).
Fault alarm display

When NLD5 alarms fault, the keypad enters fault alarm display status and OD CD Err DOA DCA
fault code flashes, as shown at the right.

Enter group F09 to check the fault records. Hz A V % LOCK
Reset the fault by pressing key on the keypad ( key) or external reset terminal.
Refer to 7.1 Troubleshooting, on page 49 for fault display contents.

Chapter 4 Operation
Special display status

The special display status is shown as following:
LCD display
OD CD Err DOA DCA OD CD Err DOA DCA OD CD Err DOA DCA
Hz A V % LOCK Hz A V % LOCK Hz A V % LOCK
Unlock password success Clear password success Set password success

Power on initialization Parameter auto-tuning Reset factory setting
LED display
FWD REV ALM LO/RE LOCK FWD REV ALM LO/RE LOCK FWD REV ALM LO/RE LOCK
Hz A V RPM % Hz A V RPM % Hz A V RPM %
Uploading parameters Downloading parameters Downloading fail

Chapter 4 Operation
Parameter editing display

When NLD5 is in stop / run / fault status, press key ( key) to enter parameter editing status
(if password had been set, refer to F00.00 and section 4.4).
Using 4-level menu: mode setting (first-level)→function parameter group setting (second-level)→
function parameter setting (third-level)→parameter setting (fourth-level). Take LCD keypad as an
example:
Run status First-level menu First-level menu

Fourth-level menu Third-level menu Second-level menu
Key First-level menu Second-level menu Third-level menu Fourth-level menu

Fault, return to fault
Do not save the present
display; Fault cleared, Return to first-level Return to second-level
value and return to
return to run or stop status menu menu
third-level
display
Savethe present value
Enter second-level menu Enter third-level menu Enter fourth-level menu
and return to third-level
Modify No. function. Modify the internal No.of Modify function
Select function group. Increase by 1 when function group. Increase value.Increase by 1
Cycle according to d - F - y press this key one by 1 according to the according to the
time present modified bit present modified bit
Modify No. function. Modify the internal No.of Modify function
Select function group. Decrease by 1 when function group. Decrease value.Decrease by 1
Cycle according to y - F - d press this key one by 1 according to the according to the
time present modified bit present modified bit
Switch units, tens,
Invalid Invalid Switch units and tens thousans, ten
thousands
When setting fourth-level menu, if the parameter is not flashing, it indicates that this parameter can’t
be modified. The possible reasons are as follows:
• The parameter can’t be modified, such as actual detected parameters or recorded parameters etc.
• Only when the controller stops can the function parameter be modified.
• Only unlock password can the function parameter be edited due to the valid password.

Chapter 4 Operation
Restore to default parameter

Set F00.01 = 1 and restore F00 - F08 to default value, the display is showing as following:
OD CD Err DOA DCA OD CD Err DOA DCA OD CD Err DOA DCA OD CD Err DOA DCA
Hz A V % LOCK Hz A V % LOCK Hz A V % LOCK Hz A V % LOCK
User’s password
Set F00.00 ≠ 0, and if detect no press on the keypad for 5 minutes, the user’s password will be valid. The
“LOCK” indicator of keypad will be lighting. Now user can check the parameter but not modify it.
Unlock user’s password

To modify parameter, unlock the password according to the following steps, take password = “00004”
as an example.
1.5s
Modify user’s password

If password had not been set, to set password as “02004”, modify F00.00 according to following steps.
If password had been set, unlock it and then set new password according to following steps.
1.5s
Clear user’s password

To clear the password, unlock it and clear according to following steps.
1.5s

Chapter 4 Operation
Upload and download parameter

Upload and download can only be done when using optional LED keypad.
Upload
When F00.01 = 4, the keypad displays“UPLd” (as right figure). It will
FWD REV ALM LO/RE LOCK
enter stop status automatically after uploading is finished.
Download
Hz A V RPM %
When F00.01 = 5, the keypad displays“dnLd” (as right figure). It will
enter stop status automatically after downloading is finished. Uploading parameters
Note: FWD REV ALM LO/RE LOCK
1. To download the parameter, firstly upload the parameter.

2. When downloading parameters, it displays “dFAiL”, meaning that the
storage parameters of keypad do not match with function parameters of
Hz A V RPM %
NLD5. Firstly upload the correct parameters and then download.
3. When uploading/downloading parameters, it displays “E0022” and Downloading parameters
flashes, meaning EEPROM of keypad is faulty. It will jump to next function
code 10 seconds later. The troubleshooting is in 7.1 Troubleshooting, on
page 49.

Chapter 4 Operation

Chapter 5 Function introduction

Group d: Display Parameters
Group d is status display parameters.
d00: System parameters

Ref. Code Function Description Setting range [Default]
d00.00 Controller series [T20]
Display NLD5.
d00.01 Rated power of NLD5 [400W]
Display rated power of NLD5.
d00.02 Rated current of NLD5 [2.5A]
Display rated current of NLD5.
d00.03 Software version of NLD5 [Actual value]
Display software version of NLD5.
d00.04 Special software version of NLD5 [Actual value]
Display special software version of NLD5.
d00.05 Software version of external keypad [Actual value]
Display software version of external keypad.

d01: Drive status parameters

d01.00 Door position pulse [Actual value]
Display pulse status of current door position. The max. pulse corresponds to complete door open position,
and the min.pulse corresppnds to complete door close position.
d01.01 Door position percentage [Actual value]
Display the percentage of current front door position and the whole door width. 100.0% is complete door
open position, and 0.0% is complete door close position.
d01.02 Fully open/close signal of door [Actual value]
Display fully open/close signal of door. CD torque CD pulse
• Display by 4 digits (from right to left): not complete not complete
Complete door open pulse, complete door close pulse,
complete door open torque, complete door close torque.
• 0: signal is not complete, 1: signal is complete.
• Take “0101” as an example in the right figure.
OD torque OD pulse
complete complete
d01.03 Setting frequency [Actual value]
Display setting frequency.
d01.04 Output frequency [Actual value]
Display output frequency.
d01.05 Output voltage [Actual value]
Display output voltage.
d01.06 Output current [Actual value]
Display output current.
d01.07 Output torque [Actual value]
Display output torque.
d01.08 Bus voltage [Actual value]
Display bus voltage.
d01.09 Input terminal status 1 [Actual value]
Display input terminal status. Each bit represents one terminal.
• 0: The corresponding terminal disconnects with common terminal;
• 1: The corresponding terminal connects with common terminal.
Ten thousands Thousands Hundreds Tens Units
DI5 DI4 DI3 DI2 DI1


d01.10 Input terminal status 2 [Actual value]
Display input terminal status. Each bit represents one terminal.
Tens Units
CD OD
d01.11 Output terminal status [Actual value]
Display output terminal status. Each bit represents one terminal.
Hundreds Tens Units
PA DCA DOA
Group F: General function parameter

F00: Basic parameters
F00.00 User’s password 00000 - 65535 [00000]
XXXXX: To enable the password protection function, set any non-zero number as the password. Once set, the
keypad can check the parameters only.
• To change the parameters, input correct password.
00000: Password is invalid. If user unlocks the password, it means clearing the user’s password.
Setting password: Once the password is set, and detect that there is no press on the keypad within 5 minutes,
the user’s password will be valid.
F00.01 Parameter batch processing 00 - 30 [00]
0: This function is invalid, users should set parameters manually.
1: Restore to default parameter. F00 - F08 are restored to default.
2: Clear fault information. Fault information of F09.00 - F09.12 are cleared.
3: Unused.
4: Upload parameter to external keypad (F00 - F08).
5: Download parameter from external keypad to NLD5 (F00 - F08). 6 -
30: Unused.
F00.02 OD/CD mode selection 0,1 [0]
0: Speed control (with 4 switches).
1: Distance control (with encoder).


F00.03 Run command selection 0 - 4 [0]
0: Controlled by keypad (manual).
• Run and stop are controlled by keypad. Press key ( key) to open the door and press key
( key) to close the door. Press key ( key) to stop.
1: Controlled by terminal (automatic).
• NLD5 opens/closes the door by OD/CD command of control system.
• Adjust the OD/CD curve to the optimum, and set F00.03 = 1, NLD5 integrates into elevator system and
executes the OD/CD command that given by the elevator controller.
Open door command (OD terminal) priority Close door command (CD terminal) priority
Unit of F06.12 = 0 (default) Unit of F06.12 = 1
OD CD Command OD CD Command
0 0 Stop 0 0 Stop
0 1 Close 0 1 Close
1 0 Open 1 0 Open
1 1 Open 1 1 Close
2: Demo loop running. Without controlled by the system, the automatic demo mode is used to demonstrate
door machine and manufacturer test run.
• In keypad control mode (F00.03 = 0), demo running will start automatically after adjusting the running
curve of door machine.
• Group F08 can set the intervals and times of OD/CD demo. Press key ( key) to stop NLD5.
• Press key ( key) / key ( key) or connect external terminals OD/CD with COM to start
demo running. Press key ( key) to stop demo running.
3: Manufacturer commissioning mode. Special function of door machine is invalid.
4: Controlled by CAN communication.
F00.04 Max. output frequency 1.00 - 99.99 [50.00Hz]
Define max. output frequency of NLD5.
F00.05 Running curve selection 0,1 [0]
0: Line.
1: S curve.
F00.06 Control selection 0 - 3 [3]
0: Asyn. motor open loop vector control.
1: Asyn. motor closed-loop vector control.
2: Syn. motor closed-loop vector control.
3: Asyn. motor flux vector control.

F01: Motor parameters

F01.00 Rated power of motor 1 - 750 [250W]
F01.01 Rated voltage of motor 1 - 300 [220V]
F01.02 Rated current of motor 0.10 – 2.50 [0.55A]
F01.03 Rated frequency of motor 1.00 - 99.99 [50.00Hz]
F01.04 Rated RPM of motor 1 - 6000 [900rpm]
Power of motor should match with that of NLD5 in order to ensure fine control.
F01.05 Reduction ratio 1.00 - 9.99 [1.00]
Generally, F01.05 is 1.00. While if the encoder is not installed on the motor axis, user should set F01.05
according to actual condition.
• F01.05 is valid only for asyn. motor closed-loop vector control (F00.06 = 1).
F01.06 Motor parameter auto-tuning 0,1 [0]
0: No action.
1: Motor parameter auto-tuning.
• Set F00.03 = 0, and correctly set nameplate parameter of motor (F01.00 - F01.04).
• Set F01.06 = 1, and press key ( key) to start motor parameter auto-tuning. Press key
( key) to stop auto-tuning; when auto-tuning is finished, F01.06 restores to 0 automatically.
• When syn. motor is auto-tuning, the motor will recognise the pole angle and direction of encoder. When
asyn. motor is auto-tuning, the belt pulley must be taken off.
• Refer to section 6.1, on page 37 for details about motor parameter auto-tuning.
F01.07 Idling current 0.01 – 2.50 [0.36A]
Only valid for asyn. motor, i.e, when F00.06 = 0 (asyn. motor open loop vector control) or 1 (asyn. motor
closed-loop vector control).
F01.08 Magnetic pole angle 0.0 - 359.9 [0.0]
Only valid for syn. motor, i.e, when F00.06 = 2 (syn. motor closed-loop vector control).
F01.09 Stactor resistance 0.00 - 99.99Ω [Depend on NLD5]
F01.10 Rotor resistance 0.00 - 99.99Ω [Depend on NLD5]
F01.11 Stactor inductance 0 - 9999mH [Depend on NLD5]
F01.12 Rotor inductance 0 - 9999mH [Depend on NLD5]
F01.13 Mutual inductance 0 - 9999mH [Depend on NLD5]
F01.14 Slip compensation gain 50.0 - 200.0 [100.0%]

F02: Encoder Door Width Parameter

F02.00 Pulse per revolution of encoder 0 - 9999 [1024]
F02.01 Rotating direction of encoder 0,1 [1]
0: Same direction.
1: Opposite direction.
F02.02 Speed at low speed running 0.01 - 15.00 [7.00Hz]
When low speed signal (No. 6 function) set by DI is valid and receiving OD/CD command, door machine runs
at F02.02.
F02.03 Initial running speed after power on 0.01 - 15.00 [7.00Hz]
Define the initial running speed of door machine after power on.
• As door machine doesn’t know the actual door position at initial running after power on, after receiving the
run command, door machine positions according to F02.03.
• It works only in distance control (F00.02 = 1).
F02.04 Door width self-learning speed 0.01 - 15.00 [4.00Hz]
Define the running speed when door machine is self-learning the door width.
• To reduce deviation of door width when self-learning, the speed of self-learning should not be too high,
otherwise complete door open/close will cause the door bumping.
F02.05 Door width self-learning enable 0,1 [0]
0: Disable.
1: Enable.
• Refer to section 6.2.2, on page 40 for details about door width self-learning.
• F00.03 = 0, F02.05 = 1, press key (( key) or key ( key) to start door width
self-learning. Press key ( key) to stop self-learning. When self-learning is finished, F02.05
restores to 0 automatically.
F02.06 Low bit of door width 0 - 9999 [780]
F02.07 High bit of door width 0 - 9999 [0]
The low bit of door width pulse number (lower than ten thousands) gained by self-learning is saved to F02.06,
high bit (higher than ten thousands) is saved to F02.07.
• Door width calculating: Door width = F02.07 × 10000 + F02.06.
• Keypad can modify the door width pulse number gained by self-learning.
F02.08 CD limit open/close position pulse 0 - 9999 [0]
When DI terminal has close door limit open/close (No. 4 or No. 14 function), and hundreds of F06.12 = 1, door
machine will learn the CD limit position pulse during door width self-learning. The data will be saved
automatically after learing is finished.
In normal runnning, this signal corrects the position of door machine.

F03: OD curve parameter

Refer to 6.2.3 Distance control OD running, on page 41 for details.
F03.00 OD start distance / OD start time 0 - 9999 [1000]
At distance control: start distance (unit: pulse number).
At speed control: start time (unit: ms).
F03.01 OD start speed 0.00 - 15.00 [3.50Hz]
F03.02 OD Acc time 0.1 - 99.9 [1.3s]
Define the time accelerating from zero frequency to max. frequency during OD process.
F03.03 OD speed 0.00 - F00.04 [20.00Hz]
Define the high running speed (frequency) during OD process.
F03.04 OD Dec point position 50.0 - 90.0 [65.0% door width]
When pulse number ≥ F03.04 × door width, door machine decelerates from F03.03 (OD speed) to F03.06
(creeping speed at OD ending).
• The bigger F03.04 is set, the shorter F03.04 is to complete door open.
F03.05 OD Dec time 0.1 - 99.9 [1.4s]
Define the time decelerating from max. frequency (F00.07) to zero frequency.
F03.06 Creeping speed at OD ending 0.00 - 15.00 [3.00Hz]
Define the low creeping speed (frequency) of door machine during OD process.
F03.07 OD limit point position 80.0 - 99.9 [95.0% door width]
When door position pulse > F03.07 × door width, door machine outputs fully open signal of door.
F03.08 High-speed area of reopening curve 10.0 - 90.0 [90.0% door width]
F03.08 defines high-speed area of reopening curve at reopening.
• This parameter may improve the reopening efficiency.
Example:
F03.08 = 70.0% and 100 - 70 = 30, it represents when the door position is in 0 - 30%, it will auto accelerate to
high speed at reopening. When the door position is in 30-100%, it will auto-calculate the run curve according
to the current position at reopening.

F04: CD Curve Parameters

Refer to 6.2.4 Distance control CD running, on page 42 for details.
F04.00 CD start distance / CD start time 0 - 9999 [0]
At distance control: start distance (unit: pulse number).
At speed control: start time (unit: ms).
F04.01 CD start speed 0.00 - 15.00 [4.00Hz]
F04.02 CD Acc time 0.1 - 99.9 [1.4s]
Define the time accelerating from zero frequency to max frequency during CD process.
F04.03 CD speed 0.00 - F00.07 [18.00Hz]
Define the high running speed (frequency) during CD process.
F04.04 CD Dec point position 50.0 - 90.0 (door width) [62.0%]
When pulse number ≥ (1 - F04.04) × door width, door machine will decelerate from F04.03 (CD speed) to
F04.06 (creeping speed at CD ending).
• The bigger F04.04 is set, the shorter F04.04 is to complete door close.
F04.05 CD Dec time 0.1 - 99.9 [1.3s]
Defines the time decelerating from max. frequency to zero frequency.
F04.06 Creeping speed at CD ending 0.00 - 15.00 [3.00Hz]
Define the low creeping speed (frequency) of door machine during CD process.
F04.07 Door vane acting position at CD ending/ Running time at CD 1 - 5000 [0]
ending creeping speed
Distance control: starting distacnce (unit: pulse number).
• When pulse number ≤ F04.07, CD ending and door vane action will be processsed.
Speed control: running time at CD ending creeping speed (unit: ms).
F04.08 Door vane action speed at CD ending 0.00 - 15.00 [0.00Hz]
Define the door machine runing speed (frequency) of door vane action position within range of F04.07 during
CD process.
F04.09 CD limit point position 1 - 500 [60]
When the door position is within the CD limit point position, door machine will output fully close signal of
door.
F04.10 Door vane retiring end speed of asyn. CD 0.00 - 5.00 [0.00Hz]
F04.11 Retiring range of asyn. door vane CD / Running time of CD ending 0 - 5000 [0]
asyn. door vane action speed
Distance control: starting distance (unit: pulse number).
• When pulse number ≤ F04.11 setting pulse number, CD ending door vane action will be processed.
Speed control: running time of CD ending asyn. door vane action speed (unit: ms).

F05: Torque Parameters

F05.00 OD switching torque 20.0 - F07.07 [50.0%]
In OD process of door machine, if the running pulse counts to F03.07 × door width, door machine continues
crepping run at low speed of CD ending. When reaching the limit position, door machine will be locked-rotor.
When locked-rotor torque ≥ F05.00 × rated torque of motor, switch to complete OD torque holding status
until door machine runs in opposite direction or stops.
F05.01 OD holding torque 30.0 - F07.07 [45.0%]
In OD running of door machine, the OD limit is valid. And when locked-rotor torque ≥ F05.00 × rated torqueof
motor, door machine keeps holding torque (F05.01 × rated torque of motor) at the complete OD position.
F05.02 Final holding torque at complete OD 0.0 - F07.07 [35.0%]
F05.03 Switching time from OD holding torque to final holding torque 0.1 - 999.9 [30.0s]
Define the torque holding status in door machine OD phase.
• Torque holding status: OD holding torque (F05.01) waits until switching time (F05.03) is finished, and
reaches final holding torque (F05.02).
F05.04 CD switching torque 20.0 - F07.07 [50.0%]
F05.05 CD holding torque 30.0 - F07.07 [45.0%]
F05.06 Final holding torque of complete CD 0.0 - F07.07 [35.0%]
F05.07 Switching time from CD holding torque to final holding torque 0.1 - 999.9 [60.0s]
F05.04 - F05.07: refer to F05.00 - F05.03.
F05.08 Torque at low speed CD resistance 0.0 - F07.07 [80.0%]
F05.09 Time at low speed CD resistance 0 - 4999 [1000ms]
F05.10 Torque at high speed CD resistance 0.0 - F07.07 [80.0%]
F05.11 Time of high speed CD resistance 0 - 4999 [1000ms]
F05.12 Low speed at CD resistance 0.00 - F00.07 [5.00Hz]
F05.13 High speed at CD resistance 5.00 - F00.07 [15.00Hz]
Value of F05.08 / F05.10 correspond to rated torque of motor. The smaller value is, the smaller resistance will
be.
• During CD process, door machine outputs fully close signal of door and will not detect the CD resistance.
• When CD is resisted, door machine decelerates according to resistance Dec. time (F06.10), and opens door
when speed is zero.
The CD resistance of door machine is shown as below:
Torque Time
F05.08 F05.09
F05.10 F05.11
F05.12 F05.13 Speed (Hz) F05.12 F05.13 Speed (Hz)


F05.14 Switching torque of low speed OD/CD 30.0 - F07.07 [70.0%]
Define the torque switching value between door width self-learning and torque at initial power on. The
setting value is percentage of rated torque of motor.
F05.15 Torque at OD resistance 0.0 - F07.07 [100.0%]
F05.16 Time at OD resistance 0 - 4999 [1600ms]
F05.15 corresponds to rated torque of motor. The smaller value is, the smaller resistance will be.
• When F05.15 = 0, F05.16 is invalid.
• During OD process, door machine outputs fully open signal of door and will not detect OD resistance.
• When OD is resisted, door machine stops responding to OD command. It will respond until time of F05.16 is
finished.
• When OD is resisted, if there is CD command, door machine responds to it and closes the door.
F05.17 Stop time at OD resistance 0 - 9999 [3000ms]
Define the time that after OD is resisted, door machine waits till which is finished and responds to OD signal
again.

F06: Boost Parameters

F06.00 DOA, DCA, PA output pole selection 0,1 [1]
0: The signal connects which represents fully OD/CD and door position output (equal to the relay
normally closed contact).
1: The signal disconnects which represents fully OD/CD and door position output (equal to the relay normally
open contact).
F06.01 PA function selection 0 - 4 [0]
0: Door position output. 2: Complete OD.
1: Reopening signal outputs at CD resistance. 3: Complete CD.
• Set F06.01 = 1, the reopening signal is valid. 4: Fault output.
When the CD resistancesignal is enabled, the
reopeingn signal starts to output. When fully
re-open, the reopening signal will stop output.
F06.02 Input terminal filter time 2 - 300 [10ms]
Set the sensitivity of DI input terminal. If the DI terminal is interfered and leads to unexpected action, increase
value of F06.02 to improve the immunity from interferance, but that will reduce the sensitivity of DI.
F06.03 DI1 funtion selection 0 - 15 [11]
0: No funtion. 8: CD command. (CD)
1: OD speed switching NO input. 9: Fault reset. (RST)
2: OD limit NO input. 11: OD speed switching NC input.
3: CD speed switching NO input. 12: OD limit NC input.
4: CD limit NO input. 13: CD speed switching NC input.
5: Light curttain, contact board NO input. 14: CD limit NC input.
6: Low speed signal. (SS) 15: Light curtain, contact board NC input.
7: OD command. (OD)
F06.08 DC resistance aux detection time 0 – 4999 [0ms]
If pulse does not change within the time of F06.08, DC is resisted.
• Below conditions should be met:
• 1. F00.02 = 1 (distance control);
• 2. F00.06 = 0 (Asyn. motor open loop vector control) or F00.06 = 3 (Asyn. motor flux vector control).
• F06.08 < 1000ms, do not detect DC resistance.
• There is no relationship between DC resistance detection and DC torque resistance (F05).


F06.09 Percentage of door position output 0.1 - 99.9 [90.0%]
When door position > F06.09, the door position output signal (PA) is valid.
• Only valid when F06.01 = 0 (door position output).
F06.10 Resistance Dec. time 0.1 - 2.0 [0.5s]
Define the time when CD resistance occurs, the current CD speed will decelerate to zero speed.
• If F06.10 is too small, the door will shake violently at Dec. process. If F06.10 is too big, the Dec. of door will
be too slow.
F06.11 Action selection of door machine when undo run command 0 - 2 [2]
0: The torque is maintained during complete OD/CD, and runs at zero speed in other positions.
1: Stop running.
2: Only maintain the torque during complete OD/CD.
F06.12 Auxiliary parameter 1 00000 - 11111 [00000]
Ten thousands: Detect CD resistance 1/3 distance from CD acts
• 0: Detect CD resistance.
• 1: Not detect CD resistance.
Thousands: Function of stop key in terminal control
OD CD Err DOA DCA
• 0: Stop key is invalid.
• 1: Stop key is valid. During running, continuously press key (
key), the system stops, and ”SToP” will display on LCD. Press key
Hz A V % LOCK
( key) again, the system resumes.
Hundreds: CD limit switching mode
• 0: Do not learn the CD limit position during door width self-learning.
• 1: Learn the CD limit potision during door width self-learning. When this signal is valid, the system can reset
to current position automatically.
Tens: Demo mode enable
• 0: Enable manually.
• 1: Enable automatically.
Units: OD/CD priority selection
• 0: OD priority.
• 1: CD priority.


F06.13 Auxiliary parameter 2 00000 - 11111 [00001]
Ten thousands: Performance priority Tens: Over-current auto reset enable
• 0: Mode 0. • 0: Not enable.
• 1: Mode 1. • 1: Enable.
Thousands: Current slope rise Units: Over-vlotage auto reset enable
• 0: Start current direct setting. • 0: Not enable.
• 1: Start current slope rise. • 1: Enable.
Hundreds: Speed loop amplification
• 0: Speed loop Kp is original value.
• 1: Speed loop Kp amplify by 4 times.
F06.14 Onboard LCD brightness adjustment 0 - 100 [70%]
0%: Darkest.
100%: Brightest.
F06.15 Carrier frequency 4 - 16 [8k]
F06.16 Running speed for open loop manual door of asyn. motor 2.50 - 15.00 [4.00Hz]
F06.17 CD time protection 0 - 30 [0s]
When setting time ≤ 2s, do not protect CD.
When setting time > 2s, time counts from the minute giving CD command. If fully close signal of door is not
received during this process, it will re-open the door.
F06.18 Flux vector voltage compensation 0 - 40 [10%]
F06.19 Flux vector complete CD holding frequency 0.10 - 5.00 [1.00Hz]
F06.20 Flux vector complete OD holding frequency 0.10 - 5.00 [1.00Hz]
F06.21 Delay switching time of flux vector speed switching to torque 100 - 3999 [2500ms]
F06.22 Frequency range of flux vector no detection OD/CD resistance 0.10 - 15.00 [7.00Hz]
F06.23 Flux vector OD voltage compensation 0 - 8 [0%]
When closing, flux vector voltage compensation = F06.18.
When opening, flux vector voltage compensation = F06.18 + F06.23.
F06.24 Cut-off point of flux vector voltage compensation frequency 10.00 - 50.00 [50.00]
F06.25 Auxilliary parameter 3 00000 – 00001 [00000]
Units: DO Signal keeping when first time power up under distance control
• 0: DO signal do not keep.
• 1: DO signal keeping. When first time power up under distance control and DO command keeps for more
than 2.5s, if DO command is cancelled and not receiving fully DO signal, door machine will keep open. It
will not close until fully DO signal outputs.
Tens: Address setting under CAN control
• 0: Address = Front door.
• 1: Address = Rear door.
Hundreds, Thousands, Ten thousands: Unused

F07: Vector Control Parameter

F07.00 High speed ASR KP 10 - 3000 [500]
F07.01 High speed ASR KI 0 - 1000 [100]
F07.02 Low speed ASR KP 10 - 3000 [500]
F07.03 Low speed ASR KI 0 - 1000 [100]
F07.04 ASR switching frequency 0.00 - F00.04 [8.00Hz]
F07.00 - F07.04 sets PID parameter of ASR. The structure of ASR is shown as below:
Frequency command+ Deviation Torque current setting
PID
-
Frequency feedback
Torque limit
• The system response can be expedited by increasing the F07.00, F07.02 (KP), but oscillation may occur if KP
is too high.
• The system response can be expedited by increasing the F07.01, F07.03 (KI), but oscillation and high
overshoot happen easily if the KI is too high.
• If KI = 0, the speed loop works merely as a propotional regulator.
• Generally, the KP should be adjusted firstly to the maximum on condition that the system does not vibrate,
and then the KI should be adjusted to shorten the response time without overshoot.
• It needs increase KP and decrease KI, on condition that shorter dynamic response time is required during
low frequency operation.
F07.05 Current loop KP 10 - 9999 [100]
F07.06 Current loop KI 0 - 9999 [100]
F07.05 and F07.06 define the PI regulator parameter of current loop.
• It can expedite the system response to the output torque by increasing the KP or KI of current loop; and
improve the system stability by decreasing KP or KI.
• If KP or KI of current loop is too big, the system is easily to occur oscillation; if KP or KI is too small, the
system output torque capacity will be influenced.
Note: For most occations, it does not need to adjust the PI parameters of current loop and it is recomened to
carefully change this parameters.
F07.07 Torque limit 0.0 - 200.0 [120.0%]
Define the torque current output by NLD5. The setting value is relative to the percentage of rated current of
motor (F01.02).
F07.08 Speed filter time constant 0 - 7 [2]
It is used to filter the output of ASR regulator.
• F07.08 = 0, the speed-loop filter is disabled.

F08: Demo Running Parameter

F08.00 Demonstrates the retention time of running complete OD 1.0 - 999.9 [2.0s]
F08.01 Demonstrates the retention time of running complete CD 1.0 - 999.9 [2.0s]
F08.02 Demonstrates the running times records 0 - 65535 [0]
F08.03 Demonstrates the nominated running times 0 - 65535 [0]
Demonstrates the records of running times.
F08.02 is saved at power failure automatically. When completely re-power on, value of F08.02 adds one by
each door opening.
The demo mode is used in demonstrating and aging test. It starts by pressing key ( key) or
key ( key) or receiving OD/CD command from external terminal.
• After starting, the door machine opens/closes the door at low speed, after completely open/close, it
opens/closes door according to running curve.
• Time starts to count after completey door open. When time of F08.00 is finished, it runs in opposite CD
automatically; after complete door close, the CD retention time reaches F08.01, and opens the door in
forward direction. This process is repeated and not stop until pressing key ( key) or the running
times > F08.03.
Value of F08.02, F08.03 is modifiable.

F09: Fault Record Parameters

F09.00 NO.5 fault type [Actual value]
F09.01 NO.4 fault type
-Lu-: DC bus under voltage. E0014: Read/Write fault of NLD5 EEPROM.
E0001: NLD5 over-voltage. E0017: Module fault.
E0002: Hardware of NLD5 is over-current. E0018: Current detection circuit fault.
E0003: Software of NLD5 is over-current. E0022: Read/Write fault of keypad EEPROM.
E0004: Encoder Z signal of PMSM is lost. E0023: Encoder fault.
E0006: Motor parameter auto tuning failed. E0024: Wrong logic.
E0007: NLD5 overloaded. E0026: Door width self-learning failed.
F09.05 Bus voltage at last fault [Actual value]
F09.06 Output current at last fault
F09.07 Running frequency at last fault
F09.08 Setting frequency at last fault
F09.09 Door position at last fault
F09.10 Input terminal status 1 at last fault
F09.11 Input terminal status 2 at last fault2
F09.12 Output terminal status at last fault
F09.13 Low bit of OD/CD times record
F09.14 High bit of OD/CD times record
F09.15 Runnning hours record
F09.16 Running days record
F09.17 Software version of NLD5
F09.18 Software version of keypad
5.3 Group y: Manufacturer Parameters

Group y is manufacturer parameters group for commissioning at the factory before delivery.

Chapter 6 Application commissioning

Motor Parameter auto-tuning
NLD5 adopts high performance vector control technology to control the door motor. Before
controlling the motor, start motor parameter auto-tuning to achieve correct motor parameter. That can
ensure fine running efficiency.
Note:
In motor parameter auto-tuning, press key ( key) on the keypad to reset if it shows fault.
Asynchronous motor auto-tuning

1. Set F00.03 = 0 (keypad control mode).
2. Set F00.06 = 0 (open loop distance control) or 1(closed-loop distance control).
3. Take off the belt to free of load. Set F01.00 - F01.05 according to motor nameplate.
4. Set F01.06 = 1(motor parameter auto-tuning), and press key ( key) or key ( key)
to start auto-tuning, the keypad will show “tunE”. When auto-tuning finished, the motor parameter will
be saved automatically, and F01.06 restores to 0.
The motor axis should rotate to OD direction. If it rotates to CD direction, user wait until auto-tuning is
finished, then switch any two of U/V/W of NLD5. There is no need to restart auto-tuning.
Note:
When the asyn. motor is auto-tuning, the belt must be taken off to free of load and set F01.05 (reduction
ratio) according to actual condition.

Synchronous motor auto-tuning

Connect the encoder and unsure d01.00 can monitor the encoder pulse before syn. motor auto-tuning.
1. Set F00.03 = 0 (keypad control mode).
2. Set F00.06 = 2 (closed-loop distance control).
3. Take of the belt to free from load. Set F01.00 (rated power), F01.02 (rated current), F01.03 (rated
frequency) and F01.04 (rated rpm) according to motor nameplate.
4. Set encoder parameter F02.00 and F02.01.
4. Set F01.06 = 1 (motor parameter auto-tuning), press key ( key) or key ( key) to
start auto-tuning, ”tunE” will display on the keypad. When auto-tuning is finished, pole angle (F01.08)
will be saved automatically. User needs record F01.08.
5. Repeat step 4, and record F01.08. Compare the two values. If the deviation is less than 5°, it means
that auto-tuning is successful, otherwise restart auto-tuning.
The motor axis should rotate to OD direction. If it rotates to CD direction, exchange any of the lines
that connect NLD5 and the motor, and restart motor parameter auto-tuning.
Note:
1. When synchronous motor is auto-tuning, if the belt is not taken of, please manually slide the door to close
status. In auto-tuning process, the door should move towards OD direction. When auto-tuning is finished,
the door stops automatically.
2. If the door cannot open and alarms encoder fault, stop NLD5, and switch any two lines of UVW of
NLD5, and restart auto-tuning.

Distance control
Use encoder to measure door position.
Main commissioning steps:
1. Self-learn door width.
2. Set OD/CD curve.
3. Confirm complete signal of door machine (F06.00) (F06.00 = 1: Relay NC; F06.00 = 0: Relay NO. NC is
default) according to elevator main control panel.
4. Set F00.03 = 1 (terminal control mode), and integrates into elevator system.
Wiring
1 phase L Optional
220VAC N keypad
PE
OD OD
CD CD
U NLD5
COM
M V
PA
W
PB
Door position output
PG PC
DOA
Complete OD output
DCA
Complete CD output
CME
50m. There should be more than 0.3m between the control cable and the motor cable.
The control cable must be shielded cable.
The communication cable must be shielded twisted pair, 20 - 30mm shielded distance, and the
shielded layer must be grounded.
The encoder must use shielded line, and one terminal of the shielded layer must be grounded firmly.

Door width self-learning

The door width of door machine is the basis to control door machine distance, adjust the OD/CD
running curve and judge complete OD/CD. Accurate door width is the premise to ensure normal
distance control.
During self-learning, the door will close or open automatically. Please make sure the personnel are safe
during this process, otherwise may cause accident.
Make sure that there are no obstacles to hinder the door before starting self-learning. The door width
data may be incorrect if there are obstacles.
Setting door width self-learning

1. Set F00.02 = 1 (distance control), F00.03 = 0 (keypad control).
2. Set F02.05 = 1 (door width self-learning is valid), press key ( key) or key ( key) to
start self-learning. When finished, F02.05 restores to 0 automatically. Press key ( key) to stop
self-learning if abnormal occurs during learning.
Normal running process of self-learning

Complete Complete
OD CD
OD CD
Pluse Pluse
Complete decrease CD Complete increase
OD
CD OD
Counter-measures for abnormal door width self-learning:

1. Giving door width self-learning command, the first time running direction is CD.
Counter-measure: Stop NLD5 and switch any two lines of U/V/W.
2. Check the CD pulse signal during self-learning. The CD pulse number increases if the OD pulse
number decreases.
Counter-measure: Modify setting of F02.01 (encoder direction).
3. During self-learning, alarms E0026 fault (door width self-learning failed).
Counter-measure: Check encoder signal. For heavy load type, increase value of F05.14 (OD/CD
switching torque).
4. When the asyn. motor is self-learning, the door machine jitters and stops.
Possible reason: Setting of following parameters is wrong: F02.00 (encoder pulse number), F02.01
(encoder direction), and F01.05 (deduction rate).

Distance control OD running

Refer to Figure 6–1 to set suitable parameters so as to achieve perfect OD running effect.
F03.00 F03.02 F03.03 F03.05
F03.04
F05.00 F05.03
F03.02 F03.01 Doo r open F03.06

F05.01 F05.02
OD starting OD high speed OD creeping OD keeping

Figure 6–1 Distance control OD process
OD starting
Once receiving OD command, door machine accelerates to starting speed (F03.01) according to
accelerate time (F03.02). When the location is bigger than starting distance (F03.00), OD starting
process is finished.
OD high speed running

OD starting finished, door machine accelerates to OD speed (F03.03) according to OD starting speed
(F03.01).
OD creeping
Door machine runs to deceleration point (F03.05) at OD speed (F03.03). It will run at creeping speed
(F03.06) when deceleration time (F03.05) is finished.
OD keeping
Door machine outputs fully open signal of door when it reaches OD limit point (F03.07) at creeping
period. When door machine torque ≥ OD switching torque (F05.00) × rated torque of motor, door
machine enters OD torque holding status.
When OD torque (F05.01) waits until switching time (F05.03) is finished, switches to complete OD final
holding torque (F05.02) to maintain the open status. This function not only saves energy but also
prevent motor overheat, and ensure tension of the door.

Distance control CD running

Refer to Figure 6–2 to set suitable parameters so as to achieve perfect CD running effect.
F04.00 F04.02 F04.03 F04.05
F04.11
F04.04 F04.07 F05.04 F05.07
F04.05
F04.08
F04.06
F04.02 F04.01 Door close F04.10F05.05 F05.06
F04.02
CD start CD high speed CD creeping Door vane action CD keeping

Figure 6–2 Distance control CD process
CD starting
Once receiving CD command, door machine accelerates to starting speed (F04.01) according to
acceleration time (F04.02). When the location is bigger than starting distance (F04.00), CD starting
process is finished.
CD high speed running

CD starting finished, door machine runs at CD starting speed (F04.01) and wait for acceleration time
(F04.02) is finished, it accelerates to CD speed (F04.03).
CD creeping
When the door runs to deceleration point (F04.04) at CD speed (F04.03), it decelerates to creeping
speed (F04.06) with deceleration time (F04.05).
Door vane action

When the door runs to door vane action position at CD ending (F04.07) at creeping speed (F04.06), the
door vane accelerates to door vane action speed (F04.08) with acceleration time (F04.02). When
running to CD door vane retiring range of asyn. door vane (F04.11), it decelerates to door vane retiring
ending speed (F04.10) with deceleration time (F04.05).
Note: There is no CD action when F04.08 = 0, and the system only carries out CD creeping speed (F04.06).
CD keeping
When door machine reaches CD limit point (F04.09) at creeping phase, it outputs fully door close signal.
When output torque ≥ switching torque (F05.04) × rated torque of motor, door machine enters CD
torque holding status.
The CD torque (F05.05) is kept and wait for switching time (F05.07) is finished, and switch to final
holding torque of complete CD (F05.06), the CD process is finished.

Speed control
With four external limit switches, NLD5 can achieve speed control, no needing to configure external
encoder to detect the door position. The installation sites of each limit switch (signal connection) are
shown in Figure 6–3.
CD
OD
Complete OD Complete CD
Figure 6–3 Speed control switches and their installation
Main steps:
1. Connect OD limit, OD speed switching, CD limit and CD speed switch to DI - D4 respectively, and
connect common terminal to COM, then power up NLD5.
2. Switch the keypad display to input terminal status 1 (d01.09). Manually open and close the door, the
limit switches and signals should be normal. If the external switch is NO type, it needs setting DI1 - DI4
function (Group 06) to be NO type.
3. Refer to section 6.3.2 and section 6.3.3 for the commissioning of OD/CD curve.
Note:
If it shows that signal change is abnormal, user should check the switch installation and the connection of
switch and NLD5. Make sure they are correct and then proceed to step 2 and 3.
4. Confirm the fully signal of door machine according to elevator main control cabinet (F06.00 = 1:
Relay NO; F06.00 = 1: Relay NC, default).
5. Set F00.03 = 1 (terminal control mode), and integrate into elevator system.

Connection
Optional
keypad
1 phase L
OD speed switching NC
220VAC N DI1
OD limit NC
PE DI2
CD speed switching NC
DI3
NLD5 CD limit NC
DI4
COM
U OD OD
M V CD CD
W
COM
PA
PB
Door position output
PC
DOA
Complete OD output
DCA
Complete CD output
CME
50m. There should be more than 0.3m between the control cable and the motor cable.
The control cable must be shielded cable. The communication cable must be shielded twisted pair,
with 20 - 30mm twisted distance, and the shielded layer should be grounded.

Speed control OD running

Set parameters of group F03 and F05 that relates to speed control. Define speed switching contact
(F03.04) and limit signal (F03.07) accurately. They are a premise for NLD5 to output perfect OD curve.
The OD running speed curve is shown in Figure 6–4.
Frequency
F03.02 F03.05
F03.03
F03.00 F05.00 F05.03
F03.01 F05.01 F05.02

F03.06 Time
OD ON OFF
OD speed
OFF ON
switching signal
OD limit signal OFF ON

Figure 6–4 Speed control OD process
Process description:
1 When OD command is valid, door machine accelearates to starting speed (F03.01) and runs at constant speed.
Time counts from OD starting. When time reaches starting time (F03.00), door machine accelerates to OD
2
speed (F03.03) with acceleration time (F03.02) and runs at F03.03.
When OD spees switch signal is valid, door machine decelerates to creeping speed at OD ending (F03.06) with
3
OD deceleration time (F03.05) and runs at F03.06.
F00.06 = 0 (open loop vector control of asyn. motor):
• When OD limit signal is valid, door machine runs at creeping speed (F03.06);
• When output torque≥switching torque (F05.00)×rated torque of motor, or time counts from when the
OD limit signal is valid, and time exceeds F06.21, door machine enters OD torque holding status; the OD
torque (F05.01) waits until switching time (F05.03) is finished, and then switch to final holding torque of
complete OD (F05.02), the OD process is finished.
4
F00.06 = 3 (flux vector control of syn. motor):
• When OD limit signal is valid, door machine runs at crepping speed (F03.06);
• Time counts from OD limit signal is valid. When time exceeds F06.21, door machine enters OD torque
holding status, and F06.20 sets output frequency; OD torque (F05.01) waits until switching time (F05.03) is
finished, and switches to final holding torque pf complete OD (F05.02), the OD process is finished.
When OD command is invalid, OD torque judges the action according to F06.11 (door machine action when
5
running command is cancelled).

Speed control CD running

Set parameters of F04 and F05 that relates to speed control correctly. And as premise to ensure NLD5
outputs perfect OD curve, define speed switching point (F04.04) and limit signal (F04.07) precisely. CD
running speed curve is shown as Figure 6–5.
Frequency
F04.00 F04.02 F04.05 F04.02 F04.05
F04.03 F04.07 F04.11
F05.04 F05.07
F04.08
F04.01 F05.05 F05.06
F04.06 Time
F04.10
CD ON OFF
CD speed
switching OFF ON
signal
Figure 6–5 Speed control CD process
Description:
1 When CD command is valid, door machine accelerates to start speed (F04.01) and runs at F04.01.
Time counts from CD running, when the time equals to start time (F04.00), door machine accelerates to CD
2
speed (F04.03) with acc time (F04.02), and then runs at F04.02.
When CD speed switching signal is valid, door machine decelerates to CD ending creeping speed (F04.06)
3
with CD dec. time (F04.06), and then runs at F04.06.
When running duration of CD door vane retiring ending speed (F04.11) ≠ 0, after door machine runs to F04.07
(creeping speed running time) at creeping speed (F04.06), door machine accelerates to CD action speed
(F04.08) with acceleration time (F04.02) and wait until F04.11 is finished. Door machine decelerates to CD
4
door vane retiring of asyn. door vane (F04.10) with deceleration time (F04.05), running stops;
• If running duration of CD door vane retiring ending speed (F04.11) = 0, door machine stops running at
creeping speed (F04.06).
F00.06 = 0 (open loop vector control os asyn. motor):
• When CD limit signal is valid, if door vane retiring ending speed (F04.10) ≠ 0, door machine runs at F04.10; if
F04.10 = 0, and CD action speed (F04.08) ≠ 0, door machine runs at F04.08; if both F04.10 and F04.08 = 0,
door machine runs at F04.06;
5
• When output torque ≥ switching torque (F05.04)×rated torque of motor or time counts from when OD
limit signal is valid, and time exceeds F06.21, door machine enters CD torque holding statue; CD holding
torque (F05.05) waits until switching time (F05.07) is finished, and switches to final holding torque of
complete OD (F05.06), CD process is finished.

F00.06 = 3 (flux vector control of asyn. motor):

• When CD limit signal is valid, if door vane retiring ending speed (F04.10) ≠ 0, door machine runs at F04.10; if
F04.10 = 0, and CD action speed (F04.08) ≠ 0, door machine runs at F04.08; if both F04.10 and F04.08 = 0,
5 door machine runs at F04.06;
• Time counts from when CD limit signal is valid. When time exceeds F06.21, door machine enters CD torque
holding status, F06.19 sets output frequency; CD holding torque (F05.05) waits until switching time
(F05.07) is ginished, and switches to final holding torque of complete OD (F05.06), CD process is finished.
When CD command os invalid, CD torque judges action according to F06.11 (door machine action when
6
running command is cancelled).


Chapter 7 Troubleshooting and maintenance

Troubleshooting
If fault occurs, the keypad will display the fault alarm status. Meanwhile, faulty relay acts, accordingly
NLD5 stops output and the motor coasts to stop.
When fault alarm occurs, user should record the fault in detail and take proper action according to
following table.
After the fault is eliminated, reset NLD5 by any of the following methods:
1. Keypad reset.
2. External reset terminal (DI terminal = No.9 function).
3. Switch on NLD5 after completely power off.
Fault Reasons Counter-measures
• At the begining of power on and at • It is normal status of powering on and
the end of power off powering off
-Lu- DC bus undervoltage • Input voltage is too low • Check input power voltage
• Improper wiring leads to • Check wiring and wire NLD5
undervoltage of hardware properly
• Input voltage is too high • Check power input
• Deceleartion time is too short • Set proper Dec time (F03.05, F04.05)
E0001 DC bus over voltage
• Improper wiring leads to • Check wiring and wire NLD5
overvoltage of hardware properly
NLD5 output • Correct connection of NLD5 amd

instantaneous motor
E0002 • Improper connection of NLD5
overcurrent • Set proper motor parameter (F01.00 -
and motor
(hardware) F01.04)
• Improper motor parameter
• Check the conne ction of encoder and
• Wrong signal of encoder
make sure the signal is correct
• Improper wiring leads to
NLD5 output • Check the system connection and
E0003 overcurrent of hardware
overcurrent (software) wire properly
• Acc/Dec time is too short
• Set proper Acc time (F03.02, F04.02)
or Dec time (F03.05, F04.05)
Encoder Z phase • Auto-tuning of PMSM did not detect
E0004 • Check signal of encoder
signal of PMSM lost Z signal

Fault Reasons Counter-measures

• Set proper motor parameter (F01.00 -
• Improper parameter setting of
F01.04)
Motor parameter motor
E0006 • Check the connection of motor and
auto-tuning failed • Improper connection of motor
wire properly
• Z phade signal of encoder is lost
• Check the encoder
• Load of door machine is too large • Adjust the mechanical device
E0007 NLD5 overloaded • Door machine is resisted by • Check mechanical device for anything
obstacle resisting it
Read/Write fault of
• Memory circuit fault ofcontrol board
E0014 control board • Contact the supplier for repairing
EEPROM
EEPROM
• Check the conection of encoder and
wire properly
• Short circuit between pahse
E0017 Module fault • Short circuit to ground
wire properly
• Output current is too high
• Check electrical wiring and
mechanism
Current detection • Detection deviation of current
E0018 • Contact the supplier for repairing
circuit fault detection circuit is too large
Read / Write fault of • Memory circuit fault of keypad • Replace the kaypad
E0022
keypad EEPROM EEPROM • Contact the supplier for repairing
• Check the encoder and replace it
• Encoder is damaged
• Connection of encoder is wrong
E0023 Encoder fault wire properly
• Wrong setting of encoder pulse
• Set proper pulse number per
number per revolution
revolution (F02.00)
• Check the encoder and replace it
• Encoder is faulty • Check the conection of encoder and
Door width • Encoder is improperly connected wire properly
E0026
self-learning failed • Improper setting of self-learning • Set proper self-learning speed
speed or torque parameter (F02.04) and OD/CD switching torque
(F05.14)

Maintenance
Factors such as ambient temperature, humidity, PH, dust, oscillation, internal component aging, wear
and tear will give rise to the occurrence of potential faults. Therefore, it is necessary to conduct daily
maintenance to the controller.
• If NLD5 has been transported for a long distance, check whether the components of the
controller are complete and the screws are well tightened.
• Periodically clean the dust inside NLD5 and check whether the screws are loose.
Danger
• Only a trained and qualified professional person can maintain the controller.
• Maintenance personnel should take off all metal jewellery before carrying out maintenance or internal
measurements in the controller. Suitable clothes and tools must be used.
• High voltage exists when the controller is powered up or running.
• Checking and maintaining can only be done after AC power of NLD5 is cut off and wait at least 10 minutes.
Warning
• For NLD5 with more than 2 years storage, please use voltage regulator to increase the input voltage gradually.
• Do not leave metal parts like conductor, tools and screws inside NLD5.
• Do not make modification on the inside of controller without instruction from the supplier.
• There are IC components inside NLD5, which are sensitive to static electricity. Directly touch the components on
the PCB board is forbidden.
Daily maintenance
NLD5 must be operated in specified environment (refer to section 2.3, on page 5).
To prolong the lifetime of NLD5, keep good operating environment, record the daily run data and
detect any abnormal behavior.
Items Content Criteria
-10 - +40℃, derating at 40 - 50℃

Temperature and humidity
Less than 95%RH, non-condensing
Running environment
Dust and water dripping No conductive dust, no water dripping
Gas No strange smell
Oscillation and heating Stable oscillation and proper temperature
NLD5
Noise No abnormal sound

Periodical maintenance
Customer should check NLD5 every 3 to 6 months according to the actual environment so as to
avoid hidden problems and make sure the controller runs well for a long time.
General inspection:
• Check whether the screws of control terminals are loose. If so, tighten them with a screw driver;
• Check whether the main circuit terminals are properly connected; whether the copper bar and
mains cables are overheated;
• Check whether the power cables and control cables are damaged, check especially for any wear on
the cable tube;
• Check whether the insulating tapes around the cable lugs are stripped, and for signs of overheating
near terminations;
• Clean the dust on PCBs and air ducts with a vacuum cleaner.
Note:
1. Dielectric strength test of NLD5 has already been conducted in the factory. Do not do the test again.
Otherwise, NLD5 might be damaged.
2. If insulation test to the motor is necessary, it should be done after input terminals U/V/W of motor have
been detached from NLD5. Otherwise, NLD5 will be damaged.
3. For NLD5 that have been stored for a long time, they must be powered up every 2 years. When
supplying AC power to the controller, use a voltage regulator to gradually raise the input voltage to rated
input voltage at least 5 hours.
Replacing damaged parts

Electrolytic capacitors of filter are easily damaged.
Generally, life of electrolytic capacitors is 40,000 - 50,000 hours.
High ambient temperature, aging of electrolyte and large pulse current are induced by rapid changing
loads.
Criteria: Check if frequent over-current or overvoltage failures occur during controller start-up with
load. Check if there is any leakage of liquids. Check if the safety valve protrudes. Measure the static
capacitance and insulation resistance.
Unwanted Controller Recycling

The capacitors may explode if they are burnt.
Poisonous gas may be generated when the plastic parts like front covers are burnt.
Dispose unwanted controllers as industrial waste.

Appendix A Parameter
Attributes are changed:
“*”: It denotes that the value of this parameter is the actual value which cannot be modified.
“×”: It denotes that the setting of this parameter cannot be modified when NLD5 is in run status. “○”:
It denotes that the setting of this parameter can be modified when NLD5 is in run status.
Ref. Code Function Setting range Default Attribute Setting
d00: System parameters, on page 21
d00.00 Controller series NLD5 Controller series 0x0020 *
d00.01 Rated power of NLD5 200 - 400W 400W *
d00.02 Rated current of NLD5 0.01 - 9.99A 2.5A *
d00.03 Software version of NLD5 1.00 - 9.99 1.00 *
Special software version of
d00.04 1.00 - 9.99 1.00 *
NLD5
Software version of external
d00.05 1.00 - 9.99 1.00 *
keypad
d01: Drive status parameters, on page 22
d01.00 Door position pulse 0 - Max. door width Actual *
d01.01 Door position percentage 0.0 - 100.0% Actual *
From right to left: Complete door open pulse,
complete door close pulse, complete door
d01.02 Fully open/close signal of door open torque, complete door close torque Actual *
0: Signal is not complete
1: Signal is complete
d01.03 Setting frequency 0.00 - 99.99Hz Actual *
d01.04 Output frequency 0.00 - 99.99Hz Actual *
d01.05 Output voltage 0 - 999V Actual *
d01.06 Output current 0.00 - 9.99A Actual *
d01.07 Output torque 0.0 - 200.0% Actual *
d01.08 Bus voltage 0 - 999V Actual *
Units-ten thousands correspond to DI1 - DI5
0: Terminal disconnects with common
d01.09 Input terminal status 1 Actual *
terminal
1: Terminal connects with common terminal
Units and tens correspond to OD and CD
d01.10 Input terminal status 2 Actual *
0: Terminal disconnects with common


terminal
Units-hundreds corresponds to DOA, DCA
and PA
d01.11 Input terminal status 0: Terminal disconnects with common Actual *
terminal
F00: Basic parameter, on page 23
F00.00 User’s password 00000 - 65535 0 ○
0: This function is invalid, set parameters
manually.
1: Restore to default parameter
2: Clear fault information.
×
F00.01 Parameter batch processing 3: Unused 0
4: Upload parameter to external keypad
5: Download parameter from external keypad
to NLD5
6 - 30: Unused
0: Speed control (with 4 switches) ×
F00.02 OD/CD mode selection 0
1: Distance control (with encoder)
0: Controlled by keypad (manual)
1: Controlled by terminal (automatic)
×
F00.03 Run command selection 2: Demo loop running 0
3: Manufacturer commissioning mode
4: Controlled by CAN communication
F00.04 Max. output frequency 1.00 - 99.99Hz 50.00Hz ×
0: Line ×
F00.05 Running curve selection 0
1: S curve
0: Asyn. motor open loop vector control
1: Asyn. motor closed-loop vector control ×
F00.06 Control selection 3
2: Syn. motor closed-loop vector control
3: Asyn. motor flux vector control
F01: Motor parameter, on page 25
F01.00 Rated power of motor 1 - 750W 250W ×
F01.01 Rated voltage of motor 1 - 300V 220V ×
F01.02 Rated current of motor 0.10 - 2.50A 0.55A ×
F01.03 Rated frequency of motor 1.00 - 99.99Hz 50.00Hz ×


F01.04 Rated RPM of motor 1 - 6000rpm 900rpm ×
F01.05 Reduction ratio 1.00 - 9.99 1.00 ×
0: No action ×
F01.06 Motor parameter auto-tuning 0
1: Motor parameter auto-tuning
F01.07 Idling current 0.01 – 2.50A 0.36A ×
F01.08 Magnetic pole angle 0.0 - 359.9 0.0 ×
F01.09 Stactor resistance 0.00 - 99.99Ω ×
F01.10 Rotor resistance 0.00 - 99.99Ω Depend ×
F01.11 Stactor inductance 0 - 9999mH on NLD5 ×
F01.12 Rotor inductance 0 - 9999mH ×
F01.13 Mutual inductance 0 - 9999mH ×
F01.14 Slip compensation gain 50.0 - 200.0% 100.0% ×
F02: Encoder Door Width Parameter, on page 26
Pulse per revolution of ×
F02.00 0 - 9999 1024
encoder
0: Same direction ×
F02.01 Rotating direction of encoder 1
1: Opposite direction
F02.02 Speed at low speed running 0.01 - 15.00Hz 7.00Hz ○
Initial running speed after ○
F02.03 0.01 - 15.00Hz 7.00Hz
power on
Door width self-learning ○
F02.04 0.01 - 15.00Hz 4.00Hz
speed
Door width self-learning 0: Disable ×
F02.05 0
enable 1: Enable
F02.06 Low bit of door witdh 0 - 9999 (pulse number) 780 ×
F02.07 High bit of door witdh 0 - 9999 (pulse number) 0 ×
CD limit open/close position ×
F02.08 0 - 9999 0
pulse
F03: OD curve parameter, on page 27
OD start distance / OD start Distance control: 0 - 9999 (pulse number) ○
F03.00 1000
time Speed control: 0 - 9999 (ms)
F03.01 OD start speed 0.00 - 15.00Hz 3.50Hz ○
F03.02 OD Acc time 0.1 - 99.9s 1.3s ○
F03.03 OD speed 0.00Hz - F00.04 20.00Hz ○
F03.04 OD Dec point position 50.0 - 90.0% (door width) 65.0% ○


F03.05 OD Dec time 0.1 - 99.9s 1.4s ○
F03.06 Creeping speed at OD ending 0.00 - 15.00Hz 3.00Hz ○
F03.07 OD limit point position 80.0 - 99.9% (door width) 95.0% ○
High-speed area of reopening ○
F03.08 10.0 - 90.0% (door width) 90.0%
curve
F04: CD Curve Parameters, on page 28
CD start distance / CD start Distance control: 0 - 9999 (pulse number) ○
F04.00 0
time Speed control: 0 - 9999 (ms)
F04.01 CD start speed 0.00 - 15.00Hz 4.00Hz ○
F04.02 CD Acc time 0.1 - 99.9s 1.4s ○
F04.03 CD speed 0.00Hz - F00.07 18.00Hz ○
F04.04 CD Dec point position 50.0 - 90.0% (door width) 62.0% ○
F04.05 CD Dec time 0.1 - 99.9s 1.3s ○
F04.06 Creeping speed at CD ending 0.00 - 15.00Hz 3.00Hz ○
Door vane acting position at
Distance control: 1 - 5000 (pulse number) ○
F04.07 CD ending / Running time at 0
Speed control: 1 - 5000ms
CD ending creeping speed
Door vane action speed at CD ○
F04.08 0.00 - 15.00Hz 0.00Hz
ending
F04.09 CD limit point position 1 - 500 60 ○
Door vane retiring end speed ○
F04.10 0.00 - 5.00Hz 2.00
of asyn. CD
Retiring range of asyn. door
vane CD / Running time of CD Distance control: 0 - 5000 (pulse number) ○
F04.11 0
ending asyn. door vane Speed control: 0 - 5000ms
action speed
F05: Torque Parameter, on page 29
F05.00 OD switching torque 20.0% - F07.07 50.0% ○
F05.01 OD holding torque 30.0% - F07.07 45.0% ○
Final holding torque at ○
F05.02 0.0% - F07.07 35.0%
complete OD
Switching time from OD
○
F05.03 holding torque to final 0.1 - 999.9s 30.0s
holding torque
F05.04 CD switching torque 20.0% - F07.07 50.0% ○
F05.05 CD holding torque 30.0% - F07.07 45.0% ○


Final holding torque of ○
F05.06 0.0% - F07.07 35.0%
complete CD
Switching time from CD
○
F05.07 holding torque to final 0.1 - 999.9s 60.0s
holding torque
Torque at low speed CD ○
F05.08 0.0% - F07.07 80.0%
resistance
Time at low speed CD ○
F05.09 0 - 4999ms 1000ms
resistance
Torque at high speed CD ○
F05.10 0.0% - F07.07 80.0%
resistance
Time of high speed CD ○
F05.11 0 - 4999ms 1000ms
resistance
F05.12 Low speed at CD resistance 0.00Hz - F00.07 5.00Hz ○
F05.13 High speed at CD resistance 5.00Hz - F07.07 15.00Hz ○
Switching torque of low speed ○
F05.14 30.0% - F07.07 70.0%
OD/CD
0.0% - F07.07 ○
F05.15 Torque at OD resistance 100.0%
0.0: Invalid
F05.16 Time at OD resistance 0 - 4999ms 1600ms ○
F05.17 Stop time at OD resistance 0 - 9999ms 3000ms ○
F06: Boost Parameters, on page 31
DOA, DCA, PA output pole 0: Signal connects ×
F06.00 1
selection 1: Signal disconnects
0: Door position output
1: Reopening signal outputs at CD resistance
×
F06.01 PA function selection 2: Complete OD 0
3: Complete CD
4: Fault output
F06.02 Input terminal filter time 2 - 300ms 10ms ×
0: No funtion ×
F06.03 DI1 funtion selection 11
1: OD speed switching NO input
2: OD limit NO input
3: CD speed switching NO input ×
4: CD limit NO input


5: Light curttain, contact board NO input
6: Low speed signal (SS) ×
7: OD command (OD)
8: CD command (CD)
9: Fault reset (RST) ×
11: OD speed switching NC input
12: OD limit NC input
13: CD speed switching NC input ×
14: CD limit NC input
15: Light curtain, contact board NC input
DC resistance aux detection 0－4999ms ×
F06.08 0ms
time
Percentage of door position ○
F06.09 0.1 - 99.9% 90.0%
output
F06.10 Resistance Dec. time 0.1 - 2.0s 0.5s ○
0: The torque is maintained during complete
OD/CD, and runs at zero speed in other
Action selection of door
positions ○
F06.11 machine when undo run 2
1: Stop running
command
2: Only maintain the torque during complete
OD/CD
Ten thousands: Detect CD resistance 1/3
distance from CD acts
0: Detect CD resistance
1: Not detect CD resistance
Thousands: Function of stop key in terminal

control
0: Stop key is invalid
1: Stop key is valid ○
F06.12 Auxiliary parameter 1 00000
Hundreds: CD limit switching mode

0: Do not learn the CD limit position during
door width self-learning
1 : Learn the CD limit potision during door
width self-learning
Tens: Demo mode enable

0: Enable manually


1: Enable automatically
Units: OD/CD priority selection

0: OD priority
1: CD priority
Ten thousands: Performance priority
0: Mode 0
1: Mode 1
Thousands: Current slope rise

0: Start current direct setting
1: Start current slope rise
Hundreds: Speed loop amplification

○
F06.13 Auxiliary parameter 2 0: Speed loop Kp is original value 00001
1 Speed loop Kp amplify by 4 times
Tens: Over-current auto reset enable

0: Not enable
1: Enable
Units: Over-vlotage auto reset enable

0: Not enable
1: Enable
Onboard LCD brightness ○
F06.14 0 - 100% 70%
adjustment
F06.15 Carrier frequency 4 - 16k 8k ×
Running speed for open loop ○
F06.16 2.50 - 15.00Hz 4.00Hz
manual door of asyn. motor
F06.17 CD time protection 0 - 30s 0s ○
Flux vector voltage ×
F06.18 0 - 40% 10%
compensation
Flux vector complete CD ○
F06.19 0.10 - 5.00Hz 1.00Hz
holding frequency
Flux vector complete OD ○
F06.20 0.10 - 5.00Hz 1.00Hz
holding frequency
Delay switching time of flux ×
F06.21 100 - 3999ms 2500ms
vector speed switching to


torque
Frequency range of flux vector
×
F06.22 no detection OD/CD 0.10 - 15.00Hz 7.00Hz
resistance
Flux vector OD voltage ×
F06.23 0 - 8% 0%
compensation
Cut-off point of flux vector
×
F06.24 voltage compensation 10.00 - 50.00 50.00
frequency
Units: DO Signal keeping when first time
power up under distance control
0: DO signal do not keep
1: DO signal keeping
×
F06.25 Auxilliary parameter 3 00000
Tens: Address setting under CAN control
0: Address = Front door
1: Address = Rear door
Hundreds, Thousands, Ten thousands:
Unused
F07: Vector Control Parameter, on page 34
F07.00 High speed ASR KP 10 - 3000 500 ○
0 - 1000 ○
F07.01 High speed ASR KI 100
0: No action
F07.02 Low speed ASR KP 10 - 3000 500 ○
0 - 1000 ○
F07.03 Low speed ASR KI 100
0: No action
F07.04 ASR switching frequency 0.00 - F00.04 8.00Hz ○
F07.05 Current loop KP 10 - 9999 100 ○
F07.06 Current loop KI 0 - 9999 100 ○
F07.07 Torque limit 0.0 - 200.0% (rated current of motor) 120.0% ○
F07.08 Speed filter time constant 0-7 2 ×
F08: Demo Running Parameter, on page 35
Demonstrates the retention ○
F08.00 1.0 - 999.9s 2.0s
time of running complete OD
Demonstrates the retention ○
F08.01 1.0 - 999.9s 2.0s
time of running complete CD
F08.02 Demonstrates the running 0 - 65535 0 ○


times records
Demonstrates the nominated ○
F08.03 0 - 65535 0
running times
F09: Fault Record Parameters, on page 36
-Lu-: DC bus under voltage
F09.00 NO.5 fault type E0001: NLD5 over-voltage
E0002: Hardware of NLD5 is over-current
E0003: Software of NLD5 is over-current
E0004: Encoder Z signal of PMSM is lost
E0006: Motor parameter auto tuning failed
F09.02 NO.3 fault type E0007: NLD5 overloaded
Actual *
E0014: Read/Write fault of NLD5 EEPROM
E0017: Module fault
E0018: Current detection circuit fault
E0022: Read / Write fault of keypad EEPROM
E0023: Encoder fault
F09.04 NO.1 fault type E0024: Wrong logic
E0026: Door width self-learning failed
F09.05 Bus voltage at last fault 0 - 999V Actual *
F09.06 Output current at last fault 0.00 - 99.99A Actual *
Running frequency at last
F09.07 0.00 - 99.99Hz Actual *
fault
F09.08 Setting frequency at last fault 0.00 - 99.99Hz Actual
F09.09 Door position at last fault 0 - 65535 Actual *
Input terminal status 1 at last
F09.10 00000 - 11111 Actual *
fault
Input terminal status 2 at last
F09.11 000 - 111 Actual *
fault2
Output terminal status at last
F09.12 000 - 111 Actual *
fault
F09.13 Low bit of OD/CD times record 0 - 9999 Actual *
High bit of OD/CD times
F09.14 0 - 9999 Actual *
record
F09.15 Runnning hours record 0 - 23 Actual *
F09.16 Running days record 0 - 9999 Actual *
F09.17 Software version of NLD5 1.00 - 99.99 Actual *
F09.18 Software version of keypad 1.00 - 99.99 Actual *

Door Dive: User Manual

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NLD5

Driving Syn. & Asyn. Motor

Chapter 2 Product Information ................................................................................................ 3

Chapter 3 Electrical Installation ............................................................................................... 7

Chapter 4 Operation .............................................................................................................. 13

Chapter 5 Function introduction ............................................................................................ 21

Chapter 6 Application commissioning .................................................................................... 37

Chapter 7 Troubleshooting and maintenance ................................................................. 49

Appendix A Parameter ................................................................................................... 53

Chapter 1 Safety Information and Precautions

NLD5 Door Drive User Manual ―1―

Chapter 2 Product Information

NLD5 Door Drive User Manual ―3―

―4― NLD5 Door Drive User Manual

Dimension and Installation

8-8×5 Oblong hole

NLD5 Door Drive User Manual ―5―

Installation Site Requirement

―6― NLD5 Door Drive User Manual

Chapter 3 Electrical Installation

NLD5 Door Drive User Manual ―7―

NLD5 Other NLD5 Other NLD5 Other

A. Sharing grounding wire B. Dedicated grounding pole C. Sharing grounding pole

Power supply cable

Control cable 90° 90° Control cable

―8― NLD5 Door Drive User Manual

Power supply cable

Refer to page 7 for the selection of power supply cable.

NLD5 Door Drive User Manual ―9―

―10― NLD5 Door Drive User Manual

CAN+ DI1 COM PA

Control terminal Description

keypad to set and check parameter of Hz A V RPM %

NLD5, as shown at the right. Refer to NLD5 PRG JOG

Chapter 4, on page 13 for more details. Keypad SHF ENT

The external keypad is HD - LED. If needed,

NLD5 Door Drive User Manual ―11

―12― NLD5 Door Drive User Manual

FWD REV ALM LO/RE LOCK

NLD5 Door Drive User Manual ―13―

―14― NLD5 Door Drive User Manual

3 Close key: CD command when controlled by keypad

4 Open key: OD command when controlled by keypad

parameters, as shown at the right.

Stop para. d01.03

Press key to display the running status parameter in loop:

Fault alarm display

fault code flashes, as shown at the right.

NLD5 Door Drive User Manual ―15―

Special display status

Hz A V % LOCK Hz A V % LOCK Hz A V % LOCK

Unlock password success Clear password success Set password success

Hz A V % LOCK Hz A V % LOCK Hz A V % LOCK

Power on initialization Parameter auto-tuning Reset factory setting

Hz A V RPM % Hz A V RPM % Hz A V RPM %

Uploading parameters Downloading parameters Downloading fail

―16― NLD5 Door Drive User Manual

Parameter editing display

Hz A V % LOCK Hz A V % LOCK Hz A V % LOCK