Manual of Permanent Magnet Motor Door Controller NSFC01-G220

Manual of permanent magnet
motor door controller

NSFC01-G220
Preface
Thank you for using NSFC01-G220 door controller ！

NSFC01-G220 is a special door controller dedicated to permanent magnet synchronous motor
and developed for elevator door system, which integrates door opening and closing logic control
and motor drive control. The external system can control the door system only by giving the door
opening or closing instructions.
This manual describes the function, characteristics and instructions of the NSFC01-G220 door
controller; please read this manual carefully before use (maintenance, inspection, etc.).
Please read and ensure you understand the safety instructions of the product before using it.
Notice
 The illustrations in this manual are for illustration purposes only and may differ slightly from
the product you purchased.
 Please understand that due to product upgrades or specification changes, and in order to
improve the convenience and accuracy of the instructions, the contents of this manual will
be updated in a timely manner without further notice.
 Please contact our company if you need to get the manual again due to damage or loss.
 If you still have some problems in the process of using, please contact our customer
service center.
 Service Tel: 400-1120-201
Contents
1 Safety information and precautions 1
1.1 Installation 1
1.2 Wiring 1
1.3 Power-on 2
1.4 Maintenance, Inspection and Component Replacement 2
1.5 Use of external voltage 3
1.6 Lightning impulse protection 3
1.7 Altitude and Derating Usage 3
1.8 Scrap disposal 3
1.9 Adapted motors 3
2 Product introduction 4
2.1 Nameplate description 4
2.2 Product dimensions 5
2.3 Technical specifications 6
3 Electrical installation 8
3.1 Controller Port Description 8
3.2 Electrical wiring diagram 9
4 Operation panel description 10
4.1 Operation panel layout 10
4.2 Definition of key functions 10
4.3 Basic operating instructions 11
5 Controller Debugging 13
5.1 Confirmation of motor parameters 13
5.2 Confirmation of connection sequence of motor power line 13
5.4 Door width learning 14
5.5 Demo Running 14
5.6 Inspection running 15
5.7 Terminal signal control running 15
5.8 Communication control operation 15
6 Operation curve of controller 17
6.1 Operation curve of door opening 17
6.2 Operation curve of door closing 18
7 Menu parameters 20
8 Menu Description 33
8.1 F0 group Operating parameter 33
8.2 F1 group Basic parameters of motor 36
8.3 F2 group Motor control parameter 36
8.4 F3 group Door opening control parameter 39
8.5 F4 group Door closing control parameter 41
8.6 F5 group Distance parameter 44
8.7 F6 group Door operating parameter 45
I
8.8 F7 group Input terminal function configuration 46
8.9 F8 group Output terminal function configuration 47
8.10 F9 group Fault Information Query 47
8.11 FA group Monitoring parameter 49
II
1 Safety information and precautions
In this manual, the safety precautions are divided into the following two categories:
Danger: Danger due to failure to operate as required, which may lead to personal injury or
death.
Warning: Hazards resulting from failure to operate as required, which may result in moderate
or minor injury to personnel and damage to equipment.
Please read this chapter carefully when installing, debugging and repairing the controller, and be
sure to operate according to the safety precautions required in this chapter. Any injury and loss
caused by illegal operation has nothing to do with the company.
1.1 Installation
Danger
 Please install it on a flame-retardant object such as metal to avoid fire!
 Keep away from combustible materials to avoid fire!
Warning
 Do not drop metal conductive objects such as wire heads and screws into the controller to
avoid damage to the controller!
 Please install the controller in a place with less vibration and away from direct sunlight!
 Please install it in a place that can withstand its weight, so as to avoid personal injury and
equipment damage caused by falling!
 Do not install if the controller is damaged when opening the box!
 When the packing list is inconsistent with the name of the object, please do not install!
 Handle with care, otherwise there is a risk of damage to the equipment!
 Do not touch the components of the controller with your hands, otherwise there is a risk of
electrostatic damage!
1.2 Wiring
Danger
 The instructions in this manual must be followed, and the construction must be carried out
by professional electrical engineering personnel to avoid electric shock and injury!
 The controller and the power supply must be separated by a circuit breaker, otherwise a fire
may occur!
 Please ground the controller correctly according to the standard, otherwise there is a risk of
electric shock!
1
Warning
 Do not connect the input power supply to the output terminals (U, V, W) of the controller.
Pay attention to the marks of the wiring terminals and do not connect the wrong wires,
otherwise the controller will be damaged!
 Make sure that the wiring meets the EMC requirements and the safety standards of the
area, otherwise an accident may occur!
 The communication wire must use the shielded twisted pair with the lay length of 20 ~
30mm, and the shielding layer shall be grounded!
 Please make sure that the rated voltage of the product is consistent with the voltage of the
AC power supply to avoid injury and fire!
 Pay attention to check whether there is short circuit in the peripheral circuit connected with
the controller and whether the connected circuit is fastened, otherwise the controller will be
damaged!
 Do not carry out withstand voltage test on any part of the controller. This test has been
carried out on the product when it leaves the factory. Otherwise, it may cause an accident!
1.3 Power-on
Danger
 The controller can be powered on only after the cover plate is covered. Do not open the
cover plate and touch any input and output terminals of the controller after the controller is
powered on, otherwise it may cause electric shock!
 The wiring of all peripheral accessories must follow the instructions in this manual, and the
wiring must be done correctly according to the circuit connection method provided in this
manual, otherwise it may cause an accident!
 Do not change the parameters of the controller manufacturer at will, otherwise the
equipment may be damaged!
 Non-professional technicians are not allowed to detect signals during operation, otherwise
personal injury or equipment damage may be caused!
1.4 Maintenance, Inspection and Component Replacement
Warning
 Please do not repair and maintain the equipment with electricity, otherwise there is a risk of
electric shock!
 Personnel without professional training are not allowed to repair and maintain the controller,
otherwise it may cause personal injury or equipment damage!
 After replacing the controller, the parameters must be set, and all terminals and connectors
must be operated in the case of power failure!
2
 During maintenance and inspection, disconnect the input power supply and wait for 5
minutes, otherwise there is a risk of electric shock.
1.5 Use of external voltage

If the external voltage is not within the rated voltage range specified in the manual, the direct
use of the controller is likely to cause damage to the controller device. If necessary, use the
appropriate step-up or step-down device for voltage transformation.
1.6 Lightning impulse protection

This series of controllers are equipped with lightning over-current protection devices, which
have certain self-protection capability for inductive lightning. However, where lightning occurs
frequently, the customer should also install protection at the front end of the controller.
1.7 Altitude and Derating Usage

In the area with an altitude of more than 3000 meters, the heat dissipation effect of the
controller becomes poor due to the thin air, so it is necessary to reduce the rating. In this case,
please consult our company for technical consultation.
1.8 Scrap disposal

Electrolytic capacitors on the printed board may explode during incineration, and plastic parts
will produce toxic gas during incineration, so the controller should be disposed of as industrial
waste.
1.9 Adapted motors

This controller is suitable for AC permanent magnet synchronous motor. Please select the
motor according to the nameplate of the controller.
Due to the short circuit inside the cable or motor, the controller will alarm or even be damaged.
Therefore, please carry out the insulation short circuit test on the initially installed motor and cable
first, and this test should also be carried out frequently in daily maintenance. Note that the controller
must be completely disconnected from the part to be tested during this test.
3
2 Product introduction
Digital input
Encoder input
interface
interface
Relay output Communication
interface interface
Manufacturer's
Power switch
reserved interface
Power input Power output

interface interface
2.1 Nameplate description
Controller model
Rated input
voltage/current
Rated output
voltage/current
4
2.2 Product dimensions
5
2.3 Technical specifications
Description Item Specifications & Requirement
Maximum output
100Hz
frequency
Closed-loop Vector Control of Permanent
Method of control
Magnet Motor
Speed regulating range 1:1000
Control
Performance Current resolution 0.01A
Frequency resolution 0.01Hz
Steady speed accuracy ±0.1%
Carrier frequency 2kHz 〜12kHz
Overload capacity 150% rated current 60 second
Motor parameters and magnetic pole position learning function
S curve automatic generation function based on distance principle
Fault diagnosis function
Door width learning function
Communication function of upper computer
Demonstrate operation function
Main function Door opening function
Door closing function
Low-speed forced door closing function
Keeping the door open at the limit position function
Keeping the door close at the limit position function
Reverse function in case of stall
Fault output function
Protection Support controller overvoltage protection, overheat protection,
Function undervoltage protection, output phase loss protection, etc.
Environmental Degree of IP protection IP20
Requirements Degree of use protection ：，
Pollution Level 2 Overvoltage level 3 ：
Temperature of working
-10℃~45℃
environment
When the maximum temperature is 45 ℃ ,

Humidity of working
environment the relative humidity shall not exceed 80%;
when the temperature is lower, the humidity
6
may be higher. When the monthly average
temperature does not exceed 25 ℃ , the
monthly average maximum relative humidity

shall not exceed 90%, and there shall be no
condensation.
Less than 3000m (derating is required for
Operating Altitude
places higher than 3000m)
Environmental No corrosive gas, inflammable gas, etc., not
Requirements exposed to direct sunlight.
Compliance with the European Restriction
RoHS Instruction on the Use of Certain Hazardous
（
Substances Directive RoHS ）
7
3 Electrical installation
3.1 Controller Port Description

Plug-in
Plug-in name Terminal designation Function description
label
Power input 1. Single-phase 220V power input
CN1 L/N/PE
interface 2. PE : grounding terminal
1. NO: normally open; NC: normally
closed
1NO/1NC/2NO/2NC
Relay output 2. COM: Common Terminal of
CN2 3NO/3NC/COM
interface 1-3NO/NC
4NO/4NC/COM1
3. COM1: Common Terminal of
4NO/NC
1. 6-channel digital signal input
Digital input terminal
CN3 IN1-IN6/GND/+24V
interface 2. GND: Common Terminal of IN1-IN6
3. 24V Power supply output
GND
Internal 24V power supply for encoder
+24V
TMPD Motor over-temperature signal input
Encoder input 3.3V (digital signal)
CN4
interface PG-A Encoder A Phase
PG-B Encoder B Phase
PG-Z Encoder Z Phase
PWM
MOD+
Communication Communication Signal
CN5 MOD-
interface
GND Communication grounding
Interface
CN6 reserved by the
manufacturer
U Motor U phase
Power output V Motor V phase

CN7
interface W Motor W phase
PE Grounding
8
3.2 Electrical wiring diagram
Note 1: The input port shall be connected according to the specific conditions of the site.
9
4 Operation panel description
4.1 Operation panel layout
Display unit
Move Up key
Move Left key

Mode key
Move Down key
Stop key Enter key
4.2 Definition of key functions
Key Name Description of basic functions
Mode key: switch to the first-level menu from the main

MODE interface and return to the upper-level menu from the
lower-level menu
STOP Stop key: stop the power output to the motor
ENTER Enter key: enter the lower menu or save the current menu data
Move up key: Increment the menu number or menu data
Move down key: decrement menu number or menu data
Move Left key: switch the display of the main interface and
move the flashing position.
10
4.3 Basic operating instructions
The setting and display of parameters are realized through the integrated operation panel on the
door controller, and the operation instructions of each key are as follows:
“ MODE ” Mode key
This key is used for mode switching, and the following operations can be realized by pressing
this key:
① Mutual switching between main interface and group menu interface:
MODE MODE
main interface F0 main interface
② To return from a lower menu to a higher menu:
MODE MODE
Submenu No. Group menu No. such as: F600 F6
“ ENTER ” Enter key

This key is used to advance the current display content, mainly in the following cases:
① When the group menu number is currently displayed, press the ENTER key, and the LED
displays the submenuENTER

corresponding to the group menu: ENTER
Group menu No. Submenu No. such as: F0 F000
② When it is currently displayed as a submenu, press ENTER to enter the menu data:
ENTER ENTER
Submenu No. menu data such as:F300 8.00
③ When the menu data is currently displayed, press ENTER to save the menu data and enter
the next menu:ENTER ENTER ENTER
menu data save menu data such as:F300 8.00 F301
“ ” Move Up key /“ ” Move Down key

This key is used for value adjustment when switching between menus and modifying menu
data. The specific description is as follows:
① Switch between group menus: if it is necessary to switch between group menus, enter the
group menu and press the and keys to switch between the group menus, such as:
F0 F1 F2 F3 ……… FF
FF FE FD FC ……… F0
② Switch between submenus within a group: if you need to switch between submenus, you can
enter a group of submenus and press the and keys to switch between submenus,
such as:
F100 F101 F102……… F115
F115 F114 F113……… F100
11
③ Adjust the menu data. After entering a certain menu data, use the and keys to
adjust the menu data:
MODE ENTER ENTER
main interface F0 F1 F100 F101 025
026 027 028 027
“ ” Move Left key

This key is used to select the data bit to be adjusted, and also used to select different
parameters to be monitored in the main menu interface:
① Used to select the data bits to be adjusted:
MODE ENTER ENTER
main interface F0 F1 F100 F101
025 025 025 025
② The main menu interface is used to select different parameters to be monitored:

Main interface monitoring parameter 1 monitoring parameter 2
monitoring parameter 3
When the monitoring parameters are displayed on the main interface, the user presses the
"ENTER" key, and the LED displays the current parameter serial number.
Use the left shift key to view the list of parameters:
Run Status Para. No. Parameter meaning Remark
No.00 Output current (A)
No.01 Output Voltage (V)
No.02 Operating frequency (Hz)
No.03 Busbar voltage (V)
No.04 Output Torque (N.M)
No.05 Given frequency (Hz)
Runtime
No.06 Actual speed of motor RPM （）
No.07 Indication of the door's current position (%)
No.08 Current motor temperature (°C)
No.09 Input terminal status display
No.10 Output terminal status display
No.11 Given speed of motor （RPM）
Stop time No.0 Busbar voltage (V)
No.1 Maximum frequency of door opening （Hz）
No.2 Current motor temperature (°C)
No.3 Maximum frequency of door closing Hz （）
No.4 Indication of the door's current position (%)
12
No.5 Encoder counter values
No.6 Encoder pulses per revolution
No.7 Software version number
5 Controller Debugging
Please confirm the following items before powering on:
① The door operator disengages from the landing door without mechanical obstruction;
② All electrical wiring is correct.
4.4 Confirmation of motor parameters

① Input the parameters of the motor in the F1 menu in turn, especially to ensure the
correctness of the rated speed of F104 motor and the rated frequency of F105 motor;
② Confirm whether the encoder pulse number is consistent with the data in the F211 menu;
③ Enter menu FA16, manually pull the car door slowly towards the opening direction, observe
the display status during the pulling process, and if "OPEN" is displayed, the encoder
direction is correct; If "CLOSE" is displayed, adjust the setting value of F212. If the original
default value is 0, change it to 1. If the original default value is 1, change it to 0. In this way,
the operation direction of the encoder can be switched. Ensure that the rotation towards
the door opening direction must be "OPEN".
4.5 Confirmation of connection sequence of motor power line

① Connect the U, V and W wiring terminals of the motor to the U, V and W interfaces of the
controller;
② Make sure that the encoder lead on the motor has been correctly connected to the
controller terminal and the direction is set correctly;
③ Change the content of menu F001 to 3, and enter the operation mode of ordinary frequency
converter;
④ Change the content of menu F005 to 1, press the confirmation key and observe the running
direction of the motor;
⑤ If the motor runs in the direction of opening the door, the three-phase power line
connection sequence of the motor is correct; If the motor operates in the door closing
direction, it indicates that the three-phase power lines of the motor are connected
incorrectly in sequence. Press the "STOP" key to stop the operation of the motor, and then
exchange the power output connecting lines of U phase and V phase. After the exchange is
13
completed, perform step ④ again until the motor operates in the door opening direction,
so as to ensure that the power lines of the motor are connected correctly in sequence.
4.6 Motor magnetic pole position learning
① Change the content of menu F001 to 3;
② No-load magnetic pole position learning mode (the door knife swing arm needs to be lifted
to the state of no acting force on the car door)

Change F005 to 2. The motor stops after rotating for a certain distance in the direction of
opening the door, and the display shows "0" flashing, and the magnetic pole positioning
learning is completed.
③ Loaded pole position learning mode (recommended)
Change F005 to 3, the motor rotates for a certain distance in the direction of opening the
door and then stops, the display shows "0" flashing, and the magnetic pole positioning
learning is completed. (Note: FA31 is "1.40" version and only supports changing F005 to 2)
4.7 Door width learning
① Correctly configure the limit input signal of the door operator in the F7 menu. If the limit
signal is not used, please modify the configuration in the menu to 0 (The default
configuration of IN6 in the controller is the door close limit. The door open limit is not
configured, additional configuration can be added if necessary);
② First change the value of menu F001 to 4, and then change the value of menu F003 to 1.
After pressing the confirmation key, the controller executes the door width learning
operation. The controller drives the door to close first. When the torque reaches the torque
set by F602, it turns to open the door. Measure the door width. When the door is opened at
limit position, the controller increases the torque to the value set by F602 and then turns to
close the door. Stop the voltage output after the door is closed at limit position, and
complete the door width learning.
5.5 Demo Running

① After completing the door width learning, change F001 to 2 and enter the demonstration
operation mode;
② Set the times of demonstration operation at F608 and F609. F608 and F609 form a number
together. F608 is the low digit and F609 is the high digit. Stop operation after the times of
14
demonstration operation reach the set times;
③ Change F002 to 1 and press ENTER to start the demo;
④ In the process of demonstration operation, the dynamic times of operation can be
monitored through F610 and F611;
⑤ The F604 and F605 menus are used to set the maintenance time of door open at limit
position or door close at limit position during the demonstration operation;
⑥ The F607 menu is used to set whether to automatically start the demo run after power-up.
5.6 Inspection running

① After completing the door width learning, change F001 to 4 and enter the maintenance
operation mode;
② Enter the menu F004, press the key, the controller executes the door opening
command, and the controller decelerates immediately after release; press the key, the
controller executes the door closing command, and the controller decelerates immediately
after release. The deceleration time is set by the abnormal deceleration time menu F606.
5.7 Terminal signal control running

When the controller is in normal use, it is common to use the terminal to control the opening
and closing of the door. The use method is as follows:
① Change the menu data of F001 to 0;
② In the input terminals IN1-IN6 of the controller, select two terminals to access the door
opening command OPEN and door closing command CLOSE of the elevator respectively. In
the corresponding submenu of group menu F7, the terminal menu data corresponding to
the door opening command is set as 01, and the terminal menu data corresponding to the
door closing command is set as 02;
③ When the door opening terminal receives a valid command signal, the controller drives the
door operator to execute the door opening command; when the door closing terminal
receives a valid command signal, the controller drives the door operator to execute the
door closing command; if the command is suddenly cancelled during the execution of the
command by the controller, the controller will drive the door operator immediately to
decelerate to zero, and the deceleration time is set in the F606 menu; When effective
command signals appear at both the door opening terminal and the door closing terminal,
the door operator executes the door opening command.
5.8 Communication control operation

The controller can communicate with the upper computer through the 485 communication
15
port to realize the control of opening and closing the door. The use method is as follows:
① Confirm that the communication protocol docking has been completed, and connect the
CN5 port of the controller to the communication signal of the upper computer;
② Configure the communication baud rate, set the low baud rate in the menu F010, and set
the high baud rate in the menu F011;
③ Configure the front and rear door settings of the controller. When the F008 data is 0, the
controller is used in the front door, and when the F008 data is changed to 1, it is used in the
rear door;
④ Change F007 menu to 1, enable 485 communication function, then change F001 to 1, start
communication operation mode, power down and then power on to complete the setting,
and the controller operates according to the command given by the upper computer.
16
6 Operation curve of controller
6.1 Operation curve of door opening
Horizontal axis represents time t or distances d Vertical axis represents the velocity v
v
F307
F312
F300
F313 t/d
F301 F304 F305 F306 F309 F310 F311
F302
F308
The door opening process is described as follows:

① After the door opening is started, the controller starts to operate from 0 speed with F303 as
the preset torque, accumulates the operation distance from 0 speed, accelerates to the
door opening low speed 1 set by F300 after the time set by F301, then operates at the
uniform speed of F300, and enters the S curve acceleration operation stage when the
accumulated operation distance is greater than or equal to the distance set by F302;
② In the S-curve acceleration operation stage, firstly, accelerating the fillet 1 at the time set
by F304, then uniformly accelerating at the time set by F305, accelerating the fillet 2 at the
times set by F306 after completing the uniform acceleration time, and reaching the highest
operation speed of the controller after accelerating the fillets 2;
③ After that operation is accelerated to the high speed, the controller operates at the highest
speed and monitor whether the distance from the complete door closing position as a
reference point to the current position point is more than or equal to a deceleration
distance set by F308 in real time, if the current operation distance is less than the distance
of the deceleration point, the controller continues to operate at the highest speed at a
uniform speed, and if the current operation distance is more than or equal to the distance
set by the deceleration point, The controller enters a door opening deceleration stage;
④ In the S-curve deceleration operation stage, firstly operate the deceleration fillet 1 at the
time set by F309, then decelerate uniformly at the time set by F310, and then operate to the
17
door opening low speed 2 set by F312 at the time of F311. After the door is opened at limit
position, operate at the door opening low speed 3 set in F313 until the speed is reduced to
zero after the door is opened and maintained;
⑤ The deceleration point F308 is a parameter of percentage, which is the ratio of the distance
from the position when the door is completely closed to the current position of the door to
the width of the door;
⑥ The acceleration and deceleration values of the S curve are determined by the speed
difference between the high speed and the low speed of the S curve and the time value of
the acceleration and deceleration process.
6.2 Operation curve of door closing

Horizontal axis represents time t or distances d Vertical axis represents the velocity v
v
F407
F424
F412
F400
F413
F401 F404 F405 F406 F409 F410 F411 F423 t/d

F426
F402
F425
F408
The door closing process is described as follows:

① After the door closing is started, the controller starts to operate from the speed 0,
accumulates the operation distance from the speed 0, accelerates to the door closing
speed 1 set by F400 after the time set by F401, and then operates at a constant speed of
F400, and enters the S curve acceleration operation stage when the accumulated operation
distance is greater than or equal to the distance set by F402;
② In the S-curve acceleration operation stage, firstly, accelerating the fillet 1 at the time set by
F404, then uniformly accelerating at the time set by F405, accelerating the fillet 2 at the
times set by F406 after completing the uniform acceleration time, and finally reaching the
highest operation speed of the controller after accelerating the fillets 2;
18
③ After that operation is accelerated to the high speed, the controller operates at the highest
speed and monitor whether the distance from the completely door-opening position as a
reference point to the current position point is more than or equal to a deceleration
distance set by F408 in real time, if the current operation distance is less than the distance
of a deceleration point, the controller continues to operate at the highest speed at a
uniform speed, and if the current operation distance is more than or equal to the distance
set by the deceleration point, The controller enters a door closing deceleration stage;
④ In the S-curve deceleration operation stage, firstly, the deceleration fillet 1 is operated at the
time set by F409, then the uniform deceleration is carried out at the time set by F410, and
then the operation is carried out to the door closing speed 2 set by F412 at the time of F411,
and after the door is closed at limit position, the operation is carried out at the door closing
speed 3 set in F413 for the time set in F423. After the time set for closing the door at low
speed 3, the door controller operates at the time set by F426 to the speed set by F424, and
operates at a constant speed for a time of [F425]- [F426], and then decelerates to the
opening speed at low speed 3 set by F413 until the speed is reduced to zero after closing
the door;
⑤ The deceleration point F408 is a parameter of percentage, which is the ratio of the distance
from the reference zero point when the door is fully opened to the current position of the
door to the width of the door;
⑥ The acceleration and deceleration values of the S curve are determined by the speed
difference between the high speed and the low speed of the S curve and the time value of
the acceleration and deceleration process.
19
7 Menu parameters
Func. Menu Default Modify
Group Menu Name Parameter Range Unit
No. Value Type
F0 F000 Standby 0 1
：
0 Terminal Input Control
Operating Operation Mode
parameter ：
1 485 communication
control operation mode
F001
Controller Operation
：
2 Auto demo run mode
Mode
：
3 Normal Inverter Operation
0 1
Mode
4: Door width learning and
manual door opening and
closing mode
Start command of
door opening and
F002 closing operation ：
1 Start the test run 0 1
during controller
commissioning
Door width learning 0: No operation;
F003 0 1
instruction 1: Start door width learning
Manual door opening and
closing command input
When F001 is set to 4:
Manual door opening
F004 Press the ▲ key to open the 0
and closing command
door
Press the ▼ button and
close the door
When F001 is set to 3:
0: No operation;
Open-loop operation 1: Open Loop Run Startup
and magnetic pole 2. No-load rotating magnetic
F005 0 1
position learning of pole positioning learning
motor 3. On-load closed-loop
magnetic pole positioning
learning (recommended)
Output Voltage
% *Rated
F006 Percentage for Open 50.0-120.0% 100.0% 1
voltage
Loop Operation
F007
485 communication ：
0 Turn off 485
0 1
port enabled communication
20
No. Value Type
：
1 Open 485 communication
485 Front and rear

：
0 Controller for front door
F008 door setting during
communication
：
1 Controller for rear door
0 0
Magnetic pole 0.1*

F009 position learning 0.4-3.0 rated 1.0 1
current values current
485 Low value of
F010 communication baud 0000-9999 bps 8400 0
rate
485 High value of
F011 communication baud 0000-0012 10kbps 3 0
rate
F100 Type of motor 00: Synchronous motor 0 1
F101 Rated power of motor 000-250 W 50 1
F1
Rated voltage of
F102 000-270 V 50 1
motor
Basic
Rated current of
parameters F103 0.20—4.00 A 1.10 1
motor
of motor
F104 Rated speed of motor 1—3000 rpm 180 1
Rated frequency of
F105 1.00—99.99 Hz 24.00 1
motor
Rated back
F106 electromotive force of 1—250 V 45 1
motor
F107 Rated torque of motor 0.00—15.00 N.M 2.70 1
D-axis inductance Ld
F108 0.1—999.9 mH 10.5 1
of synchronous motor
Q-axis inductance Lq
F109 0.1—999.9 mH 10.5 1
of synchronous motor
Motor stator phase
F110 0.01—99.99 Ω 22.00 1
resistance Rs
Magnetic pole
position of
F111 0000—2048 0 1
synchronous motor
encoder
Absolute position
F112 angle value of encoder 0000-359.9 ° 0 1
when Z point appears
F113 Motor real-time angle 0000-359.9 ° 0 1
21
No. Value Type
Threshold value of
F114 motor temperature 80-120 °C 100
protection
Proportional gain
F200 parameter P1 of 0—128 25 0
velocity loop
Velocity loop
F201 integration time 0.01—15.00 S 0.50 0
parameter T1
Proportional gain
F202 parameter P2 of 0—128 20 0
velocity loop
Velocity loop
F203 integration time 0.01—15.00 S 0.50 0
parameter T2
Parameter switching
F2 F204 0.00—F105 Hz 3.00 0
frequency F1
Parameter switching
Motor F205 F204—F105 Hz 8.00 0
frequency F2
control
Velocity feedback
parameter F206 0—15 03 0
filter coefficient
Proportional gain of
F207 1—512 80 0
current loop
Current loop integral
F208 1—512 30 0
gain
Current feedback filter
F209 0—64 10 0
coefficient
F210 Standby 0
Pulses per revolution
F211 1—9999 2048 1
of encoder
Encoder pulse
F212 0—1 1 1
direction
PWM carrier
F213 2—12 kHz 10 0
frequency selection
F3 Open the door and
F300 0.01—15.00 Hz 2.50 0
start at low speed 1
Door Open door start
F301 0.1—5.0 S 0.4 0
opening acceleration time
control Low-speed running
parameter %* Door
F302 distance of opening 0.1—40.0 5.0 0
width
door
22
Opening starting %* Rated
F303 0.1—200.0 30.0 1
moment torque
Open door
F304 acceleration fillet 1 0.1—9.9 S 0.2 0
time toa1
Uniform acceleration
F305 time for opening door 0.1—9.9 S 0.3 0
toa2
Open door
time toa3
Maximum speed of
F307 0.01—F105 Hz 22.00 0
opening door
Distance of door
%* Door
F308 opening deceleration 30.0—90.0 63.5 0
width
F3 point
Open door
Door F309 deceleration fillet 1 0.1-9.9 S 0.3 0
opening time tod1
control Uniform deceleration
parameter F310 time for opening door 0.1-9.9 S 0.3 0
tod2
Open door
F311 deceleration fillet 2 0.1-9.9 S 0.3 0
time tod3
Open the door at low
F312 0.01—10.00 Hz 2.50 0
speed 2
Low speed 3 after
F313 door open at the limit 0.01—5.00 Hz 1.0 0
position
F314 Slow opening speed 0.01—F307 Hz 5.00 0
Reference moment of %*
F315 door open at limit 0.1—150.0 Rated 90.0 0
position torque
Output delay time of
F316 door open at limit 0.0—9.9 S 0.5 0
position
Maintain torque of %*
F317 door open at limit 0.1—100.0 Rated 60.0 0
position torque
%*
Blocked moment of
F318 0.1—150.0 Rated 130.0 0
opening door
torque
23
No. Value Type
Judgment time of
F319 0.01—9.99 S 4.00 0
blocked door opening
Reference point of
F320 door open at limit 〜
80.0 99.9
% * Door
width
97.0 0
position
Output reference point
% * Door
F321 of door open at limit 00.0—99.9 97.5 0
width
position signal
Torque maintenance
F322 time after door open 0.0—999.9 S 999.9 0
at limit position
F323 Opening time limit 000.0—999.9 S 000.0 0
Limit percentage of
%* Rated
F324 detection torque of 1.0-150.0 80 0
torque
door opening jam
Close door start low
F400 0.01—9.99 Hz 3.00 0
speed 1
Close door start
F401 0.1—5.0 S 0.3 0
acceleration time
Close door low speed %* Door
F402 0.1—40.0 4.0 0
1 running distance width
F403 Standby 0
Close door
F4
Door closing time tca1
control Closed door uniform
F405 0.1—9.9 S 0.4 0
parameter acceleration time tca2
Close door
time tca3
Maximum closing
F407 0.01—F105 Hz 20.00 0
speed
Distance of door
%* Door
F408 closing deceleration 10.0—90.0 67.5 0
width
point
Close door
F409 deceleration fillet 1 0.1—9.9 S 0.2 0
time tcd1
Closure uniform
F410 0.1—9.9 S 0.2 0
deceleration time tcd2
24
F4 Close door
F411 deceleration fillet 2 0.1—9.9 S 0.4 0
Door closing time tcd3
control Close door low speed
parameter F412 0.01—9.99 Hz 1.60 0
2
Low speed 3 after
F413 door close at limit 0.01—9.99 Hz 0.80 0
position
F414 Slow closing speed 0.01—F407 Hz 4.00 0
Reference moment of %*
F415 door close at limit 0.1—150.0 Rated 90.0% 0
position torque
Output delay time of
F416 door close at limit 0.0—9.9 S 0.1 0
position
Maintain torque of %*
F417 door close at limit 0.1—150.0 Rated 40.0 0
position torque
%*
Closure blocking
F418 0.1—150.0 Rated 110.0 1
moment
torque
Judgment time of
F419 closed door 0.01—9.99 S 3.00 0
obstruction
Torque maintenance
F420 time after door close 0.0—999.9 S 600.0 0
at limit position
Reference point of
% * Door
F421 door close at limit 0.0—99.9 96.0 0
width
position
Reference point of
% * Door
F422 door close limit 0.0—99.9 98.0 0
width
signal output
Close door low speed
F423 0.00—9.99 S 1.00 0
3 running time
Synchronous closing
F424 0.01—F105 Hz 2.00 0
speed of door cutter
Synchronous closing
F425 0.00—9.99 S 0.70 0
time of door cutter
Acceleration time of
synchronous door
F426 0.01—9.99 S 0.50 0
cutter closing
operation
25
No. Value Type
Closure 150N blocking % * Door

F427 0.1—150.0 100.0 1
moment width
Determination time of
F428 blocking moment of 0.01—9.99 S 3.0 0
closing door 150N
0: No 150N blocked
The controller 150N is automatic reverse door
blocked and enabled opening
F429 0 0
by reverse door 1: Allow 150N blocked
opening automatic reverse door
opening
F430 Closing time limit 000.0—999.9 S 000.0 0
Percentage of torque %*
F431 limit detected by door 1.0-150.0 Rated 50 0
closing jam torque
Low bit of gate width
F500 0000—9999 8864 1
pulse count
High bit of gate width
F501 0000—9999 0001 1
F5 pulse count
Door open limit switch
F502 0000—9999 3280 1
Distance pulse position low
parameter Door open limit switch
F503 0000—9999 0002 1
pulse position high
Door close limit
F504 switch pulse position 0000—9999 704 1
coordinates
Door width learning
F600 1.00——15.00 Hz 6.00 0
speed
F6 Maintain torque after
%*
blocking detection in
Door F601 1.0-150.0 Rated 80
power-on positioning
operating torque
operation
parameters Reference moment of %*
F602 opening in place when 0.1—150.0 Rated 120.0 0
learning door width torque
%*
Locating run torque on
F603 0.1—150.0 Rated 100.0 0
power-on
torque
The maintenance time
F604 0.5—500.0 S 2.0 0
of demonstrate
26
running when door
open at limit position
The maintenance time
of demonstrate
F605 0.5—500.0 S 2.0 0
running when door
close at limit position
Abnormal deceleration
F606 time of door opening 0.1—5.0 S 0.2 0
and closing
Demonstrates running 0 manual start; 1 automatic
F607 0 0
startup mode start
Demonstrate the low
F608 number of run 0000—9999 Times 1000 0
settings
High number of Ten
F609 demonstration run 0000—9999 thousand 9999 0
settings times
Demonstrate that the
F610 actual number of runs 0000—9999 Times 0 0
F6
is low
Demonstrate that the Ten
Door
F611 actual number of runs 0000—9999 thousand 0 0
operating
is high times
parameters
Operating frequency
F612 setting of common 0 -- F105 0.01 Hz 4 1
frequency converter
Restore factory 0: No function
F613 0 1
parameters 169: Restore factory value
000: Do not load parameters
001: Load Group 001
parameters
002: Load Group 002
parameters
Selection of control
003: Load Group 003
F614 parameters of 0 1
parameters
different portal cranes
...
100: Load the 100th set of
parameters
Total of 100 sets of
parameters can be selected
Implement software update
Software update
F615 after modifying to 6746 + 0 0
enabled
enter
27
No. Value Type
The input terminal function

F700 Standby is defined as follows 0 1
00: This terminal is not used
01: Open door command
IN1 input terminal
F701 input (normally open) 1 1
function selection
02: Close door command
input (normally open)
IN2 input terminal
F702 03: Door open limit signal 2 1
function selection
input (normally closed)
04: Door close limit signal
IN3 input terminal input (normally closed)
F703 6 1
function selection 05: Light screen signal input
(normally open)
IN4 input terminal
F704 06: Slow door closing 5 1
function selection
F7 command input (normally
IN5 input terminal open)
F705 0 1
Input function selection 07: Door open limit signal
terminal input (normally open)
function 08: Door close limit signal
configuration input (normally open)
09: Fire signal input
(normally on)
10: Safety touch panel input
(normally closed)
11: Safety touch panel input
IN6 input terminal (normally open)
F706 8
function selection 12: Light screen signal input
(normally closed)
13: Door lock signal input
(normally open)
14: Door lock signal input
(normally closed)
15: Motor temperature is too
输⼊
high input (normally on)
Door width percentage 0.1%*

F8 F800 setting output of door 0.0%—100.0% Door 20.0% 1
Output closing process width
terminal Relay 1NC/NO output Output terminal functions
F801 are defined as follows: 1 1
function selection
28
Relay 2NC/NO output 00: No output
F802 01: Door open limit output 2 1
function selection
02: Door close limit output
Relay 3NC/NO output
F803 03: Fault signal output 9 1
function selection
04: Blocked signal output
05: Door lock output
function 06: Reopen the door output
configuration 07: Excessive motor
Relay 4NC/NO output temperature output
F804 08: Light Curtain/Safety 4 1
function selection
Touch Pad Action Output
09: Output of closing
percentage (shielding safety
touch panel light curtain)
Display mode: EXY.Z
F900 Current fault type 0 2
XY denotes fault type, XY=00
F901 Type of first failure denotes no fault, Z denotes 0 2
fault subcode, and Z=0
F902 Type of second fault denotes no subcode 0 2
The fault types are defined
F903 Third fault type as follows: 0 2
E01.0: IPM Module
F9 F904 The 4th fault type 0 2
Overcurrent Fault
E02.0: Accelerated
Fault F905 The fifth fault type 0 2
overvoltage fault
Information
E02.1: Deceleration
Query F906 The 6th fault type 0 2
overvoltage fault
F907 The 7th fault type E02.2: Uniform Velocity 0 2
Overvoltage Fault
F908 The 8th fault type E03.0: Undervoltage fault 0 2
E04.0: Accelerated
F909 The 9th fault type overcurrent fault 0 2
E04.1: Deceleration
F910 Tenth fault type overcurrent fault 0 2
E04.2: Uniform overcurrent
F911 The 11th fault type fault 0 2
E05.0: Motor overheating
F912 Twelfth fault type fault 0 2
E06.0: Module Overheat
F913 The 13th fault type 0 2
Fault E07.0: Motor Overload
Fault E08.0: Reserved
F9 F914 The 14th fault type 0 2
F915 The 15th fault type 0 2

E09.0: Motor overspeed fault
29
E10.0: Excessive speed
deviation fault
E11.0: Parameter memory
failure
E12.0: Current sampling fault
E15.0: Door close limit
switch fault
E16.0: Door width learning
fault
E17.0: Output phase failure
E18.0: Encoder failure
E19.0: Static pole position
learning fault
E19.1: Rotating pole position
learning fault
E20.0: Motor parameter
Fault learning failure
Information E21.0: 485 Communication
Query Failure
Running state at the Opening and closing status,
F916 0 2
last failure speed process
Output current at the
F917 0 2
last fault
Operating frequency
F918 0 2
at the last failure
Bus voltage at the last
F919 0 2
fault
Output torque at the
F920
last fault
The high two-bit LED
Input and output
indicates the input state, and
F921 status at the last 0 2
the low two-bit LED indicates
failure
the output state
F922 0
Fault clearing Change to 55. Press enter to
F923 0 1
instruction clear the fault record
FA00 Given current 0.00—9.99 A 0 2
FA01 Feedback current 0.00—9.99 A 0 2
FA02 Given frequency 0.00—99.99 Hz 0 2
FA03 Feedback frequency 0.00—99.99 Hz 0 2
FA04 Output torque value 0.00-9.00 N.M 0 2
30
%*
Ratio of output torque
FA05 0.0-200.0 Rated 0 2
to rated torque
torque
FA06 Output voltage 0-250 V 0 2
FA07 Bus voltage 0-400.0 V 0 2
Count value of
FA08 0-9999 0 2
encoder
FA Encoder Z point count
FA09 0-9 0 2
indication
Monitoring Current motor pole
parameter FA10 0-359.9 ° 0 2
angle
FA11 0 2
FA12 Motor temperature 0—150 ℃ 0 2
Portal crane position % * Door
FA13 0.0—100.0 0 2
(%) width
Low gate position
FA14 0—9999 0 2
pulse
Gate position pulse
FA15 0—9999 0 2
high position
Running direction of
FA16 OPEN,CLOS 0 2
motor
Terminal input door
FA17 opening and closing OPEN,CLOS 0 2
command indication
Input terminal
FA18 / 0 2
indication
Output terminal
FA19 / 0 2
indication
Cumulative power-up
FA20 0000—9999 min 0 2
time low bit
Cumulative power-up
FA21 0000—9999 h 0 2
time high bit
Cumulative running
FA22 0000—9999 min 0 2
time low bit
Cumulative running
FA23 0000—9999 h 0 2
time high bit
Door opening and
FA24 0000—9999 Times 0 2
FA closing times low bit
Door opening and 10k
FA25 0000—9999 0 2
Monitoring closing times high bit Times
parameter Door open limit input
FA26 OPL,0 0 2
signal indication
31
No. Value Type
Door close limit input

FA27 CLL,0 0 2
signal indication
FA28 Actual speed of motor 0000-9999 rpm 0 2
FA29 Given speed of motor 0000-9999 rpm 0 2
Increment in case of normal
485 receive data
FA30 communication and 0 2
status indication
unchanged in case of failure
Software version
FA31 00.00-99.99 0 2
number
Note 1: If the modify type is 0, it can be modified in real time; if it is 1, it is not allowed to be modified
during operation; if it is 2, it is not allowed to be modified.
32
8 Menu Description
8.1 F0 group Operating parameter
Menu
Menu Name Function description
No.
F000 Standby
0: Terminal input control operation mode

1: 485 communication data control operation mode, which
generally communicates with the car roof
2: Automatically demonstrate the running mode,
F002=1+ENTER starts running
3: Common frequency converter operation mode, which is
F001 Controller operation mode used to check whether the relevant wiring (encoder, power
line) of the controller is correct
4. Door width learning and manual door opening and
closing; When learning the door width, start through F003
menu; Manual door opening and closing is realized by
pressing the "▲" and "" buttons after entering the F004
menu
Open and close the door to

Set to 01, the controller starts the test operation in the
run the start command
F002 direction of closing the door. After closing in place, it
when the controller is
automatically opens the door and runs circularly
debugged
After all the preliminary work is completed, start the door

width learning as follows:
1. Change menu F001 to 4;
2. Change F003 to 1, press the confirmation key, and the
controller enters the door width learning state. First, the
controller runs in the door closing direction. After
receiving the door close limit signal and the torque
F003 Door width learning start
reaches the specified value (F602), the controller
changes the operation direction and runs in the door
opening direction to enter the door width measurement
state. After the door opening is blocked and the torque
reaches the specified value (F602), the controller
reverses the operation direction. Operate toward the
door closing direction, complete the door width learning
33
after the door is closed at limit position, and the
controller stops outputting;
3. If terminal control mode is adopted, change F001 to 0; if
communication control mode is adopted, change F001
to 1; Change F001 to 2 if Demo Operating Mode is used
First modify the menu F001=4, then enter this menu and
Manual door opening and
F004 press the "▲" button to open the door; Press the "" button
closing command
to close the door
1. When F001=03 and F005=01, the controller outputs the
torque set by F006 to supply power to the motor. If the
motor runs slowly in the direction of opening the door, the
UVW wiring is correct; On the contrary, it is necessary to
adjust any two-phase line sequence of UVW.
2. When F001=03 and F005=02, the controller outputs the
torque set by F006 to supply power to the motor, and the
1. Open-loop operation and motor runs slowly in the direction of opening the door.
F005
pole position learning After learning the Z signal of the encoder, it stops, and
automatically saves the magnetic pole position data to
the F111 menu.
3. When F001=03 and F005=03, the closed loop of the
controller runs in the direction of opening the door, stops
after learning the Z-point signal of the encoder, and
automatically saves the magnetic pole position to the
F111 menu.
Set according to the percentage of the rated voltage of
Output Voltage Percentage the motor. If the door panel is heavy and can't be pulled in
F006
for Open Loop Operation open loop operation, the percentage value can be
appropriately increased
The 485 communication port has two purposes:
① The upper computer sends the door opening and
closing operation command to the door controller by

means of communication. In this mode, please
485 communication port
F007 complete the setting according to the following steps:
enabled
1. Change the F001 menu to 1 to enter the
communication mode;
2. Change F007 menu to 1 and start 485
communication;
3. If there are two door controllers, be sure to set the
34
value of unit F008 to distinguish the front and rear
doors;
4. Set the communication baud rate. The two units F010
and F011 together are the communication baud rate.
After the baud rate is set, it needs to be powered off
and then powered on again to work.
② The IOT platform collects the running status of the
gantry crane controller in real time. In this mode, please

complete the setting according to the following steps:
1. Change menu F001 to 0 and enable the terminal
control mode;
2. Change F007 menu to 1 and start 485
communication;
3. If there are two door controllers, be sure to set the
value of unit F008 to distinguish the front and rear
doors;
4. Set the communication baud rate. The two units F010
and F011 together are the communication baud rate.
After the baud rate is set, it needs to be powered off
and then powered on to work.
When there are two controllers at the front and rear doors,
the two controllers are connected to the upper computer
through one bus. After receiving the message from the
upper computer, the door controller extracts the identifier
485 Front and rear door
to identify the command flow from the upper computer. If
F008 setting during
the identifier is consistent with that set in F008, the
communication
received command will be executed, otherwise it will be
discarded; The host computer also identifies which
controller the received message comes from through the
identifier.
During magnetic pole learning, the controller injects the
current set by F009 unit into the motor to make the
magnetic circuit of the motor enter the saturation state.
Magnetic pole position The controller infers the magnetic pole position by
F009
learning current values detecting the current values of different directions. The
user does not need to modify the value of this unit. If
necessary, it needs to be modified under the guidance of
the manufacturer's engineer.
35
The communication baud rate is composed of the values
of the two menus, and its calculation method is: baudrate
485 Low value of
F010 = (F011) × 10000 + (F010). After changing the value of the
communication baud rate
communication baud rate each time, it needs to be
powered off once to work.
485 High value of
F011
communication baud rate
8.2 F1 group Basic parameters of motor

Menu
No.
0: Synchronous motors, currently only synchronous
F100 Type of motor motors are supported
1: Asynchronous motor, standby
F101 Rated power of motor Power value of door drive motor in W
F102 Rated voltage of motor Rated voltage value of door drive motor in V
F103 Rated current of motor Rated current value of door drive motor in A
F104 Rated speed of motor Rated speed of door drive motor in RPM
F105 Rated frequency of motor Rated frequency value of door drive motor in Hz
Rated back electromotive force of
F106 Back EMF value of door drive motor in V
motor
Output torque of door drive motor at rated current,
F107 Rated torque of motor
unit is N.M
D-axis inductance Ld of Excitation inductance value of door drive motor in
F108
synchronous motor mH
Q-axis inductance Lq of Quadrature axis inductance value of door drive
F109
synchronous motor motor in mH
F110 Motor stator phase resistance Rs Stator resistance value of gate drive motor in Ω
Magnetic pole position of Minimum Pulse Difference of Magnetic Pole of
F111
synchronous motor encoder Synchronous Motor Relative to Encoder Zero
Absolute position angle value of The value of the pole position angle, expressed in
F112
encoder when Z point appears PWM, that is locked when the Z point occurs
F113 Motor real-time angle Magnetic pole position indication of door motor
When the system detects that the internal
Threshold value of motor
F114 temperature of the motor reaches this set
temperature protection
temperature, the system gives shutdown protection.
8.3 F2 group Motor control parameter
36
Menu
No.
When the motor operating frequency is less than
F204, the proportional parameters used in the
controller speed loop, the smaller the value, the
Proportional gain parameter P1 smaller the proportional gain, the larger the value, the
F200
of velocity loop larger the proportional gain, the higher the value to a
certain extent will cause the motor operating
low-speed oscillation, the specific value is determined
according to the field situation
When the motor operating frequency is less than
F204, the integral time parameter used in the
controller speed loop, the smaller the value, the faster
Velocity loop integration time the speed response, and the larger the value, the
F201
parameter T1 slower the speed response. If the value is reduced to
a certain extent, the motor will run at a low speed. The
specific value is determined according to the field
situation
When the motor operating frequency is greater than
F205, the proportional parameter used in the
controller speed loop, the smaller the value, the
Proportional gain parameter P2 smaller the proportional gain, the larger the value, the
F202
of velocity loop larger the proportional gain, the larger the value to a
certain extent will cause the motor operating
oscillation, the specific value is determined according
to the field situation
When the motor operating frequency is greater than
F205, the integral time parameter used by the
controller speed loop, the smaller the value, the faster
Velocity loop integration time the speed response, the larger the value, the slower
F203
parameter T2 the speed response, the smaller the value to a certain
extent will cause the motor operating oscillation, the
specific value is determined according to the field
situation
This parameter is used to determine the working
Parameter switching frequency range of F200 and F201 parameters. From 0.00 Hz to
F204
F1 the frequency range set by this parameter, F200 and
F201 parameters work
37
Menu
No.
This parameter is used to determine the working
range of F202 and F203 parameters, and the F202
Parameter switching frequency
F205 and F203 parameters work when the frequency range
F2
is larger than the frequency range set by this
parameter
This parameter is used for filtering calculation of
Velocity feedback filter feedback speed. It is recommended that users use it
F206
coefficient according to the default value and use this parameter
carefully
It is used to adjust the proportional gain coefficient of
the current loop. The larger the value, the faster the
proportional response of the current loop. When the
F207 Proportional gain of current loop
parameter is increased to a certain extent, the motor
will give out a whistling sound, which can be adjusted
by the user according to the actual situation on site
It is used to adjust the integral gain coefficient of the
current loop. The larger the value, the faster the
integral response of the current loop. When the
F208 Current loop integral gain
parameter increases to a certain extent, the motor will
oscillate. Users can adjust it according to the actual
situation on site
This parameter is used to filter the current value
sampled from ADC. If the parameter is too small, it
Current feedback filter may produce a certain whistling sound during the
F209
coefficient operation of the motor, and if the value is too large, it
will easily cause the fluctuation of the speed of the
motor
According to the parameter setting of the encoder on
the tail shaft of the motor, if the set parameter does
not conform to the pulse number of the actual
F211 Pulses per revolution of encoder
encoder, the motor will not be able to rotate or the
torque will not be generated after several turns of
rotation
It is used for adjusting the growth direction of the
F212 Encoder pulse direction encoder counter. If the encoder pulse counter is
incremented when 0 is set, the encoder pulse counter
38
Menu
No.
is decremented when 1 is set, and vice versa
This parameter is used to set the carrier frequency of
svpwm. If the carrier frequency is less than 4KHz,
F213 PWM carrier frequency selection there will be obvious current noise. If the carrier
frequency is greater than 12KHz, the switching loss
and heat loss of the module will increase
8.4 F3 group Door opening control parameter

Menu
No.
Running speed when opening the door, the door crane
starts from zero after receiving the running command,
Open the door and start at low
F300 accelerates to this speed after the time set by F301,
speed 1
drives the door to run and opens the lock hook, so
that the door knife hangs the door ball
Used to adjust the transition time from zero speed
F301 Open door start acceleration time
acceleration to low speed 1 when opening the door
It is used to set the distance for the door crane to run
at a low speed of opening the door, and ensure that
the door knife has been smoothly hung on the door
Low-speed running distance of ball within this distance. When this value is too small,
F302
opening door the door knife will hit the door ball at a higher speed
to produce noise. When this value is too large, it will
affect the whole opening time. The value is
determined according to the needs of the site
It is used to set the preset torque for opening the
door. Because the elevator door has a clamping force
F303 Opening starting moment when it is closed, adjusting this parameter to an
appropriate value can accelerate the starting process
of opening the door and improve the efficiency
The excessive fillet time from zero-speed start-up to
Open door acceleration fillet 1
F304 uniform acceleration of S curve; Toa1+toa2+toa3 is
time toa1
the opening acceleration time
Uniform acceleration time for Uniform acceleration time of S curve;
F305
opening door toa2 Toa1+toa2+toa3 is the opening acceleration time
F306 Open door acceleration fillet 2 The excessive fillet time from uniform acceleration to
39
Menu
No.
maximum speed when the S curve rises;
time toa3
Toa1+toa2+toa3 is the opening acceleration time
It is used to set the maximum speed of opening the
door, and the maximum speed setting and the time
setting of opening the door determine the
F307 Maximum speed of opening door acceleration value of opening the door. The maximum
speed value should conform to the principle, m is the
mass of the door, and v is the maximum speed of
opening the door0.5×mv2 ≤ 10
This parameter is used to set the position of the door
opening deceleration point. After exceeding this
position, the door crane starts to decelerate. The
Distance of door opening reference zero of this position is the position when
F308
deceleration point the door is completely closed; This distance
parameter value is a percentage of the ratio of the
distance value from the reference zero point to the
deceleration point to the door width distance
The excessive fillet time of S curve from maximum
Open door deceleration fillet 1
F309 speed to uniform deceleration; Tod1+tod2+tod3 is the
time tod1
deceleration time of opening door
Uniform deceleration time of S curve;
Uniform deceleration time for
F310 Tod1+tod2+tod3 is the deceleration time of opening
opening door tod2
door
The transition time of S curve from uniform
Open door deceleration fillet 2
F311 deceleration to low opening speed 2; Tod1+tod2+tod3
time tod3
is the deceleration time of opening door
The portal crane decelerates from the highest speed
through the S curve and reaches this speed, and then
F312 Open the door at low speed 2
runs at this speed at a constant speed until the door
is opened at limit position
After door opened at limit position, switch to this
Low speed 3 after door open at speed, and the torque increases to the opening
F313
the limit position maintenance torque and then enters the maintenance
state
When the door crane is powered on for the first time
F314 Slow opening speed
or there is a slow door opening command, the door
40
Menu
No.
crane runs at this speed
In the case of not using the door open limit switch,
door opened at limit position is considered to be
Reference moment of door open
F315 reached after the obstructed torque reaches this set
at limit position
torque after the door opening deceleration is
completed
After the door is opened at limit position, this
Output delay time of door open
F316 parameter is used to adjust the lag time of the door
at limit position
open limit signal output from the relay
Maintain torque of door open at A moment applied in the direction of opening the door
F317
limit position after the door is opened at limit position
In the process of opening the door, when the output
torque of the controller exceeds the value set in this
F318 Blocked moment of opening door
menu and reaches the time set in F319, it is
determined that the opening of the door is blocked
After the opening moment reaches the value set by
Judgment time of blocked door
F319 F318, it is considered that the opening is blocked
opening
after continuing the time value set by this menu
This menu value is a coordinate value. During the
Reference point of door open at process of opening the door, if the position of the
F320
limit position door exceeds this value, it will be considered that the
door is opened at limit position
Output reference point of door Coordinate position point of door open limit signal
F321
open at limit position signal output
Setting the duration of the moment when door open
at limit position, if the unit is set to 999.9 seconds, it
Torque maintenance time after
F322 will be maintained all the time. If it is not equal to
door open at limit position
999.9 seconds, it will be maintained according to the
set time
Limit the response time of the open door command,
F323 Opening time limit and do not respond if it timeout. Set to 0, there is no
time limit.
After the system detects the door opening jamming,
Limit percentage of detection
F324 the output current is adjusted to the set value of
torque of door opening jam
F324.
41
8.5 F4 group Door closing control parameter
Menu
No.
The running speed when the door is closed, the door
crane starts from zero after receiving the door closing
F400 Close door start low speed 1
operation command, and accelerates to this speed
after the time set by F401
Close door start acceleration Used to adjust the time from zero speed acceleration
F401
time to low speed 1 when closing the door
It is used to set the running distance of the door crane
Low speed running distance of at the closing speed of 1, and ensure that the door
F402
door closing knife has smoothly hung the door ball in the closing
direction within this distance
The excessive fillet time from zero-speed start-up to
Close door acceleration fillet 1
F404 uniform acceleration of S curve; Tca1+tca2+tca3 is
time tca1
the closing acceleration time
Closed door uniform acceleration Uniform acceleration time of S curve; Tca1+tca2+tca3
F405
time tca2 is the closing acceleration time
The excessive fillet time from uniform acceleration to
Close door acceleration fillet 2
F406 maximum speed when the S curve rises;
time tca3
Tca1+tca2+tca3 is the closing acceleration time
It is used to set the maximum speed for closing the
door. The maximum speed setting and the time
setting for closing the door determine the
F407 Maximum closing speed acceleration value of closing the door. The maximum
speed value should conform to the principle, m is the
mass of the door, and v is the maximum speed of
closing the door0.5×mv2 ≤ 10J
This parameter is used to set the position of the door
closing deceleration point. After exceeding this
position, the door crane starts to decelerate. The
Distance of door closing reference zero of this position is the position when
F408
deceleration point the door is fully opened in place; This distance
parameter value is a percentage of the ratio of the
distance value from the reference zero point to the
deceleration point to the door width distance
Close door deceleration fillet 1 The excessive fillet time of S curve from maximum
F409
time tcd1 speed to uniform deceleration; TCD1 + TCD2 + TCD3
42
Menu
No.
is the closing deceleration time.
Closure uniform deceleration Uniform deceleration time of S curve; TCD1 + TCD2 +
F410
time tcd2 TCD3 is the closing deceleration time
Transition time of S curve from uniform deceleration
Close door deceleration fillet 2
F411 to closing low speed 2; TCD1 + TCD2 + TCD3 is the
time tcd3
closing deceleration time
The gantry crane decelerates from the highest speed
through the S curve and reaches this speed, and then
F412 Close door low speed 2
runs at this speed at a constant speed until the door
is closed at limit position
Low speed 3 after door close at After the door is closed at limit position, switch to this
F413
limit position speed and run at a constant speed
When the door crane is powered on for the first time
F414 Slow closing speed or there is a slow door closing command, the door
crane will close at this speed
In the case of not using the door close limit switch,
Reference moment of door close the door closed at limit position is considered to be
F415
at limit position reached after the blocked torque reaches this set
torque value after the door deceleration is completed
After door closed at limit position, use this parameter
Output delay time of door close
F416 to adjust the lag time of outputting the door close
at limit position
limit signal from the relay
Maintain torque of door close at A moment applied in the closing direction to close the
F417
limit position door after the door is closed at limit position
During the closing process, when the output torque of
the controller exceeds the value set in this menu and
F418 Closure blocking moment reaches the time set in F419, it is judged that the
closing is blocked. After the closing is blocked, the
controller opens the door in reverse
After the closing moment reaches the value set by
Judgment time of closed door
F419 F418, it is considered that the closing is blocked after
obstruction
continuing the time value set by this menu
Set the door close limit moment holding time, if the
Torque maintenance time after unit is set to 999.9 seconds, it will be maintained all
F420
door close at limit position the time. If it is not equal to 999.9 seconds, it will be
maintained according to the set time. After reaching
43
Menu
No.
the maintenance time, the controller will stop the
power output
This menu value is a coordinate value. When the door
Reference point of door close at
F421 is closed, the door is considered to be in place if the
limit position
position of the door exceeds this value
Reference point of door close Coordinate position point of door close limit signal
F422
limit signal output output
This parameter is only applicable to the case of
synchronous door cutter. After the speed of the
Close door low speed 3 running
F423 controller is switched to three stages of low opening
time
speed, the closing operation of synchronous door
cutter is implemented after the time set in this menu
Synchronous closing speed of
F424 Running speed value of synchronous door cutter
door cutter
This time includes the acceleration time F426 and the
Synchronous closing time of
F425 uniform speed running time of the synchronous door
door cutter
cutter
Acceleration time of
This time is the transition time from closing the door
F426 synchronous door cutter closing
at low speed 3 to F424
operation
During the closing process, when the output torque of
the controller exceeds the value set in this menu and
F427 Closure 150N blocking moment
reaches the time set by F428, it is judged that the
closing of 150N is blocked
After the closing moment reaches the value set by
Determination time of blocking
F428 F427, it is considered that the closing is blocked after
moment of closing door 150N
continuing the time value set by this menu
The controller 150N is blocked 0: No 150N blocked automatic reverse door opening
F429 and enabled by reverse door 1: Allow 150N blocked automatic reverse door
opening opening
Limit the response time of the close door command,
F430 Closing time limit and do not respond if it timeout. Set to 0, there is no
time limit.
After the system detects the door closing jamming,
Percentage of torque limit
F431 the output current is adjusted to the set value of
detected by door closing jam
F431.
44
8.6 F5 group Distance parameter
Menu
No.
The door width is the distance from when the door is
fully closed to when the door is fully open. This
F500 Low bit of gate width pulse count distance is represented by the encoder pulse count.
This menu is the lower order of the count. Each unit
represents one encoder pulse.
High bit of gate width pulse
F501 Each unit represents ten thousand encoder pulses
count
If the door open limit switch is used, this value
represents the lower 4 digits of the pulse count value
Door open limit switch pulse
F502 from the time when the door is completely closed to
position low
the moment when the door open limit switch is
operated
Door open limit switch pulse The high value of the door open limit switch, each unit
F503
position high represents 10,000 encoder pulses
If the door close limit switch is used, this value
Door close limit switch pulse represents the pulse count value from the time when
F504
position coordinates the door is completely closed to the time when the
door close limit switch leaves
8.7 F6 group Door operating parameters

Menu
No.
Running speed value in the process of door width
F600 Door width learning speed
learning
After the system is powered on, after the door
Maintain torque after blocking
jamming is detected in the process of positioning the
F601 detection in power-on positioning
opening and closing curve, the current is reduced to
operation
the set value of this menu.
When the door width learning is blocked, when the
Reference moment of opening in torque value set in this menu is reached, it is
F602
place when learning door width considered that the door is opened at limit position
and the door width measurement is completed
Maximum torque output limit for the first operation
F603 Locating run torque on power-on
after power-on
45
Menu
No.
The maintenance time of
The time required to wait for the demonstrate runtime
F604 demonstrate running when door
to switch from door open limit to closing the door
open at limit position
The maintenance time of
The time required to wait for the demonstrate runtime
F605 demonstrate running when door
to switch from door close limit to opening the door
close at limit position
In the process of opening and closing the door, if the
Abnormal deceleration time of current given instruction disappears, the controller
F606
door opening and closing decelerates from the current running speed to zero at
the time set in this menu
0: Power-on manually starts the demonstration run
1:Power-on automatically starts demonstration run
Demonstrates running startup If the menu is set to 1, the controller detects F001 = 2
F607
mode after power-on, that is, in the demonstration operation
mode, and will automatically start operation after 6
seconds.
The lower number of times required to run in
Demonstrate the low number of
F608 demonstration mode, each numerical unit represents
run settings
one time
The high number of times required to run in
High number of demonstration
F609 demonstration mode, and each numerical unit
run settings
represents ten thousand times
Demonstrate that the actual The lower number of actual runs in demonstration
F610
number of runs is low mode, and each numerical unit represents one time
The high number of actual runs in demonstration
Demonstrate that the actual
F611 mode, and each numerical unit represents ten
number of runs is high
thousand times
Running speed of ordinary The speed setting value for startup runtime when
F612
frequency converter F001 is set to 3 mode
8.8 F7 group Input terminal function configuration

Menu
No.
F700 Standby
00: This terminal is not used

Function selection of IN1 input
F701 01: Open door command input (normally open)
terminal
46
02: Close door command input (normally open)
Function selection of IN2 input
F702 03: Door open limit signal input (normally closed)
terminal
04: Door close limit signal input (normally closed)
Function selection of IN3 input 05: Light screen signal input (normally open)
F703 06: Slow door opening and closing command input
terminal
(normally open)
Function selection of IN4 input 07: Door open limit signal input (normally open)
F704
terminal 08: Door close limit signal input (normally open)
09: Fire signal input (normally on)
Function selection of IN5 input 10: Safety touch panel input (normally closed)
F705
terminal 11: Safety touch panel input (normally open)
12: Light screen signal input (normally closed)
Function selection of IN6 input 13: Door lock signal input (normally open)
F706
terminal 14: Door lock signal input (normally closed)
15: Motor temperature is too high input (normally on)
8.9 F8 group Output terminal function configuration
Menu
No.
After the door closing process reaches this set
Door width percentage setting value, the F804 is configured as 09 output contact
F800
output of door closing process signal to cooperate with the control cabinet to
shield the light curtain or safety touch panel.
Relay 1NC/NO output function 00: No output
F801
selection 01: Door open limit output
Relay 2NC/NO output function 02: Door close limit output
F802
selection 03: Fault signal output
Relay 3NC/NO output function 04: Blocked signal output
F803
selection 05: Door lock output
06: Reopen the door output
07: Excessive motor temperature output
Relay 4NC/NO output function
F804 08: Light Curtain/Safety Touch Pad Action Output
selection
09: Output of closing percentage (shielding safety
touch panel light curtain)
8.10 F9 group Fault Information Query
47
Menu
No.
XY denotes fault type, Z denotes fault subcode,
F900 Current fault type
XY=00 denotes no fault, and Z=0 denotes no subcode
F901 Type of fault No.01 The fault types are defined as follows:
E01.0: IPM Module Overcurrent Fault
F902 The 02nd fault type
E02.0: Accelerated overvoltage fault
F903 Type of fault No.03 E02.1: Deceleration overvoltage fault
E02.2: Uniform Velocity Overvoltage Fault
F904 The 04th fault type E03.0: Undervoltage fault
E04.0: Accelerated overcurrent fault
F905 The 05th fault type
E04.1: Deceleration overcurrent fault
F906 The 06th fault type E04.2: Uniform overcurrent fault
E05.0: Motor overheating fault
F907 Type of fault No.07
E06.0: Module overheat fault
F908 The 08 th fault type E07.0: Motor overload fault

E09.0: Motor overspeed fault
F909 The 09th fault type E08.0: Retained
E10.0: Excessive speed deviation fault
F910 Tenth fault type
E11.0: Parameter memory failure
F911 The 11th fault type E12.0: Current sampling fault
E13.0: Blocked door opening protection
F912 Twelfth fault type
E14.0: Closed door protection
F913 The 13th fault type E15.0: Door close limit switch failure
E16.0: Door width learning failure
F914 The 14th fault type E17.0: Output phase failure
E18.0: Encoder failure
E19.0: Static pole position learning fault
F915 The 15th fault type E19.1: Rotating pole position learning fault
E20.0: Motor parameter learning failure
E21.0: 485 Communication Failure
Including door opening and closing status and speed
F916 Running state at the last failure
process
F917 Output current at the last fault Unit: A
Operating frequency at the last
F918 Unit: Hz
failure
F919 Bus voltage at the last fault Unit: V
F920 Output torque at the last fault Unit: N.M
48
Menu
No.
Input and output status at the The upper two LEDs indicate the input status and the
F921
last failure lower two LEDs indicate the output status
Fault information clearing Change this menu to 55. Press enter and clear all
F923
instruction fault records
8.11 FA group Monitoring parameter

Menu
No.
Used to view the vector composite value of excitation
FA00 Given current
current and torque current, unit: A
Used to view the real-time current value output from
FA01 Feedback current
the controller to the motor, unit: A
Instantaneous given operating frequency value of
FA02 Given frequency
controller in Hz
Instantaneous actual operating frequency value of the
FA03 Feedback frequency
controller in Hz
FA04 Output torque value Instantaneous output torque value of motor, unit: N.M
Ratio of output torque to rated (TO/TR) × 100. 0%
FA05
torque To: Output torque value, Tr: Rated torque value
FA06 Output voltage Single-phase voltage output to motor terminal
DC voltage value of three-phase alternating current
FA07 Bus voltage
after rectification
The dynamic value of the encoder pulse counter, which
FA08 Count value of encoder is used to observe the increase and decrease direction
of the encoder
The counter is incremented every time the Z-point
Encoder Z point count
FA09 occurs, which is used to indicate the number of
indication
occurrences of the Z-signal
Dynamically indicate the current magnetic pole position
FA10 Current motor pole angle
angle
The real-time temperature of the motor is calculated
FA12 Motor temperature
according to the temperature sensor on the motor
Taking the position of the door when it is completely
closed as the reference zero point, the distance
FA13 Portal crane position (%)
difference between the current position and the zero
point is divided by the value of the door width multiplied
49
by 100
Low bit of the gate position pulse count value. The gate
position pulse count value refers to the distance from
FA14 Low gate position pulse the position where the gate is completely closed as 0
to the current position in terms of pulses. The
calculation formula is (FA15) × 10000 + (FA14).
Gate position pulse high
FA15 High bit of the gate position pulse count value.
position
According to the motor running direction indication
Motor running direction determined by the encoder direction, OPEN; is
FA16
indication displayed when the encoder increases; Display CLOS
when encoder decrements
According to the direction indication of door opening
Terminal input door opening and closing determined by the port input command,
FA17 and closing command OPEN is displayed when the door opening command is
indication input on the input terminal; Display CLOS when the door
command is input on the input terminal
8 segments of LED are corresponding to IN1-IN6 of
input terminals, and the corresponding LED display
FA18 Input terminal indication
segment lights up when the input of corresponding
terminals is valid
Use 8 segments of LED and output terminal TC1-TC4 to
correspond, the corresponding terminal output is
FA19 Output terminal indication
effective when the corresponding LED display segment
lights up.
The lower part of the running time from power-on to
FA20 Low cumulative power-on time
now, in minutes
High cumulative power-on High level of running time from power-on to now, in
FA21
time hours
The lower part of the cumulative value of power
FA22 Low cumulative run time output time from the beginning of power-on to the
present, in minutes
High cumulative power-on The high position of the cumulative value of power
FA23
time output time from power-on to now, in hours
The number of opening and Low number of running times of portal crane from
FA24
closing doors is low power-on to now
The number of opening and The high number of running times of portal crane from
FA25
closing doors is high the beginning of power-on to the present
50
If the door open limit signal is used, OPL will be
displayed every time the effective input of the door
Door open limit input signal
FA26 open limit signal is detected, and 0 will be displayed
indication
when the effective input of the door opening signal is
not detected
If the door close limit signal is used, CLL will be
Door close limit input signal displayed every time a valid input of the door close
FA27
indication limit signal is detected, and 0 will be displayed when
no valid input of the door-closing signal is detected
Displays the current actual instantaneous speed of the
FA28 Actual speed of motor
motor in RPM (rpm)
Displays the current given instantaneous speed of the
FA29 Given speed of motor
motor in RPM (rpm)
The menu data is incremented when the
485 Communication status
FA30 communication is successful, and remains unchanged
indication
when the communication fails.
FA31 Version number of software Displays the current software version
51
Appendices Version Change Record
Date of issue Version No. Content of change
Aug. 2021 V1.0 Issue of the first edition

Add a magnetic pole position learning mode (F005 to 3),
Sep. 2021 V1.1 update the temperature control menu F114, and update the
progress output function of the door closing process.
Communication control operation is added for
commissioning, F007-011 communication function setting
Oct. 2021 V1.2
parameter is added for menu, and FA30 fault description is
added.
52

Manual of Permanent Magnet Motor Door Controller NSFC01-G220

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Manual of Permanent Magnet Motor Door Controller NSFC01-G220

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1.4 Maintenance, Inspection and Component Replacement

1.5 Use of external voltage

1.6 Lightning impulse protection

1.7 Altitude and Derating Usage

1.8 Scrap disposal

1.9 Adapted motors

Power input Power output

2.1 Nameplate description

When the maximum temperature is 45 ℃ ,

temperature does not exceed 25 ℃ , the

monthly average maximum relative humidity

3.1 Controller Port Description

Power output V Motor V phase

4.1 Operation panel layout

Move Left key

Move Down key

Stop key Enter key

4.2 Definition of key functions

Key Name Description of basic functions

Mode key: switch to the first-level menu from the main

STOP Stop key: stop the power output to the motor

Move up key: Increment the menu number or menu data

Move down key: decrement menu number or menu data

“ ENTER ” Enter key

displays the submenuENTER

Group menu No. Submenu No. such as: F0 F000

Submenu No. menu data such as:F300 8.00

the next menu:ENTER ENTER ENTER

menu data save menu data such as:F300 8.00 F301

“ ” Move Up key /“ ” Move Down key

“ ” Move Left key

② The main menu interface is used to select different parameters to be monitored:

Please confirm the following items before powering on:

② All electrical wiring is correct.

4.4 Confirmation of motor parameters

4.5 Confirmation of connection sequence of motor power line

4.6 Motor magnetic pole position learning

① Change the content of menu F001 to 3;

to the state of no acting force on the car door)

③ Loaded pole position learning mode (recommended)

4.7 Door width learning

5.5 Demo Running

③ Change F002 to 1 and press ENTER to start the demo;

④ In the process of demonstration operation, the dynamic times of operation can be

monitored through F610 and F611;

position or door close at limit position during the demonstration operation;

5.6 Inspection running

5.7 Terminal signal control running

5.8 Communication control operation

F301 F304 F305 F306 F309 F310 F311

The door opening process is described as follows:

6.2 Operation curve of door closing

F401 F404 F405 F406 F409 F410 F411 F423 t/d

The door closing process is described as follows:

485 Front and rear

Magnetic pole 0.1*