Drive Systems

DRIVE SYSTEMS
with 8C SERIES
Brushless Servomotors
and 300 & 500 BIVECTOR
Converters
In compliance with EEC Directives and mark
Description of the Serial

Communication Protocol
Ref. MANSER09.9810 GB
Update 01
Issue July 1999
ABB Servomotors S.r.l.

Ref. MANSER09.9810 GB
Update 01
Issue July 1999
ABB Servomotors S.r.l.

Registered office: piazzale Lodi, 3 I 20137 Milano
Headquarter, Offices and Plant:
Frazione Stazione Portacomaro 97/C
I 14100 ASTI
Reserved literary copyright

 1999, ABB Servomotors S.r.l. Asti
Printed in Italy
This document contains confidential information owned by ABB Servomotors S.r.l. With the
acceptance of the present document, the receiver agrees not to reproduce, copy by any
system, or transmit to third parties the document itself and the related information in part or
as a whole and not to allow third parties, for any reason, to carry out any of these actions
without the previous written permission of ABB Servomotors S.r.l.
MANSER09.9810 GB - ABB Servomotors S.r.l.

CONTENTS
CONTENTS
CHAPTER 1 OVERVIEW
1.1 Preliminary note
1.2 Usage warnings
1.3 Content of this document
CHAPTER 2 DESCRIPTION OF RS-485 COMMUNICATION PROTOCOL

2.1 General features of RS-485 line
2.2 Format of the command string
2.3 Connection diagram for RS-485 multipoint communication
CHAPTER 3 DESCRIPTION OF RS-485 COMMANDS

3.1 Instructions for the identification of drive status
3.2 Instructions for system management
3.3 Instructions for parameters editing
3.4 Instructions for drive “clonation”
3.5 Instructions for diagnostics
CHAPTER 4 PARAMETERS READING/WRITING AND CONVERSION

4.1 Parameters of system table # 0
4.3 Parameters of control table
4.4 Parameters of motor-converter data table
4.5 Parameters of user table
APPENDIX
A.1 Examples of RS-485 communication protocol usage
A.2 Description of RS-232 communication protocol
A.3 Full scales definitions
MANSER09.9810 GB - ABB Servomotors S.r.l. Contents Page 1

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Contents Page 2 MANSER09.9810 GB - ABB Servomotors S.r.l.

CHAPTER 1 - OVERVIEW
1.1 Preliminary note

The content of this manual is compatible with the SW version 1.04 of the 300 & 500 Series
BIVECTOR converters.
1.2 Usage warnings

1.2.1
This documentation is particularly intended for users who need to use the RS-485 serial
connection, especially to carry out a multipoint connection between an external device (i.e. a
PC, a PLC, etc.) and drive systems with 300 & 500 Series BIVECTOR converters.
Furthermore, Appendix A.2 describes RS-232 communication protocol. BIVCOM program is
suitably made for the communication between BIVECTOR converters and PC and is based
on RS-232 communication protocol.
1.2.2
Users of this documentation should be properly skilled in software knowledge and should
have experience in serial communication field, because they will have to create the software
application for multipoint connection network management between the master and the
different slaves made of the 300 & 500 Series BIVECTOR converters.
Users will also have to know basic principles and specific drive system operating modes,
through the knowledge of the contents of the First and Second Part of the “Installation,
Commissioning and Use Manual for Drive Systems with 8C Series (vs. A) brushless
servomotors and 300 Series BIVECTOR converters”, MANIU08.9809 GB and the related
version for 500 Series convertors, in preparation at the moment of printing of the present
manual.
1.2.3
Since chapter numbering of both parts of the manual and of this documentation starts with
number 1 - in order not to create confusion when referring to First and Second Part of the
manual - the reference is followed by the indication (1st Part) or (2nd Part) respectively,
whereas when this note is not present, it is the present documentation which is referred to.
1.2.4
WARNING Since each converter is part as a slave of the network with RS-485
multipoint connection, it must be marked with the serial identifier
(Par. 23, Serial Identification, in system table #0).
1.2.5
Before testing the software created by users on the multipoint network, we suggest to make
sure that each drive system is correctly installed and suitably tested as a single drive system.
1.2.6
As far as safety is concerned, users must bear in mind the content of the First and Second
st
Part of the manual quoted at item 1.2.2, mainly the content of § 1.4 of Chapter 1(1 Part).
1.3 Content of this document

Chapter 1 of this document provides preliminary information mainly of editorial type, notes on
the skills of the users of the document and some practical suggestions.
Chapter 2 describes RS-485 communication protocol and it provides hardware connection
diagram calling for multipoint communications.
MANSER09.9810 GB - ABB Servomotors S.r.l. Page 1.1

Chapter 1 - Overview
Chapter 3 describes the RS-485 controls and it is a fundamental chapter for multipoint
network software engineers. It provides instructions for drive status identification, system
management, parameters editing, drive “clonation” and diagnostics.
Chapter 4 describes parameters reading/writing and conversion.
Appendix A.1 provides some examples of RS-485 communication protocol usage, while
Appendix A.2 describes RS-232 communication and Appendix A.3 defines the full scales of
specific sizes (obviously, these definitions are valid independently of the serial
communication system used).
Page 1.2 ABB Servomotors S.r.l. - MANSER09.9810 GB

CHAPTER 2 - DESCRIPTION OF
RS-485 COMMUNICATION PROTOCOL
2.1 General features of RS-485 line

• the RS-485 serial (asynchronous, half-duplex differential) line is suitable for multidrop
communications (bidirectional multiple connections to buses);
• in half-duplex communication, transmitters and receivers share the bus; only one device
(drive, PC) can transmit over the line and all the other devices connected in the network
can receive data; the Echo Mode is not used (each character received is not retransmitted
in echo);
• no hardware handshaking is required;
• in case of communication error during instruction transmission (parity, checksum or illegal
character), the drive does not respond (because there could be an error on the drive
identifier field, causing all the drives to respond); the communication error could be
detected as a time-out error;
• the protocol is of “master-slave” type: the converter is a “slave” and it only responds on
the request of the “master”, usually made of a PC or a PLC;
• data format: 1 start bit, 8 data bits, 1 (even) parity bit and 1 stop bit;
• the transmission speed can be adjusted by Par.25, Baud Rate Serial RS485, in system
table #0 (default value: 9600 bits/sec.). In order to guarantee both serial communication
and drive system functions in the heaviest operation modes for CPU calculation time
(positioning, synchronizing), the maximum value of baud rate must be 38400 bits/sec.
Higher transmission speeds are used for dedicated proprietary procedures (i.e. software
upgrade via serial link);
• recommended timing for RS-485 communication:
- leave at least 5 ms between the latest character sent by the drive and the first character
sent to the drive (to guarantee a correct reception by the drive);
- time between the latest character sent to the drive and the start of the response from the
drive: min. 2 ms ÷ max. 35 ms (in order to size the switching of the master buffer into the
receiving mode and to size the time-out logic during waiting for the response from the
drive);
• up to 32 drives can be connected on the same serial line and they can be distinguished
through the serial identifier (Par. 23, Serial Identification, in system table #0). For more
drives, contact Customer Service (see section 1.6.4 of Chapter 1 in the first part of the
manual, MANIU08.9809 GB).
2.2 Format of the command string

2.2.1 General commands
In the following descriptions for command strings, the following elements will be used:
- bold characters which are the preset parts of the command string which will have to
be transmitted as they are, in ASCII format;
- <variable_name>, representing the part to be specified by users when creating the
string; for example, if the variable to transmit is a byte having the value 3F, the ASCII
value of 3 (33H) and the ASCII value of F (46H) will have to be sent in succession.
The convention used for drive responses is similar to the previous one:
- preset characters/values - bold characters;
- data received by the drive - normal characters; since the response length is known,
the response is specified through the number of characters to be received; for
example, when the response is one byte long, the length is specified as xx (2

Chapter 2 - Description of RS-485 communication protocol
characters); for a word it is xxxx and for a long word it is XXXXxxxx (by highlighting
the most significant part of the data, too).
Format of a general command string (in ASCII):
&<DD><II><data_field>/<CC>
where:
& = start character of a generic command string;
<DD> = drive identifier; all the drives receive the string, but only the drive where
<DD> is equal to its identifier decodes and executes the string; the case
<DD>=FF is for synchronizable commands (see the following section);
<II> = instruction code
<data_field> = (for some instructions) address and/or hexadecimal values (data) sent to
the drive
/ = end character of the command string, followed by the CC checksum of the
string
<CC> = checksum of the command string (module sum 256 of byte values of all the
fields, except for & and / ); if = is sent instead of /<CC>, the checksum must not
be transmitted or checked.
If checksum (string finishing with /<CC>) check is required, the drive:
- does not respond in case of checksum error;
- sends the normal response, without additional characters, when the checksum
verifying is OK.
When the command is accepted by the drive (there is no communication error and the drive
status is suitable for that command), the drive responds with Y^ (for instructions without data
field) or with Y<data_field>/<CC>^ (for instructions with data field), where:
<data_field> = hex value requested by the “master”
/<CC> = the character / indicates that the CC checksum of data sent by the drive
follows
^ = it indicates the end of the response string.
When the drive does not accept a command (its status is not suitable), its response is N^.
The drive responses (format, dependence of the drive status) are described in detail in
Chapter 3.
2.2.2 Synchronizable commands

These commands are used to execute mechanisms of broadcast type (carried out by all the
slaves) or multicast type (carried out by some slaves). This mechanism is made up of two
phases:
1) synchronizable commands (%<DD>.../<CC>) are transmitted to a certain number
of drives; these commands are not executed, but only stored in a buffer; all the
slaves which have to execute this kind of command are “loaded” in this way; if all the
drives have to receive the command string, they can all be addressed with
%FF.../<CC>.
2) the execution command is transmitted (the “trigger” of synchronizable commands);
at that moment, the commands “loaded” in the concerned slaves are simultaneously
executed.
General format of a synchronizable command string (in ASCII):
%<DD><II><data_field>/<CC>
where:
% = start character of the synchronizable command string;
The meaning of the other fields is identical to the general commands.

The drive response is Y^ when the checksum verifying is OK; in this case, the command is
stored in a buffer. In case of checksum error, the drive does not respond and the command
is not loaded into the buffer. If DD = FF, the drives do not respond.
The synchronization command is as follows:
&FFD4/<CC>
The command is received and decoded by all the slaves. All the slaves that “loaded” a
synchronizable command into the buffer simultaneously execute that command. No
response is sent over the line (to avoid conflicts).
In order to ease the management of this mechanism, an instruction to “clear” the buffer of
synchronizable commands is also available for all the drives:
&FFD5/<CC>
Also in this case no response is sent over the line (in order to avoid conflicts).
This final command allows the synchronization mechanism to be started from a known
condition concerning the commands buffer.
2.3 Connection diagram for RS-485 multipoint communication

2.3.1 RS-232 / RS-485 connector on the 300 & 500 Series Bivector converter
On the front side: SUB-D type female 9-pin drawer connector.
This device connects multiple cables for serial connection to external devices by means of
two different protocols: RS-232 and RS-485. The two protocols have different features;
Table 2/1 provides the most significant ones.
WARNING The physical features of this connector are equal to the features of the
RESOLVER and FREQUENCY IN connectors (which are all female
connectors) and there is no mechanical polarization; it is therefore
necessary not to exchange cables during installation and in case of
converter replacement.
Table 2/1
Name Maximum distance Some features
RS-232-C 20 m Single-point Bidirectional unipolar
RS-485 1000 m Multi-point Half-duplex differential
Fig. 2-1 shows the flying connector (300 & 500 Series BIVECTOR side) of the cable for the
connection with the external devices, as well as the numbering of pins to which connection
has to be carried out in the two different cases; as it can be seen, GND (ground) and
SHIELD references lead to the same pins, while the active conductors lead to pin couples,
different for each type of protocol.
The connection can be made for the following equipment:
A) KEY-B control keyboard;
B) Personal Computer (PC) (see Fig. A-1);
C) any other equipment provided with serial input.

Terminals to be used for

RS 232 / RS 485 RS232 communication
Terminal Description
5 2 Tx ( RS 232 )
3 Rx ( RS 232 )
9 5 GND
1 SHIELD
Terminals to be used for RS485

communication
6
Terminal Description
1 8 RX/ Tx - (RS 485 B)
9 RX/ Tx + (RS 485 A)
5 GND
(Flying) male 1 SHIELD
9-pin drawer
connector
Fig. 2-1: Serial Connection Terminals.

2.3.2 Connection diagram for RS-485 multipoint communication
Fig. 2-2 shows a connection diagram based on RS-485 protocol between an external device
(PC, PLC, etc.) having the function of a master and a certain number of 300 & 500 Series
BIVECTOR converters, having the function of slaves. In order to carry out this connection, it
is necessary to consider the following recommendations:
- a maximum of 32 slaves can be connected;
- the master can never be a BIVECTOR;
- branched connections, for example Y connections, are not expected;
- the connection between the devices must be physically made as it is shown in the figure; in
particular, the connection cables must only be multiplexed on BIVECTOR terminal blocks;
- terminal resistors (RT = 120 Ω, 1/4 W) must be directly mounted onto the connectors of the
two devices at the ends of the line, cables must be twisted and shielded, and shields must
be connected on both sides, as it is shown in the figure.
RT RT
G 4 4 S
RS232/RS485 RS232/RS485
N 8 8 H
D 5 5 I 5 9 8 1 CONNECTOR 5 9 8 1 CONNECTOR
A B E 4 4 4 4
L 8 8 8 8
D 5 5 5 5
GND A B SHIELD GND A B SHIELD
RS 485 RS 485 DRIVER RS 485 DRIVER
MASTER
(PC, Controller, PLC,
etc. )
BIVECTOR 1 BIVECTOR N
Twisted Pair NOTE

485A = Tx / Rx +
485B = Tx / Rx -
Shield
Fig. 2-2: RS-485 Multipoint Connection Diagram

CHAPTER 3 - DESCRIPTION OF RS-485 COMMANDS
3.1 Instructions for the identification of drive status

3.1.1 Definition of drive status
The drive can be set in one of the following statuses:
• RFO (Ready For Operation): no signalled protection or failure; Power Switches are OFF;
status in which PLC (for example Homing) and autotuning functions can be launched or in
which changes on the general system configuration can be made.
• GO: no signalled protection or failure; Power Switches are ON; status in which the various
operating tasks are executed; functions of control loop tuning, (analog or digital)
monitoring of some variables and motion task changes can be made.
• FAIL: at least one protection or one failure is signalled; Power Switches are OFF; in this
status diagnostic and alarm reset functions are active.
The Editor can be opened and the drive parameters can be changed in any of the previous
statuses. Parameters saving in EEPROM is only accepted in RFO status.
3.1.2 Instruction for identification of the drive status
Send the string &<DD>A615/<CC> to the drive;
- if the drive response is: Y00/00^ ==> RFO
- if the drive response is: Y01/01^ ==> GO
- if the drive response is: Y02/02^ ==> FAIL
3.2 Instructions for system management

3.2.1 Start (RUN) command
Action executed: the drive switches from RFO status to GO status; the user table which
becomes active is the general user table #0. The same action is executed at the Lo-Hi
transition of the dedicated digital input Enable.
String to be sent: &<DD>A1/<CC>
When the drive is in RFO status, the response is Y^, otherwise N^(not accepted command).
3.2.2 Start (RUN) command with the general user table #...
A command of “Start with table N... “ is available. Unlike the previous command, the start
user table is directly specified in the command. The drive responses are the same as before.
String to be sent: &<DD>DDxx/<CC>, where xx = byte specifying the number of the start
user table ( 20H ÷ 3FH correspond to general tables N. 0 ÷ N. 31 ).
3.2.3 Stop command
Action executed: the motor is stopped and once it arrives at 0 rpm, the RFO status becomes
active and the drive is disabled (if, for any reason, the motor cannot be brought to 0 rpm,
switching to RFO status is automatically carried out after a 2 s time-out). When the drive is
not in GO status, the command is not accepted (response N^).
When GO status is active, the Stop command can be sent through the dedicated digital input
Enable (Hi-Lo passage) or via serial link, by using the command &<DD>BF/<CC>.
3.2.4 User Stop command (Customizable end of operating cycle)
Users can define their procedure to end an operating cycle by configuring the special user
table #8 (User Stop).

Chapter 3 - Description of RS-485 commands
The User Stop command can be selected through a digital input configured as “User Stop”
by one of the 4...11 parameters, Digital Input 1...8 Configuration, system table #0, or by the
serial command &<DD>CF/<CC>.
3.2.5 User table change command
Action executed: on-the-fly change of the user table currently active with the user table
specified in the command.
String to be sent: &<DD>A7xx/<CC>, where xx = N. of the new hexadecimal user table:
- the special user tables are in the range 00H ÷ 1FH:
Special user table Coding

RFO (Ready For Operation) 00H
Security 01H
Limit Switch Hardware – Right 02H
Limit Switch Hardware – Left 03H
Limit Switch Software #1 – Right 04H
Limit Switch Software #1 – Left 05H
User Stop 08H
Homing 09H
Free for further developments 0AH
Jog + 0BH
Jog - 0CH
Tune 0DH
- in the range 20H ÷ 3FH there are 32 general user tables (General Purpose): from
general table #0 to general table #31.
The serial command is only accepted (response Y^) if the drive is in GO status and if Par.
26, Serial Priority, in system table #0, is set as ‘Yes’, otherwise the drive response is N^.
3.2.6 Alarm Reset command
The Alarm Reset command can be sent through the dedicated digital input Reset (Lo - Hi
transition), or through the serial command &<DD>CE/<CC>.
Action executed: when the drive is not in FAIL status, only the reset of a warning is carried
out; when the drive is in FAIL status, all the alarm flags are reset and the alarm check
routine is commanded. If at the end of the check routine there are no alarms (all flags are
set to zero), the RFO status and the status flags are restored.
3.2.7 Homing procedure
At startup, the drive must be in RFO status.
“Start Homing” command: &<DD>EB/<CC> (or &<DD>C3/<CC>). If the drive is in RFO
status, the response is Y^ (otherwise N^). During Homing procedure, the drive is in GO
status and it works with special user table #9 (Homing). This table is typically configured in
Speed Mode, with digital speed reference. One of the digital inputs must be configured as
“Home Input High/Low” (system table #0) and connected to the machine proximity sensor.
When this input reaches the active level, the drive executes the following operations: the
drive multiturn position is forced to the value of Par. 07, Home Position, system table #1. At
the same time, the motor is stopped and the drive gets back to RFO status. From that
moment on, any positioning operation is allowed to be executed and Limit Switch Software
protections can also be enabled.
To know the progress status of Homing procedure, the following command is sent:
&<DD>A614/<CC>. The possible responses of the drive are as follows:

Y00/00^ - no Homing executed after the drive is powered

Y01/01^ - Homing in progress
Y02/02^ - Homing completed
3.2.8 Jog procedure
One of the “Start Jog+” or “Start Jog-” commands is selected. The motor will turn in the
positive (+) direction (clockwise as seen from the motor A-side) or in the negative (-)
direction. To stop the motor, send the Stop command. Motions in the 2 directions (rotational
speed, various limitations, gains, etc.) are configured through 2 special user tables, Jog+
and Jog-, which can be suitably customized by the user.
“Start Jog+” command: &<DD>C0/<CC> . If the drive is in RFO status, the response is Y^
(otherwise N^).
“Start Jog-” command: &<DD>C1/<CC> . If the drive is in RFO status, the response is Y^
(otherwise N^).
3.2.9 Tune procedure
When the “Start Tuning” command is selected, the motor will turn in the positive (+) direction
(clockwise as seen from the motor A-side) at 1000 rpm. Be sure that the motor shaft can
rotate freely. In this situation, through the 2 AOUT1 (“Actual Speed”) and AOUT2
(“Mechanical Angle”) analog signals and by suitable acting on parameters of control table
Par.07, 2-nd Harmonic Tuning, tuning of the 2nd harmonic of the measured speed signal
can be executed.
The default motion for harmonic tuning is configured through the special user table Tune,
which can be suitably customized by the user.
“Start Tuning” command: &<DD>C2/<CC> . If the drive is in RFO status, the response is Y^
(otherwise N^).
After tuning is completed, send the Stop command to stop the motor.
3.2.10 Microcontroller software reset command
To reset the microcontroller, 2 serial commands are available:
• &<DD>AF/<CC> - the Reset command is not accepted when the drive is in GO status
(response N^).
• &<DD>B0/<CC> - the Reset command is not influenced by the drive status (to use with
utmost attention!).
When one of these commands is accepted, the drive responds Y^ and is then reset.
3.3 Instructions for parameters editing

3.3.1 Instruction “Open the editor”
It is the first instruction to be sent to the drive in order to start a parameters editing session
(reading/changing/saving).
String to be sent: &<DD>F0/<C>.
Actions executed:
- all the 68 tables (motor-converter data, system #0, system #1, control and user) are
copied from the EEPROM into the RAM;
- from that moment on, active tables (used by the drive software) are the tables
copied into the RAM;
- the Edit_bit is placed at 1 (Editing ON) (editor had to be previously closed, Edit_bit =
0, otherwise the command is not executed).
Drive response:
- Y^ (command accepted) if the editor was closed (Edit_bit = 0)
- N^ (command denied) if the editor had already been opened (Edit_bit = 1)

3.3.2 Instruction “Read editor status”

This instruction can be used to know in any moment if the editor has been opened or not.
String to be sent: &<DD>A622/<CC>.
Drive response:
- Y00/00^ when editor is closed (Edit_bit = 0)
- Yxx/xx^, where xx byte is different from 0, when editor is open (the same as
Edit_bit = 1)
3.3.3 Instruction “Load table... “
After opening editor by loading all the tables into the RAM, specify the table to be edited
through an instruction “Load table ...”; after the editing of a table and if you want to edit
another table, use an instruction of the same type. The following choices are available:
a) selection of tables copied from EEPROM (configurated by the user):
- converter-motor data table - string to be sent: &<DD>FF/<CC>
- system table #0 - string to be sent: &<DD>F9/<CC>
- system table #1 - string to be sent: &<DD>FA/<CC>
- control table - string to be sent: &<DD>FB/<CC>
- user table - string to be sent: &<DD>FCxx/<CC>
where xx = N. of user table to be edited in hex form:
- in the range 00H ÷ 1FH there is a maximum number of 32 special user tables
(see also the User Table Change command)
- in the range 20H ÷ 3FH there are 32 general user tables (General Purpose):
from general table N. 0 to general table N. 31.
- for user tables a command of “Replace table N. ... with table N. ...” type is also
available; in this case, send the string &<DD>FDssdd/<CC>, where ss = N. of
source user table (in hexadecimal form) and dd = N. of final user table (in
hexadecimal form).
In any case, the drive responds:
- Y^ (command accepted) if the drive is open;
- N^ (command denied) if the editor is closed.
Moreover, if the drive is in GO status, the command “Replace table N. ... with table N.
...” is not accepted.
Note: parameters contained in the motor-converter data table determine the size full scales
and therefore condition the physical meaning of some parameters of the other tables.
Particular attention may then be paid when editing this table; this is the normal procedure to
follow: edit the motor-converter data table only, save it and then edit the other tables. The
editing of this table is more binding: the command is accepted (response Y^) when the
editor is open and also when the drive is in RFO status.
b) selection of tables copied from EPROM (default), a useful option when one or more tables
in EEPROM have been given values which are not consistent with the drive system, in which
case the user wants to move the drive back to a start status with sure settings; this operation
is made up of 2 phases; first of all copy the table from EPROM into RAM than activate the
editing of this table accordingly; select the following commands:
- default copy of motor-converter data table - string to be sent: &<DD>FE/<CC>
- default copy of system table #0 - string to be sent: &<DD>F3/<CC>
- default copy of system table #1 - string to be sent: &<DD>F4/<CC>
- default copy of control table - string to be sent: &<DD>F5/<CC>
- default copy of user table - string to be sent: &<DD>F6ssdd/<CC> where
ss = N. of source default user table and dd = N. of final user table, in hexadecimal
form
Drive response:
- Y^ (command accepted) if the editor is opened and the drive is not in GO
status;

- N^ (command denied) if the editor is closed or the drive is in GO status.

Note: a command which copies all the 68 tables from EPROM into RAM (by gathering all the
instruction set described above) is also available. Send the following string:
&<DD>F8/<CC>. The drive will respond as stated above. Tables loaded in this way are
selected to be edited by following the instructions in item a).
The note in item a) remains valid.
3.3.4 Instruction “Save”
It is used to save in EEPROM changes made to tables, without closing the editor. When
saving, data are copied from RAM into EEPROM, which is only allowed in RFO status.
Active tables are the tables written in the RAM (which can still be edited). Saving operation
lasts about 3 seconds; it is therefore necessary to configure the time-out for response
waiting for this situation.
String to be sent: &<DD>ED/<CC>.
Drive response:
- Y^ (command accepted) if the editor is open and the drive is not in GO status;
- N^ (command denied) if the editor is closed or the drive is in GO status.
3.3.5 Instruction “Close the editor”
It is used to end an editing session. Active tables will be the ones written in the EEPROM
and the Edit_bit will be placed at 0. To exit the editor, two modes are available:
- without saving - string to be sent: &<DD>F1/<CC>; command accepted (response Y^)
when the drive is not in GO status;
- by saving before exit - string to be sent: &<DD>F2/<CC>; command accepted (response
Y^) when the editor is open and the drive is not in GO status. Saving operation lasts about 3
seconds; it is therefore necessary to configure the time-out for response waiting for this
situation.
3.3.6 Instructions for parameters reading/writing
Once the editor is open and the table to be edited is loaded, any parameter (byte, word,
long) can be read/written through an appropriate instruction. These instructions, together
with the formula for hexadecimal - physical value conversion, are described in Chapter 4.
3.3.7 Instructions for reading from an (absolute) address
WARNING We recommend that you limit as far as possible the use of these
instructions, since the absolute addresses of the variables can vary
according to software updates. When you want to use these
instructions, contact Customer Service.
By these instructions, any memory variable can be read in general:
- reading of a byte from xxxxxxxx address - string to be sent: &<DD>E1xxxxxxxx/<CC>; the
drive responds with Yzz/<CC>^, where zz is the required byte;
- reading of a word (2 bytes) from the xxxxxxxx address - string to be sent:
&<DD>E2xxxxxxxx/<CC>; the drive responds with Yzzzz/<CC>^, where zzzz is the
required word;
- reading of a long (double word) from xxxxxxxx address - string to be sent:
&<DD>E3xxxxxxxx/<CC>; the drive responds with YZZZZzzzz/<CC>^, where ZZZZzzzz is
the required long.
3.3.8 Instructions for writing to an (absolute) address
The warning stated in the previous section remains valid; moreover, writing to an incorrect
absolute address could produce malfunctions in the drive operation.
By these instructions, any memory variable can be written in general:

- writing of a byte (dd) to xxxxxxxx address - string to be sent: &<DD>E4xxxxxxxxdd/<CC>;

the drive response is Y^;
- writing of a word (2 bytes - dddd) to xxxxxxxx address- string to be sent:
&<DD>E5xxxxxxxxdddd/<CC>; the drive response is Y^;
- writing of a long (double word - dddddddd) to xxxxxxxx address - string to be sent:
&<DD>E6xxxxxxxxdddddddd/<CC>; the drive response is Y^.
3.4 Instructions for drive “clonation”
When 2 or more drives have to be set in the same way, it is better to use the drive
“clonation” procedure: read the parameters (from EEPROM) of the model drive, store the
them through an external device and then write them into the drives to be identically set (in
the EEPROM).
3.4.1 Instructions for parameters reading
Read the 68 tables in the drive model one at a time, as indicated below:
- reading of system table #0 - string to be sent: &<DD>A901/<CC>; the command is
accepted when the drive is in RFO status and the editor is closed; in this case, the drive
responds Yxx...xx/<CC>^, where xx...xx is the block of 64 bytes (128 ASCII characters) of
parameters of system table #0;
- reading of system table #1 - string to be sent: &<DD>A902/<CC>; same type of response;
- reading of control table - string to be sent: &<DD>A903/<CC>; same type of response;
- reading of converter-motor data table - string to be sent: &<DD>A905/<CC same type of
response;
- reading of user tables - string to be sent: &<DD>AAxx/<CC>, where xx = 00H ... 3FH,
which represents the number of the user table to be read.
3.4.2 Instructions for parameter writing
Carry out the following operations:
1) start of tables copy - string to be sent: &<DD>A2/<CC>; the command is accepted
(response Y^) when the drive is in RFO status and the editor is closed;
2) transfer of tables one at a time:
- transfer of system table #0 - string to be sent: &<DD>A401/<CC>; if the drive is in RFO
status, its response is Y^; then send the string xx...xx/<CC>^, where xx...xx is the block of
64 bytes (128 ASCII characters) of parameters of system table #0; drive response: /^ for a
correct transmission, or ?^ if a transmission error (checksum, even parity, illegal character)
has been detected.
- transfer of system table #1 - string to be sent: &<DD>A402/<CC>; carry on as stated
above;
- transfer of control table - string to be sent: &<DD>A403/<CC; carry on as stated above;
- transfer of motor-converter data table - string to be sent: &<DD>A405/<CC>; carry on as
stated above;
- transfer of user tables - string to be sent: &<DD>A5xx/<CC>; where xx = 00H ... 3FH,
which represents the number of the user table to be written; carry on as stated above.
3) end of tables copy and saving in EEPROM - string to be sent: &<DD>A3/<CC>; the
command is accepted (response Y^) when the drive is in RFO status.
3.5 Instructions for diagnostics
3.5.1 General description
Failures, protections and warnings are different types of alarms.
- Failures are the most critical alarms; they require immediate disabling of power stage
(Power Switches OFF) and the motor rotates freely;

- also protections require that the drive is disabled, but not immediately. In case of
protection, motor braking up to 0 rpm (by calling the special Security user table) is
commanded, then the drive is disabled.
Both in case of failures and protections, the drive moves to FAIL status.
- Warnings do not disable the drive (the drive remains in GO or RFO status where it was
before the alarm). These are the possible warning effects: only a signalling (i.e.: Error Check
Sum), a power limitation (in case of a thermal image) or a special table calling (in case of
hardware/software limit switches).
Each type of alarm is assigned with a flag (flag = 1 means that an alarm is present). Flags
are gathered as follows:
- 2 bytes for failures
- 2 bytes for protections
- 2 bytes for warnings
3.5.2 Commands for reading of Protections and Failures
In case of Failures, 2 options are available: know the first failure occurred or know all failures
present at a certain moment (because further failures could occur as a consequence of the
first failure).
To read the first failure, send the following string: &<DD>A62B/<CC>.
To read all failures, send the following string: &<DD>A62C/<CC>.
In both cases, the drive response is: YPPPPffff/<CC>^ (4 data bytes). The 2 most
significant bytes, PPPP, include the protection flags, while the 2 least significant bytes, ffff,
include failure flags.
3.5.3 Protections and Failures decoding
Here follows the flag decoding:
Protections:
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
bit 31: - Undervoltage DC Bus
bit 30: - OverHeating Convertor Heatsink
bit 29: - Motor Thermal Probe Protection
bit 28: - Not Used
bit 27: - Undervoltage Line
bits 26-16: - Not Used
Failures:
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
bit 15: - Failure Driver IPM
bit 14: - Overvoltage DC Bus - HW
bit 13: - Overvoltage DC Bus - SW
bit 12: - Current Tripping
bit 11: - Homopolar Current Limiter
bit 10: - Not Used
bit 09: - Not Used
bit 08: - Braking Resistor Thermal Estimate
bit 07: - Overspeed
bit 06: - Fault Resolver
bit 05: - Not Used
bit 04: - Firmware Error
bit 03: - Not Used
bit 02: - ICB Supply Down
bit 01: - Not Used
bit 00: - Not Used

3.5.4 Warnings reading command

Warnings can be read at any moment by using this string: &<DD>A62A/<CC>. The drive
response is Yxxxx/<CC>^ (2 data bytes including warning flags).
3.5.5 Warnings decoding
Here follows the flag decoding:
Warnings:
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
bit 15: - Not Used
bit 14: - Not Used
bit 13: - Not Used
bit 12: - Convertor Thermal Estimate
bit 11: - Motor Thermal Estimate
bit 10: - Not Used
bit 09: - HW Limit Switch
bit 08: - SW1 Limit Switch
bit 07: - SW2 Limit Switch
bit 06: - Auxiliary 230 V Undelivered
bit 05: - Weak Boards Supply
bit 04: - RAM Error
bit 03: - EEPROM Error
bit 02: - EPROM Error
bit 01: - Not Used
bit 00: - Not Used

CHAPTER 4 - PARAMETERS READING/WRITING
AND CONVERSION

In order to read/write the parameters of system table #0, open the editor on this table by
using the commands &<DD>F0/<CC> (editor opening, if not already opened) and
&<DD>F9/<CC> (system table #0 loading).
01: Auxiliary Supply
• data type: byte unsigned
• reading instruction: &<DD>42/<CC>; drive response: Yxx/<CC>^
• writing instruction: &<DD>62xx/<CC>; drive response: Y^
• hexadecimal coding (xx): “No” = 00H, “Yes” = 01H
02: Motor Thermal Probe
• hexadecimal coding (xx): “Klixon ON” = 00H, “Klixon OFF” = 01H, “PTC-1” = 02H, “PTC-
3” = 03H
03: User Tables Selected
• hexadecimal coding (xx):
Selection Selected tables Used digital inputs Coding

00 User Tables None None 00H
02 User Tables GenP 0 ÷ GenP 1 DIN 1 01H
04 User Tables GenP 0 ÷ GenP 3 DIN 1 ÷ DIN 2 02H
04: Digital Input 1 Configuration


Chapter 4 - Parameters reading/writing and conversion
Digital input configuration Coding

User Tables Selector 00H
Right HW Limit Switch High 01H
Right HW Limit Switch Low 41H
Left HW Limit Switch High 02H
Left HW Limit Switch Low 42H
User Stop High 03H
User Stop Low 43H
Speed Reverse High 05H
Speed Reverse Low 45H
Home Input High 06H
Home Input Low 46H
Jog+ High 07H
Jog+ Low 08H
Jog- High 47H
Jog- Low 48H
Not Used 3FH
• specifications: the same as Par.04
• specifications: the same as Par.04, except for “User Tables Selector” function, which is
not available on this digital input
• reading instruction: &<DD>4A/<CC>; drive response: Yxx/<CC>^
• writing instruction: &<DD>6Axx/<CC>; drive response: Y^
• reading instruction: &<DD>4B/<CC>; drive response: Yxx/<CC>^
• writing instruction: &<DD>6Bxx/<CC>; drive response: Y^
• reading instruction: &<DD>4C/<CC>; drive response: Yxx/<CC>^
• writing instruction: &<DD>6Cxx/<CC>; drive response: Y^

12: Digital Output 1 Configuration

• reading instruction: &<DD>4D/<CC>; drive response: Yxx/<CC>^
• writing instruction: &<DD>6Dxx/<CC>; drive response: Y^
Configuration Meaning Coding

Fail Status “L” ⇒ Fail status 00H
Drive Enable “L” ⇒ Drive enabled 01H
Zero Speed Reached “L” ⇒ Zero speed reached 02H
Speed Sign “H” ⇒ Positive rotation 03H
Reached Speed “L” ⇒ Reference speed reached 04H
Reached Position “L” ⇒ Reference position reached 05H
Reached Time Target Toggle ⇒ Time target reached 06H
Converter I2xt “L” ⇒ “Converter Thermal Estimate” alarm 07H
occurrence (H.3)
Motor I2xt “L” ⇒ “Motor Thermal Estimate” alarm 08H
occurrence (H.3)
HW Limit Switch “L” ⇒ Overtravel of one of the HW limit 09H
switches
SW1 Limit Switch “L” ⇒ Overtravel of one of the SW limit 0AH
switches, level 1
SW2 Limit Switch “L” ⇒ Overtravel of one of the SW limit 0BH
switches, level 2
Not Used FFH
• specifications: the same as Par. 12
• reading instruction: &<DD>4E/<CC>; drive response: Yxx/<CC>^
• writing instruction: &<DD>6Exx/<CC>; drive response: Y^
• reading instruction: &<DD>4F/<CC>; drive response: Yxx/<CC>^
• writing instruction: &<DD>6Fxx/<CC>; drive response: Y^
18: Digital Output Reversing


• hexadecimal coding (xx): “No Reverse” = 00H, “Reverse” = FFH
19: Analog Output 1 Configuration
Configuration Meaning Full Scale Coding

Actual Speed Speed feedback W_FS = 7324.2 rpm 00H
Reference Speed Speed reference W_FS = 7324.2 rpm 01H
Actual Speed Module Speed reference module W_FS = 7324.2 rpm 02H
Current Module Measured current module I_FS 03H
Flux Current Current – “flux component” I_FS 04H
Torque Current Current – “torque component” I_FS 05H
Converter I2xt Level Converter integral I2xt level I_FS x I_FS 0F
Motor I2xt Level Motor integral I2xt level I_FS x I_FS 12
Brake Ixt Level Brake integral Ixt level Duty-cycle = 100% 14
DC Bus Voltage Voltage level on DC Bus Vbus_FS = 450 V 19H
Mechanical Angle Mechanical angle π 48H
Not Used Not used FFH
20: Analog Output 2 Configuration
21: Analog Output 1 Scale
• hexadecimal coding (xx): “5 V” = 00H, “10 V” = 01H
22: Analog Output 2 Scale
• hexadecimal coding (xx): “5 V” = 00H, “10 V” = 01H
23: Serial Identification
• the value becomes active after being saved in EEPROM
• reading instruction: &<DD>5F/<CC>; drive response: Yxx/<CC>^
• writing instruction: &<DD>7Fxx/<CC>; drive response: Y^
• coding (xx): the range 1 ÷ 254 corresponds to a hexadecimal range of 01H ÷ FEH
24: Baud Rate Serial RS232

Baud Rate (bits/sec) Coding

2400 01
4800 02
9600 03
25: Baud Rate Serial RS485
Baud Rate (bits/sec) Coding

2400 01
4800 02
9600 03
19200 04
31250 05
38400 06
26: Serial Priority
• hexadecimal coding (xx): “No” = 00H, “Yes” = 01H
27: Resolver Pole Pairs
• parameter not accessible to user
28: Resolver Phase Adjustment
• data type: word signed
• reading instruction: &<DD>12/<CC>; drive response: Yxxxx/<CC>^
• writing instruction: &<DD>32xxxx/<CC>; drive response: Y^
• coding (xxxx): the physical range -4095 ÷ 4095 corresponds to a hexadecimal range of
8001H ÷ 7FFFH
29: Switching Frequency
• reading instruction: &<DD>5E/<CC>; drive response: Yxx/<CC>^
30: Output Encoder Resolution
• reading instruction: &<DD>5A/<CC>; drive response: Yxx/<CC>^
• writing instruction: &<DD>7Axx/<CC>; drive response: Y^
• hexadecimal coding (xx): “256 ppr” = 03H, “512 ppr” = 02H, “1024 ppr” = 01H, “2048 ppr”
= 00H
31: Output North Marker Width

• reading instruction: &<DD>5B/<CC>; drive response: Yxx/<CC>^

• writing instruction: &<DD>7Bxx/<CC>; drive response: Y^
• hexadecimal coding (xx): “1/4 A” = 00H, “1/2 A” = 01H, “3/4 A” = 02H, “1/1 A” = 03H
32: Output North Marker Position
• coding (xxxx): the physical range –179.9° ÷ +179.9° corresponds to a hexadecimal range
of 8001H ÷ 7FFFH
33: Input Encoder Resolution
• hexadecimal coding (xx): “256 ppr” = 03H, “512 ppr” = 02H, “1024 ppr” = 01H, “2048 ppr”
= 00H
34: Speed Reference Full Scale
• the conversion of the rpm value (for the user) into the hexadecimal value xxxx (for the
drive) is given by the following formula:
 
[hexa value] =  riferim.FS[rpm]× 7FFFH 
 4 × WFS [rpm] 
where W_FS = 7324.2 rpm, is the speed full scale
35: Torque Reference Full Scale
• the conversion of the rpm value (for the user) into the hexadecimal value xxxx (for the
 
[hexa value] =  riferim.FS [Nm] × 7FFFH 
 4 × TFS [Nm] 
where T_FS = torque full scale (see A.3)
36: Analog Input 1 Offset
• coding (xxxx): the physical range -4095 ÷ +4095 corresponds to a hexadecimal range of
8001H ÷ 7FFFH
37: Analog Input 2 Offset
8001H ÷ 7FFFH
38: Offset Current Phase 1


8001H ÷ 7FFFH
• reading instruction: &<DD>1A/<CC>; drive response: Yxxxx/<CC>^
• writing instruction: &<DD>3Axxxx/<CC>; drive response: Y^
8001H ÷ 7FFFH
• reading instruction: &<DD>1B/<CC>; drive response: Yxxxx/<CC>^
• writing instruction: &<DD>3Bxxxx/<CC>; drive response: Y^
8001H ÷ 7FFFH
4.2 Parameters of system table #1

In order to read/write the parameters of system table #1, open the editor on this table by
using the commands &<DD>F0/<CC> (editor opening, if not already opened) and
&<DD>FA/<CC> (system table #1 loading).
01: Enable Software Limit Switch #1
• hexadecimal coding (xx): “Disable” = 00H, “Enable” = 01H
02: Enable Software Limit Switch #2
• hexadecimal coding (xx): “Disable” = 00H, “Enable” = 01H
03: Right Software Limit Switch #1
• data type: long word signed
• reading instruction: &<DD>80/<CC>; drive response: YXXXXxxxx/<CC>^
• writing instruction: &<DD>90XXXXxxxx/<CC>; drive response: Y^
• coding (XXXXxxxx): the physical range -32767.9999 turns ÷ + 32767.9999 turns
corresponds to a hexadecimal range of 80000001H ÷ 7FFFFFFFH, where the word high
(the most significant part) corresponds to the number of turns, while the word low (the
least significant part) corresponds to fractions of turns.
04: Left Software Limit Switch #1
05: Right Software Limit Switch #2


06: Left Software Limit Switch #2
07: Home Position
corresponds to a hexadecimal range of 80000001H ÷ 7FFFFFFFH where the word high
08: Motor Rated Current
• coding (xxxx): the physical range 0.0 ÷ IPEAK Arms ( IPEAK = Converter Peak Current,
Par.02 in motor-converter data table); corresponds to a hexadecimal range of 0000H ÷
7FFFH
09: Motor Thermal Constant
• the conversion of the value expressed in seconds (for the user) into the value expressed
in hexadecimal xxxx (for the drive) is given by the following formula:
[hexa value] =  0.2 × 7FFFH 

 time constant[s] 
10: Brake Thermal Constant

11: Brake Resistance
12: Brake Rated Power
• data type: word unsigned


13: Converter Rated Current
14: Converter Thermal Constant
15: Overspeed Limit
• coding: the physical range 0.0 ÷ W_FS rpm (W_FS = 7324.2 rpm) corresponds to a
hexadecimal range of 0000H ÷ 7FFFH
16: Undervoltage SW Level
17: Overvoltage SW Level
4.3 Parameters of control table
In order to read/write the parameters of control table, open the editor on this table by using
the commands &<DD>F0/<CC> (editor opening, if not already opened) and
&<DD>FB/<CC> (control table loading).
01: Peak Current
02: Modulation Index Gain
03: Voltage Margin
04: Modulation Index Reference
05: Current Module Regulator Gain


06: Current Loop Regulator Gain
07: 2-nd Harmonic Tuning
• coding (xxxx): the physical range -127 ÷ 127 corresponds to a hexadecimal range of
0001H ÷ 00FFH
08: 4-th Harmonic Tuning
09: Leading Factor
10: Minimum Flux Level
11: Flux Feedforward Gain
12: Saturation Gain
• reading instruction: &<DD>1C/<CC>; drive response: Yxxxx/<CC>^
4.4 Parameters of motor-converter data table

In order to read/write the parameters of motor-converter data table, open the editor on this
table by using the commands &<DD>F0/<CC> (editor opening, if not already opened) and
&<DD>FF/<CC> (motor-converter data table loading).
01: Main Supply
02: Converter Peak Current
03: Motor Rated Speed
• parameter currently not used


04: Motor Phase-Phase Bemf
05: Motor Pole Pairs
06: Motor Phase-Phase Inductance
07: Motor KT Saturation
08: Motor Phase-Phase Resistance
09: Motor Inertia
10: Load Inertia
11: Motor Type
12: Flux Full Scale
13: Brake Voltage Threshold
• reading instruction: &<DD>0E/<CC>; drive response: Yxxxx/<CC>^
14: Maximum Motor Current

4.5 Parameters of user table

In order to read/write the parameters of a user table, open the editor on this table by using
the commands &<DD>F0/<CC> (editor opening, if not already opened) and
<DD>FCxx/<CC> (user table xx loading, see section 3.3.3).
01: Operating Mode
Operating mode Reference type Analog torque limitation Coding

Torque Mode - 0 Digital (Par. 11) No 00H
Torque Mode - 1 Digital (Par. 11) Reference: AIN1 02H
Torque Mode - 2 Digital (Par. 11) Reference: AIN2 01H
Torque Mode - 3 Analog - AIN1 No 08H
Torque Mode - 4 Analog - AIN1 Reference: AIN2 09H
Torque Mode - 5 Analog - AIN2 No 04H
Torque Mode - 6 Analog - AIN2 Reference: AIN1 06H
Speed Mode - 0 Digital (Par. 12) No 10H

Speed Mode - 1 Digital (Par. 12) Reference: AIN1 12H
Speed Mode - 2 Digital (Par. 12) Reference: AIN2 11H
Speed Mode - 3 Analog - AIN1 No 30H
Speed Mode - 4 Analog - AIN1 Reference: AIN2 31H
Positioning - 0 Digital (Par. 13) No 50H

Positioning - 1 Digital (Par. 13) Reference: AIN1 52H
Positioning - 2 Digital (Par. 13) Reference: AIN2 51H
Synchronizing - 0 Digital No 90H

Synchronizing - 1 Digital Reference: AIN1 92H
Synchronizing - 2 Digital Reference: AIN2 91H
02: Power Switches
• hexadecimal coding (xx): “ON” = 00H , “OFF” = 01H
03: Analog Torque Limitation
Limitation type Coding

Superior & Inferior Limitation 00H
Superior Limitation 01H
Inferior Limitation 02H
No Limitation 03H

04: Enable Ramps

• hexadecimal coding (xx): “Disable” = 00H , “Enable” = 01H
05: Target Table
• hexadecimal coding (xx): “Not” = 00H , “Yes” = 01H
06: Target Type
Target type Target value Coding

Enable Not available for user 01H
Time Par.31, Target Value 02H
Speed Par.12, Digital Speed Reference 03H
Position Par.13, Position Reference 04H
No Target - FFH
07: Ratio Numerator
• coding (xx): the physical range 1 ÷ 255 corresponds to a hexadecimal range of 01H ÷
FFH
08: Ratio Denominator
• coding (xx): the physical range 1 ÷ 255 corresponds to a hexadecimal range of 01H ÷
FFH
09: Synchro Direction
• hexadecimal coding (xx): No Reverse = 00H , Reverse = 01H
10: Synchro Phase Shift
• coding (xxxx): the physical range -179.9 deg ÷ + 179.9 deg corresponds to a
hexadecimal range of 8001H ÷ 7FFFH
11: Digital Torque Reference


• coding (xxxx): the physical range -T_FS Nm ÷ + T_FS Nm (T_FS torque full scale, see
appendix A.3) corresponds to a hexadecimal range of 8001H ÷ 7FFFH
12: Digital Speed Reference
• coding (xxxx): the physical range -W_FS rpm ÷ + W_FS rpm (W_FS = 7324.2 rpm)
corresponds to a hexadecimal range of 8001H ÷ 7FFFH
13: Position Reference
• data type: long word (4 byte) signed
• reading instruction: &<DD>8E/<CC>; drive response: Yxxxxxxxx/<CC>^
• writing instruction: &<DD>9Exxxxxxxx/<CC>; drive response: Y^
14: Positive Torque Limit
• coding (xxxx): the physical range 0.0 Nm ÷ + T_FS Nm (T_FS = torque full scale, see
appendix A.3) corresponds to a hexadecimal range of 0000H ÷ 7FFFH
15: Negative Torque Limit
• coding (xxxx): the physical range - T_FS Nm ÷ 0.0 Nm (T_FS = torque full scale, see
appendix A.3) corresponds to a hexadecimal range of 8001H ÷ 0000H
16: Maximum Phase Current
• writing instruction: &<DD>2Axxxx/<CC>; drive response: Y^
• coding: the physical range 0.0 ÷ IPEAK Arms ( IPEAK = Converter Peak Current, Par.02
in motor-converter data table) corresponds to a hexadecimal range of 0000H ÷ 7FFFH
17: Maximum Positive Speed
• writing instruction: &<DD>2Bxxxx/<CC>; drive response: Y^
• coding (xxxx): the physical range 0.0 rpm ÷ + W_FS rpm (W_FS = 7324.2 rpm)
corresponds to a hexadecimal range of 0000H ÷ 7FFFH
18: Maximum Negative Speed
• writing instruction: &<DD>2Cxxxx/<CC>; drive response: Y^
• coding (xxxx): the physical range -W_FS rpm ÷ 0.0 rpm (W_FS = 7324.2 rpm)
corresponds to a hexadecimal range of 8001H ÷ 0000H

19: Motor Power Limit

• reading instruction: &<DD>0D/<CC>; drive response: Yxxxx/<CC>^
• writing instruction: &<DD>2Dxxxx/<CC>; drive response: Y^
• coding (xxxx): the physical range 0 W ÷ + P_FS W (P_FS = mechanical power full scale,
see appendix A.3) corresponds to a hexadecimal range of 0000H ÷ 7FFFH
20: Brake Power Limit
• reading instruction: &<DD>0E/<CC>; drive response: Yxxxx/<CC>^
• writing instruction: &<DD>2Exxxx/<CC>; drive response: Y^
• coding (xxxx): the physical range 0 W ÷ + P_FS W (P_FS = mechanical power full scale,
see appendix A.3) corresponds to a hexadecimal range of 0000H ÷ 7FFFH
21: CW Acceleration Ramp
• reading instruction: &<DD>0F/<CC>; drive response: Yxxxx/<CC>^
• writing instruction: &<DD>2Fxxxx/<CC>; drive response: Y^
• the conversion of the ms value (for the user) into the hexadecimal value xxxx (for the
[hexa value] =  20 × W_FS [rpm] 
 ramp [ms]  C2, 15+s
where W_FS = 7324.2 rpm, speed full scale
22: CCW Acceleration Ramp
[hexa value] = − 20 × W_FS[rpm] 
 ramp [ms]  C2,15+s
23: CW Deceleration Ramp
• writing instruction: &<DD>31xxxx/<CC> ; drive response: Y^
• turning of the ms value (for user) into the hexadecimal value xxxx (for drive) is expressed
by the following formula:
[hexa value] = − 20 × W_FS[rpm] 
 ramp [ms]  C2,15+s
24: CCW Deceleration Ramp
[hexa value] =  20 × W_FS [rpm] 
 ramp [ms]  C2, 15+ s

25: Torque Reference Filter

• writing instruction: &<DD>68xx/<CC> ; drive response: Y^
• coding (xx): the physical range 0 ÷ 7 corresponds to a hexadecimal range of 00H ÷ 07H
26: Speed Proportional Gain
• coding (xxxx): the physical range 0 ÷ 16383 corresponds to a hexadecimal range of
0000H ÷ 7FFFH
27: Speed Integral Gain
0000H ÷ 7FFFH
28: Speed FeedForward
0000H ÷ 7FFFH
29: Position Proportional Gain
0000H ÷ 7FFFH
30: Position Integral Gain
0000H ÷ 7FFFH
31: Target Value
• reading instruction: &<DD>8F/<CC>; drive response: Yxxxxxxxx/<CC>^
• writing instruction: &<DD>9Fxxxxxxxx/<CC> ; drive response: Y^
• coding (XXXXxxxx): the physical range 0.000 ÷ 99999.999 sec corresponds to a
hexadecimal range of 00000000H ÷ 05F5E0FFH (0.001 sec is assigned to an LSB)
32: Target Error
0000H ÷ 7FFFH

33: Next Table

• writing instruction: &<DD>3Axxxx/<CC> ; drive response: Y^
• the tables which can be selected and their codings are shown below:
- special user tables:
Special user table Coding

RFO (Ready For Operation) 0000H
Security 0001H
Limit Switch Hardware – Right 0002H
Limit Switch Hardware – Left 0003H
User Stop 0008H
Homing 0009H
Free for further developments -
Jog+ 000BH
Jog- 000CH
Tune 000DH
- 32 general user tables (General Purpose): from general table #0 to general table
#31, with 0020H ÷ 003FH hexadecimal coding

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APPENDIX
A.1 Examples of RS-485 communication protocol usage

Let’s suppose that you work with a drive having the identifier 26 (1AH), prepare 2 operating
modes described through user tables GenP #0 (configured in Speed Mode with digital
reference) and GenP #1 (configured in Positioning Mode) and then launch them one at a
time. The operation in Positioning Mode must follow a homing procedure.
A.1.1 Example of drive status identification and diagnostics
• after the power on of the drive, identify its status:
- send the string: &1AA615/D5 (see section 3.1.2);
• the drive may respond: Y02/02^ ==> FAIL status
• to identify the fault occurred:
- send the string: &1AA62B/EB (see section 3.5.2);
• in case of Fault Resolver (see section 3.5.3), the drive will respond: Y00000040/40^;
• remedy the fault (e.g.: resolver connector disconnected) and select the “Alarm Reset”
command:
- send the string: &1ACE/E8 (see section 3.2.6); the drive response is Y^ (command
accepted)
• identify again the drive status:
- send the string: &1AA615/D5 (see section 3.1.2);
• if the fault has been remedied, the drive will respond: Y00/00^ ==> RFO status (fault
reset)
A.1.2 Example of parameters editor usage
• open the editor to configure the 2 user tables:
- send the string: &1AF0/0A (see section 3.3.1); the command is accepted by the drive
(response Y^)
• load user table GenP #0:
- send the string: &1AFC20/36 (see section 3.3.3); the command is accepted by the drive
(response Y^)
• define the drive operation mode - “Speed Mode - 0 “ through Par. 01, Operating Mode:
- send the string: &1A6010/8A (see section 4.5, Par.01); the command is accepted by the
drive (response Y^)
• define the reference speed (e.g.:1000 rpm) through Par. 12, Digital Speed Reference:
- send the string: &1A27117A/CC (see section 4.5, Par.12); the command is accepted by
the drive (response Y^)
• other parameters (gains, various limitations, ramps, etc.) can be set in the same way
• move to table GenP #1 which is loaded:
- send the string: &1AFC21/37 (see section 3.3.3); the command is accepted by the drive
(response Y^)
• define the drive operating mode - “Positioning - 0 “ through Par. 01, Operating Mode:
- send the string: &1A6050/CA (see section 4.5, Par.01); the command is accepted by the
drive (response Y^)
• define the absolute position to be reached (e.g.: 1000.5 turns) through Par. 13, Position
Reference:
- send the string: &1A9E03E88000/23 (see section 4.5, Par.13); the command is
accepted by the drive (response Y^)
MANSER09.9810 GB - ABB Servomotors S.r.l. Page A.1

Appendix
• load system table #1 to define homing absolute position (e.g.: 900.75 turns) through Par.
07, Home Position:
- send the string: &1AFC09/1F (see section 3.3.2) to load system table #1; the command
is accepted by the drive (response Y^)
- send the string: &1A940384C000/F5 (see section 4.2, Par.07) to set Par. 07, Home
Position; the command is accepted by the drive (response Y^)
• exit the editor, by saving it in EEPROM:
- send the string: &1AF2/0C (see section 3.3.5); the command is accepted by the drive
(response Y^, after about 3 seconds, which is the time required for EEPROM saving)
A.1.3 Example of system management instructions usage
• Select the Start (RUN) command:
- send the string: &1AA1/BB (see section 3.2.1); the command is accepted by the drive
(response Y^)
• the active table will be GenP #0; the motor rotates at 1000 rpm; to stop it, select the
command “Stop”:
- send the string: &1ABF/D9 (see section 3.2.3); the command is accepted by the drive
(response Y^); the motor is therefore stopped and the drive moves back to RFO status
• execute homing procedure:
- send the string: &1AEB/05 (see section 3.2.7), start homing; the command is accepted
by the drive (response Y^)
- the motor rotates at the speed set in the special Homing user table;
- the drive is prompted for the progress state of the procedure: &1AA614/D4 (see section
3.2.7); until the digital input configured as “Home Input” reaches the active level, the drive
response is: Y01/01^ (homing in progress); drive prompt carries on up to when the drive
response is Y02/02^ (homing completed); in this case, the active level of “Home Input”
digital input has been reached, the multiturn position is forced to the Home Position
parameter value and the drive moves back to RFO status; at that moment, the drive is
ready to carry out positioning operations;
• launch the second operating mode, Positioning Mode, configured through the GenP #1
user table; send the command “RUN with table # ...”:
- send the string: &1ADD21/18 (see section 3.2.2); the command is accepted by the drive
(response Y^);
• execute the commanded multiturn positioning; once the reference position (1000.5 turns)
has been reached, the motor remains still in this position, in GO status; to disable the
drive and move it back to RFO status, select again a “Stop” command:
- send the string: &1ABF/D9 (see section 3.2.3); the command is accepted by the drive
(response Y^); the drive is therefore disabled and RFO status is restored.
A.2 Description of RS-232 communication protocol
A.2.1 General features of RS-232 line
• RS-232 serial (asynchronous, unipolar, full-duplex) line is suitable for single-point
communications.
• no hardware handshaking is required
• the protocol is of “master-slave” type: the converter is a “slave” and it only responds to the
prompt of the “master”, usually a PC.
• data format: 1 start bit, 8 data bits, 1 even parity bit and 1 stop bit
• transmission speed can be changed by Par. 24, Baud Rate Serial RS232, in system table
#0; default value: 9600 bits/sec.
• for the RS-232 line, the Echo Mode is used, a procedure by which the command is
retransmitted in echo character by character; in case of communication error (parity error,
illegal character or checksum not verified) the drive responds with ? and it is possible to
Page A.2 ABB Servomotors S.r.l. - MANSER09.9810 GB

Appendix
immediately transmit a new string. If the drive response is ? when an illegal character is
transmitted (for example <space>), the receiver is to be considered reset and it is
possible to send a new instruction.
A.2.2 Command string format
Format on the command string (in ASCII):
*<DD><II><data_field>/<CC>
where:
* = start character of a general command string
<DD> = drive identifier; only the drive where <DD> is the same as its identifier
decodes and executes the string; if <DD> = FF, the instruction is decoded and executed,
independently of the drive identifier
<II> = instruction code
<data_field> = (for some instructions) address and/or hexadecimal value sent to the drive
/<CC> = command string end character / followed by CC checksum of the command
string (256 module sum of byte values of all excluded field * and / ); if = is sent instead of
/<CC>, the checksum is neither transmitted nor verified.
If checksum verifying is required (string ending with /<CC>), the drive response is:
? for checksum not verified;
/ for checksum verified, followed then by the normal drive response, described below.
When the command is accepted by the drive (there is no communication error and the drive
status is suitable for that command), the drive always responds with Y followed, in some
cases, by <data_field>/<CC>
where:
<data_field> = hexadecimal value required by the “master”
/<CC> = response string end character / followed by CC checksum of data
sent by the drive
When the drive does not accept a command (its status is not suitable) its response is N.
A.2.3 Description of RS-232 commands
The RS-485 commands, described in chapter 3, are also valid in RS-232 mode, with the
following differences:
- string start character * for RS-232, while for RS-485 it is &;
- RS-232 does not have the string end character ^ previously existing in the RS-485 drive
response;
- RS-232 Echo Mode was used
- in RS-232, the instructions “Load table...” (see section 2.3.3), after the acceptance
response Y, get the content of the loaded table back: a block of 64 bytes (128 ASCII
characters), followed by its checksum;
- in RS-232 there are no synchronizable commands.
A.2.4 Connection diagram for RS-232 communication
RS-232 serial communication features are shown in Table 2/1, section 2.3.1. As far as the
connection of the 300 & 500 Series BIVECTOR side is concerned, refer to section 2.3.1 and
to Fig. 2-1.
Fig. A-1 shows the general connection diagram for RS-232 communication, between the
BIVECTOR and, for example, a PC.
MANSER09.9810 GB - ABB Servomotors S.r.l. Page A.3

Appendix
TX ( RS232 )
SERIAL 2 2 RS232/RS485
LINE RX ( RS232 )
3 3
GND
5 5
1 SHIELD 1
(Flying) female (Flying) male BIVECTOR

PC 9-pin drawer 9-pin drawer 300
connector connector
Fig. A-1: RS-232 Connection Diagram (PC - BIVECTOR)

A.3 Full scales definitions
A.3.1 Definitions
The values of sizes full scales are used in the conversion (see chapter 4) from physical values
(for the user) to hexadecimal values (for the drive) of some Bivector parameters.
The following full scales are defined:
• W_FS = speed full scale;
- value: W_FS [rpm] = 7324.2, fixed;
- corresponding hexadecimal value: 7FFFH
• I_FS = current full scale
- value: I_FS[A^] = IPEAK[Arms] * 1.4142, where IPEAK is the Converter Peak Current,
Par.02 in motor-converter data table
• λ_FS = flux full scale
- value: λ_FS[Vs^] = Flux Full Scale, Par. 12 in motor-converter data table
- corresponding hexadecimal value: FFFFH
• T_FS = torque full scale
- value: T_FS[Nm] = 1.5 * MOT_PP * λ_FS[Vs^] * I_FS[A^]
- MOT_PP = Motor Pole Pairs, Par. 05 in motor-converter data table
• P_FS = mechanical power full scale
- value: P_FS[W] = T_FS[Nm] * W_FS[rpm] * 0.1047
• Vbus_FS = voltage full scale in the intermediate DC circuit
- value: Vbus_FS[V] = 450 V (if VMAINS = “230 Vrms”) or 800 V (if VMAINS = “400
Vrms”), where VMAINS = Main Supply, Par. 01 in motor-converter data table
- corresponding hexadecimal value: FFFFH
A.3.2 Calculation example
For example: 865.2.30 type motor coupled with the 300 Bivector converter, size 18/36. In the
motor-converter data table, the following parameters are fixed:
Par. 01, Mains Supply = 230 Vrms
Par. 02, Converter Peak Current = 36 Arms
Par. 05, Motor Pole Pairs = 3 pole pairs
Par. 12, Flux Full Scale = 0.311 Vs^
According to these data, the full scales will have the following values:
• W_FS = 7324.2 rpm
• I_FS = 36 * 1.4142 = 50.91 A^
• λ_FS = 0.311 Vs^
• T_FS = 1.5 * 3 * 0.311 * 50.91 = 71.25 Nm
• P_FS = 71.25 * 7324.2 * 0.1047 = 54638 W
• Vbus_FS = 450 V
Page A.4 ABB Servomotors S.r.l. - MANSER09.9810 GB

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DRIVE SYSTEMS

Description of the Serial

ABB Servomotors S.r.l.

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MANSER09.9810 GB - ABB Servomotors S.r.l.

CHAPTER 2 DESCRIPTION OF RS-485 COMMUNICATION PROTOCOL

CHAPTER 3 DESCRIPTION OF RS-485 COMMANDS

CHAPTER 4 PARAMETERS READING/WRITING AND CONVERSION

MANSER09.9810 GB - ABB Servomotors S.r.l. Contents Page 1

Contents Page 2 MANSER09.9810 GB - ABB Servomotors S.r.l.

1.1 Preliminary note

1.2 Usage warnings

1.3 Content of this document

MANSER09.9810 GB - ABB Servomotors S.r.l. Page 1.1

Page 1.2 ABB Servomotors S.r.l. - MANSER09.9810 GB

2.1 General features of RS-485 line

2.2 Format of the command string

MANSER09.9810 GB - ABB Servomotors S.r.l. Page 2.1

2.2.2 Synchronizable commands

Page 2.2 ABB Servomotors S.r.l. - MANSER09.9810 GB

2.3 Connection diagram for RS-485 multipoint communication

MANSER09.9810 GB - ABB Servomotors S.r.l. Page 2.3

Terminals to be used for

Terminals to be used for RS485

Fig. 2-1: Serial Connection Terminals.

RS 485 RS 485 DRIVER RS 485 DRIVER

Twisted Pair NOTE

Fig. 2-2: RS-485 Multipoint Connection Diagram

Page 2.4 ABB Servomotors S.r.l. - MANSER09.9810 GB

3.1 Instructions for the identification of drive status

3.2 Instructions for system management

MANSER09.9810 GB - ABB Servomotors S.r.l. Page 3.1

Special user table Coding

Page 3.2 ABB Servomotors S.r.l. - MANSER09.9810 GB

Y00/00^ - no Homing executed after the drive is powered

3.3 Instructions for parameters editing

MANSER09.9810 GB - ABB Servomotors S.r.l. Page 3.3

3.3.2 Instruction “Read editor status”

Page 3.4 ABB Servomotors S.r.l. - MANSER09.9810 GB

- N^ (command denied) if the editor is closed or the drive is in GO status.

MANSER09.9810 GB - ABB Servomotors S.r.l. Page 3.5

- writing of a byte (dd) to xxxxxxxx address - string to be sent: &<DD>E4xxxxxxxxdd/<CC>;

Page 3.6 ABB Servomotors S.r.l. - MANSER09.9810 GB

MANSER09.9810 GB - ABB Servomotors S.r.l. Page 3.7

3.5.4 Warnings reading command

Page 3.8 ABB Servomotors S.r.l. - MANSER09.9810 GB

4.1 Parameters of system table # 0

Selection Selected tables Used digital inputs Coding

04: Digital Input 1 Configuration

MANSER09.9810 GB - ABB Servomotors S.r.l. Page 4.1

Digital input configuration Coding

Page 4.2 ABB Servomotors S.r.l. - MANSER09.9810 GB

12: Digital Output 1 Configuration

Configuration Meaning Coding

MANSER09.9810 GB - ABB Servomotors S.r.l. Page 4.3

• reading instruction: &<DD>5D/<CC>; drive response: Yxx/<CC>^

Configuration Meaning Full Scale Coding

Page 4.4 ABB Servomotors S.r.l. - MANSER09.9810 GB