Application Tools
CTOLAOIUG, rev 1, 12/1/2015
Applicable Products: Unidrive M200/M201, M300, M400
with SI-Ethernet
Emerson Industrial Automation
Unidrive M200-M400 with SI-Ethernet RSLogixTM 5000 Add-On Instruction User Guide
Introduction
The Add-On Instruction (AOI) was created to expedite and simplify integration of Emerson Control
Techniques Unidrive M products into Rockwell Automation PLC applications. The AOI enables easy
integration of an Emerson Control Techniques drive into the RSLogixTM 5000 programming and
configuration environment, as well as the Logix Architecture by incorporating the drives' controller tags
and user-defined variables into one simple instruction.
1
Emerson Industrial Automation
7078 Shady Oak Road, Eden Prairie, MN 55344
Phone: 800-893-2321
Fax: 952-995-8020
Application Tools
CTOLAOIUG, rev 1, 12/1/2015
Applicable Products: Unidrive M200/M201, M300, M400
with SI-Ethernet
Features and Functionality
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Speed Mode
o Change speed reference in Hz
o Command forward/reverse direction
o Change acceleration and deceleration rates
o Minimum and maximum speed clamps
Jogging
o Change jog reference in Hz
o Command forward/reverse direction
o Change jog acceleration and deceleration rates
Status
o Motor voltage
o Actual speed in Hz
o Motor current
o Motor power (kW and hp)
o Percentage load
o Overload accumulator
o Drive fault and error codes
o Alarms
o Motor rotation direction
o Supply loss
Diagnostics
o Heatsink temperature
o Inverter IGBT temperature
o Drive error codes
Current Limit Control – Motoring and Regenerative
Auto/Manual Selection for Network or Terminal Strip Control and Reference
Application Tools
CTOLAOIUG, rev 1, 12/1/2015
Applicable Products: Unidrive M200/M201, M300, M400
with SI-Ethernet
Requirements
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One of the following Emerson Control Techniques drives:
o Unidrive M200/M201, M300, M400 frame size 2 and above
o SI-Ethernet option module with firmware V01.04.02.08 or greater
Emerson Industrial Automation Unidrive M Connect software
o Unidrive M Connect V02.05.01.0 or greater
Emerson Control Techniques Add-On Instruction for the Unidrive M200-M400
Emerson Control Techniques Unidrive M Connect M200-M400 macro file
Allen-Bradley ControlLogix or CompacLogix PLC with Ethernet interface
Allen-Bradley RSLogixTM 5000 version 16 or higher
Ethernet connections between Allen-Bradley PLC and Unidrive M200-M400 with SI-Ethernet
OPTIONAL: CT-USB-CABLE and AI-485-ADAPTOR if needing to update firmware
Unidrive M I/O Wiring
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DI/O 2 – Drive Enable
STO 1 – Drive Safe Torque Off
STO 2 – Drive Safe Torque Off
M200/M201 – Terminal 11
M300, M400 – Terminals 31/34 (frames 1 to 4)
M300, M400 – Terminals 31/35 (frames 5 to 9)
Note: 0 V common on external 24 V dc power supply must be connected to drive 0 V common
Setup Overview
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Set mode and region to Open-Loop and 60 Hz. NOTE: AOI will not function in RFC-A mode.
Configure motor parameters for your particular motor
Use the keypad (M200-M300 onboard, M400 needs CI-KEYPAD-LCD) to test motor operation
Disable the drive and download the M200-M400 macro file to the Unidrive M drive
Save the parameters in the drive
Configure the Allen-Bradley PLC Ethernet/IP interface to the Emerson Control Techniques drive
using RSLogixTM 5000. See below for more information.
Import the Control Techniques Add-On Instruction into your PLC program using RSLogixTM 5000
Create a Tag with the Data Type Unidrive_M
Insert the Add-On Instruction into your PLC program. There are only 3 required fields when
inserting the instruction: Tag created for AOI Data Type in the previous step, Out_ToDrive
(Ethernet Output Array Data), and Inp_FromDrive (Ethernet Input Array Data)
Test the drive system using the Run/Jog command
Write your application logic using the pre-defined data structures. See below for more
information.
Application Tools
CTOLAOIUG, rev 1, 12/1/2015
Applicable Products: Unidrive M200/M201, M300, M400
with SI-Ethernet
Emerson Control Techniques Supplied Items
Macro File .macro
AOI File .L5X
Example PLC Logic .ACD
Unidrive_M200_M400_Macro
Unidrive_M200_M400_AOI
L61vxx_M200_M400_AOI_OpenLoop
Application Tools
CTOLAOIUG, rev 1, 12/1/2015
Applicable Products: Unidrive M200/M201, M300, M400
with SI-Ethernet
Setting up the Unidrive M200-M400
Checking Firmware Versions and Updating Firmware:
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Build a new project by scanning the Ethernet network. SI-Ethernet must be installed. Go
Online with the drive and click Change Firmware. (Pop-up window will be grayed out with
“This tool can only be used when connected to the comms ports on the front of the drive.”)
o The current versions of firmware are displayed in the upper left of pop-up window
o Need drive firmware V01.04.03.04 or greater and SI-Ethernet firmware
V01.04.02.08 or greater
o Update firmware if required
If firmware update is required, close out of the current project and re-open Unidrive M
Connect. Connect Unidrive M with an AI-485-ADAPTOR and CT-USB-CABLE to PC USB port.
Build a Project by Scanning serial RTU network. (Cannot update the Unidrive M200-M400
or SI-Ethernet firmware over SI-Ethernet connection)
Go Online with the drive and click Change Firmware
o Browse to select the current Drive, Power board, and SI-Ethernet firmware. Click
Next. The current versions of firmware can be downloaded from the Control
Techniques website: (http://www.emersonindustrial.com/enUS/controltechniques/downloads/firmware/Pages/firmware.aspx)
Save parameters in drive from the Unidrive M Connect Dashboard
Repeat above steps for each drive
Setting the Drive IP Address:
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Setup PC to obtain IP address automatically. Unidrive M has DHCP enabled by default.
Using Unidrive M Connect Build a Project by scanning the Ethernet network
Go Online with the drive
Disable DHCP by setting SI-Ethernet parameter 1.02.005 to “Off”
Set desired IP address in SI-Ethernet parameter 1.02.006 (default is 192.168.1.100)
Click Save parameters in drive from the Dashboard
Turn “On” drive parameter 15.007 to reset Ethernet and update to newly assigned IP
address. This parameter will turn back “Off” when reset is complete. Verify that the drive
has the newly assigned IP address by checking Active IP Address in parameter 15.011.
Repeat above steps for each drive
Close Unidrive M Connect project
Change PC IP address to be on the same sub-network as the drive IP address
Build a Project by scanning the Ethernet network
Application Tools
CTOLAOIUG, rev 1, 12/1/2015
Applicable Products: Unidrive M200/M201, M300, M400
with SI-Ethernet
Configure Drive Using Unidrive M Connect:
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Go Online with the drive
Click Set mode and region and select Open-Loop and 60 Hz
Use Unidrive M Connect Dashboard to Rename drive if desired
Setup motor data in parameter Menu 5 or with Motor Setup in the Setup Wizards
o Enter motor Rated Current
o Enter motor Rated Voltage
o Enter motor Rated Speed
o Enter motor Rated Power Factor
Click Send to drive if using the Motor Setup Wizard and Save parameters in drive
Run Autotune (no load attached to motor):
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Go Online with the drive
Set parameter 5.012 to “2” or use Autotune Wizard from the Dashboard
Enable the drive
Turn on parameter 6.034 “Run” to perform an Autotune. This will take several seconds.
Turn off parameter 6.034 and disable the drive
Save parameters in the drive
Testing Drive and Motor Setup (no load attached to motor):
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Use Unidrive M Connect and go Online with the drive
Set parameter 1.014 “Reference Selector” to Preset
Enter 10.00 Hz in parameter 1.021 “Preset Reference 1”
Enable the drive
Turn on parameter 6.034 and motor should rotate at 10.00 Hz
Download AOI Macro File:
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Load macro file into Unidrive M Connect software
o Right click on Macro Files folder and select “Add Files…”
o Navigate to the Unidrive_M200_M400_Macro macro file
Right click on added Unidrive_M200_M400_Macro macro file and download file to drive
o Ignore any warning messages
Save parameters in drive
Cycle power to the drive
Application Tools
CTOLAOIUG, rev 1, 12/1/2015
Applicable Products: Unidrive M200/M201, M300, M400
with SI-Ethernet
Setup the PLC Program using RSlogixTM 5000
Configuring the Ethernet Communication to the Unidrive M:
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Using RSLogixTM 5000, right click Ethernet in the Project Tree and click New Module
Scroll down to ETHERNET-MODULE to add a Generic Ethernet Module to the Ethernet
network. This will be your Unidrive M200-M400. Click Create.
Using RSLogixTM 5000, setup the Ethernet module Name (use a descriptive name i.e
Unidrive_M200_M400), IP address (default IP Address for the drive i.e 192.168.1.100) and
connection parameters. Click OK.
Connection parameters must be identical to Figure 2. See example screens below.
o Input:
 Assembly Instance = 100 and Size = 16
o Output:
 Assembly Instance = 101 and Size = 16
o Configuration:
 Assembly Instance =1 and Size = 0
Figure 1: Generic Ethernet Module (Unidrive M200-M400)
Application Tools
CTOLAOIUG, rev 1, 12/1/2015
Applicable Products: Unidrive M200/M201, M300, M400
with SI-Ethernet
Figure 2: Generic Ethernet Module Setup (Unidrive M200-M400)
Import Add-On Instruction into PLC Program:
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Right Click on the Add-On-Instructions folder in the Project Tree
Browse to and select Unidrive_M200_M400_AOI.L5X file. Click Import.
Drag the Unidrive_M200_M400_AOI into your main program
Create a Tag for AOI Data Type (i.e. Drive_1)
Enter Inp_FromDrive data (Unidrive_M200_M400:I.Data)
Enter Out_ToDrive data (Unidrive_M200_M400:O.Data)
o For xxx:I.Data and xxx:O.Data, xxx = Generic Ethernet Module Name (i.e.
Unidrive_M200_M400)
Application Tools
CTOLAOIUG, rev 1, 12/1/2015
Applicable Products: Unidrive M200/M201, M300, M400
with SI-Ethernet
Figure 3: Unidrive M200-M400 Add-On Instruction
Creating the Application Logic:
AOI Variable Nomenclature:
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Variables with “Cfg” prefix are read/write system configuration setup data
Variables with “Sts” prefix are read only status information. Examples are: At Set Speed,
Error Code, Drive Active, etc.
Variables with “Set” prefix are read/write control word information. Examples are: Jog
Speed, Jog Accel, Jog Decel, etc.
Variables with “Cmd” prefix are read/write command bits. Examples are: JogRev, JogFwd,
DriveEnable, etc.
Notes:
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Most data words have implied decimal points
9
Emerson Industrial Automation
7078 Shady Oak Road, Eden Prairie, MN 55344
Phone: 800-893-2321
Fax: 952-995-8020
Application Tools
CTOLAOIUG, rev 1, 12/1/2015
Applicable Products: Unidrive M200/M201, M300, M400
with SI-Ethernet
Figure 4: Example Project
Figure 5: Example Jog Logic
Figure 6: Example Network (Auto)/Terminal (Manual) Control
Application Tools
CTOLAOIUG, rev 1, 12/1/2015
Applicable Products: Unidrive M200/M201, M300, M400
with SI-Ethernet
Network/Terminal Control
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Drive control can be initiated either over a network (default) or via the drive terminals.
o Cmd_AutoManual command
In network control, run and speed commands initiated through RSLogix program
In terminal control, run and speed commands initiated through drives digital and analog inputs
Testing PLC Logic
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Connect the PLC, Unidrive M200-M400 with SI-Ethernet and PC via Ethernet
Download the RSLogixTM 5000 program to the Allen-Bradley PLC
Check status of the communications between PLC and Unidrive M (I/O and OK LEDs are solid
green)
Enable the Unidrive M (keypad should read rdy (Ready), if keypad reads inh (Inhibit) enable
drive/STO input)
In the Unidrive_M200_M400_AOI:
o Enter Jog Speed (Hz). Set_JogSpeedHz = 10.0
o Enter Jog Acceleration (sec). Set_JogAccel = 2.0
o Enter Jog Deceleration (sec). Set_JogDecl = 2.0
o Turn on Jog Forward. Cmd_JogForward = 1
Motor should now rotate at 10.0 Hz
For Network/Terminal Control, create an Auto/Manual rung similar to Figure 6 above
o Toggle bit so that Cmd_AutoManual is closed (this enables terminal control). Network
control is enabled by default (Cmd_AutoManual bit is open)
o With default drive digital input mapping designations, enable DI 2/STO and DI3 Run
Forward
o Drive will now run via Analog Input 1 control (potentiometer)
Create project rungs of code similar to figures above or reference sample projects (available for
download from Control Techniques website: http://www.emersonindustrial.com/enUS/controltechniques/products/software/plc/Pages/plc.aspx)
Application Tools
CTOLAOIUG, rev 1, 12/1/2015
Applicable Products: Unidrive M200/M201, M300, M400
with SI-Ethernet
Troubleshooting
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Make sure drive is enabled. Keypad reads rdy, if keypad reads inh enable drive. Digital I/O 2,
terminal 11 for M200/M201. STO input, terminals 31/34 or 31/35 for M300 and M400.
Make sure drive is not tripped
Motor data setup is correct
Macro file has been downloaded and saved to drive
Check Input assembly object size parameter 1.20.020 is 64 bytes
Check Output assembly object size parameter 1.20.021 is 64 bytes
Check that SI-Ethernet Menus 1.21 and 1.22 have values loaded into mapping parameters
o Menu 1.21 should have 16 input mapping parameters
o Menu 1.22 should have 16 output mapping parameters
Check the drive active IP address in parameter 15.010. This should be the same IP address as
the Generic Ethernet Module in RSLogixTM 5000.
Ethernet Connection Parameters are correct (Figure 2 above). I/O LED should be solid green. If
blinking green, this is a good indicator that these are wrong. Try cycling power to the drive.
Drive Control Word is Enabled (parameter 6.043)
Monitor drive Control Word (parameter 6.042) Out_ToDrive Word 0
Monitor drive Status Word (parameter 10.040) In_FromDrive Word 0
Make sure there are no errors in the RSLogixTM 5000 program (tags have been created, data
types, ect.)
Check Sts_ErrorCode in Unidrive M Connect
Check whether in terminal or network control Out_ToDrive Word 0 Bit 7
Application Tools
CTOLAOIUG, rev 1, 12/1/2015
Applicable Products: Unidrive M200/M201, M300, M400
with SI-Ethernet
Appendix A - PLC AOI Parameters
Name
Usage
Data
Type
Default
Value
Units
Description
Inp_FromDrive
InOut
DINT[16]
Comms Data from Drive
Out_ToDrive
InOut
DINT[16]
Comms Data to Drive
Cfg_DriveMinHZ
Input
REAL
0
Hz
Minimum Reference Clamp
Cfg_DriveMaxHZ
Input
REAL
60
Hz
Maximum Reference Clamp
Cfg_DriveMaxCurrentLimitPct
Input
REAL
150
%
Symmetrical Current Limit
Cfg_MotoringCurrLim
Input
REAL
150
%
Motoring Current Limit
Cfg_RegenCurrLim
Input
REAL
150
%
Regen Current Limit
Set_RunSpeedHZ
Input
REAL
40
Hz
Preset Reference
Set_RunAccel
Input
REAL
2
Sec
Acceleration Rate
Set_RunDecel
Input
REAL
2
Sec
Deceleration Rate
Set_JogSpeedHZ
Input
REAL
1.5
Hz
Jog Reference
Set_JogAccel
Input
REAL
2
Sec
Jog Acceleration Rate
Set_JogDecel
Input
REAL
2
Sec
Jog Deceleration Rate
Cfg_Ref_Select
Input
DINT
Reference Selector
Cmd_RunForward
Input
BOOL
Command Run Forward
Cmd_AutoManual
Input
BOOL
Cmd_RunReverse
Input
BOOL
Command Run Reverse
Cmd_JogForward
Input
BOOL
Command Jog Forward
Cmd_JogReverse
Input
BOOL
Command Jog Reverse
Cmd_DriveEnable
Input
BOOL
Command Drive Enable
Cmd_FaultReset
Auto
Auto-Network Control, Manual-Terminal Control
Input
BOOL
Sts_ActualSpeedHZ
Output
REAL
Hz
Command Fault Reset
Post Ramp Reference
Sts_ActualCurrent
Output
REAL
A
Current Magnitude
Sts_PercentLoad
Output
REAL
%
Percentage Load
Sts_OverloadAccum
Output
REAL
%
Motor Protection Accumulator
Sts_ActualMotorVoltage
Output
DINT
V
Output Voltage
Sts_ActualMotorkW
Output
REAL
kW
Output Power
Sts_ActualMotorHP
Output
REAL
hp
Output Power
Sts_DriveHeatsinkTemp
Output
DINT
C
Stack Temperature
Sts_TempAccumulator
Output
DINT
%
Percentage of d.c. Link Thermal Trip Level
Sts_DriveIGBTTemp
Output
DINT
C
Inverter Temperature
Sts_DrivePwrCircuit2Temp
Output
DINT
C
Auxiliary Temperature
Sts_DrivePwrCircuit3Temp
Output
DINT
%
Percentage of Drive Thermal Trip Level
Sts_DriveStatus
Output
DINT
Status Word
Application Tools
CTOLAOIUG, rev 1, 12/1/2015
Applicable Products: Unidrive M200/M201, M300, M400
with SI-Ethernet
Sts_DriveIOStatus
Output
DINT
Digital I/O Read Word
Sts_AtOrBelowMinSpd
Output
BOOL
Running at or Below Min Frequency
Sts_BelowSetSpd
Output
BOOL
Below Set Frequency
Sts_AboveSetSpd
Output
BOOL
Above Set Frequency
Sts_LoadReached
Output
BOOL
Rated Load Reached
Sts_Regening
Output
BOOL
Regenerating
Sts_DBActive
Output
BOOL
Braking IGBT Active
Sts_DBAlarm
Output
BOOL
Braking Resistor Alarm
Sts_CMDForward
Output
BOOL
Forward Direction Commanded
Sts_CMDReverse
Output
BOOL
Reverse Direction Commanded
Sts_RunningForward
Output
BOOL
Forward Direction Running
Sts_RunningReverse
Output
BOOL
Reverse Direction Running
Sts_DriveActive
Output
BOOL
Drive Active
Sts_AtZeroSpeed
Output
BOOL
Zero Frequency
Sts_AtSetSpd
Output
BOOL
At Frequency
Sts_InCurrentLimit
Output
BOOL
Current Limit Active
Sts_InputPowerLoss
Output
BOOL
Supply Loss
Sts_DriveOK
Output
BOOL
Drive Healthy
Sts_DriveFlt
Output
BOOL
Drive Healthy
Sts_ErrorCode
Output
DINT
Trip 0
Sts_LastFault
Output
DINT
Trip 0
Set_DriveInputWord1
Input
DINT
Application Menu 1 Read-write Integer 13
Set_DriveInputWord2
Input
DINT
Application Menu 1 Read-write Integer 14
Sts_DriveOutputWord1
Output
DINT
Application Menu 1 Read-write Integer 11
Sts_DriveOutputWord2
Output
DINT
Application Menu 1 Read-write Integer 12
Input
BOOL
Command Trip
Cmd_ForceDriveTrip
Application Tools
CTOLAOIUG, rev 1, 12/1/2015
Applicable Products: Unidrive M200/M201, M300, M400
with SI-Ethernet
Appendix B – Ethernet IP Cyclic Data Interface
Cyclic Data from Drive (Inp_FromDrive)
Word (32-Bit)
Direct AOI Tag
Unidrive M
Parameter
Notes
Word 0
Sts_DriveStatus
10.040
Status Word
Word 0 Bit 0
Sts_DriveOK
10.001
Drive Healthy
Word 0 Bit 1
Sts_DriveActive
10.002
Drive Active
Word 0 Bit 2
Sts_AtZeroSpeed
10.003
Zero Frequency
Word 0 Bit 3
Sts_AtOrBelowMinSpd
10.004
Running at or Below Min Frequency
Word 0 Bit 4
Sts_BelowSetSpd
10.005
Below Set Frequency
Word 0 Bit 5
Sts_AtSetSpd
10.006
At Frequency
Word 0 Bit 6
Sts_AboveSetSpd
10.007
Above Set Frequency
Word 0 Bit 7
Sts_LoadReached
10.008
Rated Load Reached
Word 0 Bit 8
Sts_InCurrentLimit
10.009
Current Limit Active
Word 0 Bit 9
Sts_Regening
10.010
Regenerating
Word 0 Bit 10
Sts_DBActive
10.011
Braking IGBT Active
Word 0 Bit 11
Sts_DBAlarm
10.012
Braking Resistor Alarm
Word 0 Bit 12
Sts_CMDReverse
10.013
Reverse Direction Commanded
Word 0 Bit 13
Sts_RunningReverse
10.014
Reverse Direction Running
Word 0 Bit 14
Sts_InputPowerLoss
10.015
Supply Loss
Word 1
Sts_ErrorCode
10.020
Trip 0
Word 2
Sts_ActualMotorVoltage
5.002
Output Voltage
Word 3
Sts_ActualMotorHP
5.003
Output Power
Word 4
Sts_ActualSpeedHZ
2.001
Post Ramp Reference
Word 5
Sts_ActualCurrent
4.001
Current Magnitude
Word 6
Sts_OverloadAccum
4.019
Motor Protection Accumulator
Word 7
Sts_PercentLoad
4.020
Percentage Load
Word 8
Sts_DriveHeatsinkTemp
7.004
Stack Temperature
Word 9
Sts_DrivePwrCircuit2Temp
7.005
Auxiliary Temperature
Word 10
Sts_DriveIGBTTemp
7.034
Inverter Temperature
Word 11
Sts_TempAccumulator
7.035
Percentage of d.c. Link Thermal Trip Level
Word 12
Sts_DrivePwrCircuit3Temp
7.036
Percentage of Drive Thermal Trip Level
Word 13
Sts_DriveIOStatus
8.020
Digital I/O Read Word
Word 13 Bit 0
8.001
DI/O 1
Word 13 Bit 1
8.002
DI/O 2
Application Tools
CTOLAOIUG, rev 1, 12/1/2015
Applicable Products: Unidrive M200/M201, M300, M400
with SI-Ethernet
Word 13 Bit 2
8.003
DI 3
Word 13 Bit 3
8.004
DI 4
Word 13 Bit 4
8.005
DI 5
Word 13 Bit 5
8.006
DI 6
Word 13 Bit 6
8.007
DI 7
Word 13 Bit 7
8.039
STO 1
Word 13 Bit 8
8.040
STO 2
Word 13 Bit 9
8.008
RLY 1
Word 13 Bit 10
RLY 2
Word 14
Sts_DriveOutputWord1
18.011
Application Menu 1 Read-write Integer 11
Word 15
Sts_DriveOutputWord2
18.012
Application Menu 1 Read-write Integer 12
Application Tools
CTOLAOIUG, rev 1, 12/1/2015
Applicable Products: Unidrive M200/M201, M300, M400
with SI-Ethernet
Cyclic Data from Drive (Out_ToDrive)
Word (32-Bit)
Direct AOI Tag
Word 0
Unidrive M
Parameter
Notes
6.042
Control Word
Word 0 Bit 0
Cmd_DriveEnable
6.015
Drive Enable
Word 0 Bit 1
Cmd_RunForward
6.030
Run Forward
Word 0 Bit 2
Cmd_JogForward
6.031
Jog Forward
Word 0 Bit 3
Cmd_RunReverse
6.032
Run Reverse
Word 0 Bit 4
6.033
Forward/Reverse
Word 0 Bit 5
6.034
Run
Word 0 Bit 6
6.039
Not Stop
Word 0 Bit 7
Cmd_AutoManual
Auto/Manual
Word 0 Bit 8
Cmd_AutoManual
Analog/Preset Reference
Word 0 Bit 9
Cmd_JogReverse
Word 0 Bit 10
Unused
Not Used
Word 0 Bit 11
Unused
Not Used
Word 0 Bit 12
Cmd_ForceDriveTrip
Trip Drive
Word 0 Bit 13
Cmd_FaultReset
Reset Drive
Word 0 Bit 14
Unused
Watchdog
Word 1
6.037
Jog Reverse
6.043
Control Word Enable
Word 2
Set_RunAccel
2.011
Acceleration Rate 1
Word 3
Set_RunDecel
2.021
Deceleration Rate 1
Word 4
Set_RunSpeedHZ
1.021
Preset Reference 1
Word 5
Cfg_Ref_Select
1.014
Reference Selector
Word 6
Set_DriveInputWord2
18.014
Application Menu 1 Read-write Integer 14
Word 7
Set_JogSpeedHZ
1.005
Jog Reference
Word 8
Set_JogAccel
2.019
Jog Acceleration Rate
Word 9
Set_JogDecel
2.029
Jog Deceleration Rate
Word 10
Set_DriveInputWord1
18.013
Application Menu 1 Read-write Integer 13
Word 11
Cfg_DriveMinHZ
1.007
Minimum Reference Clamp
Word 12
Cfg_DriveMaxHZ
1.006
Maximum Reference Clamp
Word 13
Cfg_DriveMaxCurrentLimitPct
4.007
Symmetrical Current Limit
Word 14
Cfg_MotoringCurrLim
4.005
Motoring Current Limit
Word 15
Cfg_RegenCurrLim
4.006
Regen Current Limit