# Menu 1 − Speed References

Mode: RFC‑A

Parameter | 01.001 Reference Selected
--- | ---
Short description | Displays the basic reference selected from the available sources
Mode | RFC‑A
Minimum | −VM_SPEED_FREQ_REF | Maximum | VM_SPEED_FREQ_REF
Default |  | Units |
Type | 32 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 1
Coding | RO, VM, ND, NC, PT

Reference Selected (01.001) is the basic reference selected from the available sources including the effect of the reference offset.

Parameter | 01.002 Pre-skip Filter Reference
--- | ---
Short description | Displays the level of the reference after the reference clamps
Mode | RFC‑A
Minimum | −VM_SPEED_FREQ_REF | Maximum | VM_SPEED_FREQ_REF
Default |  | Units |
Type | 32 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 1
Coding | RO, VM, ND, NC, PT

Pre-skip Filter Reference (01.002) is the level of the reference after the reference clamps but before the skip filters.

Parameter | 01.003 Pre-ramp Reference
--- | ---
Short description | Displays the final output from the Menu 1 reference system
Mode | RFC‑A
Minimum | −VM_SPEED_FREQ_REF | Maximum | VM_SPEED_FREQ_REF
Default |  | Units |
Type | 32 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 1
Coding | RO, VM, ND, NC, PT

The Pre-ramp Reference (01.003) is the final output from the Menu 1 reference system that is fed into the Menu 2 ramp system.

Parameter | 01.004 Reference Offset
--- | ---
Short description | Defines the the offset applied to the reference
Mode | RFC‑A
Minimum | −VM_SPEED_FREQ_REF | Maximum | VM_SPEED_FREQ_REF
Default | 0.0 | Units |
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 1
Coding | RW, VM

If Reference Offset Select (01.009) = 0 then Reference Selected (01.001) is the selected reference multiplied by [1 + (Percentage Trim (01.038) / 100.00)]. If Reference Offset Select (01.009) = 1 then the Reference Offset (01.004) is added to the selected reference to give Reference Selected (01.001).

Parameter | 01.005 Jog Reference
--- | ---
Short description | Defines the reference when jog is enabled
Mode | RFC‑A
Minimum | 0.0 | Maximum | 4000.0
Default | 0.0 | Units |
Type | 16 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 1
Coding | RW, BU

The Jog Reference (01.005) is selected when Jog Select (01.013) = 1. Jog Select (01.013) is controlled by the drive sequencer (see Menu 6).

Parameter | 01.006 Maximum Reference Clamp
--- | ---
Short description | Defines the maximum value for the reference
Mode | RFC‑A
Minimum | −VM_POSITIVE_REF_CLAMP1 | Maximum | VM_POSITIVE_REF_CLAMP1
Default | See exceptions below | Units |
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 1
Coding | RW, VM

Region | Default Value
50Hz | 1500.0
60Hz | 1800.0

Maximum Reference Clamp (01.006) provides a limit on the maximum frequency or speed. (If Select Motor 2 Parameters (11.045) = 1 then M2 Maximum Reference Clamp (21.001) is used instead.)

Parameter | 01.007 Minimum Reference Clamp
--- | ---
Short description | Defines the minimum value for the reference
Mode | RFC‑A
Minimum | −VM_NEGATIVE_REF_CLAMP1 | Maximum | VM_NEGATIVE_REF_CLAMP1
Default | 0.0 | Units |
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 1
Coding | RW, VM

If Negative Reference Clamp Enable (01.008) = 1 then Minimum Reference Clamp (01.007) is forced to be a negative value and is applied to the final reference as the negative limit. If Negative Reference Clamp Enable (01.008) = 0 then -Maximum Reference Clamp (01.006) is applied to the final reference as the negative limit. (If Select Motor 2 Parameters (11.045) = 1 then M2 Minimum Reference Clamp (21.002) is used instead.)

The minimum reference clamp is also used to provide the minimum speed limit for uni-polar mode (i.e. Bipolar Reference Enable (01.010) = 0) after the Reference Selected (01.001).

Parameter | 01.008 Negative Reference Clamp Enable
--- | ---
Short description | Set to 1 to allow the minimum reference clamp value to be negative
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

See Minimum Reference Clamp (01.007).

Parameter | 01.009 Reference Offset Select
--- | ---
Short description | Enables the use of the reference offset
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW

See Reference Offset (01.004).

Parameter | 01.010 Bipolar Reference Enable
--- | ---
Short description | Enables the minimum value of the reference to be negative
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW

See Minimum Reference Clamp (01.007).

Parameter | 01.011 Reference On
--- | ---
Short description | Indicates that the reference from the reference system is active
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 2ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

Reference On (01.011), which is controlled by the drive sequencer (see Menu 6) indicates that the reference from the reference system is active. Note that Reference On (01.011) is also used in RFC-A and RFC-S modes to enable and disable the Hard Speed Reference (03.022).

Parameter | 01.012 Reverse Select
--- | ---
Short description | Indicates when the reverse function is active
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 2ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

Reverse Select (01.012), which is controlled by the drive sequencer (see Menu 6), is used to invert Reference Selected (01.001) or the Jog Reference (01.005).

Parameter | 01.013 Jog Select
--- | ---
Short description | Indicates when the jog function is active
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 2ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

Jog Select (01.013), which is controlled by the drive sequencer (see Menu 6), is used to select the Jog Reference (01.005).

Parameter | 01.014 Reference Selector
--- | ---
Short description | Defines the source for the references
Mode | RFC‑A
Minimum | 0 | Maximum | 6
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | A1 A2
1 | A1 Preset
2 | A2 Preset
3 | Preset
4 | Keypad
5 | Precision
6 | Keypad Ref

Reference Selector (01.014) defines how Reference Selected Indicator (01.049) is derived. If Reference Selector (01.014) is not 0 then Reference Selected Indicator (01.049) is equal to Reference Selector (01.014). If Reference Selector (01.014) = 0 then Reference Selected Indicator (01.049) is controlled by the reference select flags as shown below. The higher numbered flags have priority over the lower numbered flags.

Reference select flag states | Reference Selected Indicator (01.049)
All reference select flags equal to 0 | 1
Reference Select Flag 1 (01.041) = 1 | 2
Reference Select Flag 2 (01.042) = 1 | 3
Reference Select Flag 3 (01.043) = 1 | 4
Reference Select Flag 4 (01.044) = 1 | 5

Preset Selector (01.015) defines how Preset Selected Indicator (01.050) is derived as shown below.

Preset Selector (01.015) | Preset Selected Indicator (01.050)
0 | Controlled by the preset select flags ( 01.045 to 01.047)
1 | 1
2 | 2
3 | 3
4 | 4
5 | 5
6 | 6
7 | 7
8 | 8
9 | Controlled by the preset reference selector timer (see Preset Selector Timer (01.016))

When Preset Selector (01.015) = 0 then Preset Selected Indicator (01.050) is defined by the preset select flags as shown below.

Preset Select Flag 3 (01.047) | Preset Select Flag 2 (01.046) | Preset Select Flag 1 (01.045) | Preset Selected Indicator (01.050)
0 | 0 | 0 | 1
0 | 0 | 1 | 2
0 | 1 | 0 | 3
0 | 1 | 1 | 4
1 | 0 | 0 | 5
1 | 0 | 1 | 6
1 | 1 | 0 | 7
1 | 1 | 1 | 8

Reference Selected Indicator (01.049) and Preset Selected Indicator (01.050) then define the reference to be used as shown below.

Reference Selected Indicator (01.049) | Preset Selected Indicator (01.050) | Reference
1 | 1 | Analog Reference 1 (01.036)
1 | >1 | Preset reference defined by the value of Preset Selected Indicator (01.050)
2 | 1 | Analog Reference 2 (01.037)
2 | >1 | Preset reference defined by the value of Preset Selected Indicator (01.050)
3 | x | Preset reference defined by the value of Preset Selected Indicator (01.050)
4 | x | Keypad Control Mode Reference (01.017)
5 | x | Precision Reference Coarse (01.018) and Precision Reference Fine (01.019)
6 | x | Keypad Control Mode Reference (01.017)

If Reference Selected Indicator (01.049) = 4 the Keypad Control Mode Reference (01.017) is used and the sequencer operates in keypad mode where the start, stop and optionally the reverse selection functions are provided from the drive keypad. Jog Select (01.013) and Speed Feed-forwards Select (01.040) are always 0 when keypad mode is active.

If Reference Selected Indicator (01.049) = 6 the Keypad Control Mode Reference (01.017) is used, but keypad control mode is not active.

Parameter | 01.015 Preset Selector
--- | ---
Short description | Defines which preset is used for the reference
Mode | RFC‑A
Minimum | 0 | Maximum | 9
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW

See Reference Selector (01.014).

Parameter | 01.016 Preset Selector Timer
--- | ---
Short description | Defines the time between changes of preset selector
Mode | RFC‑A
Minimum | 0.0 | Maximum | 400.0
Default | 10.0 | Units | s
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 1
Coding | RW

If Preset Selector (01.015) = 9 then Preset Selected Indicator (01.050) is incremented by one at intervals defined by Preset Selector Timer (01.016). When Preset Selected Indicator (01.050) has a value of 8 and is incremented it rolls over to 1. If Preset Selector Timer Reset (01.048) = 1 and Preset Selector (01.015) = 9, then Preset Selected Indicator (01.050) is held at 1.

Parameter | 01.017 Keypad Control Mode Reference
--- | ---
Short description | Defines the value of the keypad reference
Mode | RFC‑A
Minimum | −VM_SPEED_FREQ_KEYPAD_REF | Maximum | VM_SPEED_FREQ_KEYPAD_REF
Default | 0.0 | Units |
Type | 32 Bit Power Down Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 1
Coding | RO, VM, NC, PT

Keypad control mode is active if the Reference Selected Indicator (01.049) is 4 or 6. The value of this parameter is controlled by the reference selector system and whether Hand/Off/Auto mode is selected (see Hand/Off/Auto Operating Mode (01.052)). If keypad control is selected the frequency/speed reference is defined by Keypad Control Mode Reference (01.017) which is a read-only parameter. The parameter can only be adjusted by pressing the Up or Down keys when the keypad is in Status Mode and only when keypad control mode is active. Holding the Up or down keys auto-increments or decrements Keypad Control Mode Reference (01.017), and the rate of adjustment increases the longer the key is held. Keypad Control Mode Reference (01.017) can be adjusted whether the drive is enabled or not, and can be retained at power-down if required (see Power-up Keypad Control Mode Reference (01.051)).

If the Reference Selected Indicator (01.049) is 6 then the normal drive sequencer is used and the run commands are derived from the sequencer control bit parameters. If Reference Selected Indicator (01.049) is 4 then the keypad control sequencer is used and the drive run commands are derived using keys on the keypad. If the keypad control sequencer is active the Stop and Run keys automatically become active and the Auxilliary key may be optionally enabled as the reverse key with Enable Auxiliary Key (06.013).

Parameter | 01.018 Precision Reference Coarse
--- | ---
Short description | Defines the value of the coarse precision reference
Mode | RFC‑A
Minimum | −VM_SPEED_FREQ_REF | Maximum | VM_SPEED_FREQ_REF
Default | 0.0 | Units |
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 1
Coding | RW, VM

The Precision Reference Coarse (01.018) and Precision Reference Fine (01.019) can be combined to provide a reference with a precision of 3 decimal places. The precision reference value is given by Precision Reference Coarse (01.018) + Precision Reference Fine (01.019), therefore Precision Reference Fine (01.019) increases positive values of Precision Reference Coarse (01.018) away from zero, and negative values of Precision Reference Coarse (01.018) towards zero.

If Precision Reference Update Disable (01.020) = 0 then any changes to Precision Reference Coarse (01.018) or Precision Reference Fine (01.019) have an effect immediately. When Precision Reference Update Disable (01.020) is changed to 1 then Precision Reference Coarse (01.018) and Precision Reference Fine (01.019) are stored in memory and used to provide the precision reference until Precision Reference Update Disable (01.020) is changed back to 0. This allows the component values of the precision reference to be changed without giving an unwanted intermediate value due to data skew.

Parameter | 01.019 Precision Reference Fine
--- | ---
Short description | Defines the value of the fine precision reference
Mode | RFC‑A
Minimum | 0.000 | Maximum | 0.099
Default | 0.000 | Units |
Type | 8 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 3
Coding | RW

See Precision Reference Coarse (01.018).

Parameter | 01.020 Precision Reference Update Disable
--- | ---
Short description | Set to 1 to prevent immediate update to the reference from the precision reference
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See Precision Reference Coarse (01.018).

Parameter | 01.021 Preset Reference 1
--- | ---
Short description | Defines the value for preset reference 1
Mode | RFC‑A
Minimum | −VM_SPEED_FREQ_REF | Maximum | VM_SPEED_FREQ_REF
Default | 0.0 | Units |
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 1
Coding | RW, VM

See Reference Selector (01.014).

Parameter | 01.022 Preset Reference 2
--- | ---
Short description | Defines the value for preset reference 2
Mode | RFC‑A
Minimum | −VM_SPEED_FREQ_REF | Maximum | VM_SPEED_FREQ_REF
Default | 0.0 | Units |
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 1
Coding | RW, VM

See Reference Selector (01.014).

Parameter | 01.023 Preset Reference 3
--- | ---
Short description | Defines the value for preset reference 3
Mode | RFC‑A
Minimum | −VM_SPEED_FREQ_REF | Maximum | VM_SPEED_FREQ_REF
Default | 0.0 | Units |
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 1
Coding | RW, VM

See Reference Selector (01.014).

Parameter | 01.024 Preset Reference 4
--- | ---
Short description | Defines the value for preset reference 4
Mode | RFC‑A
Minimum | −VM_SPEED_FREQ_REF | Maximum | VM_SPEED_FREQ_REF
Default | 0.0 | Units |
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 1
Coding | RW, VM

See Reference Selector (01.014).

Parameter | 01.025 Preset Reference 5
--- | ---
Short description | Defines the value for preset reference 5
Mode | RFC‑A
Minimum | −VM_SPEED_FREQ_REF | Maximum | VM_SPEED_FREQ_REF
Default | 0.0 | Units |
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 1
Coding | RW, VM

See Reference Selector (01.014).

Parameter | 01.026 Preset Reference 6
--- | ---
Short description | Defines the value for preset reference 6
Mode | RFC‑A
Minimum | −VM_SPEED_FREQ_REF | Maximum | VM_SPEED_FREQ_REF
Default | 0.0 | Units |
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 1
Coding | RW, VM

See Reference Selector (01.014).

Parameter | 01.027 Preset Reference 7
--- | ---
Short description | Defines the value for preset reference 8
Mode | RFC‑A
Minimum | −VM_SPEED_FREQ_REF | Maximum | VM_SPEED_FREQ_REF
Default | 0.0 | Units |
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 1
Coding | RW, VM

See Reference Selector (01.014).

Parameter | 01.028 Preset Reference 8
--- | ---
Short description | Defines the value for preset reference 8
Mode | RFC‑A
Minimum | −VM_SPEED_FREQ_REF | Maximum | VM_SPEED_FREQ_REF
Default | 0.0 | Units |
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 1
Coding | RW, VM

See Reference Selector (01.014).

Parameter | 01.029 Skip Reference 1
--- | ---
Short description | Defines the 1st reference point to skip
Mode | RFC‑A
Minimum | 0 | Maximum | 33000
Default | 0 | Units |
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, BU

The skip references functions are available to prevent continuous operation within a specified speed range (i.e. where mechanical resonance may occur). When Skip Reference 1 (01.029) = 0 Filter 1 is disabled. Skip Reference Band 1 (01.030) defines the range either side of Skip Reference 1 (01.029) over which references are rejected in either direction. The actual rejection band is therefore twice that defined by Skip Reference Band 1 (01.030) with Skip Reference 1 (01.029) as the centre of the band. When the selected reference is within the rejection band the lower limit of the band is passed through the filter so that reference is always less than demanded.

Filter 2 (Skip Reference 2 (01.031), Skip Reference Band 2 (01.032)) and Filter 3 (Skip Reference 3 (01.033), Skip Reference Band 3 (01.034)) operate in the same ways as Filter 1.

If any of the filters are active (i.e. the reference is within their rejection band) Reference In Rejection Zone (01.035) is set to 1, otherwise it is 0.

Parameter | 01.030 Skip Reference Band 1
--- | ---
Short description | Defines the range either side of skip reference 1 to be implemented
Mode | RFC‑A
Minimum | 0 | Maximum | 250
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, BU

See Skip Reference 1 (01.029).

Parameter | 01.031 Skip Reference 2
--- | ---
Short description | Defines the 2nd reference point to skip
Mode | RFC‑A
Minimum | 0 | Maximum | 33000
Default | 0 | Units |
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, BU

See Skip Reference 1 (01.029).

Parameter | 01.032 Skip Reference Band 2
--- | ---
Short description | Defines the range either side of skip reference 2 to be implemented
Mode | RFC‑A
Minimum | 0 | Maximum | 250
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, BU

See Skip Reference 1 (01.029).

Parameter | 01.033 Skip Reference 3
--- | ---
Short description | Defines the 3rdreference point to skip
Mode | RFC‑A
Minimum | 0 | Maximum | 33000
Default | 0 | Units |
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, BU

See Skip Reference 1 (01.029).

Parameter | 01.034 Skip Reference Band 3
--- | ---
Short description | Defines the range either side of skip reference 3 to be implemented
Mode | RFC‑A
Minimum | 0 | Maximum | 250
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, BU

See Skip Reference 1 (01.029).

Parameter | 01.035 Reference In Rejection Zone
--- | ---
Short description | Displays when the reference is in 1 of the pre-defined rejection zones
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Skip Reference 1 (01.029).

Parameter | 01.036 Analog Reference 1
--- | ---
Short description | Defines the relationship between the final value from analog 1 input and the frequency or speed reference
Mode | RFC‑A
Minimum | −VM_SPEED_FREQ_USER_REFS | Maximum | VM_SPEED_FREQ_USER_REFS
Default | 0.0 | Units |
Type | 32 Bit Volatile | Update Rate | 4ms read*
Display Format | Standard | Decimal Places | 1
Coding | RO, VM, NC

* A faster update rate of 250μs is possible for the speed reference from an analog input. See Menu 7 for details. Note that this parameter has higher resolution than other frequency parameters in Open-loop mode as this prevents loss of resolution when an analogue input is routed to this parameter with a typical drive output frequency range.

Analog Reference 1 (01.036) or Analog Reference 2 (01.037) should be used as the destinations for drive analog inputs when these provide the frequency or speed reference. The variable maximum/minimum applied to Analog Reference 1 (01.036) or Analog Reference 2 (01.037) gives the relationship shown below between the final value from the analog input and the frequency or speed reference.

Parameter | 01.037 Analog Reference 2
--- | ---
Short description | Defines the relationship between the final value from analog input 2 and the frequency or speed reference
Mode | RFC‑A
Minimum | −VM_SPEED_FREQ_USER_REFS | Maximum | VM_SPEED_FREQ_USER_REFS
Default | 0.0 | Units |
Type | 32 Bit Volatile | Update Rate | 4ms read*
Display Format | Standard | Decimal Places | 1
Coding | RO, VM, NC

* A faster update rate of 250μs is possible for the speed reference from an analog input. See Menu 7 for details. Note that this parameter has higher resolution than other frequency parameters in Open-loop mode as this prevents loss of resolution when an analogue input is routed to this parameter with a typical drive output frequency range.

See Analog Reference 1 (01.036).

Parameter | 01.038 Percentage Trim
--- | ---
Short description | Defines the value of the reference trim as a percentage
Mode | RFC‑A
Minimum | -100.00 | Maximum | 100.00
Default | 0.00 | Units | %
Type | 16 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 2
Coding | RW, NC

See Reference Offset Select (01.009).

Parameter | 01.039 Speed Feed-forwards
--- | ---
Short description | Displays the value of the speed feed-forwards used by the standard motion controller
Mode | RFC‑A
Minimum | −VM_SPEED_FREQ_REF | Maximum | VM_SPEED_FREQ_REF
Default |  | Units |
Type | 32 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 1
Coding | RO, VM, ND, NC, PT

Speed Feed-forwards (01.039) can be used by the Standard Motion Controller (Menu 13) to provide a speed feed-forwards term which uses the drive ramp system (Menu 2) to provide a speed profile. The speed feed-forwards is enabled with Speed Feed-forwards Select (01.040), which is controlled directly by the Standard Motion Controller.

Parameter | 01.040 Speed Feed-forwards Select
--- | ---
Short description | Indicates if the speed feed-forwards is being used by the standard motion controller
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Speed Feed-forwards (01.039).

Parameter | 01.041 Reference Select Flag 1
--- | ---
Short description | Defines which reference is selected by the drive
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See Reference Selector (01.014).

Parameter | 01.042 Reference Select Flag 2
--- | ---
Short description | Defines which reference is selected by the drive
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See Reference Selector (01.014).

Parameter | 01.043 Reference Select Flag 3
--- | ---
Short description | Defines which reference is selected by the drive
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See Reference Selector (01.014).

Parameter | 01.044 Reference Select Flag 4
--- | ---
Short description | Defines which reference is selected by the drive
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See Reference Selector (01.014).

Parameter | 01.045 Preset Select Flag 1
--- | ---
Short description | Defines which preset is selected by the drive
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See Reference Selector (01.014).

Parameter | 01.046 Preset Select Flag 2
--- | ---
Short description | Defines which preset is selected by the drive
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See Reference Selector (01.014).

Parameter | 01.047 Preset Select Flag 3
--- | ---
Short description | Defines which preset is selected by the drive
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See Reference Selector (01.014).

Parameter | 01.048 Preset Selector Timer Reset
--- | ---
Short description | Set to 1 to hold the preset selected indicator at 1
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See Preset Selector Timer (01.016).

Parameter | 01.049 Reference Selected Indicator
--- | ---
Short description | Displays which reference is currently selected
Mode | RFC‑A
Minimum | 1 | Maximum | 6
Default |  | Units |
Type | 8 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Reference Selector (01.014).

Parameter | 01.050 Preset Selected Indicator
--- | ---
Short description | Displays which preset is currently selected
Mode | RFC‑A
Minimum | 1 | Maximum | 8
Default |  | Units |
Type | 8 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Reference Selector (01.014).

Parameter | 01.051 Power-up Keypad Control Mode Reference
--- | ---
Short description | Defines which value of keypad control mode reference is displayed at power-up
Mode | RFC‑A
Minimum | 0 | Maximum | 2
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Power-up read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Reset
1 | Last
2 | Preset

Power-up Keypad Control Mode Reference (01.051) defines the value written to Keypad Control Mode Reference (01.017) at power-up as given below.

Power-up Keypad Control Mode Reference (01.051) | Value written to Keypad Control Mode Reference (01.017) at power-up
0 | 0.0
1 | The value in Keypad Control Mode Reference (01.017) at the previous power-down
2 | The value saved in Preset Reference 1 (01.021)

Parameter | 01.052 Hand/Off/Auto Operating Mode
--- | ---
Short description | Defines the hand/off/auto operating mode of the drive
Mode | RFC‑A
Minimum | 0 | Maximum | 3
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

Hand/Off/Auto Operating Mode (01.052) defines the operating mode for this system as given in below.

Hand/Off/Auto Operating Mode (01.052) | Operating mode
0 | Hand/Off/Auto system disabled
1 | Hand/Off/Auto system enabled Auto state at power-up
2 | Hand/Off/Auto system enabled Off state at power-up
3 | Hand/Off/Auto system enabled Off state at power-up if off or hand state at previous power-down Auto state if auto state at previous power-down

Hand/Off/Auto mode is an additional state machine that directly controls Reference Selected Indicator (01.049) and Keypad Control Mode Reference (01.017). When Hand/Off/Auto mode is active the drive state and keypad keys are defined as shown in the tables below.

Hand/Off/Auto state | Equivalent normal state
Off | Ready with Reference Selected Indicator (01.049) = 4
Hand | Run with Reference Selected Indicator (01.049) = 4
Auto | Reference Selected Indicator (01.049) defined by the reference selector system

Hand/Off/Auto key | Equivalent normal key
Off | Stop
Hand | Run
Auto | Auxilliary (the reverse key does not function normally, and so the system behaves as though Enable Auxiliary Key (06.013) = 0)

The state diagram below shows how the system moves between states when the keypad keys are pressed and Hand/Off/Auto Operating Mode (01.052) is adjusted.

Parameter | 01.053 Fire Mode Reference
--- | ---
Short description | Defines the reference value when fire mode is activated
Mode | RFC‑A
Minimum | −VM_SPEED_FREQ_REF | Maximum | VM_SPEED_FREQ_REF
Default | 0.0 | Units |
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 1
Coding | RW, VM

See Fire Mode Activate (01.054).

Parameter | 01.054 Fire Mode Activate
--- | ---
Short description | Route a digital input to this parameter to activate fire mode
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RO, NC

Fire Mode Activate (01.054) cannot be written directly, but it can be controlled from a digital input. This prevents fire mode from being enabled from the keypad, comms or an option module.

Fire mode is intended for purging air from a ventilation system in the event of a fire. All trips are either disabled or are automatically reset after 1s. The use of fire mode can result in damage to the drive, and so if fire mode is enabled and any trip is initiated an indication that cannot be reset by the user is stored in Potential Drive Damage Conditions (10.106). For Open-loop, RFC-A or RFC-S modes fire mode is activated and if Fire Mode Reference (01.053) has a non-zero value and Fire Mode Activate (01.054) = 1. When fire mode is activated normal drive operation is overridden as follows.

1. Pre-ramp Reference (01.003) is forced to the value in Fire Mode Reference (01.053).
2. The Final drive enable is forced to be active provided the safe torque off hardware input will allow the drive to be enabled. The Final drive run is forced to be active.
3. Forward Limit Switch (06.035) and Reverse Limit Switch (06.036) are disabled.
4. Hard Speed Reference (03.022) is forced to 0 (RFC-A and RFC-S modes). The hard speed reference should not be used when fire mode can be activated as this could cause an abrupt change in speed.
5. The hand/off/auto system is disabled. If this system is in the hand state when fire mode is activated it will be forced to the off state, so that hand state is not active when fire mode is de-activated.
6. Keypad control mode is disabled.
7. All latched states in the sequencer (Menu 6) are reset.

For Regen mode fire mode is activated if Fire Mode Activate (01.054) = 1. When fire mode is activated the Final drive enable is forced to be active provided the safe torque off hardware input will allow the drive to be enabled.

If the drive is in the tripped state when fire mode is activated the trip is reset and then only the trips listed in the table below can be initiated whilst fire mode is active. If any of the trips shown as resettable occur, the drive will attempt to automatically reset the trip after 1s.

Trip number | Trip | Resettable
2 | Over Volts | Yes
3 | OI ac | Yes
4 | OI Brake | Yes
5 | PSU | Yes
9 | PSU 24V | Yes
21 | OHt Inverter | Yes
31 | EEPROM Fail | No
36 | User Save | No
37 | Power Down Save | No
109 | OI dc | Yes
200 | Slot1 HF | No
205 | Slot2 HF | No
210 | Slot3 HF | No
217-249 |  | No
250 | Slot4 HF | No

Parameter | 01.055 Linear Speed Select
--- | ---
Short description | Set to 1 to enable linear speed units
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

Normally the units for speed parameters are rpm for both rotary and linear applications. For a linear application one revolution corresponds to one motor pole. If the position feedback device that is selected for motor control with Motor Control Feedback Select (03.026) is a linear device then if Linear Speed Select (01.055) = 1 the units for speed parameters are mm/s with the following exceptions:

1. All speed parameters are displayed in rpm if sensorless mode is active, i.e. Sensorless Mode Active (03.078) = 1.
2. Speed feedback parameters associated with each feedback interface, i.e. P1 Speed Feedback (03.027) for position feedback interface P1, etc., are always displayed in rpm for a rotary device.

Linear Speed Selected (01.056) shows whether rotary of linear speed is being used. If Linear Speed Selected (01.056) = 0 then rotary speed is being used otherwise if it is 1 then linear speed is being used.

To enable the use of linear speed units, P1 Linear Feedback Select (03.051) must also be set to 1 to allow Linear Speed Selected (01.056) to be set to 1.

Parameter | 01.056 Linear Speed Selected
--- | ---
Short description | Indicates if linear speed units are being used
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Linear Speed Select (01.055).

Parameter | 01.057 Force Reference Direction
--- | ---
Short description | Defines the direction of the reference
Mode | RFC‑A
Minimum | 0 | Maximum | 2
Default | 0 | Units |
Type | 8 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | None
1 | Forward
2 | Reverse

If Force Reference Direction (01.057) = 0 then it has no effect. If Force Reference Direction (01.057) is non-zero then the modulus of the reference is used and the sign is defined by the value of Force Reference Direction (01.057). If Force Reference Direction (01.057) = 1 then Pre-skip Filter Reference (01.002) is always positive, and if Force Reference Direction (01.057) = 2 then Pre-skip Filter Reference (01.002) is always zero or negative.