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

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.

Application Tools

CTOLAOIUG, rev 1, 12/1/2015 Applicable Products: Unidrive M200/M201, M300, M400

with SI-Ethernet

Features and Functionality 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 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 DI/O 2 – Drive Enable M200/M201 – Terminal 11

STO 1 – Drive Safe Torque Off M300, M400 – Terminals 31/34 (frames 1 to 4)

STO 2 – Drive Safe Torque Off 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 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:

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/en-

US/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:

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:

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):

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):

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:

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: 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:

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)

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 3: Unidrive M200-M400 Add-On Instruction

Creating the Application Logic:

AOI Variable Nomenclature:

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:

Most data words have implied decimal points

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

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

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/en-

US/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

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 Auto Auto-Network Control, Manual-Terminal Control

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 Input BOOL

Command Fault Reset

Sts_ActualSpeedHZ Output REAL

Hz 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

Cmd_ForceDriveTrip Input BOOL

Command Trip

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 Unidrive M Parameter

Notes

Word 0 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 6.037 Jog Reverse

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 6.043 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