TAKEDO TEK

AC Variable Speed Elevator Drive

200-240 Volt 1 Phase 380 – 480 Volt 3 Phase

2.2kW 5.5kW – 11kW

Installation & Operating Instructions

2 Takedo Tek User Guide V2.10
Declaration of Conformity:
Invertek Drives Limited
Offas Dyke Business Park
Welshpool
Powys
UK
SY21 8JF

Invertek Drives Ltd hereby states that the Optidrive ODP-2product range conforms to the relevant safety provisions of the Low Voltage
Directive 2006/95/EC and the EMC Directive 2004/108/EC and has been designed and manufactured in accordance with the following
harmonised European standards:
EN 61800-5-1: 2003 Adjustable speed electrical power drive systems. Safety requirements. Electrical, thermal and energy.
EN 61800-3 2nd Ed: 2004 Adjustable speed electrical power drive systems. EMC requirements and specific test methods
EN 55011: 2007 Limits and Methods of measurement of radio disturbance characteristics of industrial, scientific and
medical (ISM) radio-frequency equipment (EMC)
EN60529 : 1992 Specifications for degrees of protection provided by enclosures
Safe Torque Off (“STO”) Function
TAKEDO TEK incorporates a hardware “Safe Torque Off” Function, designed in accordance with the standards listed below.
Standard Classification Independent Approval
EN 61800-5-2:2007 Type 2
EN ISO 13849-1:2006 PL “d”
EN 61508 (Part 1 to 7) SIL 2 *TUV
EN60204-1 Uncontrolled Stop ”Category 0”
EN 62061 SIL CL2
*Note : TUV Approval of the “STO” function is relevant for drives which have a TUV logo applied on the drive rating label.
Electromagnetic Compatibility
All TAKEDO TEK drives are designed with high standards of EMC in mind. All versions suitable for operation on Single Phase 230 volt and Three
Phase 400 volt supplies and intended for use within the European Union are fitted with an internal EMC filter. This EMC filter is designed to
reduce the conducted emissions back into the supply via the power cables for compliance with harmonised European standards.
It is the responsibility of the installer to ensure that the equipment or system into which the product is incorporated complies with the EMC
legislation of the country of use. Within the European Union, equipment into which this product is incorporated must comply with the EMC
Directive 2004/108/EC. When using an TAKEDO TEK with an internal or optional external filter, compliance with the following EMC Categories,
as defined by EN61800-3:2004 can be achieved:
Drive Type / Rating EMC Category
Cat C1 Cat C2 Cat C3
1 Phase, 230 Volt Input No additional filtering required
ODL-2-x2xxx-xxBxx Installation should be in accordance with Good EMC Practice (Refer to section 6.1)
3 Phase, 400 Volt Input Use External Filter OD-Fx34x No additional filtering required
ODL-2-x4xxx-xxAxx Installation in accordance with Good EMC Practice (Refer to section 6.1)
Compliance with EMC standards is dependent on a number of factors including the environment in which the drive is installed,
motor switching frequency, motor, cable lengths and installation methods adopted.
For motor cable lengths greater than 100m, an output dv / dt filter must be used, please refer to the SMS Stock Drives Catalogue
Note
for further details
Vector Speed mode may not operate correctly with long motor cables and output filters. It is recommended to operate in V/F mode
for cable lengths exceeding 50m
All rights reserved. No part of this User Guide may be reproduced or transmitted in any form or by any means, electrical or mechanical
including photocopying, recording or by any information storage or retrieval system without permission in writing from the publisher.
Copyright Invertek Drives Ltd © 2013
The SMS TAKEDO TEK units carry a 2 year warranty against manufacturing defects from the date of manufacture. The manufacturer accepts no
liability for any damage caused during or resulting from transport, receipt of delivery, installation or commissioning. The manufacturer also
accepts no liability for damage or consequences resulting from inappropriate, negligent or incorrect installation, incorrect adjustment of the
operating parameters of the drive, incorrect matching of the drive to the motor, incorrect installation, unacceptable dust, moisture, corrosive
substances, excessive vibration or ambient temperatures outside of the design specification.

The local distributor may offer different terms and conditions at their discretion, and in all cases concerning warranty, the local distributor
should be contacted first.

This user guide is the “original instructions” document. All non-English versions are translations of the “original instructions”.
The contents of this User Guide are believed to be correct at the time of printing. In the interest of a commitment to a policy of continuous
improvement, the manufacturer reserves the right to change the specification of the product or its performance or the contents of the User
Guide without notice. This User Guide is for use with version 2.10 or later Firmware.
Invertek Drives Ltd adopts a policy of continuous improvement and whilst every effort has been made to provide accurate and up to date
information, the information contained in this User Guide should be used for guidance purposes only and does not form the part of any
contract.

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 Takedo Tek User Guide V2.10 3
1. Introduction ................................................................................................................................ 5
Important safety information ............................................................................................................................................. 5
2. Electrical Installation quick reference........................................................................................... 6
3. TAKEDO TEK Features and Functions ............................................................................................ 7
4. Product Ratings ........................................................................................................................... 8
Drive model numbers.......................................................................................................................................................... 8
5. Mechanical Installation ............................................................................................................... 9
General ................................................................................................................................................................................ 9
Routine Maintenance.......................................................................................................................................................... 9
UL Compliant Installation .................................................................................................................................................... 9
Mechanical dimensions – IP20 Units .................................................................................................................................. 9
Guidelines for Enclosure mounting (IP20 Units) ............................................................................................................... 10
Mounting the Drive – IP20 Units ....................................................................................................................................... 10
6. Electrical Installation ................................................................................................................. 11
Installation in accordance with Good EMC Practice ......................................................................................................... 11
Grounding the Drive .......................................................................................................................................................... 12
Electrical Connections (Mains Side) .................................................................................................................................. 13
Electrical Connections (Brake Resistor)............................................................................................................................. 14
Electrical Connections (Motor Side) .................................................................................................................................. 15
Motor Thermal overload Protection. ................................................................................................................................ 15
Control Terminal Wiring .................................................................................................................................................... 16
Control Terminals Connection Diagram ............................................................................................................................ 16
Control Terminal Connections .......................................................................................................................................... 16
Control Terminal Configuration ........................................................................................................................................ 17
Motor Contactor Control .................................................................................................................................................. 17
Motor Holding Brake Control ............................................................................................................................................ 18
Typical Application diagram for Induction Motors. .......................................................................................................... 20
Typical Application diagram for PMSM Motors. ............................................................................................................... 21
7. Safe Torque Off ......................................................................................................................... 22
Safe Torque Off ................................................................................................................................................................. 22
8. Optional Encoder Interface modules .......................................................................................... 26
Encoder interface module Mechanical Installation .......................................................................................................... 26
Encoder interface module electrical installation .............................................................................................................. 26
Encoder interface module parameter setup ..................................................................................................................... 26
9. Managing the Keypad................................................................................................................ 27
Keypad Layout and Function – Standard LED Keypad....................................................................................................... 27
Changing Parameters ........................................................................................................................................................ 27
Advanced Keypad Operation Short Cuts ........................................................................................................................... 28
Drive Operating Displays ................................................................................................................................................... 28
Resetting Parameters to Factory Default Settings ............................................................................................................ 29
Resetting Parameters to User Default Settings ................................................................................................................ 29
Elevator Specific Linear Units ............................................................................................................................................ 29
10. Start up and Commissioning ...................................................................................................... 30
Commissioning flow diagram. ....................................................................................................................................................... 30
Motor Operating Modes. .................................................................................................................................................. 31
11. First Start-up of Geared (Induction) Motors. .............................................................................. 32
Step 1- Wiring Connections. .............................................................................................................................................. 32
Step 2- Pre-Power Checks. ................................................................................................................................................ 33
Step 3- Apply Power. ......................................................................................................................................................... 34
Step 4- Motor and Encoder nameplate data entry. .......................................................................................................... 34
Step 5- Motor Auto-tune. ................................................................................................................................................. 34
Step 6 - Encoder Setup (If Encoder is installed) ................................................................................................................ 35
12. First Start-up of Gearless (Permanent Magnet) Motor-With Encoder Feedback. .......................... 36
Step 1- Wiring Connections. .............................................................................................................................................. 36
Step 2- Pre-Power Checks. ................................................................................................................................................ 37
Step 3- Apply Power. ......................................................................................................................................................... 38
Step 4- Motor nameplate data entry. ............................................................................................................................... 38
Step 5- Motor Auto-tune. ................................................................................................................................................. 39
Step 6- Encoder setup. ...................................................................................................................................................... 39
Step 7a- Stationary Encoder offset measurement (Alternative to rotating measurement). ............................................ 39
Step 7b - Rotating Encoder offset measurement (Alternative to Stationary measurement). .......................................... 40

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13. Comfort Optimisation................................................................................................................ 42
Comfort Optimisation adjustments. ................................................................................................................................. 43
14. Advanced Features .................................................................................................................... 44
Short Floor Operation ....................................................................................................................................................... 44
Rescue Mode Operation (UPS Power Supply) ................................................................................................................... 45
Motor brake release monitoring ....................................................................................................................................... 48
Motor shorting Contactor Control. ................................................................................................................................... 49
Motor presence check before opening mechanical brake................................................................................................ 49
15. Permanent Magnet Motors-Without Encoder. ........................................................................... 50
16. Parameters ............................................................................................................................... 52
Parameter Set Overview ................................................................................................................................................... 52
Parameter Group 1 – Speed Limits, Basic motor data, Command Source. ....................................................................... 52
Parameter Group 2 – Travel Speeds, I/O setup. ............................................................................................................... 53
Parameter Group 3 – S-ramps,Output contactor/Brake, Short floor, Light load detection. ............................................. 56
Parameter Group 4 –Motor Control modes, 1st Speed Loop Gains, Current limits. ........................................................ 57
Parameter Group 5 – Modbus, CAN Open Communication. ............................................................................................ 58
Parameter Group 6 : Encoder setup, Brake Release Monitoring, ..................................................................................... 59
Parameter Group 7 : Motor measured data, 2nd Speed loop gains. ................................................................................. 60
Group 8 and Group 9 : Refer to Optitools studio commissioning tool. ............................................................................ 61
Parameter Group 0 – Monitoring Parameters (Read Only) .............................................................................................. 61
17. Serial communications .............................................................................................................. 63
RS-485 communications.................................................................................................................................................... 63
Modbus RTU Communications ......................................................................................................................................... 63
18. Technical Data........................................................................................................................... 65
Environmental ................................................................................................................................................................... 65
Input voltage ranges ......................................................................................................................................................... 65
Output Power and Current ratings ................................................................................................................................... 66
Additional Information for UL Approved Installations ...................................................................................................... 66
Derating Information ........................................................................................................................................................ 67
19. Troubleshooting ........................................................................................................................ 68
Fault messages .................................................................................................................................................................. 68
Travel comfort troubleshooting. ....................................................................................................................................... 69
20. User Settings Table. ................................................................................................................... 70
21. Quick Reference Sheet .............................................................................................................. 72
Terminal Functions (default Settings). .............................................................................................................................. 72
Speed Profile setup. .......................................................................................................................................................... 72

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 Takedo Tek User Guide V2.10 5
1. Introduction
Important safety information
Please read the IMPORTANT SAFETY INFORMATION below, and all Warning and Caution information elsewhere.
Danger: Indicates a risk of electric shock, which, if not Danger: Indicates a potentially hazardous situation
avoided, could result in damage to the equipment and other than electrical, which if not avoided, could result
possible injury or death. in damage to property.
This variable speed drive product (TAKEDO TEK) is intended for professional incorporation into complete equipment or systems as
part of a fixed installation. If installed incorrectly it may present a safety hazard. The drive uses high voltages and currents, carries a
high level of stored electrical energy, and is used to control mechanical plant that may cause injury. Close attention is required to
system design and electrical installation to avoid hazards in either normal operation or in the event of equipment malfunction. Only
qualified electricians are allowed to install and maintain this product.
System design, installation, commissioning and maintenance must be carried out only by personnel who have the necessary
training and experience. They must carefully read this safety information and the instructions in this Guide and follow all
information regarding transport, storage, installation and use of the drive, including the specified environmental limitations.
Do not perform any flash test or voltage withstand test on the TAKEDO TEK drive. Any electrical measurements required should be
carried out with the drive disconnected.
Electric shock hazard! Disconnect and ISOLATE the TAKEDO TEK drive before attempting any work on it. High voltages are present
at the terminals and within the drive for up to 10 minutes after disconnection of the electrical supply. Always ensure by using a
suitable multimeter that no voltage is present on any drive power terminals prior to commencing any work.
Where supply to the drive is through a plug and socket connector, do not disconnect until 10 minutes have elapsed after turning off
the supply.
Ensure correct earthing connections. The earth cable must be sufficient to carry the maximum supply fault current which normally
will be limited by the fuses or MCB. Suitably rated fuses or MCB should be fitted in the mains supply to the drive, according to any
local legislation or codes.
Do not carry out any work on the drive control cables whilst power is applied to the drive or to the external control circuits.
The “Safe Torque Off” Function does not prevent high voltages from being present at the drives power terminals.
Within the European Union, all machinery in which this product is used must comply with the machinery directive 2006/42/EC.
In particular, the machine manufacturer is responsible for providing a main switch and ensuring the electrical equipment complies
with EN60204-1.
The level of integrity offered by the TAKEDO TEK control input functions (excluding the ‘Safe Torque OFF Input’) – for example
stop/start, forward/reverse and maximum speed is not sufficient for use in safety-critical applications without independent
channels of protection. All applications where malfunction could cause injury or loss of life must be subject to a risk assessment and
further protection provided where needed.
The driven motor can start at power up if the enable input signal is present.
The STOP function does not remove potentially lethal high voltages. ISOLATE the drive and wait 10 minutes before starting any
work on it. Never carry out any work on the Drive, Motor or Motor cable whilst the input power is still applied.
The TAKEDO TEK drive can be programmed to operate the driven motor at speeds above or below the speed achieved when
connecting the motor directly to the mains supply. Obtain confirmation from the manufacturers of the motor and the driven
machine about suitability for operation over the intended speed range prior to machine start up.
Do not activate the automatic fault reset function on any systems whereby this may cause a potentially dangerous situation.
The Optidrive ODP-2 has an Ingress Protection rating of IP20 or IP55 depending on the model. IP20 units must be installed in a
suitable enclosure.
The TAKEDO TEK drive is intended for indoor use only.
When mounting the drive, ensure that sufficient cooling is provided. Do not carry out drilling operations with the drive in place,
dust and swarf from drilling may lead to damage.
The entry of conductive or flammable foreign bodies should be prevented. Flammable material should not be placed close to the
drive
Relative humidity must be less than 95% (non-condensing).
Ensure that the supply voltage, frequency and no. of phases (1 or 3 phase) correspond to the rating of the TAKEDO TEK drive as
delivered.
Never connect the mains power supply to the Output terminals U, V, W.
Do not install any type of automatic switchgear between the drive and the motor
Wherever control cabling is close to power cabling, maintain a minimum separation of 100 mm and arrange crossings at 90 degrees
Ensure that all terminals are tightened to the appropriate torque setting
Do not attempt to carry out any repair of the drive. In the case of suspected fault or malfunction, contact your local SMS Drives
Sales Partner for further assistance.

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6 Takedo Tek User Guide V2.10

2. Electrical Installation quick reference

 Check Supply Voltage does not exceed drive Voltage rating.
 Check the number of supply phases is compatible with the drive.
 If the power supply has a low supply impedance /high short circuit current
a Line reactor/Isolation transformer maybe required.
 For generator Bourne power supplies please contact your IDL Authorised
Distributor for further guidance.

 Ensure there is at least 30 seconds between each power-on.

 Install suitably rated fuses/Circuit breakers.

 If an earth leakage detection device is used (e.g.ELCB/RCD), a type B trip
characteristic which is suitable for protecting equipment with a DC
component should be used, 1 device for multiple drives should be avoided.

Install Line reactor as close to the drive as possible and under the following
conditions:
 If phase-phase imbalance is >3% (3Ø drives).
 To reduce Inrush current.
 If power supply has a low supply impedance/high short circuit current.
 If power supply is prone to dips or brown-outs.
 If power supply is via a bus-bar and sliding contacts system.
 Reduction in mains Harmonic emission.

 Install External EMC filter if the motor cable length exceeds the
Electromagnetic interference reduction capability of the internal filter
 Do Not Use EMC filters on IT (Ungrounded) or a corner grounded TN power
supply systems.

Install Output Choke under the following conditions:

 If cable between the drive and motor exceeds 100m (screened cable), or
150m (un-screened cable).
 If motor is not “inverter rated”.

 Whenever possible use a motor that is designed for operation from an

inverter.
 Ensure the voltage rating of the drive and motor match, special care should
be taken with dual voltage motors and that the correct configuration has
been set.

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 Takedo Tek User Guide V2.10 7
3. TAKEDO TEK Features and Functions
The Diagram below illustrates a typical Elevator drive system and the available solutions using the TAKEDO TEK drive.

1
Optional Encoder Elevator Shaft
feedback

2 5

3
Elevator
controller

Lift
Call

Feature/Function Section Notes

1 Encoder : With Expansion Module
 Incremental  TKK-ENCHT(24V PUSH-PULL Encoders)/TKK-ENCOD(LINE DRIVER
8
 Absolute Endat/SinCos (With simulated 5V)
Encoder Output)  TKK-ENDAT2 / TKK-SINCOS2
2 Induction Motor Control :
 Open Loop Enhanced V/F
 Open Loop Vector
 Closed Loop Vector 10.1
Permanent Magnet :
 Closed Loop Vector *PM Open Loop Vector control with Limitations (Motor dependant),
 *Open Loop Vector contact SMS Technical/product support for further information.
3 Built-in Communications Interface
 CANopen 17
 Modbus RTU
Safe Torque Off Input 6.10
Dynamic braking Automatically Enabled. Brake Resistor overload
Built-in Dynamic Braking 6.4
protection can optionally be enabled.
12.7 &
Rotating or Stationary Encoder offset measurement
12.8
Rollback compensation - Car floor position correction when drive is used with an Encoder.
If required the drive can control the motor contactor operation,
4 Motor Contactor Control 6.11 furthermore the drive output signal can be optimally delayed to prevent
nuisance drive trips, and contactor/motor wear.
5 Motor Brake Control 6.12
Brake Release Monitoring 14.3
5 independent s-ramps/Jerk Adjustments 13
Short Floor Operation 14.1
Rescue Mode operation with Light Load Detection 14.2 UPS 240V single phase.
Elevator programmable user units 9.7

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8 Takedo Tek User Guide V2.10

4. Product Ratings
Drive model numbers

200-240V +/-10% - 1 Phase Input

kW Model Number Output Frame
kW
With Filter Current (A) Size
TKK00102 2.2 10.5 2

380-480V +/-10% - 3 Phase Input

kW Model Number Output Frame
kW
With Filter Current (A) Size
TKK00145 5.5 14 3
TKK00185 7.5 18 3
TKK00245 11 24 3

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 Takedo Tek User Guide V2.10 9
5. Mechanical Installation
General
 The TAKEDO TEK drive should be mounted in a vertical position only, on a flat, flame resistant, vibration free mounting using the
integral mounting holes or DIN Rail clip (Frame Size 2 only).
 The TAKEDO TEK drive must be installed in a pollution degree 1 or 2 environment only.
 Do not mount flammable material close to the TAKEDO TEK drive.
 Ensure that the minimum cooling air gaps, as detailed in section 5.5 are left clear.
 Ensure that the ambient temperature range does not exceed the permissible limits for the TAKEDO TEK drive given in section 18.1
 Provide suitable clean, moisture and contaminant free cooling air sufficient to fulfil the cooling requirements of the TAKEDO TEK
drive.
 Before Installation check the drive rating label to ensure it is of the correct type and power requirements for the application.
 Carefully Unpack the TAKEDO TEK drive and check for any signs of damage. Notify the shipper immediately if any exist.
 Store the TAKEDO TEK drive in its original box until required. Storage should be clean and dry and within the temperature range –
40°C to +60°C

Routine Maintenance
The drive should be included within the scheduled maintenance program so that the installation maintains a suitable operating
environment, this should include:
 Ambient temperature is within the temperature range as set out in the “Environmental” section 18.1.
 Heat sink fans freely rotating and dust free.
 The Enclosure in which the drive is installed should be free from dust and condensation; furthermore ventilation fans and air filters
should be checked for correct air flow.

Checks should also be made on all electrical connections, ensuring screw terminals are correctly torqued; and that power cables have no signs
of heat damage.

UL Compliant Installation
Note the following for UL-compliant installation:
 The drive can be operated within an ambient temperature range as stated in section 18.1
 For IP20 units, installation is required in a pollution degree 1 environment
 UL Listed ring terminals / lugs must be used for all bus bar and grounding connections

Mechanical dimensions – IP20 Units

Drive A B C D E F G H I J
Size mm in mm in mm in mm in mm in mm in mm in mm in mm in mm in
2 221 8.70 207 8.15 137 5.39 209 8.23 5.3 0.21 185 5.91 112 4.29 63 2.48 5.5 0.22 10 0.39
3 261 10.28 246 9.69 - - 247 9.72 6 0.24 205 6.89 131 5.16 80 3.15 5.5 0.22 10 0.39

Control Terminal Torque Settings : All Sizes : 0.5 Nm (4.43 lb-in)

Power Terminal Torque Settings : All Sizes : 1 Nm (8.85 lb-in)

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10 Takedo Tek User Guide V2.10

Guidelines for Enclosure mounting (IP20 Units)

 Installation should be in a suitable enclosure, according to EN60529 or other relevant local codes or standards.
 Enclosures should be made from a thermally conductive material.
 Where vented enclosures are used, there should be venting above the drive and below the drive to ensure good air circulation – see
the diagram below. Air should be drawn in below the drive and expelled above the drive.
 In any environments where the conditions require it, the enclosure must be designed to protect the TAKEDO TEK drive against
ingress of airborne dust, corrosive gases or liquids, conductive contaminants (such as condensation, carbon dust, and metallic
particles) and sprays or splashing water from all directions.
 High moisture, salt or chemical content environments should use a suitably sealed (non-vented) enclosure.

The enclosure design and layout should ensure that the adequate ventilation paths and clearances are left to allow air to circulate through the
drive heatsink. SMS Drives recommend the following minimum clearances for drives mounted in non-ventilated metallic enclosures:-
Drive X Y Z Recommended
Size Above & Either Between airflow
Below Side
mm in mm in mm in CFM (ft3/min)
2 75 2.95 50 1.97 46 1.81 11
3 100 3.94 50 1.97 52 2.05 26
Note :
Dimension Z assumes that the drives are mounted side-by-side
with no clearance.

Typical drive heat losses are 3% of operating load conditions.

Above are guidelines only and the operating ambient

temperature of the drive MUST be maintained at all times.

Mounting Tab

Mounting the Drive – IP20 Units

1. IP20 Units are intended for installation within a control cabinet.
2. When mounting with screws
o Using the drive as a template, or the dimensions shown above, mark the locations for drilling
o Ensure that when mounting locations are drilled, the dust from drilling does not enter the drive
o Mount the drive to the cabinet backplate using suitable M5 mounting screws
o Position the drive, and tighten the mounting screws securely

3. When Din Rail Mounting (Frame Size 2 Only)

o Locate the DIN rail mounting slot on the rear of the drive onto the top of the DIN rail first
o Press the bottom of the drive onto the DIN rail until the lower clip attaches to the DIN rail
o If necessary, use a suitable flat blade screw driver to pull the DIN rail clip down to allow the drive to mount securely on the
rail
o To remove the drive from the DIN rail, use a suitable flat blade screwdriver to pull the release tab (as shown in the diagram
above) downwards, and lift the bottom of the drive away from the rail.

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 Takedo Tek User Guide V2.10 11
6. Electrical Installation
This manual is intended as a guide for proper installation. SMS Drives Ltd cannot assume responsibility for the compliance or the
non-compliance to any code, national, local or otherwise, for the proper installation of this drive or associated equipment. A
hazard of personal injury and/or equipment damage exists if codes are ignored during installation.
This TAKEDO TEK drive contains high voltage capacitors that take time to discharge after removal of the main supply. Before
working on the drive, ensure isolation of the main supply from line inputs. Wait ten (10) minutes for the capacitors to discharge
to safe voltage levels. Failure to observe this precaution could result in severe bodily injury or loss of life.
Only qualified electrical personnel familiar with the construction and operation of this equipment and the hazards involved
should install, adjust, operate, or service this equipment. Read and understand this manual and other applicable manuals in
their entirety before proceeding. Failure to observe this precaution could result in severe bodily injury or loss of life.

Installation in accordance with Good EMC Practice

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12 Takedo Tek User Guide V2.10

Grounding the Drive

6.2.1. Grounding Guidelines
The ground terminal of each TAKEDO TEK drive should be individually connected DIRECTLY to the site ground bus bar (through the filter if
installed). TAKEDO TEK drive ground connections should not loop from one drive to another, or to, or from any other equipment. Ground loop
impedance must confirm to local industrial safety regulations. To meet UL regulations, UL approved ring crimp terminals should be used for all
ground wiring connections.
The drive Safety Ground must be connected to system ground. Ground impedance must conform to the requirements of national and local
industrial safety regulations and/or electrical codes. The integrity of all ground connections should be checked periodically.
6.2.2. Protective Earth Conductor
The Cross sectional area of the PE Conductor must be at least equal to that of the incoming supply conductor.

6.2.3. Safety Ground

This is the safety ground for the drive that is required by code. One of these points must be connected to adjacent building steel (girder, joist),
a floor ground rod, or bus bar. Grounding points must comply with national and local industrial safety regulations and/or electrical codes.
6.2.4. Motor Ground
The motor ground must be connected to one of the ground terminals on the drive.

6.2.5. Ground Fault Monitoring

As with all inverters, a leakage current to earth can exist. The TAKEDO TEK drive is designed to produce the minimum possible leakage current
whilst complying with worldwide standards. The level of current is affected by motor cable length and type, the effective switching frequency,
the earth connections used and the type of RFI filter installed. If an ELCB (Earth Leakage Circuit Breaker) is to be used, the following conditions
apply: -
 A Type B Device must be used
 The device must be suitable for protecting equipment with a DC component in the leakage current
 Individual ELCBs should be used for each TAKEDO TEK drive.

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 Takedo Tek User Guide V2.10 13
Electrical Connections (Mains Side)

6.3.1. Mains Power Connections

L1 L2 L3

U V W

1. A fixed installation is required according to IEC61800-5-1 with a suitable disconnecting device installed between the TAKEDO TEK
drive and the AC Power Source. The disconnecting device must conform to the local safety code / regulations (e.g. within Europe,
EN60204-1, Safety of machinery).

2. Where allowed by local regulations, suitably dimensioned type B MCB circuit breakers of equivalent rating may be utilised in place of
fuses, providing that the clearing capacity is sufficient for the installation.

3. The maximum permissible short circuit current at the TAKEDO TEK drive Power terminals as defined in IEC60439-1 is 100kA.

4. When the power supply is removed from the drive, a minimum of 30 seconds should be allowed before re-applying the power. A
minimum of 10 minutes should be allowed before removing the terminal covers or connection.

 An optional Input Choke is recommended to be installed in the supply line for drives where any of the following conditions occur:-
o The incoming supply impedance is low or the fault level / short circuit current is high
o The supply is prone to dips or brown outs
o An imbalance exists on the supply (3 phase drives)
o The power supply to the drive is via a busbar and brush gear system.

 In all other installations, an input choke is recommended to ensure protection of the drive against power supply faults. Part numbers
are shown in the table.

6.3.2. Input Chokes

Supply Drive Power Rating (kW) AC Input Inductor
230 Volt
2.2 OPT-2-L1025-20
1 Phase
400 Volt
5.5 /7.5/ 11 OPT-2-L3036-20
3 Phase

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14 Takedo Tek User Guide V2.10
6.3.3. Cables

 For compliance with CE and C Tick EMC requirements, a symmetrical shielded cable is recommended.

 It is recommended that the power cabling should be 4-core PVC-insulated screened cable, and laid in accordance with local industrial
regulations and codes of practice

 The cables should be dimensioned according to any local codes or regulations. Guideline dimensions are given in section 18.3

 Suitable fuses to provide wiring protection of the input power cable should be installed in the incoming supply line, according to the
data in section 18.3. The fuses must comply with any local codes or regulations in place. In general, type gG (IEC 60269) or UL type T
fuses are suitable; however in some cases type aR fuses may be required. The operating time of the fuses must be below 0.5
seconds.

Electrical Connections (Brake Resistor)

The drive has an internal brake transistor fitted as standard and is enabled automatically when the regenerative energy from the load raises
the drives internal DC bus to 390Vdc for the single phase 230V drive and 780Vdc for the 3 phase 400V drive.

6.4.1. Connecting the brake resistor

The brake resistor should be connected between the +/+DC and BR Terminals of the drive as shown in the images below.

Braking Resistor

6.4.2. Brake resistor overload protection

From defaults the brake resistor overload protection is disabled.

Providing the correct values have been entered into parameters P3-13 and P3-14 the drive will protect the brake resistor against overload.

For correct protection:

 Enter the resistance of the brake resistor in P3-13 (Ohms)

 Enter the power of the brake resistor in P3-14 (kW)

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 Takedo Tek User Guide V2.10 15
Electrical Connections (Motor Side)
6.5.1. Cables
 The motor should be connected to the TAKEDO TEK drive U, V, and W terminals using a suitable 3 or 4 core cable. Where a 3 core
cable is utilised, with the shield operating as an earth conductor, the shield must have a cross sectional area at least equal to the
phase conductors when they are made from the same material. Where a 4 core cable is utilised, the earth conductor must be of at
least equal cross sectional area and manufactured from the same material as the phase conductors.

 For compliance with the European EMC directive, a suitable screened (shielded) cable should be used. Braided or twisted type
screened cable where the screen covers at least 85% of the cable surface area, designed with low impedance to HF signals are
recommended as a minimum. Installation within a suitable steel or copper tube is generally also acceptable

 Where drives are mounted in a steel control panel enclosure, the cable screen should be terminated directly to the control panel
using a suitable EMC clamp or gland, as close to the drive as possible and as illustrated is section 6.1.

6.5.2. Motor Termination

 The motor earth must be connected to one of the TAKEDO TEK drive earth terminals.

 The cable screen should be terminated at the motor end using an EMC type gland allowing connection to the motor body through
the largest possible surface area.

6.5.3. Precautions

 The PWM output switching from any inverter when used with a long motor cable length can cause an increase in the voltage at
the motor terminals, depending on the motor cable length and inductance. The rise time and peak voltage can affect the service
life of the motor. SMS Drives recommend using an output choke for motor cable lengths of 50m or more to ensure good motor
service life.

 Connect the TAKEDO TEK drive according to section 6.3, ensuring that motor terminal box connections are correct. There are two
connections in general: Star and Delta. It is essential to ensure that the motor is connected in accordance with the voltage at which
it will be operated. For more information, refer to section 6.5.4 Motor Terminal Box Connections.

6.5.4. Motor Terminal Box Connections

 Most general purpose motors are wound for operation on dual voltage supplies. This is indicated on the nameplate of the motor

 This operational voltage is normally selected when installing the motor by selecting either STAR or DELTA connection. STAR always
gives the higher of the two voltage ratings.


Incoming Supply Voltage Motor Nameplate Voltages Connection

230 230 / 400

Delta

400 400 / 690

400 230 / 400 Star

Motor Thermal overload Protection.

6.6.1. Internal Thermal overload protection.
The drive has an in-built motor thermal overload function; this is in the form of an “I.t-trP” trip after delivering >100% of the value set in P1-08
for a sustained period of time (150% for 60 seconds).

6.6.2. Motor Thermistor Connection

Where a motor thermistor is to be used, it should be connected as follows:-

Control Terminal Strip Additional Information

 Compatible Thermistor : PTC Type, 2.5kΩ trip level
 Use a setting of P1-13 that has an input as External Trip,
e.g. P1-13 = 2. Refer to section 6.10.1 for further details.

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16 Takedo Tek User Guide V2.10

Control Terminal Wiring

1. All analog signal cables should be suitably shielded. Twisted pair cables are recommended.
2. Power and Control Signal cables should be routed separately where possible, and must not be routed parallel to each other
3. Signal levels of different voltages e.g. 24 Volt DC and 110 Volt AC, should not be routed in the same cable.
4. Maximum control terminal tightening torque is 0.5Nm

Control Terminals Connection Diagram

Control Terminal Designations and Default Function Assignments

Optional +24Vdc 1 +24Vdc 100mA Output

External
Power Open = StoP
2
Supply 0Vdc Closed = Run Up (Forward)
Open = StoP
3
Closed = Run Down (Reverse)
Open = Levelling Speed
4
Closed = Run Speed
5 +10Vdc 10mA Output
Open = Terminal 4 Selection
6
Closed = Inspection Speed
7 0V

8 Drive Healthy (24Vdc Output)

9 0V
Open = Terminal 4 Selected Speed
10
Closed = Intermediate speed
11 Drive Running (24Vdc Output)

12 ST0 +

13 ST0 -

14 RL1-C Common
Motor Contactor
15 RL1-NO
Control
16 RL1-NC

17 RL2-A Common
Motor Brake
18 RL2-B
Control
For SAFE TORQUE OFF Input (STO+/STO-) Also refer to section 7.1.7
Logic High = 18-30Vdc (“SAFE TORQUE OFF” Standby mode.).

Control Terminal Connections

Main Terminal Strip
1 +24V + 24V User Input / Output 100mA User Output
2 DI 1 Input 1 Digital 8 – 30 Volt DC
3 DI 2 Input 2 Digital 8 – 30 Volt DC
4 DI 3 Input 3 Digital 8 – 30 Volt DC
5 +10V + 10 Volt User Output 10mA for user potentiometer
6 AI 1 Input 4 Digital 8 to 30V DC / Analog Input 1, -10 to +10V, 0 / 4 to 20mA or +24VDC Digital
7 0V 0 Volt Common
8 AO1 Output 1 1st Analog / Digital Output, 0 to 10V, 4 to 20mA or +24VDC Digital
9 0V 0 Volt Common
10 AI 2 Input 5 Digital 8 to 30V DC / Analog Input 2, 0 to 10V, 0 / 4 to 20mA or 20 to 4mA
11 AO2 Output 2 2nd Analog / Digital Output, 0 to 10V, 4 to 20mA, Digital 24V
12 STO+ Drive hardware inhibit “Safe torque Off” 24V input - must be linked to ext +24 Volt (18 – 30 Volt) DC to enable
power stage
13 STO- Inhibit 0V input 0V return for the 24V “Safe torque OFF” input (STO)
Additional Terminal Strip
14 RL1-C Relay Output 1 Common Relay contacts, 250V AC, 30V DC, 5A
15 RL1-NO Relay Output 1 NO Relay contacts, 250V AC, 30V DC, 5A
16 RL1-NC Relay Output 1 NC Relay contacts, 250V AC, 30V DC, 5A
17 RL2-A Relay Output 2 Common Relay contacts, 250V AC, 30V DC, 5A
18 RL2-B Relay Output 2 NO Relay contacts, 250V AC, 30V DC, 5A

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 Takedo Tek User Guide V2.10 17
Control Terminal Configuration
P1-13 defines the function of each of the control terminals and should be set to match the connected controller.

6.10.1. Digital Input Configuration Parameter (P1-13)

The below table assumes the drive already has a direction command given i.e. Terminal 2 or 3 input is high.
P1-13 Digital Input 3(T4) Analog Input 1 (T6) Analog Input 2 (T10) Active Speed
1 0 0 P2-02 (High Speed)
1
0 or 1 0 1 P2-03 (Intermediate Speed)
(Option 1)
0 or 1 1 0 or 1 P2-04 (Inspection Speed)
Default 0 0 0 P2-01 (Levelling Speed)
1 0 *1 P2-02 (High Speed)
2
0 or 1 1 *1 P2-04 (Inspection Speed)
(Option 2) 0 0 *1 P2-01 (Levelling Speed)
1 0 0 P2-02 (High Speed)
3
0 or 1 1 0 P2-04 (Inspection Speed)
(Option 3) 0 0 0 P2-01 (Levelling Speed)
1 0 **1 P2-02 (High Speed)
4
0 or 1 1 **1 P2-04 (Inspection Speed)
(Option 4) 0 0 **1 P2-01 (Levelling Speed)
5 (Option 5) Brake release monitoring function see section 14.3 for details
0 0 0 P2-01
1 0 0 P2-02
6 0 1 0 P2-03
(Option 6) 1 1 0 P2-04
P2-05 (For rescue mode only)
0 0 1
(Multispeed (Max 5.0Hz)
Selection) 1 0 1 P2-06
0 1 1 P2-07
1 1 1 P1-01
P2-02 (High Speed)/
1 0 0/1 (1 = Rescue mode enable)
P2-05 (rescue speed)
7 (Option 7) P2-04 (Inspection Speed)/
0 or 1 1 0/1 (1 = Rescue mode enable)
P2-05 (rescue speed)
P2-01 (Levelling Speed)/
0 0 0/1 (1 = Rescue mode enable)
P2-05 (rescue speed)
1= Input High 0 = Input Low
* If 0 the drive will trip on External trip or F-Ptc if a motor thermistor fitted and Ptc-th has been selected in P2-33.
** If 0 drive will fast stop using deceleration ramp in time set in P2-25., if P2-25 is zero the drive will coast to stop.

Motor Contactor Control

Related Parameters Action
P3-06 (OUTPUT CONTACTOR 1 Ensure advanced parameter access is enabled by setting P1-14 = 101
CLOSING TIME/RUN COMMAND 2 If Motor contactor activation is to come from the drive set P2-15 to 8.(Relay 1 output function select)
DELAY TIME)
3 Program parameter P3-06 as per the profile diagram below.
Speed Run Speed

P3-06

Levelling Speed

Time
STO Input (T12+ T13)
Enable & Direction Input (T2 or T3)
Run Speed Input (T4)
Motor Contactor Close (Relay 1)
Zero speed Holding (IM motor only)
Drive Output Enabled
P3-06 If Elevator controller is being used for motor contactor activation
(OUTPUT Sets a delay time between the enable signal being applied to the drive and the drive energising the motor.
CONTACTOR This ensures that an output contactor between the drive and motor has had enough time to close before the drive output comes on.
CLOSING A value too low in this parameter may cause over current trips/Excess wear on the Contactor/Motor.
TIME/RUN
COMMAND Note : When the drive is started it will remain in a “StoP” state until the value in P3-06 has elapsed, however if the start command signal is
DELAY TIME) toggled in the time less than P3-06 then the drive will not carry out the delay time and the drive output will come on immediately.
If drive is being used for motor contactor activation (P2-15=8) via Relay 1
Use P3-06 to set the delay time required for the relay contacts to close/open.
When the Enable (Run) signal is applied to the drive, the drive will signal the contactor to close, and then wait for the delay time set in P3-06
before applying torque to the motor.
When the Enable (Run) signal is removed from the drive, the drive will signal the contactor to open after the time set in
P3-06 has elapsed.

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18 Takedo Tek User Guide V2.10

Motor Holding Brake Control

The TAKEDO TEK drive has been designed to control the holding brake on motors where a separate electromechanical brake is fitted. The
brake is controlled by the output relay (terminals 17 and 18) – see section 6.8 for details.

There are two different options for controlling the closing operation of the brake during stopping.

6.12.1. Motor Holding Brake control-Option 1

Closing the brake at a parameter adjustable output frequency level. This allows the brake to be signalled to close whilst the drive is
decelerating, allowing the user to preset the frequency so that the brake closes simultaneously when the output frequency reaches zero.

Related Parameters Action

Program parameters as per the profile diagram below.
P3-07 (Brake Release Time) Speed

P3-09 (Brake Apply Speed)

P3-10 (Zero Speed Holding

Time on disable)

Time

A B C D E F G H I J K L M N O P Q
STO Input
Enable & Direction Input
Run Speed Input
Drive Output Enabled
Output Frequency >0
Motor Contactor Output
Brake Control Output
Drive Enabled Output
A STO Input Closed by external control system
Run Forward / Run Reverse input applied by External Control System
Run Speed (High Speed) Input Closed by External Control System
Motor Contactor Output (Relay 1) set by drive (to close motor contactor)
Drive waits for Output Contactor Closing time (P3-06) before enabling the output stage to drive the motor
B After the Motor Contactor Delay time (P3-06) has elapsed, the Drive Output to the motor is enabled at zero speed
Drive holds zero speed on the output, and magnetises the motor (IM Motor)
For PM Motor, the magnetizing time is zero
C After the Motor Magnetizing Time has elapsed, the motor brake control output (Relay 2) is set to release the motor brake
The output Frequency remains at zero until the Motor Brake Release Time (P3-07) has elapsed
D After the Motor Brake Release Time (P3-07) has elapsed, the drive output frequency is ramped up.
The Ramp Rate is controlled initially using Acceleration S-Ramp 1 (P3-01)
E The Acceleration rate is now controlled linearly by the Acceleration Ramp Parameter (P1-03)
F As the Run Speed is approached, the acceleration is now controlled by Acceleration S-Ramp 2 (P3-02)
G Operation at Run Speed (P2-02)
H When the Run Speed Input is removed, the drive output frequency is reduced to the Levelling Speed (P2-01).
Deceleration is initially controlled by Deceleration S-Ramp 1 (P3-03)
I After Deceleration S-Ramp 1 (P3-03) has completed, deceleration is controlled linearly by the Deceleration Ramp Parameter (P1-04)
J As the output frequency approaches the Levelling Speed (P2-01), Deceleration S-Ramp 2 (P3-04) is applied
K The drive operates at the Levelling Speed (P2-01) until the Direction Input is removed
L On removal of the Direction input, the output frequency is reduced towards zero, with deceleration rate initially controlled by Levelling
S-Ramp (P3-05)
M If the deceleration time is long enough to require linear deceleration, Deceleration Ramp Time (P1-04) is used
As the output frequency approaches zero, Levelling S-Ramp (P3-05) is again applied
N When the output frequency reaches the Brake Apply Speed (P3-09), the motor brake control signal is removed to allow the motor brake
to close.
Output frequency continues to ramp towards zero speed, holding at zero speed.
O After the Zero Speed Holding Time (P3-10) has elapsed, the drive output is disabled
For IM Motor control, a demagnetisation time is allowed for the motor prior to removing the Motor Contactor Output signal, allowing the
contactor to open. (This is not required for PM motors)
P The Motor Contactor signal is removed allowing the contactor to open
Q The STO Input to the drive can now be opened by the control system

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 Takedo Tek User Guide V2.10 19
6.12.2. Motor Holding Brake control-Option 2

If the brake Apply Speed (P3-09) parameter is set to zero (default setting), an additional parameter (P3-08) is used to define the time that the
drive should wait whilst holding the motor at zero speed prior to signalling the brake to close.

Related Parameters Action

Program parameters as per the profile diagram below.
P3-07(Brake Release Time)
Speed

P3-08(Brake Apply Delay)

P3-10(Zero Speed Holding

Time on disable)

Time
A B C D E F G H I J K L M N O P Q
STO Input
Enable & Direction Input
Run Speed Input
Drive Output Enabled
Output Frequency >0
Motor Contactor Output
Brake Control Output
Drive Enabled Output
A STO Input Closed by external control system
Run Forward / Run Reverse input applied by External Control System
Run Speed (High Speed) Input Closed by External Control System
Motor Contactor Output (Relay 1) set by drive (to close motor contactor)
Drive waits for Output Contactor Closing Time (P3-06) before enabling the output stage to drive the motor
B After the Motor Contactor Delay (P3-06) time has elapsed, the Drive Output to the motor is enabled at zero speed
Drive holds zero speed on the output, and magnetises the motor (IM Motor)
For PM Motor, the magnetizing time is zero
C After the Motor Magnetizing Time has elapsed, the motor brake control output (Relay 2) is set to release the motor brake
The output Frequency remains at zero until the Motor Brake Release Time (P3-07) has elapsed
D After the Motor Brake Release Time (P3-07) has elapsed, the drive output frequency is ramped up.
The Ramp Rate is controlled initially using Acceleration S-Ramp 1 (P3-01)
E The Acceleration rate is now controlled linearly by the Acceleration Ramp Parameter (P1-03)
F As the Run Speed is approached, the acceleration is now controlled by Acceleration S-Ramp 2 (P3-02)
G Operation at Run Speed (P2-02)
H When the Run Speed Input is removed, the drive output frequency is reduced to the Levelling Speed (P2-01).
Deceleration is initially controlled by Deceleration S-Ramp 1 (P3-03)
I After Deceleration S-Ramp 1 (P3-03) has completed, deceleration is controlled linearly by the Deceleration Ramp Parameter (P1-04)
J As the output frequency approaches the Levelling Speed (P2-01)., Deceleration S-Ramp 2 (P3-04) is applied
K The drive operates at the Levelling Speed (P2-01) until the Direction Input is removed
L On removal of the Direction input, the output frequency is reduced towards zero, with deceleration rate initially controlled by Levelling
S-Ramp (P3-05)
M If the deceleration time is long enough to require linear deceleration , Deceleration Ramp Time (P1-04) is used
As the output frequency approaches zero, Levelling S-Ramp (P3-05) is again applied
N The Output frequency reaches zero.
The drive holds at zero frequency and waits until the Motor Brake Apply Delay Time (P3-08) has elapsed
O When the Motor Brake Apply Delay (P3-08) has elapsed, the Holding brake control relay opens(relay 2), so that the motor brake applies.
The drive output remains enabled at zero frequency for the Zero Speed Holding Time (P3-10)
P When the Zero Speed Holding Time (P3-10) has elapsed, the drive output is disabled
The Motor Output Contactor signal remains on for the time period set in the Motor Contactor Delay Parameter (P3-06)
Q After the Motor Contactor Delay Time (P3-06) has elapsed, the motor contactor output switches off allowing the motor contactor to
open
R The STO Input to the drive can now be opened by the control system

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 DASHED WIRES FOR EMERGENCY RESCUE MOTOR
CONTACTORS
20
UPS OPERATION: SHIELDED CABLE
SHIELDED
250V AC, 30V DC, 5A
CABLE
U
R L1
M
3 – PHASE V 3-PH
LINE S L2
INPUT

Electrical Installation
W
T L3

TAKEDO TEK EARTH CABLE

SHIELDED CABLE
+
BRAKING
EMERGENCY RESCUE OPERATION RESISTOR
10 BR

INSPECTION SPEED
6
HIGH SPEED
4
DOWN
3
UP
2
+24Vdc
1 100mA
SHIELDED CABLE
DRIVE INHIBIT (*)
Takedo Tek User Guide V2.10

12 (STO) 8
DO1 DRIVE HEALTHY

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9 V=24 Vdc I<20mA
(*) FROM A FAST RELAY CONNECTED 13
DOWNSTREAM OF THE SAFETY CHAIN
Typical Application diagram for Induction Motors.

14 SHIELDED CABLE
A YELOW A
BLUE CONTACTOR COMMAND
A/ A/ 15
GREEN (OPTION)
B B RL1
ENCODER
ORANGE B/
B/ BOARD
- BLACK TKK-ENCOD SHIELDED CABLE
17
0V (LIine driver) + OPERATION
RED 18
5V
+ RL2 BRAKE CONTACTOR
SHIELDED CABLE

NOTE 1: CABLE COLOURS REFER TO

LIKA I58H ENCODER RL1, RL2 CONTACT SPECS: – OPERATION
NOTE 2: FOR DIFFERENT ENCODER 250V AC, 30V DC, 5A
TYPE REFER TO SECTION 8.2.
 MOTOR SHIELDED CABLE
DASHED WIRES FOR EMERGENCY RESCUE
UPS OPERATION: CONTACTORS
SHIELDED
250V AC, 30V DC, 5A
CABLE
U TBM
R L1
M
3 – PHASE V 3-PH
LINE S L2
INPUT
W TBM
T L3

TAKEDO TEK EARTH CABLE

SHIELDED CABLE
+
BRAKING
EMERGENCY RESCUE OPERATION RESISTOR
10 BR
INSPECTION SPEED 10
6
HIGH SPEED
4
DOWN SHIELDED CABLE MOTOR SHORTING CONTACTOR
3 11
DO2 CONTROL
UP 2 (TBM) V=24 Vdc I<20mA
P2.13 = 5
+24Vdc
1 100mA
Takedo Tek User Guide V2.10

DRIVE INHIBIT (*)

12 (STO) SHIELDED CABLE
8
13 DO1 DRIVE HEALTHY
(*) FROM A FAST RELAY CONNECTED

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9 V=24 Vdc I<20mA
DOWNSTREAM OF THE SAFETY CHAIN 7
Typical Application diagram for PMSM Motors.

DATA+* GREY*
DATA
DATA-* PINK* SHIELDED CABLE
DATA/ 14
CLOCK+* VIOLET*
CLOCK
CLOCK-* YELLOW* CLOCK/
CONTACTOR COMMAND
15
A+ GREEN / BLACK A+ RL1
ENCODER
HEIDENHAIN A- YELLOW / BLACK A- ENCODER
ECN 113 / 413 B+ BLUE / BLACK B+ BOARD
RED / BLACK B- 17 SHIELDED CABLE
B- TKK-ENDAT + OPERATION
GND WHITE / GREEN 2
+ALIM. BROWN / GREEN 1 18
RL2
SHIELDED CABLE BRAKE CONTACTOR

NOTE 1: FOR DIFFERENT ENCODER

TYPE REFER TO SECTION 8.2 RL1, RL2 CONTACT SPECS: – OPERATION
250V AC, 30V DC, 5A
21

Electrical Installation
22 Takedo Tek User Guide V2.10

7. Safe Torque Off

Safe Torque Off
Safe Torque OFF will be referred to as “STO” through the remainder of this section.
7.1.1. Responsibilities
The overall system designer is responsible for defining the requirements of the overall “Safety Control System” within which the drive will be
incorporated; furthermore the system designer is responsible for ensuring that the complete system is risk assessed and that the “Safety
control System” requirements have been entirely met and that the function is fully verified, this must include confirmation testing of the “STO”
function before drive commissioning.

The system designer shall determine the possible risks and hazards within the system by carrying out a thorough risk and hazard analysis, the
outcome of the analysis should provide an estimate of the possible hazards, furthermore determine the risk levels and identify any needs for
risk reduction. The “STO” function should be evaluated to ensure it can sufficiently meet the risk level required.
7.1.2. What STO Provides
The purpose of the “STO“ function is to provide a method of preventing the drive from creating torque in the motor in the absence of the
“STO“ input signals (Terminal 12 with respect to Terminal 13), this allows the drive to be incorporated into a complete safety control system
where “STO“ requirements need to be fulfilled.1

The “STO“ function can typically eliminate the need for electro-mechanical contactors with cross-checking auxiliary contacts as per normally
required to provide safety functions.2

The drive has the “STO“ Function built-in as standard and complies with the definition of “Safe torque off“ as defined by IEC 61800-5-2:2007.

The “STO“ Function also corresponds to an uncontrolled stop in accordance with category 0 (Emergency Off), of IEC 60204-1. This means that
the motor will coast to a stop when the “STO” function is activated, this method of stopping should be confirmed as being acceptable to the
system the motor is driving.

The “STO“ function is recognised as a fail safe method even in the case where the “STO“ signal is absent and a single fault within the drive
has occured, the drive has been proven in respect of this by meeting the following safety standards :

SIL PFHD SFF

(Probability of dangerous Failures per Hour) Lifetime assumed
(Safety Integrity Level) (Safe failure fraction %)
EN 61800-5-2 2 1.23E-09 1/h (0.12 % of SIL 2) 50 20 Yrs

PL CCF (%)
(Performance level) (Common Cause Failure)
EN ISO 13849-1 PL d 1

SILCL
EN 62061 SILCL 2
Note : The values acheived above maybe jepardised if the drive is installed outside of the Environmental limits detailed in section 18.1
“Environmental“.

7.1.3. What STO does not provide

Disconnect and ISOLATE the drive before attempting any work on it. The “STO“ function does not prevent high voltages from
being present at the drive power terminals.

1 Note : The “STO“ function does not prevent the drive from an unexpected re-start. As soon as the “STO“inputs receive the
relevant signal it is possible (subject to parameter settings) to restart automatically, Based on this, the function should not be used
for carrying out short-term non-electrical machinery operations (such as cleaning or maintenance work).

2Note : In some applications additional measures may be required to fulfil the systems safety function needs : the “STO“ function
does not provide motor braking. In the case where motor braking is required a time delay safety relay and/or a mechanical brake
arrangement or similar method should be adopted, consideration should be made over the required safety function when braking
as the drive braking circuit alone cannot be relied upon as a fail safe method.

When using permanent magnet motors and in the unlikely event of a multiple output power devices failing then the motor could
effectively rotate the motor shaft by 180/p degrees (Where p denotes number of motor pole pairs).

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 Takedo Tek User Guide V2.10 23
7.1.4. “STO“ Operation
When the “STO” inputs are energised, the “STO” function is in a standby state, if the drive is then given a “Start signal/command” (as per the
start source method selected in P1-13) then the drive will start and operate normally.

When the “STO” inputs are de-energised then the STO Function is activated and stops the drive (Motor will coast), the drive is now in “Safe
Torque Off” mode.

To get the drive out of “Safe Torque Off” mode then any “Fault messages” need to be reset and the drive “STO” input needs to be re-
energised.
7.1.5. “STO” Status and Monitoring
There are a number of methods for monitoring the status of the “STO” input, these are detailed below:

Drive Display
In Normal drive operation (Mains AC power applied), when the drives “STO” input is de-energised (“STO” Function activated) the drive will
highlight this by displaying “InHibit”, (Note: If the drive is in a tripped condition then the relevant trip will be displayed and not “InHibit”).

Drive Output Relay

 Drive relay 1: Setting P2-15 to a value of “13” will result in relay opening when the “STO” function is activated.
 Drive relay 2: Setting P2-18 to a value of “13” will result in relay opening when the “STO” function is activated.

“STO” Fault Codes

Fault Code Description Corrective Action
Code Number
A fault has been detected within either of the
“Sto-F” 29 Refer to your SMS Sales Partner
internal channels of the “STO” circuit.
7.1.6. “STO” Function response time
The total response time is the time from a safety related event occurring to the components (sum of) within the system responding and
becoming safe. (Stop Category 0 in accordance with IEC 60204-1)

1. The response time from the “STO” inputs being de-energised to the output of the drive being in a state that will not produce torque
in the motor (“STO” active) is less than 1ms.
2. The response time from the “STO” inputs being de-energised to the “STO” monitoring status changing state is less than 20ms
3. The response time from the drive sensing a fault in the STO circuit to the drive displaying the fault on the display/Digital output
showing drive not healthy is less than 20ms.
4.
7.1.7. “STO“ Electrical Installation

The “STO” wiring shall be protected from inadvertent short circuits or tampering which could lead to failure of the “STO” input
signal, further guidance is given in the diagrams below.

In addition to the wiring guidelines for the “STO” circuit below, section 6.1”Installation in accordance with Good EMC Practice” should also be
followed.

The drive should be wired as illustrated below; the 24Vdc signal source applied to the “STO” input can be either from the 24Vdc on the drive or
from an External 24Vdc power supply.

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24 Takedo Tek User Guide V2.10
7.1.8. Recommended “STO” wiring

Using an External 24Vdc Power Supply. Using the drives on-board 24Vdc supply

Protective Capped Trunking

or equivalent to prevent Protective Capped Trunking
STO Cable short circuit to an or equivalent to prevent
external Voltage source. STO Cable short circuit to an
external Voltage source.
Safety relay Safety
1213
relay
External 1 7 1213
+24Vdc
Power 0V
Supply

- Twisted-Pair
- Shielded cables

Protected
shielded cables

1 2 3 4 5 6 7 8 9 10 11 12 13 1 2 3 4 5 6 7 8 9 10 11 12 13

Wires should be
protected
Safety relay Safety relay
against short
circuits as
External +24Vdc shown above
Power
Supply 0V

Note: The Maximum cable length from Voltage source to the drive terminals should not exceed 25 metres.

7.1.9. External Power supply Specification.

Voltage Rating (Nominal) 24Vdc
STO Logic High 18-30Vdc (Safe torque off in standby)
Current Consumption (Maximum) 100mA

7.1.10. Safety Relay Specification.

The safety relay should be chosen so that at minimum it meets the safety standards in which the drive meets.

Standard Requirements SIL2 or PLd SC3 or better (With Forcibly guided Contacts)
Number of Output Contacts 2 independent
Switching Voltage Rating 30Vdc
Switching Current 100mA

Safe Torque Off www.sms-lift.com

 Takedo Tek User Guide V2.10 25
7.1.11. Enabling the “STO” Function
The “STO” function is always enabled in the drive regardless of operating mode or parameter changes made by the user .

7.1.12. Testing the “STO” Function

Before commissioning the system the “STO” function should always be tested for correct operation, this should include the following tests:

 With the motor at standstill, and a stop command given to the drive (as per the start source method selected in P1-13):
o De-energise the “STO” inputs (Drive will display “InHibit”).
o Give a start command (as per the start source method selected in P1-13) and check that the drive still displays “Inhibit” and
that the operation is in line with section 7.1.4 and section 7.1.5 “STO” Status and Monitoring

 With the motor running normally (from the drive):

o De-energise the “STO” inputs
o Check that the drive displays “InHibit” and that the motor stops and that the operation is in line with the section 7.1.4
“STO“ Operation and section 7.1.5 “STO” Status and Monitoring.

7.1.13. “STO” Function Maintenance.

The “STO” function should be included within the control systems scheduled maintenance program so that the function is regularly tested for
integrity (Minimum once per Year), furthermore the function should be integrity tested following any safety system modifications or
maintenance work.

If drive fault messages are observed refer to section 19.1 Fault messages for further guidance.

www.sms-lift.com Safe Torque Off

26 Takedo Tek User Guide V2.10

8. Optional Encoder Interface modules

There are 4 types of encoder interface modules which allow the TAKEDO TEK drive to interface with the following encoder types.

 5V TTL Incremental Encoder – A & B Channel with Compliment

 24V HTL Incremental Encoder – A & B Channel with Compliment
 Endat Absolute Rotary Encoder (Heidenhain) – ECN1313, ECN113, ECN413, ECN1325, ECN125, ECN425.
 SinCos Rotary Encoder (Heidenhain) – ERN 1387

Encoder interface module Mechanical Installation

Option Module Slot

Option Module

Encoder interface module electrical installation

TKK-ENCOD TKK-ENCHT
Connection Example – 5V TTL Encoder Connection Example – 24V HTL Encoder

Alternatively (to External supply) the

drives on-board 24V supply can be
used (T1 (24V) and T7 (0V)) – Ensure
total current consumption from T1
does not exceed 100mA.

Note: 0V of encoder must also be

TKK-ENDAT 7 connected to drive 0V (T7).

Endat Absolute Encoder Connections

TKK-SINCOS
SinCos Encoder Connections

Terminal Endat SinCos

Connection Connection
1 +5V Supply to Encoder Terminal Simulated Encoder Output
12 12 0V
2 0V
13 A_P (Out)
3 DATA C+ 1
4 DATA/ C- 14 A_N (Out)
5 CLOCK D+ 15 B_P (Out)
6 CLOCK/ D- 16 B_N (Out)
7 A+ A+ 17 Shield/Screen
8 A- A-
9 B+ B+
10 B- B-
11 Shield/Screen

 The encoder cable should be screened, ideally with each signal pair individually screened. The screen should be connected to the 0V
of the encoder module, or shield/screen connection (TKK-ENDAT/TKK-SINCOS).
 The resolution of the simulated encoder output is as per the connected encoder.
Note : Simulated Encoder output only possible if incremental signals 7 thru to 10 are connected.

Encoder interface module parameter setup

See section 11.4(Incremental) and 12.6 (Endat/SinCos) for parameterisation and commissioning.

Optional Encoder Interface modules www.sms-lift.com

 Takedo Tek User Guide V2.10 27
9. Managing the Keypad
The drive is configured and its operation monitored via the keypad and display.

Keypad Layout and Function – Standard LED Keypad

Used to display real-time information, to

NAVIGATE access and exit parameter edit mode and to
store parameter changes

Used to increase speed in real-time mode or to

UP increase parameter values in parameter edit
mode

Used to decrease speed in real-time mode or

DOWN to decrease parameter values in parameter
edit mode

Used to reset a tripped drive.

RESET /
When in Keypad mode is used to Stop a
STOP
running drive.

When in keypad mode, used to Start a stopped

START drive or to reverse the direction of rotation if
bi-directional keypad mode is enabled

Changing Parameters
Procedure Display shows...
Power on Drive 
Press and hold the for >2 seconds

Press the Key

The and can be used to select the desired parameter
etc..
Select the required parameter, e.g. P1-02 
Press the button
.
Use the and keys to adjust the value, e.g. set to 10
.
Press the key

The parameter value is now adjusted and automatically stored. Press the key for >2 seconds to return to

operating mode

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28 Takedo Tek User Guide V2.10

Advanced Keypad Operation Short Cuts

Function When Display shows... Press... Result Example
Display shows 
The next highest

Fast Selection of
xxx + Parameter group is
selected
Press +
Parameter Groups
Display shows 
Note : Parameter Group
Access must be enabled Display shows 
P1-14 = 101 The next lowest
xxx + Parameter group is
selected
Press +
Display shows
Display shows 
Select lowest Group
Parameter xxx + The first parameter of a
group is selected Press +
Display shows 
When editing P1-01

Any numerical value Display shows .

Set Parameter to
minimum value
(Whilst editing a
parameter value)
+ The parameter is set to
the minimum value
Press +
Display shows.
When editing P1-10
Display shows

Press +
Display shows

Any numerical value Press

Adjusting individual digits
within a parameter value
(Whilst editing a
parameter value)
+ Individual parameter
digits can be adjusted Display shows

Press +
Display shows

Press
Display shows
Etc...

Drive Operating Displays

Display Status
 Drive mains power applied, but no Enable or Run signal applied

 Motor Autotune in progress.

x.x Drive running, display shows output frequency (Hz)

x.x Drive running, display shows motor current (Amps)

Whilst the drive is running, the following displays can be
x.x Drive Running, display shows motor power (kW)
selected by briefly pressing the button on the drive.
x.x Drive Running, display shows customer selected units, see
parameters P2-21 and P2-22
Each press of the button will cycle the display through to the
 When in rescue mode (With encoder) the direction of travel
next selection.
can be displayed, it is assumed that when a run up (forward)
command (e.g. terminal 2 closed) is given the motor rotates
clockwise (looking at the motor with the sheave facing you).
 Drive mains power not present, external 24 Volt control power supply present only

 Output power hardware inhibited, Safe Torque Off function activated. External links are required to the STO inputs (terminals
12 and 13) as shown in section 6.8 Control Terminals Connection Diagram
 Parameters reset to factory default settings

 Parameters reset to User default settings (P6-29=1)

For drive fault code displays, refer to section 19.1

Managing the Keypad www.sms-lift.com

 Takedo Tek User Guide V2.10 29
Resetting Parameters to Factory Default Settings

LED Display
Press and hold the

Keys for at least 2

seconds
The display will show

Press the key

Resetting Parameters to User Default Settings

The current parameter settings of the drive can be stored internally within the drive as the standard default settings. This does not affect the
procedure for returning the drive to factory default settings as described above.

P6-29 (Save user parameters as default) can be enabled (set to 1) to invoke a parameter save of the current parameter values as the standard
defaults for the drive. Parameter menu group 6 can only be accessed with advanced security level access (Default P1-14=201).

Load default parameters


STOP U-DEF 

37kW 400V 3Ph Press STOP key to Reset

Hold down the Up, Down, Start The display shows U-Def. Drive is
and Stop keys for >2s returned to factory settings. Press
the Stop key

Note: Parameters cannot be defaulted whilst P2-39=1 (parameter set locked).

Elevator Specific Linear Units

The drive provides the user with the option to program the drive and view the elevator speed in real time in elevator units e.g. m/s, the drive
calculates the value internally providing the correct values are entered into the below parameters.

To enable this feature the user must program the following parameters:

 Motor Rated Speed (P1-10)

 Sheave Diameter (P3-15) (<100 drive assumes inches)/(>100 drive assumes mm)
 Roping Ratio (P3-16)
 Gear Ratio (for geared systems) (P3-17)

Note: If P1-10 and P3-15 are zero then the function is inactive.

Once the above parameters are programmed the user can view the real time travel speed by pressing the (navigate button) untill „r“ is
shown in the left side of the display , this is further detailed in section 9.1.

www.sms-lift.com Managing the Keypad

30 Takedo Tek User Guide V2.10

10.Start up and Commissioning

Commissioning flow diagram.

 Mechanically install the “TAKEDO TEK drive”

“Section 5”

Motor Control Modes

“Section 10.1”

Geared (Induction) Gearless (Permanent Magnet)

Motor Motor

 Make all the necessary  Make all the necessary

wiring connections wiring connections
“Section 11.1” “Section 12.1”

 Perform Pre-Power checks  Perform Pre-Power checks

“Section 11.2” “Section 12.2”

Apply Mains Power Apply Mains Power

 Enter Motor Nameplate  Enter Motor Nameplate

data data
“Section 11.4” “Section 12.4”

 Perform motor auto--tune  Perform motor auto--tune

“Section 11.5” “Section 12.5”

 Encoder setup & Direction  Encoder setup & Direction

checks checks
“Section 11.6 11.5” “Section 12.6”

Adjust for Optimal Comfort Encoder offset measure

“Section 13” “Section 12.7”

Adjust for Optimal Comfort

“Section 13”

Start up and Commissioning www.sms-lift.com

 Takedo Tek User Guide V2.10 31
Motor Operating Modes.
In order to support a wide range of elevator motor types and vintages the TAKEDO TEK drive has 4 different operating modes, the various
operating modes are selected in parameter P4-01 and are detailed in the table below.

P4-01 Operating Mode Application

 Recommended operating mode for Induction motors.
Advanced Vector IM Speed Control
 Induction (geared) Motors where all motor data is available from the motor rating
0 (With or Without Incremental Encoder
plate/ datasheet (Motor rated Voltage/Current/Frequency/Rated rpm/Power factor).
feedback)
 Excellent low speed torque performance.
Vector IM Speed Control  Alternative to setting 0 for Geared (Induction) Motors where the power factor value is
1 (With or Without Incremental Encoder not available from the motor rating plate/ datasheet.
feedback)  Low speed torque performance reduced compared to setting 0.
 For Geared (Induction) Motors where settings 0 or 1 are not suitable for the connected
motor .e.g. older motors or where vector control (settings 0 or 1) results in motor
2 Enhanced V/F IM Speed Control vibrations which cannot be tuned out by adjustment of the speed loop gains.
 In this mode the speed loop gains are not active.
 Low speed torque performance reduced compared to setting 0 and 1.
PM Motor Speed Control
 Permanent magnet (gearless) Motors.
3 (With or *Without Absolute Encoder
 Excellent low speed torque performance and efficiency.
feedback)
*PM Open Loop Vector control with Limitations (Motor dependant), contact SMS Technical/product support for further information

www.sms-lift.com Start up and Commissioning

32 Takedo Tek User Guide V2.10

11.First Start-up of Geared (Induction) Motors.

The below procedure illustrates a method for commissioning the TAKEDO TEK drive in a typical elevator application, it is assumed the drive has
already been mechanically installed.

Step 1- Wiring Connections.

The below diagram provides guidance for the wiring connections.

More technical information on the electrical wiring is available in section 6 “Electrical Installation” and section 18 “Technical Data”.

Before making any wiring connections ensure that all voltage/power sources are isolated.

11.1.1. Step 1- Wiring Connection diagram.

First Start-up of Geared (Induction) Motors. www.sms-lift.com

 Takedo Tek User Guide V2.10 33
Step 2- Pre-Power Checks.
Action/Checks Additional Information

 Check that all safety circuits/safety chains are in the correct state, failure to do so could result in damage to the
equipment and possible injury or death.

 Check that the intended voltage source matches that of the drive voltage rating.

 Check that any unexpected movement in the motor will not result in damage to equipment / safety risk to persons.
Do Not Apply
Electrical Power
 Check that the elevator controller will not give a start signal to the drive when Electrical power is applied.
Yet!
 Ideally the Lift car should be balanced (i.e. with brakes off the lift car should not naturally move) and with enough
shaft headroom in order to prevent reaching end stops during initial test travels.

 Check Electrical Supply cables are connected to the Input power terminals of the drive.

 Check Motor Cables are connected to the drive U, V, W terminals (If cables have identification markers connect
correct phase sequence).
Check all necessary
 Check Brake resistor is connected to the “+DC” and “BR” terminals of the drive.
electrical
connections.
 Check correct control connections are made between the Elevator control panel and the drive. (as detailed in Section
11.1.1 “Step 1- Wiring Connection diagram.”)

 Check correct encoder module (optional) has been installed and the correct connections are made between the drive
and the Encoder.

www.sms-lift.com First Start-up of Geared (Induction) Motors.

34 Takedo Tek User Guide V2.10

Step 3- Apply Power.

 Apply rated voltage to the  If or is not shown refer to the troubleshooting section at the
drive. back of the user manual.

 Check that the drive displays

or .  If there is no green light shown on the encoder module :
Apply Electrical o Check encoder module is pushed fully home.
Power to the drive  Check that the Encoder o Check the encoder wiring is correct.
module (Optional) left hand LED
light is illuminated Green

Step 4- Motor and Encoder nameplate data entry.

Action Additional Information
Select Geared  Set P1-14 to 201 Advanced parameter Access.
(Induction) motor
control  Set P4-01 to 0 Enables Geared Motor mode.
Enter motor rated
 Enter value into P1-07 Enter Voltage value as shown on the motor nameplate (Volts).
voltage (P1-07)
Enter Motor Rated
 Enter value into P1-08 Enter Current value as shown on the motor nameplate (Amps).
Current (P1-08)
Enter Motor Rated
 Enter value into P1-09 Enter Frequency value as shown on the motor nameplate (Hz).
Frequency (P1-09)
Enter motor rated speed value as shown on the motor nameplate (rpm).

Enter Motor Rated A non-zero value also enables the slip compensation function, furthermore
 Enter value into P1-10 the drive display will now show motor speed in estimated rpm. All speed
Speed (P1-10)
related parameters, such as Minimum and Maximum Speed, run Speeds etc.
will also be displayed in Rpm.
Enter the Maximum
 Enter value into P1-01 This is the maximum allowable speed in rpm.
speed (P1-01)
Enter Motor power Enter value into P4-05* Obtained from Motor nameplate
factor Cos Ø (P4-05) *If Motor power factor is unknown use Vector IM speed control instead
(P4-01 to a 1).

Step 5- Motor Auto-tune.

A Motor Auto-tune must be carried out in order to measure the motor electrical characteristics, brakes will be applied by the drive (unless
controlled by other means) during this test.

Action Additional Information

 If the motor contactor(s) are controlled by the elevator controller then they should be activated to close so that the motor is electrically
connected to the drive, otherwise the “Auto-tune” cannot be carried out.
 If the motor contactor(s) are controlled by the drive (connected to relay 1) the motor contactor will automatically be energised when the
“Auto-tune” is enabled.
Note : For the motor contactor to close the safety chain will need to be closed.
1 2 3 4 5 6 7 8 9 10 11 12 13

 Check Safe Torque

off input connections Safety relay Drive should now show if not see section 19.1.
have been made.

1. The motor contactors will close (if controlled by the drive “Relay 1”).
2. The motor brakes will remain applied.
3. The display will show . (Test procedure may take several
minutes to complete).
 Enable Motor Set P4-02 to a 1 and press the Once the Auto-tune is completed P4-02 will return to 0 and the display will
Auto-tune button.
show  (P7-01 thru to P7-06 will be populated).

Note: Motor Auto-tune will need to be repeated if the motor, motor cables,
motor parameters or drive control mode is changed in P4-01.

First Start-up of Geared (Induction) Motors. www.sms-lift.com

 Takedo Tek User Guide V2.10 35
Step 6 - Encoder Setup (If Encoder is installed)
Action Additional Information
Enter Encoder Resolution  Enter encoder pulses per revolution into P6-06 Refer to Encoder datasheet or nameplate.
 During this check you will need to Navigate
between parameters P0-25 (Estimated motor  If the drive shows when a run-direction
speed) and P0-58 (Encoder speed). command is given ensure that the Safe Torque off
 Provide a run-direction command to terminal 2 inputs are made.
and run at low speed for a short travel e.g.
1 2 3 4 5 6 7 8 9 10 11 12 13
levelling/10% of motor rated speed, you can Use
Check motor direction and P1-01 (Maximum speed limit) to limit the motor
encoder direction is speed and return back to normal value
correct. afterwards.
 Check that the value shown in P0-25 is positive
in the Up direction and Negative in the down
direction, if it is not then set P4-13 to 1.
 Check that the value in P0-25 and P0-58 match
in sign.
 Enable Encoder Set P6-05 to 1 Enables Encoder Feedback

 Once steps through to 6 above have been performed go to Section 13 Comfort Optimisation

www.sms-lift.com First Start-up of Geared (Induction) Motors.

36 Takedo Tek User Guide V2.10

12.First Start-up of Gearless (Permanent Magnet) Motor-With Encoder Feedback.

The below procedure illustrates a method for commissioning the TAKEDO TEK drive in a typical elevator application, it is assumed the drive has
already been mechanically installed.

Step 1- Wiring Connections.

The below diagram provides guidance for the wiring connections.

More technical information on the electrical wiring is available in section 6 “Electrical Installation” and section 18 “Technical Data”.

Before making any wiring connections ensure that all voltage/power sources are isolated.

12.1.1. Step 1- Wiring Connection diagram.

First Start-up of Gearless (Permanent Magnet) Motor-With Encoder Feedback.

www.sms-lift.com
 Takedo Tek User Guide V2.10 37
Step 2- Pre-Power Checks.
Action/Checks Additional Information

 Check that all safety circuits/safety chains are in the correct state, failure to do so could result in damage to the
equipment and possible injury or death.

 Check that the intended voltage source matches that of the drive voltage rating.

 Check that any unexpected movement in the motor will not result in damage to equipment / safety risk to persons.
Do Not Apply
Electrical Power
 Check that the elevator controller will not give a start signal to the drive when Electrical power is applied.
Yet!
 Ideally the Lift car should be balanced (i.e. with brakes off the lift car should not naturally move) and with enough
shaft headroom in order to prevent reaching end stops during initial test travels.

 Check Electrical Supply cables are connected to the Input power terminals of the drive.

 Check Motor Cables are connected to the drive U, V, W terminals (If cables have identification markers connect
correct phase sequence).
Check all necessary
 Check Brake resistor is connected to the “+DC” and “BR” terminals of the drive.
electrical
connections.
 Check correct control connections are made between the Elevator control panel and the drive. (as detailed in Section
12.1 “Step 1- Wiring Connection diagram.”)

 Check correct encoder module (optional) has been installed and the correct connections are made between the drive
and the Encoder.

www.sms-lift.com First Start-up of Gearless (Permanent Magnet) Motor-With

Encoder Feedback.
38 Takedo Tek User Guide V2.10

Step 3- Apply Power.

 Apply rated voltage to the  If or is not shown refer to the troubleshooting section at the
drive. back of the user manual.

 If there is no green light shown on the encoder module :

 Check that the drive displays o Check encoder module is pushed fully home.
or . o Check the encoder wiring is correct.
Apply Electrical
Power to the drive  Check that the Encoder
module (Optional) left hand LED
light is illuminated Green

Step 4- Motor nameplate data entry.

Action Additional Information
Select Gearless  Set P1-14 to 201 Advanced parameter Access.
(Permanent Magnet)
motor control mode.  Set P4-01 to 3 Both IPM and SPM type motors are supported.
(P4-01)
 The back-emf value is the phase to phase value at motor rated Speed and
should be obtained from the Motor nameplate or datasheet.

 If the value is not available it can be approximated as per the following

 If the motor rated frequency is calculation :
=/<32Hz then there is no need to
Enter motor back- enter a value. P1-07 = Motor Rated Power / Motor Efficiency / Motor Power factor /1.732 / Motor
EMF voltage value rated Current.
(P1-07)  If the motor rated frequency is
(Typical values are 0.95 for Motor efficiency and 0.90 for Motor power factor).
>32Hz Enter Back EMF value into
P1-07. Example: Motor rated Power = 7.2kW Motor Efficiency = 0.95, Motor Power
factor (CosØ) = 0.9, Motor rated current = 16.9A.
Therefore: P1-07 = 7200/0.9/0.9/1.732/16.9 = 304V
Note: Incorrect value can result in abnormal motor operation (motor vibration).
Enter Motor Rated  Enter motor rated current into
Obtained from Motor nameplate (Amps).
Current (P1-08) P1-08
 If not available it can be calculated : motor poles*motor rated rpm/120

Note: The drive uses P1-09 to calculate the number of motor pole pairs.

 Enter motor rated frequency into Motor Poles (Pair) = P1-09*60/ P1-10, the result must equal a whole number (zero
Enter Motor Rated
P1-09 decimal places e.g. 12 and not 12.3) :
Frequency (P1-09)

For non-whole number frequencies e.g. 6.82Hz, then choose next whole number for
P1-09 and recalculate accordingly :
Next whole number (7)/Pole pairs*60 = New rated speed value (P1-10).
Enter Motor Rated  Enter motor rated speed  If not available it can be calculated:
Speed (P1-10) into P1-10 Motor rated frequency*120/motor poles.
Enter the Maximum
 Enter value into P1-01 This is the maximum allowable speed in rpm.
speed (P1-01)
Set Motor Switching
Frequency  Set P2-24 to 16kHz 16kHz provides optimum motor control.
(P2-24)

First Start-up of Gearless (Permanent Magnet) Motor-With Encoder Feedback.

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 Takedo Tek User Guide V2.10 39
Step 5- Motor Auto-tune.
A Motor Auto-tune must be carried out in order to measure the motor electrical characteristics, during the Auto-tune test the motor brakes
will be applied by the drive (assuming they are controlled by Relay 2 on the drive).

Action Additional Information

 If the motor contactor(s) are controlled by the elevator controller then they should be activated to close so that the motor is electrically
connected to the drive, otherwise the “Auto-tune” cannot be carried out.
 If the motor contactor(s) are controlled by the drive (connected to relay 1) the motor contactor will automatically be energised when the
“Auto-tune” is enabled.
Note : For the motor contactor to close the safety chain will need to be closed.
1 2 3 4 5 6 7 8 9 10 11 12 13

 Check Safe Torque Drive should now show refer to the troubleshooting section at the
off inputs have been
made. back of the user manual.

4. The motor contactors will close (if controlled by the drive “Relay 1”).
5. The motor brakes will remain applied.
6. The display will show . (Test procedure may take several
Enable Motor Auto- minutes to complete).
 Set P4-02 to a 1 and press the
tune button. Once the Auto-tune is completed P4-02 will return to 0 and the display will
show  (P7-01/03/06 will be populated).
Note: Motor Auto-tune will need to be repeated if the motor, motor cables,
motor parameters or drive control mode is changed in P4-01.

Step 6- Encoder setup.

Action Additional Information
Select absolute 65535 value indicates that an Absolute
encoder  Enter 65535 into P6-06 (Endat, SinCos) Encoder is being used.
(Endat or SinCos)
(P6-06)

 During this check you will need to Navigate between  If the drive shows when a run-
parameters P0-25 (Estimated motor speed) and P0-58 (Encoder direction command is given ensure that the
speed). Safe Torque off inputs are made.

 Provide a run-direction command to terminal 2 and run at 1 2 3 4 5 6 7 8 9 10 11 12 13

Check motor low speed for a short travel e.g. levelling/10% of motor rated
direction and speed, you can Use
encoder direction is P1-01 (Maximum speed limit) to limit the motor speed and
correct. return back to normal value afterwards.

 Check that the value shown in P0-25 is positive in the Up

 If the motor does not turn or the drive shows
direction and Negative in the down direction, if it is not then
an error message refer to section 15.1.4
swap phase “V” and “W” and repeat the check.
“Troubleshooting “.
 Check that the value in P0-25 and P0-58 match in sign.
Enable the Encoder Enables Encoder Feedback and puts the drive into
(P6-05)  Set P6-05 to 1
closed loop operation.

Step 7a- Stationary Encoder offset measurement (Alternative to rotating measurement).

An Encoder Offset measurement (Offset between motor poles and magnets) must be carried when operating a gearless motor.
www.sms-lift.com First Start-up of Gearless (Permanent Magnet) Motor-With
Encoder Feedback.
40 Takedo Tek User Guide V2.10
This measurement should be used if the ropes cannot easily be removed from the motor, it should be noted that this measurement is not as
accurate as the Rotating Encoder Offset measurement (as per detailed in section 12.8), and may result in higher operating currents.

Action Additional Information

 Ensure elevator car is in a no-load balanced position within the shaft (i.e. with brakes off lift car should not naturally move). Failure to do
so will risk an incorrect encoder offset value.
1 2 3 4 5 6 7 8 9 10 11 12 13

 Check Safe Torque Drive should now show  if not refer to the troubleshooting section at
off inputs have been
made. the back of the user manual.

1. The motor contactors will close (if controlled by the drive “Relay 1”, and
providing the Safety chain is closed), if not controlled by the drive.
2. The motor brakes will remain applied.
3. The display will show . (Test procedure may take several
minutes to complete).
 Set P4-02 to a 2 and press the
Stationary Encoder 4. During the measurement the drive will inject a pulsating current into the
button.
offset measurement motor which will give a small sheave movement in order to measure the
offset value, therefore it is normal for a pulsing noise to be heard.
Note : The amount of movement can be observed in P0-78 (0-360°) and is governed by
the setting of P1-08, P4-07 and the strength of the motor brake.

5. Once the Auto-tune is completed P4-02 will return to 0 and the display
will show and P6-09 (Encoder offset value) will be populated.
Note on Stationary Encoder offset measurement: It is recommended that the stationary Encoder offset measurement test is repeated (with
motor sheave in different positions) several times to ensure that offset value is correct.

If within repeated tests, the value shown in P6-09 is varying significantly (more than 50° ) or always a value of 0 then :

a. Increase P4-07, e.g 200 to 250 (increasing too high will result in overcurrent trips).
b. If Inconsistent values are still being measured then alternatively carry out the “Rotating Encoder offset measurement” as per
detailed in section 12.8.

 The drive and motor current ratings must be correctly matched in order for the stationary encoder offset measurement to be accurate.

 Offset measurement will need to be repeated if the encoder is changed or mechanically moved.

Step 7b - Rotating Encoder offset measurement (Alternative to Stationary measurement).

First Start-up of Gearless (Permanent Magnet) Motor-With Encoder Feedback.

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 Takedo Tek User Guide V2.10 41
An Encoder Offset measurement (Offset between motor poles and magnets) must be carried when operating a gearless motor.

This measurement should be used if the ropes are removed from the motor (if ropes are not removed go to Step 5 Stationary Encoder offset
measurement), the rotating measurement is more accurate than the Stationary Encoder Offset measurement and is with the brakes released.

Action Additional Information

 Check ropes are removed from motor sheave.
 If motor contactor(s) are controlled by the elevator controller check that they are closed.
 Check brakes are released.
 Enable V/F mode Set P4-01 to 2
 Close Safe Torque off input

13
10

11

12
4

7
1

9
connections

 Give a run command to the

drive (Close T1 to T2)

Encoder offset value is shown in P0-78 index 2 (press

up arrow) in the range 0-360 degrees ‘ 
(Index 2 indicated by lit upper segment) e.g. 55 degrees
 Record the Encoder offset Note:
value from P0-78. (stabilised  It is recommended that this test is repeated  The motor sheave should move slightly during
value) several times (with motor sheave in different the measurement.
positions) to ensure similar values are obtained  If similar values are not obtained (following
(within 50 °). repeated measurements) try increasing
P1-11.
E.g. (Open T1 and T2) Drive should now show if not see section
 Disable the drive
19.1.
Enter an average of the values that were recorded
 Enter Encoder offset value from P0-78 above into P6-09
 Enable Gearless (PM) mode Set P4-01 to 3

Note: If the motor phases are swapped or the encoder changed/mechanically moved then repeat the Encoder offset measurement.

 Once steps through to 7 above have been performed go to Section 13 Comfort Optimisation.

www.sms-lift.com First Start-up of Gearless (Permanent Magnet) Motor-With

Encoder Feedback.
42 Takedo Tek User Guide V2.10

13.Comfort Optimisation
Note : It is recommended to initially perform the below tests with a lower speed and load (in balanced condition) and then gradually build up
to the required operating speeds and load, Use P1-01 (Max speed limit) to limit the motor speed and return back to normal value afterwards.
Action Additional Information
 If using a Geared motor ensure that steps 1 thru to 6 in section 11 have been performed.
 If using a Gearless motor ensure that steps 1 thru to 7 in section 12 have been performed.
 Program ramps and Jerk setting as per the diagram below.
Accel Decel
Start end Jerk End
Run Speed (P2-02) start Jerk
(P3-02) (P3-03)

Dec
el tim
e (P
3)
1- 0

1-04
e (P

Decel

)
l tim

end Jerk
(P3-04) Stopping
e
Acc

Jerk
(P3-05)
Accel Levelling Speed (P2-02)
start Jerk
(P3-01)

 Apply a direction command If P1-13 is at default value (P1-13=0) then inspection speed value is defined in parameter P2-04,
at inspection speed. alternatively a full speed call can be given and P1-01 can be used to clamp the speed to a lower value.
The comfort Level during travel is defined by the setting of the speed loop gains as illustrated in the diagram below, guidance of the speed
loop settings is provided in section 13.1 “Comfort Optimisation adjustments.

P4-15/
Run Speed Gains (P4-03/P4-04) (P4-15/P4-16)
Start P4-16)
End

Rollback
Gain
(P7-13)

Low to Run
speed Gains
transition point
(P4-17 rpm)

Direction input Direction Input

High Speed Input High Speed Input
Motor Contactor Control (Relay 1) Motor Contactor Close (Relay 1)
Motor Contactor Open/close actuation delay allowance. P3-06 Motor Contactor Close/Open delay time (P3-06) P3-06
Drive Output Drive Output on
Motor Brake Apply/release actuation delay allowance. P3-07 P3-08 P3-10
Motor Brake Control (Relay 2) Brake Released (Relay 2)

P3-06 = Motor Contactor Open/Close time. P3-10 = Zero speed holding time.
P3-07 = Brake Release time. P4-15 = Low speed loop P-Gain.
P3-08 = Brake Apply delay time. P4-16 = Low speed loop I-Gain.
Note: If P4-17 is zero then P4-15 and P4-16 will have no effect.

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 Takedo Tek User Guide V2.10 43
Comfort Optimisation adjustments.

2 P2-02 P3-03

P1-03 P1-04

2 3
P2-01
1 4
Time

Action Guidance Geared Gearless

 If the drive trips refer to section 19 “Troubleshooting” at the back of the manual. √ √

 Increase P7-13 to reduce the amount of rollback, if set too high then it
 Check that there
will normally show as vibration. √ √
 1 - Check is no rollback.
 In some cases P3-07 (brake release time) may also need to be increased.
Starting Comfort
 Parameter P3-07 defines the actuation time of the motor brakes,
generally the default value (0.50sec) is suitable for most situations, if
 Check for Jerks
there is a jerk felt during the brake release then reduce P3-07. √ √
during starting.
 Increasing the value of P3-01(Accel Start Jerk) can help reduce start
jerks.
 If there is vibration during high speed travel then reduce P4-03 (Run
speed P-gain) and reduce P4-04 (Run speed I-gain).

 2 - Travel
 Adjust the run In general the run speed gains can be adjusted as follows :
Comfort during √ √
acceleration and
speed gains to suit  Increase P4-03 (Run speed P-gain) to achieve the required travel
the application. comfort (No speed overshoot when reaching high speed), the upper
High Speed.
limitation of the setting will normally show as vibration.
 Reduce P4-04 (Run speed i-gain) to achieve the required travel comfort,
the lower limitation will normally show as speed instability/vibration.
 If it is found that the travel comfort is good at high speed but poor at
Levelling speed then the low speed gains can be utilised.

In general the run speed gains can be adjusted as follows :

 Set a speed loop gain transition point in P4-17, (normally less than
 3 - Travel levelling speed rpm).
 Adjust the low
Comfort at √ √
speed gains to suit
Levelling  Increase P4-15 (Low speed P-gain) to achieve the required travel
the application.
speed/Low speed comfort/floor level accuracy, the upper limitation of the setting will
normally show as vibration.

 Reduce P4-16 (Low speed i-gain) to achieve the required travel comfort,
the lower limitation will normally show as speed instability/vibration.

 Noise when the

 Increase P3-19 (Torque reduction during stopping), parameter P3-10
motor brake applies
(Zero speed holding time on disable) can also can be increased to give X √
(due to instant
further improvement.
removal of torque).
 4 - Stopping  If the motor is
Comfort pulled in the
opposite direction
 Increase P3-10 (Zero speed holding time on disable). √ √
during stopping (due
to the over-hauling
effect of the load)
 If the car is not reaching the floor increase P2-02 (levelling speed).
 Check that car is  If the car is stopping just before the floor increase P2-02 (levelling
 4 - Floor Level
landing at the floor speed)/ P3-05 (Stopping jerk). √ √
Accuracy
level.  If the car is stopping overshooting the floor decrease P2-02 (levelling
speed)/ P3-05 (Stopping jerk).

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44 Takedo Tek User Guide V2.10

14.Advanced Features
Short Floor Operation
In a normal elevator travel profile the drive will be travelling at the Run Speed when the levelling input is received (essentially, the Run Speed
input is removed). If the levelling input (run speed input removed) is received prior to the drive having reached the Run Speed (e.g. Whilst still
accelerating) the Short floor operation will work to reduce the Elevator travel time by automatically adjusting the speed to reach the floor in a
shorter time.

14.1.1. Normal Elevator travel profile

Speed
Normal Run Speed

Levelling Speed

Time

Run Speed Input

(Levelling input)

14.1.2. Short Floor profile

Short floor operation is enabled by setting parameter P3-11 to 1, once set the drive will operate as follows:

If the Output Frequency is > 40% of Run Speed when levelling Input received

In this case, the drive will hold the present output frequency for the time period calculated (Line A) based on the travel distance from Run
Speed to the present output frequency, before decelerating to the levelling speed.

Speed
Normal Run Speed

A
40%
Levelling Speed

Time

Run Speed Input

(Levelling input)

If the Output Frequency Output Frequency is < 40% of Run Speed when levelling Input received

In this case, the drive will accelerate to 40% of the Run Speed, and maintain this frequency for a time period calculated (Line A) based on the
travel distance from Run Speed to the present output frequency, before decelerating to the levelling speed.

Speed
Normal Run Speed

40% Levelling Speed

A

Time

Run Speed Input

(Levelling input)

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 Takedo Tek User Guide V2.10 45
Rescue Mode Operation (UPS Power Supply)
Rescue mode allows the drive (400V 3Ø drives only) to be operated from a single phase 230V AC UPS (Uninterruptible power supply) so that in
an emergency situation (Passenger evacuation) the elevator car can still be operated at a limited speed, for example in the event of a mains
Bourne power failure.

Rescue mode is automatically activated when:

1. The 3 phase supply is removed and after a delay of 5 seconds the UPS supply is connected to L1 and L2 terminals.
2. The UPS supply voltage is within the range of 205VAC and 280VAC.
3. P1-13 is set to 7 and T10 is high, see section 6.10.1 for more details.

Rescue mode operation can be monitored via a digital output by setting P2-13 to a 6 (Rescue Mode Active):
 Digital output 2 (terminal 11) will be Logic 1 (24V) when the drive is operating in Rescue Mode.

During Rescue Mode Operation the direction of travel can be shown on the display by pressing the button, it is assumed that when a Run
up (Forward) command (Terminal 2 closed) is given the motor rotates clockwise (looking at the motor with the sheave facing you).

14.2.1. Dimensioning the UPS

The UPS must be of the following type.

Output Voltage VA Rating

1 Phase 200 – 240 Volt - Sine Wave Output. >= 230 x Motor Rated Current P1-08
Simulated Sine Wave UPS also supported providing the voltage range is within that set out in section 18.2.2 Rescue Mode (UPS) supply.

14.2.2. UPS Connection Diagram

Note
 The Emergency Contactor can only be closed
when the Main Contactor is open.

 A delay time of no less than 5 sec’s must be

included when changing over to/from UPS
supply to/From mains supply mode.

 The Main Contactor and Emergency Contactor

must be interlocked so that both cannot be
energised at the same time, failure to do so
may result in damage to the UPS, contactor.

14.2.3. Rescue Mode operation Modes

Par Parameter Name Minimum Maximum Default Units
Rescue Operation Function 0 2 0 -
0: Basic Rescue mode
P3-12 1: Torque Test
2: UPS Saving Mode
3: UPS Easiest direction based on load measurement

P3-12 = 0 (Basic rescue mode)

 The Speed is defined by the rescue mode speed parameter P2-05 (maximum 5.0Hz).
 Travel Direction is governed by the direction command given to the drive.

P3-12= 1 (Torque test)

 The Speed during the torque test is 5.0Hz.

 Travel direction is decided by the drive torque test result and not the direction input, the torque measures which direction is the
easiest direction in order to provide longevity of the UPS and ensure a floor is reached before the UPS is exhausted.
 Torque test always starts in the downward direction (motor anti-clockwise with sheave facing you).

Direction command

Motor Speed (light direction learning) Run in easiest direction

Note: Brake is applied between direction changes.

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46 Takedo Tek User Guide V2.10
P3-12 = 2 (UPS Saving Mode)

 This mode utilises gravity to bring the lift car to the next floor.
 The drive output is disabled in this mode, the drive is only used to control the electromechanical brake apply/release signals.

Par Parameter Name Minimum Maximum Default Units

Unbalancing Max speed 0 P1-01 5.0 Hz
This is the maximum allowable speed when the drive is operating in rescue mode and with P3-12 = 2, when this value is reached the
P2-06 drive will command the motor brake to apply.
Setting this value too high can result in damage to the brakes.
UPS Saving mode Minimum Speed 1.0 4 1.0 Hz
This is the minimum speed that must be achieved when UPS saving mode is active, further this speed must be achieved within the
P2-07
time set in P2-08, otherwise the drive will apply the brake and automatically carry out the Torque test (as per P3-12=1) on Geared
motors or use direction from controller on gearless motors.
UPS Saving mode Minimum Speed Time 1 5 5 s
P2-08 This parameter is used in conjunction with P2-07, when UPS saving mode (P3-12) is active the encoder speed must be at least the
value in P2-07 within the time set in P2-08.

In this mode there are a number of different scenarios:

Scenario 1 - Car doesn’t move (Car balanced) or P2-06 value is not achieved in the time set in P2-08 when brake is released.

Rescue mode detected

Direction/Start command

Motor contactor (relay 1)

Motor shorting contactor (DOP 2)

Motor
Contactor
closing time
(P3-06)
Drive Output stage

Motor Brake
release time
(P3-07)
Brake
Motor Brake
P2-06
release time
(P3-07)-hold
zero speed Geared Motor: Drive performs Torque test (As per P3-12=1).
Encoder Speed Gearless Motor: Drive uses direction command from controller.

P2-08

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 Takedo Tek User Guide V2.10 47
Scenario 2 - Car moves when brake is released.

Rescue mode detected

Stop command (Floor reached)

Direction/Start command

Motor contactor (relay 1)

2 sec’s

Motor shorting contactor (DOP 2)

Drive Output stage

P2-06
reached
Motor Brake
release time
(P3-07)
Brake

P2-08

2 sec’s delay

Encoder Speed

P2-08 P2-08

P3-12 = 3 (UPS Easiest direction based on Load measurement)

 In this mode the direction of travel is controlled by the drive, the travel direction is based on the direction which consumed the least
amount of load (Load measurement) when the drive was last enabled with mains 400V supply operation.
 The load measurement is performed during the Motor Brake Release Time (P3-07).
 The outcome of the load measurement can be monitored in parameter P0-62 (0 = easiest direction is Upwards, 1 = easiest direction
is downwards, 2 = Balanced).
 The accuracy of the load measurement depends on the application specifics, accuracy can be improved by increasing the
measurement time (P3-07).
 If the load measurement could not be performed (balanced load situation) then the drive will instead :
o Switch to P3-12= 1 (torque test) in geared systems.
o Switch to P3-12 = 0 (direction from controller) in gearless systems.

14.2.4. Rescue Mode speed limitation and tuning.

The actual speed will be limited depending on the drives internal DC bus voltage level as shown in the below calculation.

Rescue Mode Speed Limit = DC Bus Voltage (P0-20) x Motor Rated Frequency (P1-09)
1.7 X Motor Rated Voltage (P1-07)

It should also be noted that the level of motor load will affect the available DC bus Voltage; in some cases (More likely on Induction Motors) it
may be necessary to reduce the Rescue Speed further in order to prevent nuisance Under Voltage trips.

Rescue mode P-gain (P7-17) is available for adjustment to improve speed stability during rescue operation.

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48 Takedo Tek User Guide V2.10

Motor brake release monitoring

Terminal 18 and 19 of the TKK-ENDAT2 and TKK-SINCOS2 encoder interface modules can be used to monitor (With Brake micro switches) and
verify the mechanical brake dropping mechanism after each brake release/Apply (as commanded by Relay 2 of the drive), and if verification
fails then the drive will trip and prevent the drive reacting to any further run commands, once the trip occurs then it can only be reset by a
“competent person“ and not by a normal trip reset or power cycle.

14.3.1. Connection Method

The diagrams below shows how normally closed brake micro switches are connected to the encoder interface module.

P6-12 P6-12

Motor Brake Control

(T17 & T18 of drive)

Brake N/C Micro

Switches (T18 & T19
Of Encoder module)

14.3.2. Parameter setup.

1. Ensure the connections above have been made.

2. Set the following parameters :
 P6-11 to “t18t19“(Brake release monitoring using terminal 18 and 19 of Encoder module).
 P6-12 (In sec’s) to represent the expected time between the brake being released/applied (Relay 2) and the brake micro
switches changing state.

14.3.3. Related Parameters.

Par Parameter Name Minimum Maximum Default Units
P6-11 Brake Release-monitoring terminal Enable Off t18t19 OFF -
OFF: Brake release monitoring Disabled.
Din-1..Din-5
t18t19: T18 & T19 of Encoder module (TKK-ENDAT2/ TKK-SINCOS2) used for monitoring brake micro switches.
P6-12 Brake Release- monitoring time 0.1 5.0 0.5 Sec’s
If the monitoring terminal has not changed state in this time (since the brake has been released by relay 2 of the drive) then the
drive will trip “" or “" (if number of attempts as set in P6-13 has been met)
P6-13 Brake Release-number of errors before lockout 0 5 0 -
Number of brake release monitoring errors before permanent trip “” is displayed.
Note : If Parameter P2-36 is set to  then the drive will automatically reset the “" message, otherwise the trip will have to
be reset manually e.g. Enable/direction input toggled.

14.3.4. Method of Operation

When the function (mechanical brake release monitoring) is enabled, the drive will monitor terminal 18 & 19 of the encoder module and check
that each time the brake is commanded to open/close the micro-switches change to the correct state within a set time (P6-12), if the state is
incorrect then the drive will display the warning message “" , reset and have another attempt, if after the number of attempts (as set in
P6-13) the brake micro switches are indicating the incorrect state then the drive will permanently show the error message “”.

Before the lift is put into service, test runs should be performed to ensure that the function works as expected.

In the instance of the permanent error message“” being shown, then it can be cleared as follows:

1. Disable drive.
2. Set P6-11 to Off.
3. Press Mode button.
4. Set P6-11 back to “t18t19”.

14.3.5. Checking for correct Operation

Once the relevant parameters have been programmed (as detailed above) then the “Brake release monitoring” function should be verified for
correct operation, this can be carried out by exercising the micro switches/monitoring input (during a low speed run) to simulate brake not
releasing/closing and checking that the ““"/“” error message/s is shown.

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 Takedo Tek User Guide V2.10 49
Motor shorting Contactor Control.

This function is used On Gearless (Permanent magnet) systems where an external shorting contactor is installed to short circuit the windings of
the motor when stopped (in standby), this helps reduce movement of the lift car should the electromechanical brakes fail.

For the Motor Shorting Contactor Control to work the shorting contactor must be controlled by Digital Output 2 (terminal 11) and parameter
P2-13 must be set to a 5.

14.4.1. Motor shorting Contactor Control logic sequence.

The logic of the Motor shorting contactor control is shown in the timing diagram below:

Direction/Start command

Motor contactor (relay 1)

2 sec’s

Motor shorting contactor (DOP 2/T11)

Motor
Contactor
closing time
Drive Output stage (P3-06) Zero
Speed
holding
Time
(P3-10)

Brake
release
Brake time
(P3-07)
– Hold
Zero
speed

Output Speed

Motor presence check before opening mechanical brake.

To ensure that the motor is connected, the TAKEDO TEK has a function which checks that at each start command all 3 phases of the motor
(Geared and Gearless) are connected prior to releasing the electro-mechanical brake.

Par Parameter Name Minimum Maximum Default Units

Motor Connected Check 0.0 100.00 15 %
This value (% of motor rated current) must be achieved before the brake is released, if not then it is assumed the motor is not
P3-18
connected and the drive will trip “Out-PH” or “Out-F” (size 2).
If P3-18 is set to a value of zero then the motor connected check function is disabled.

The default value of 15 is in generally suitable for most applications, this value can be reduced in order to reduce the audible noise when the
test is performed, an exact value is one in which the audible noise level is acceptable but the drive still detects each of the motor phases
should they not be connected.

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50 Takedo Tek User Guide V2.10

15.Permanent Magnet Motors-Without Encoder.

Open loop operation of a gearless (PM) motor is intended for test and a means of bringing the elevator car to a required position in the shaft should the encoder
feedback be lost, the level of motor control will not be as per Closed loop operation.
In all applications, to ensure good performance and safe control over the motor and connected load, it is essential to ensure that the drive parameters are
adjusted to suit the connected motor. Following this, an autotune must be carried out, this allows the drive to measure the data required for correct control of
the connected motor.

Whilst the autotune procedure does not rotate the motor shaft, the motor shaft may still turn if the motor holding brake is
not applied. It is not normally necessary to uncouple the load from the motor; however the user should ensure that no risk
arises from the possible movement of the motor shaft.

15.1.1. Step 1- Electrical connections.

Action Additional Information
Connect Motor  Check phases = U>U, V>V, W>W The motor direction and encoder direction must match.
 Apply rated voltage to the drive.

 Check that the drive displays

or .

 Lift car should be balanced (i.e.

with brakes off lift car should not
naturally move).

15.1.2. Step 2- Motor nameplate data entry.

Action Additional Information
 Open advanced
Set P1-14 to 201
parameter access
 Enable Gearless
Set P4-01 to 3 Both IPM and SPM type motors are supported.
(PM) motor control
Ideally the value (at motor rated Speed) should be obtained from the Motor
nameplate or datasheet, alternatively it can be approximated as per the
following calculation :

P1-07 = Motor Rated Power / Motor Efficiency / Motor Power factor /1.732 / Motor
rated Current.
 Enter motor back- Enter Back EMF value into P1-07
EMF voltage value (Typical values of 0.95 for Motor efficiency and 0.90 for Motor power factor).
Example: Motor rated Power = 7.2kW Motor Efficiency = 0.95, Motor Power
factor (CosØ) = 0.9, Motor rated current = 16.9A.
Therefore: P1-07 = 7200/0.9/0.9/1.732/16.9 = 304V
Note: Incorrect value can result in abnormal motor operation (motor vibration)
 Enter Motor Enter value into P1-08
Obtained from Motor nameplate (Amps).
Rated Current
Note : The drive uses P1-09 to calculate the number of motor pole pairs.
Motor Poles (Pair) = P1-09*60/ P1-10, the result must equal a whole number (zero
decimal places e.g. 12 and not 12.3) :

 Enter Motor For non-whole number frequencies e.g. 6.82Hz, then choose next whole number for
Enter value into P1-09
Rated Frequency P1-09 and recalculate accordingly :

Next whole number (7)/Pole pairs*60 = New rated speed value (P1-10).

 Enter Motor Enter value into P1-10 Obtained from Motor nameplate (rpm)
Rated Speed
 Set Motor Set P2-24 to 16kHz 16kHz provides optimum motor control.
Switching Frequency
 Set PM Motor Set P7-14 to 25% Boost Current Level
boost values Set P7-15 to 10% Boost Frequency

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 Takedo Tek User Guide V2.10 51
15.1.3. Step 4- Motor Auto-tune.

A Motor Auto-tune must be carried out in order to measure the motor electrical characteristics, during the Auto-tune test brakes will be
applied by the drive (unless controlled by other means).

Action Additional Information

 If motor contactor(s) are controlled by the elevator
controller check that they are closed.
Drive should now show if not see section 19.1.
1 2 3 4 5 6 7 8 9 10 11 12 13

 Close Safe Torque

Safety relay
off input connections

The display will show . (Test procedure may take several minutes to
complete).

 Enable Motor Once the Auto-tune is completed P4-02 will return to 0 and the display will
Set P4-02 to a 1 and press the
Auto-tune button. show (P7-01/03/06 will be populated).

Note: Motor Auto-tune will need to be repeated if the motor, motor cables,
motor parameters or drive control mode is changed in P4-01.

15.1.4. Troubleshooting

Observation Action
Rotor not orientating on start up Increase P7-12 (Current Magnetising time)
Long delay following Rotor orientation on start up Decrease P7-12 (Current Magnetising time)
Poor torque performance at low speed Increase value in P7-14 (Boost current level) and P7-15 (Torque boost frequency
limit)
Suitable starting values are 25% (P7-14) and 10% (P7-15)
Motor Vibration/trips/Cogging at low speed Check correct settings of motor nameplate data.
Check correct value of P1-07 (Motor Nominal Back EMF).
Reduce value of P4-03 (Vector Speed Gain)(As much as 50% reduction in some
instances)
 Check correct settings of motor nameplate data.
Check correct value of P1-07 (Motor Nominal Back EMF).
Check Correct setting of P7-14 and P7-15.
Other Error Messages Refer to section 19 Troubleshooting.
Care should be taken not to apply to high of a value in P7-14 and P7-15 as excess motor heating may result.

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52 Takedo Tek User Guide V2.10

16.Parameters
Parameter Set Overview
The TAKEDO TEK Parameter set consists of 6 groups as follows:

 Group 0 – Read Only Monitoring Parameters.

 Group 1 – Speed Limits, Basic motor data, Command Source.
 Group 2 – Travel Speeds, I/O setup.
 Group 3 – S-ramps, Output contactor/Brake, Short floor, Light load detection.
 Group 4 – Motor Control Modes, 1st Speed Loop Gains, Current Limits.
 Group 5 – Modbus, CAN Open Communication.
 Group 6 – Encoder setup, Brake Release Monitoring.
 Group 7 – Motor Measured data, 2nd Speed loop gains.
 Group 8 & 9 – Application specific/User Configurable I/O (See Optitools studio PC software for further information)

When the TAKEDO TEK drive is reset to factory defaults, or is in its factory supplied state, only Group 1 Parameters can be accessed. In order to
allow access to parameters from the higher level groups, P1-14 must be set to the same value as P2-40 (Default setting = 101). With this
setting, parameter groups 1 – 5 can be accessed, along with the first 50 parameters in Group 0. (Enter 201 in P2-40 for access to Group 6 and
above).

Parameter Group 1 – Speed Limits, Basic motor data, Command Source.

Par Parameter Name Minimum Maximum Default Units
P1-01 Maximum Frequency / Speed Limit P1-02 500.0 50.0 (60.0) Hz / Rpm
(Also speed 8 if Multispeed selection P1-13 = 6 is used – see section Error! Reference source not
ound.)
Maximum output frequency or motor speed limit – Hz or rpm.
If P1-10 >0, the value entered / displayed is in Rpm
P1-02 Minimum Frequency / Speed Limit 0.0 P1-01 0.0 Hz / Rpm
Minimum speed limit – Hz or rpm.
If P1-10 >0, the value entered / displayed is in Rpm
P1-03 Acceleration Ramp Time 0.00 600 2.0 Seconds
Acceleration ramp time in seconds. (Detailed in section 21.2)
P1-04 Deceleration Ramp Time 0.00 600 2.0 Seconds
Deceleration ramp time in seconds. (Detailed in section 21.2)
P1-07 Motor Rated Voltage/Back EMF-PM Motors Drive Rating Dependent Volts
This parameter should be set to the rated (nameplate) voltage of the motor (Volts)
P1-08 Motor Rated Current Drive Rating Dependent Amps
This parameter should be set to the rated (nameplate) current of the motor
P1-09 Motor Rated Frequency 5 250 50 (60) Hz
This parameter should be set to the rated (nameplate) frequency of the motor
P1-10 Motor Rated Speed 0 15000 0 Rpm
This parameter can optionally be set to the rated (nameplate) rpm of the motor. When set to the default value of zero, all speed
related parameters are displayed in Hz, and the slip compensation for the motor is disabled. Entering the value from the motor
nameplate enables the slip compensation function, and the TAKEDO TEK drive display will now show motor speed in estimated rpm.
All speed related parameters, such as Minimum and Maximum Speed, Run Speeds etc. will also be displayed in Rpm.
Note : When the drive is operated with the optional Encoder Feedback Interface, this parameter must be set to the correct
nameplate Rpm of the connected motor.
P1-11 V/F Mode Voltage Boost 0.0 Drive Rating Dependent %
Voltage boost is used to increase the applied motor voltage at low output frequencies, in order to improve low speed and starting
torque. Excessive voltage boost levels may result in increased motor current and temperature, and force ventilation of the motor may
be required.
An automatic setting () is also possible, whereby the TAKEDO TEK drive will automatically adjust this parameter based on the
motor parameters measured during an autotune.
P1-12 Primary Command Source Mode 0 6 0 -
0 : Terminal Control. The drive responds directly to signals applied to the control terminals.
1 : Uni-directional Keypad Control. The drive can be controlled in the forward direction only using an external or remote Keypad
2 : Bi-directional Keypad Control. The drive can be controlled in the forward and reverse directions using an external or remote
Keypad. Pressing the keypad START button toggles between forward and reverse.
3 : Terminal Control. The drive responds directly to signals applied to the control terminals.
4 : Fieldbus Control. Control via Modbus RTU if no fieldbus interface option is present, otherwise control is from the fieldbus option
module interface
6 : CAN bus Control. Control via CAN bus connected to the RJ45 serial interface connector
P1-13 Digital Inputs Function Select 0 7 1 -
Defines the function of the digital inputs depending on the control mode setting in P1-12. See section 6.10.1 for more information.
P1-14 Extended Menu Access Code 0 30000 0 -
Parameter Access Control. The following settings are applicable :
P1-14 = P2-40 = 101 : Allows access to Parameter Groups 0 – 5

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Parameter Group 2 – Travel Speeds, I/O setup.
Par Parameter Name Minimum Maximum Default Units
P2-01 Levelling Speed 0.0 P1-01 5.0 Hz / Rpm
P2-02 High Speed 0.0 P1-01 50.0 Hz / Rpm
P2-03 Intermediate Speed 0.0 P1-01 25.0 Hz / Rpm
P2-04 Inspection Speed 0.0 P1-01 5.0 Hz / Rpm
P2-05 Rescue Mode Speed (400V drives only) 0.0 *P1-01 5.0 Hz / Rpm
Speeds / Frequencies are selected by digital inputs depending on the setting of P1-13.(see section 6.10.1
If P1-10 = 0, the values are entered as Hz. If P1-10 > 0, the values are entered as Rpm
*Limited to 5.0Hz internally.
Unbalancing Max speed 1.0 P1-01 5.0 Hz
P2-06 This is the maximum allowable speed when the drive is operating in rescue mode and with P3-12 = 2, when this value is reached the
drive will command the motor brake to apply.
UPS Saving mode Minimum Speed 1 5.0 1.0 Hz
P2-07 This is the minimum speed that must be achieved when UPS saving mode is active, further this speed must be achieved within the
time set in P2-08, otherwise the drive will apply the brake and automatically carry out the Torque test (as per P3-12=1) instead.
UPS Saving mode Minimum Speed Time 1 5 5.0 s
P2-08 This parameter is used in conjunction with P2-07, when UPS saving mode (P3-12) is active the encoder speed must be at least the
value in P2-07 within the time set in P2-08.
P2-11 Analog / Digital Output 1 (Terminal 8) Function Select 0 11 1 -
Digital Output Mode. Logic 1 = +24V DC
0 : Drive Enabled (Running). Logic 1 when the TAKEDO TEK drive is enabled (Running)
1: Drive Healthy. Logic 1 When no Fault condition exists on the drive. (“inH” is not included as a fault)
2 : At Target Frequency (Speed). Logic 1 when the output frequency matches the setpoint frequency
3 : Output Frequency > 0.0. Logic 1 when the motor runs above zero speed
4 : Output Frequency >= Limit. Logic 1 when the motor speed exceeds the adjustable limit
5 : Output Current >= Limit. Logic 1 when the motor current exceeds the adjustable limit
6 : Motor Torque >= Limit. Logic when the motor torque exceeds the adjustable limit
7 : STO Status. Logic 1 when both STO inputs are present and the drive is able to be operated.
Note : When using settings 4 – 6, parameters P2-16 and P2-17 must be used together to control the behaviour. The output will
switch to Logic 1 when the selected signal exceeds the value programmed in P2-16, and return to Logic 0 when the signal falls below
the value programmed in P2-17.
Analog Output Mode
8 : Output Frequency (Motor Speed). 0 to P1-02
9 : Output (Motor) Current. 0 to 200% of P1-08
10 : Motor Torque. 0 to 200% of motor rated torque
11 : Output (Motor) Power. 0 to 200% of drive rated power
P2-12 Analog Output 1 (Terminal 8) Format See Below  -
= 0 to10V.
 = 10 to 0V,
 = 0 to 20mA
 = 20 to 0mA
= 4 to 20mA
 = 20 to 4mA
P2-13 Analog/Digital Output 2 (Terminal 11) Function Select 0 11 0 -
Digital Output Mode. Logic 1 = +24V DC
0 : Drive Enabled (Running). Logic 1 when the TAKEDO TEK drive is enabled (Running)
1 : Drive Healthy. Logic 1 When no Fault condition exists on the drive (“inH” is not included as a fault)
2 : At Target Frequency (Speed). Logic 1 when the output frequency matches the setpoint frequency
3 : Output Frequency > 0.0. Logic 1 when the motor runs above zero speed
4 : Output Frequency >= Limit. Logic 1 when the motor speed exceeds the adjustable limit
5 : Motor Contactor Delayed. Controls Motor shorting contactor. (See section 14.4 for more details)
6 : Rescue Mode Active. Logic 1 when the drive is operating in “Rescue Mode” (Rescue mode is detailed in section 14.2).
7 : Analog Input 2 Signal Level >= Limit. Logic when the signal applied to the Analog Input 2 exceeds the adjustable limit
Note : When using settings 4 – 7, parameters P2-16 and P2-17 must be used together to control the behaviour. The output will
switch to Logic 1 when the selected signal exceeds the value programmed in P2-16, and return to Logic 0 when the signal falls below
the value programmed in P2-17.
Analog Output Mode
8 : Output Frequency (Motor Speed). 0 to P1-02
9 : Output (Motor) Current. 0 to 200% of P1-08
10 : Motor Torque. 0 to 200% of motor rated torque
11 : Output (Motor) Power. 0 to 150% of drive rated power

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54 Takedo Tek User Guide V2.10
Par Parameter Name Minimum Maximum Default Units
P2-14 Analog Output 2 (Terminal 11) Format See Below See Below  -
= 0 to10V.
 = 10 to 0V,
 = 0 to 20mA
 = 20to 0mA
= 4 to 20mA
 = 20 to 4mA
P2-15 User Relay 1 Output (Terminals 14, 15 & 16) Function select 0 8 8 -
Selects the function assigned to Relay Output 1. The relay has three output terminals, Logic 1 indicates the relay is active, and
therefore terminals 14 and 15 will be linked together.
0 : Drive Enabled (Running). Logic 1 when the motor is enabled
1 : Drive Healthy. Logic 1 when power is applied to the drive and no fault exists. (“inH” is not included as a fault)
2 : At Target Frequency (Speed). Logic 1 when the output frequency matches the setpoint frequency
3: Output Frequency > 0.0 Hz. Logic 1 when the drive output frequency to the motor is exceeds 0.0Hz
4 : Output Frequency >= Limit. Logic 1 when the motor speed exceeds the adjustable limit
5 : Output Current >= Limit. Logic 1 when the motor current exceeds the adjustable limit
6 : Output Torque >= Limit. Logic 1 when the motor torque exceeds the adjustable limit
7 : Analog Input 2 Signal Level >= Limit. 1 Logic when the signal applied to the Analog Input 2 exceeds the adjustable limit
Note : When using settings 4 – 7, parameters P2-16 and P2-17 must be used together to control the behaviour. The output will
switch to Logic 1 when the selected signal exceeds the value programmed in P2-16, and return to Logic 0 when the signal falls below
the value programmed in P2-17.
8 : Motor Contactor Control. Used to control the operation of a contactor installed on the output side of the drive between the
drive and motor. (see section 6.11 for more details)
P2-16 Adjustable Threshold 1 Upper Limit (Analog Output 1 / Relay Output 1) P2-17 200.0 100.0 %
P2-17 Adjustable Threshold 1 Lower Limit (Analog Output 1 / Relay Output 1) 0.0 P2-16 0.0 %
Used in conjunction with some settings of Parameters P2-11 & P2-15.
P2-21 Display Scaling Factor -30.000 30.000 0.000 -
P2-22 Display Scaling Source 0 3 0 -
P2-21 & P2-22 allow the user to program the TAKEDO TEK drive to display an alternative output unit scaled from an existing
parameter, e.g. to display conveyer speed in metres per second based on the output frequency. This function is disabled if P2-21 is
set to 0.
If P2-21 is set >0, the variable selected in P2-22 is multiplied by the factor entered in P2-21, and displayed whilst the drive is
running, with a ‘c’ to indicate the customer scaled units.
P2-22 Options
0 : Motor Speed
1 : Motor Current
2 : Analog Input 2
3: P0-80 (signed with one decimal place)
P2-24 Effective Switching Frequency Drive Rating Dependent kHz
Effective power stage switching frequency. The range of settings available and factory default parameter setting depend on the
drive power and voltage rating. Higher frequencies reduce the audible ‘ringing’ noise from the motor, and improve the output
current waveform, at the expense of increased drive losses.
P2-25 2nd Deceleration Ramp Time 0.00 240 0.00 Seconds
This parameter allows an alternative deceleration ramp down time to be programmed into the TAKEDO TEK drive, which can be
selected by digital inputs (dependent on the setting of P1-13).
When set to 0.0, the drive will coast to stop.
P2-30 Analog Input 1 (Terminal 6) Format See Below  -
 = 0 to 10 Volt Signal (Uni-polar)
 = 10 to 0 Volt Signal (Uni-polar)
 = -10 to +10 Volt Signal (Bi-polar)
 = 0 to 20mA Signal
 = 4 to 20mA Signal, the TAKEDO TEK drive will trip and show the fault code  if the signal level falls below 3mA
 = 4 to 20mA Signal, the TAKEDO TEK drive will ramp to stop if the signal level falls below 3mA
 = 20 to 4mA Signal, the TAKEDO TEK drive will trip and show the fault code  if the signal level falls below 3mA
 = 20 to 4mA Signal, the TAKEDO TEK drive will ramp to stop if the signal level falls below 3mA

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Par Parameter Name Minimum Maximum Default Units
P2-31 Analog Input 1 Scaling 0.0 500.0 100.0 %
Scales the analog input by this factor, e.g. if P2-30 is set for 0 – 10V, and the scaling factor is set to 200.0%, a 5 volt input will result
in the drive running at maximum speed (P1-01)
P2-32 Analog Input 1 Offset -500.0 500.0 0.0 %
Sets an offset, as a percentage of the full scale range of the input, which is applied to the analog input signal
P2-33 Analog Input 2 (Terminal 10) Format See Below  -
 = 0 to 10 Volt Signal (Uni-polar)
 = 10 to 0 Volt Signal (Uni-polar)
 = Motor PTC Thermistor Input
 = 0 to 20mA Signal
 = 4 to 20mA Signal, the TAKEDO TEK drive will trip and show the fault code  if the signal level falls below 3mA
 = 4 to 20mA Signal, the TAKEDO TEK drive will ramp to stop if the signal level falls below 3mA
 = 20 to 4mA Signal, the TAKEDO TEK drive will trip and show the fault code  if the signal level falls below 3mA
 = 20 to 4mA Signal, the TAKEDO TEK drive will ramp to stop if the signal level falls below 3mA
P2-34 Analog Input 2 Scaling 0.0 500.0 100.0 %
Scales the analog input by this factor, e.g. if P2-30 is set for 0 – 10V, and the scaling factor is set to 200.0%, a 5 volt input will result
in the drive running at maximum speed (P1-01)
P2-35 Analog Input 2 Offset -500.0 500.0 0.0 %
Sets an offset, as a percentage of the full scale range of the input, which is applied to the analog input signal
P2-36 Start Mode Select / Automatic Restart See Below  
Defines the behaviour of the drive relating to the enable digital input and also configures the Automatic Restart function.
 : Following Power on or reset, the drive will not start if Digital Input 1 remains closed. The Input must be closed after a
power on or reset to start the drive.
 : Following a Power On or Reset, the drive will automatically start if Digital Input 1 is closed.
 to  : Following a trip, the drive will make up to 5 attempts to restart at 20 second intervals. The drive must be
powered down to reset the counter. The numbers of restart attempts are counted, and if the drive fails to start on the final
attempt, the drive will fault with, and will require the user to manually reset the fault.
Note : The reset time (default 20 sec’s) can be modified using parameter P6-03 (1s..60s)
P2-37 Keypad Mode Restart Speed 0 7 1 -
This parameter is only active when P1-12 = 1 or 2. When settings 0 to 3 are used, the drive must be started by pressing the Start key
on the keypad. When settings 4 – 7 are used, the drive starting is controlled by the enable digital input.
0 : Minimum Speed. Following a stop and restart, the drive will always initially run at the minimum speed P1-02
1 : Previous Operating Speed. Following a stop and restart, the drive will return to the last keypad setpoint speed used prior to
stopping
2 : Current Running Speed. Where the TAKEDO TEK drive is configured for multiple speed references (typically Hand / Auto control
or Local / Remote control), when switched to keypad mode by a digital input, the drive will continue to operate at the last operating
speed
3 : Inspection Speed. Following a stop and restart,the TAKEDO TEK drive will always initially run at Inspection Speed(P2-04)
4 : Minimum Speed (Terminal Enable). Following a stop and restart, the drive will always initially run at the minimum speed P1-02
5 : Previous Operating Speed (Terminal Enable). Following a stop and restart, the drive will return to the last keypad setpoint speed
used prior to stopping
6 : Current Running Speed (Terminal Enable). Where the TAKEDO TEK drive is configured for multiple speed references (typically
Hand / Auto control or Local / Remote control), when switched to keypad mode by a digital input, the drive will continue to operate
at the last operating speed
7 : Inspection Speed. (Terminal Enable). Following a stop and restart, the TAKEDO TEK drive will always initially run at Inspection
Speed(P2-04)
P2-39 Parameter Access Lock 0 1 0 -
0 : Unlocked. All parameters can be accessed and changed
1 : Locked. Parameter values can be displayed, but cannot be changed
P2-40 Extended Parameter Access Code Definition 0 9999 101 -
Defines the access code which must be entered in P1-14 to access parameter groups above Group 1

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Parameter Group 3 – S-ramps,Output contactor/Brake, Short floor, Light load detection.

Par Parameter Name Minimum Maximum Default Units
P3-01 Acceleration Start Jerk 0.0 5.0 1.0 s
P3-02 Acceleration end Jerk 0.0 5.0 1.0 s
P3-03 Deceleration Start Jerk 0.0 5.0 1.0 s
P3-04 Deceleration end Jerk 0.0 5.0 1.0 s
P3-05 Stopping Jerk 0.0 5.0 1.0 s
S- Ramps are used to smooth the starting and stopping behaviour of the drive, refer to the diagram in section 21.2 for further
information on the operation of the S-Ramps.
P3-06 Output Contactor Closing Time/Run command delay time 0.00 5.0 0.2 s
Sets a delay time between the enable signal being applied to the TAKEDO TEK drive and energising of the motor. This prevents over
current trips which may be caused when a contactor is installed between the TAKEDO TEK drive and the motor. The contactor can
optionally be controlled by the drive using Output Relay 1.
P3-07 Brake Release time 0.0 2.00 0.50 s
Sets the delay time, following the contactor Delay time (P3-06) in which the motor brake will be released (Relay 2) and the drive
output frequency ramps up.
P3-08 Brake Apply Delay 0.00 2.00 0.20 s
Sets the delay time allowed for the motor brake to apply when stopping. (Motor brake control method 2 in section 6.12.2)
P3-09 Brake Apply Speed 0.0 P1-01 0.0 Hz
Sets the speed at which the drive will signal the motor brake to apply. This speed must not be greater than the levelling &
maintenance speeds.
P3-10 Zero Speed Holding Time on disable 0.0 60.0 0.2 s
Sets the time for which the drive will hold the motor at zero speed prior to the output being disabled to allow the motor brake to
engage.
P3-11 Short Floor Operation 0 1 0 -
0 : Disabled
1 : Enabled.
See section 14.1 Short Floor Operation for more detail
Rescue Operation Function 0 3 0 -
0 : Basic Rescue mode
1 : Torque Test
P3-12 2 : UPS Saving Mode
3 : UPS Easiest direction based on Load measurement
See section 14.2 Rescue Mode Operation (UPS Power Supply) for more details
P3-13 Brake Resistor Resistance 0.0 Drive Drive Ω
Rating Rating
Dependant Dependant
P3-14 Brake Resistor Power 0.0 200.00 0.00 kW
For software protection of the connected brake resistor, enter the rated power and resistance of the resistor into the relevant
parameters. The drive will then monitor the brake resistor to ensure that it does not operate outside of its designed limits.
Where an external thermal protection device is fitted, and software protection is not required. Setting parameter P3-14 to zero will
disable the software protection feature.
P3-15 Sheave diameter 0.0 2000.0 0.0 -
If value entered is <100 drive assumes inches, if >100 drive assumes mm
P3-16 Roping Ratio 1 4 1 -
1 : 1:1
2 : 2:1
3 : 3:1
4 : 4:1
P3-17 Gear Ratio 1.0 100.0 1.0 -
P3-15,P3-16 and P3-17 are used internally by the drive to provide elevator speed in user units as per section 9.7
Note : P1-10 must also be programmed for elevator speed in user units to operate.
Motor Connected Check 0.0 100.00 15 %
P3-18 At each start, the drive injects a current pulse of this magnitude (% of motor rated current) to confirm that the motor is connected.
Torque Reduction during stopping 0.0 100.00 10 %
P3-19 This parameter helps in reducing the noise in the lift car when the motor brake is closed due to the removal of current.

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Parameter Group 4 –Motor Control modes, 1st Speed Loop Gains, Current limits.
Incorrect adjustment of parameters in menu group 4 can cause unexpected behaviour of the motor and any connected
machinery. It is recommended that these parameters are only adjusted by experienced users.
Par Parameter Name Minimum Maximum Default Units
P4-01 Motor Control Mode 0 3 0 -
Selects the motor control method. An auto-tune must be performed if setting 0 or 1 or 3 is used.
0: Advanced Vector IM Speed Control
1: Vector IM Speed Control
2: Enhanced V/F IM Speed Control
3 : PM Motor Speed Control
P4-02 Motor Parameter Auto-tune Enable 0 2 0 -
1. When set to 1, (All Motors) the drive immediately carries out a non-rotating auto-tune to measure the motor parameters for
optimum control and efficiency. Following completion of the auto-tune, the parameter automatically returns to 0.
2. When set to 2, (PM Motors only), the drive carries out a stationary Encoder offset measurement (see section 12.7) and
populates P6-09 with the result. Following completion, the parameter automatically returns to 0.
P4-03 Vector Speed Controller Proportional Gain 0.1 400 50.0 %
Sets the proportional gain value for the speed controller. Higher values provide better output frequency regulation and response.
Too high a value can cause instability, Vibration or even over current trips. For applications requiring best possible performance, the
value should be adjusted to suit the connected load. (Not active when P4-01 = 2, Enhanced V/F mode)
P4-04 Vector Speed Controller Integral Time Constant 0.001 1.000 0.050 s
Sets the integral time for the speed controller. Smaller values provide a faster response in reaction to motor load changes, at the risk
of introducing instability. For best dynamic performance, the value should be adjusted to suit the connected load.
(Not active when P4-01 = 2, Enhanced V/F mode)
P4-05 Motor Power Factor Cos Ø 0.00 0.99 - -
When operating in Vector Speed motor control modes (P4-01 = 0,1,3),this parameter must be set to the motor nameplate power
factor
P4-07 Maximum Motoring Torque Limit 0.0 500.0 200.0 %
When operating in Vector Speed motor control modes (P4-01 = 0,1,3), this parameter defines the maximum torque limit.
P4-09 Generator Mode Max. Torque Limit (Maximum Regenerative Torque) 0.0 500.0 100.0 %
Active only in Vector Speed motor control modes (P4-01 = 0 or 1). Sets the maximum regenerating torque allowed by the TAKEDO
TEK drive.
P4-10 V/F Characteristic Adjustment Frequency 0.0 P1-09 0.0 Hz
When operating in V/F mode (P4-01 = 2), this parameter in conjunction with P4-11 sets a frequency point at which the voltage set in
P4-11 is applied to the motor. Care must be taken to avoid overheating and damaging the motor when using this feature.
P4-11 V/F Characteristic Adjustment Voltage 0 P1-07 0.0 V
Used in conjunction with parameter P4-10
P4-12 Thermal Overload Value Retention 0 1 0 -
0 : Disabled.
1 : Enabled. All TAKEDO TEK drives feature electronic thermal overload protection for the connected motor, designed to protect the
motor against damage. An internal overload accumulator monitors the motor output current over time, and will trip the drive if the
usage exceeds the thermal limit. When P4-12 is disabled, removing the power supply from the drive and re-applying will reset the
value of the accumulator. When P4-12 is enabled, the value is retained during power off.
P4-13 Output Phase Sequence (Geared (Induction) motors only) 0 1 0 -
0 : U,V, W.
1 : U, W, V. Direction of motor rotation when operating in a forward direction will be reversed.
P4-14 Reserved - - - -
P4-15 Low Speed Proportional Gain 0.01 400 50.0 -
Sets the proportional gain value for the speed controller during low speed operation, low speed operation is defined as a speed value
less than the value set in P4-17 (Low speed Gains transition point)
This parameter is only active if P4-17 (Low speed Gains transition point) is >0. (Not active when P4-01 = 2, Enhanced V/F mode)
P4-16 Low Speed Integral Gain 0.001 1.000 0.05 s
Sets the Integral gain value for the speed controller during low speed operation, low speed operation is defined as a speed value less
than the value set in P4-17 (Low speed Gains transition point)
This parameter is only active if P4-17 (Low speed Gains transition point) is >0. (Not active when P4-01 = 2, Enhanced V/F mode)
P4-17 Low Speed Gains Transition Point 0 250 0.0 Hz / Rpm
The Low speed Gains (P4-15 & P4-16) are active up until the value set in this parameter.
Set in rpm if P1-10 Motor rated speed has been entered otherwise value is in hz. (Not active when P4-01 = 2, Enhanced V/F mode)

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58 Takedo Tek User Guide V2.10

Parameter Group 5 – Modbus, CAN Open Communication.

Par Parameter Name Minimum Maximum Default Units
P5-01 Drive Fieldbus Address 0 63 1 -
Sets the fieldbus address for the TAKEDO TEK drive
P5-02 CAN Open Baud Rate 125 1000 500 kbps
Sets the baud rate when CAN Open communications are used
P5-03 Modbus RTU Baud Rate 9.6 115.2 115.2 kbps
Sets the baud rate when CAN Open communications are used
P5-04 Modbus Data Format - - n-1 -
Sets the expected Modbus telegram data format as follows
 : No Parity, 1 stop bit
 : No parity, 2 stop bits
 : Odd parity, 1 stop bit
 : Even parity, 1 stop bit
P5-05 Communications Loss Timeout 0.0 5.0 1.0 s
Sets the watchdog time period for the communications channel. If a valid telegram is not received by the TAKEDO TEK drive within
this time period, the drive will assume a loss of communications has occurred and react as selected below
P5-06 Communications Loss Action 0 3 0 -
Controls the behaviour of the drive following a loss of communications as determined by the above parameter setting.
0 : Trip
1 : Ramp to Stop Then Trip
2 : Ramp to Stop Only (No Trip)
3 : Run at Inspection Speed (P2-04)
P5-07 Fieldbus Ramp Control 0 1 0 -
Selects whether the acceleration and deceleration ramps are control directly via the Fieldbus, or by internal drive parameters P1-03
and P1-04.
0 : Disabled. Ramps are control from internal drive parameters
1 : Enabled. Ramps are controlled directly by the Fieldbus
P5-08 Fieldbus Process Data Word 4 Output Select 0 7 0 -
When using an optional fieldbus interface, this parameter configures the parameter source for the 4th process data word transferred
from the drive to the network master during cyclic communications
0 : Output Torque – 0 to 2000 = 0 to 200.0%
1 : Output Power – Output power in kW to two decimal places, e.g. 400 = 4.00kW
2 : Digital Input Status – Bit 0 indicates digital input 1 status, bit 1 indicates digital input 2 status etc.
3 : Analog Input 2 Signal Level – 0 to 1000 = 0 to 100.0%
4 : Drive Heatsink Temperature – 0 to 100 = 0 to 100°C
5 : User register 1
6 : User register 2
7 : P0-80 Value
P5-12 Fieldbus Process Data Word 3 Output Select 0 7 0 -
When using an optional fieldbus interface, this parameter configures the parameter source for the 3rd process data word transferred
from the drive to the network master during cyclic communications
0 : Output Torque – 0 to 2000 = 0 to 200.0%
1 : Output Power – Output power in kW to two decimal places, e.g. 400 = 4.00kW
2 : Digital Input Status – Bit 0 indicates digital input 1 status, bit 1 indicates digital input 2 status etc.
3 : Analog Input 2 Signal Level – 0 to 1000 = 0 to 100.0%
4 : Drive Heatsink Temperature – 0 to 100 = 0 to 100°C
5 : User register 1
6 : User register 2
7 : P0-80 Value
P5-13 Fieldbus Process Data Word 4 Output Select 0 1 0 -
When using an optional fieldbus interface, this parameter configures the parameter source for the 4th process data word transferred
from the drive to the network master during cyclic communications
0 : Output Torque – 0 to 2000 = 0 to 200.0%
1 : Output Power – Output power in kW to two decimal places, e.g. 400 = 4.00kW
P5-14 Fieldbus Process Data Word 3 Output Select 0 2 0 -
When using an optional fieldbus interface, this parameter configures the parameter source for the 3rd process data word transferred
from the drive to the network master during cyclic communications
0 : Output Torque – 0 to 2000 = 0 to 200.0%
1 : Output Power – Output power in kW to two decimal places, e.g. 400 = 4.00kW
2 : Digital Input Status – Bit 0 indicates digital input 1 status, bit 1 indicates digital input 2 status etc.

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 Takedo Tek User Guide V2.10 59
Parameter Group 6 : Encoder setup, Brake Release Monitoring,
Par Parameter Name Minimum Maximum Default Units
P6-01 Firmware Upgrade Enable 0 3 0 -
Internal use only. Only to be changed with guidance from technical support.
P6-02 Auto thermal management 4kHz 12kHz 4kHz kHz
This parameter defines the minimum effective switching frequency which the drive will use when the drive auto- switches down the
switching frequency in order to reduce the losses and heat from the power stage.
P6-03 Auto-reset delay time 1 60 20 s
Sets the delay time which will elapse between consecutive drive reset attempts when Auto Reset is enabled in P2-36
P6-04 User relay hysteresis band 0.0 25.0 0.3 %
This parameter works in conjunction with P2-11 and P2-13 = 2 or 3 to set a band around the target speed (P2-11 = 2) or zero speed
(P2-11 = 3). When the speed is within this band, the drive is considered to be at target speed or Zero speed. This function is used to
prevent “chatter” on the relay output if the operating speed coincides with the level at which the digital / relay output changes state.
e.g. if P2-13 = 3, P1-01 = 50Hz and P6-04 = 5%, the relay contacts close above 2.5Hz
P6-05 Encoder feedback enable 0 1 0 -
Setting to 1 enables encoder control mode of operation (Closed loop). For correct operation, ensure that the encoder has been
properly fitted to the motor and its wiring is connected to the encoder feedback module in accordance with the manual. Before
enabling this parameter, for Induction motors run the drive in open loop mode (P6-05=0) and ensure that the sense of rotation is
correct by using parameter P0-58 (encoder feedback speed). The sign in P0-58 should match that of the speed reference.
P6-06 Encoder PPR 0 65535 0 -
Sets the number of Pulses Per Revolution for the encoder. This value has to be set correctly to guarantee proper operation of the
drive when Encoder feedback mode is enabled (P6-05 = 1). Improper setting of this parameter could cause the loss of control of the
drive and / or a trip. If set to zero, encoder feedback will be disabled. Typically values for Incremental encoders are 512, 1024, 2048,
4096, for Endat, SinCos Encoders 65535 must be entered.
P6-07 Speed error trip level 0.0 100.0 10.0 %
This parameter defines the maximum permissible speed error between the encoder feedback speed value and the estimated rotor
speed calculated by the motor control algorithms. If the speed error exceeds this limit, the drive will trip .
When set to zero, this protection is disabled.
P6-08 Max speed ref frequency 0.0 20 0 kHz
0 (Disabled), 5kHz to 20kHz
P6-09 Encoder offset 0.0 360.0 0.0 °
PM Motors only : 0.0 …360.0° as measured by the stationary encoder offset measurement (P4-02=2)
P6-10 Enable PLC operation 0 1 0 -
0: Disable 1: Enable
P6-11 Brake Release-monitoring terminal Enable OFF 5 Off -
OFF : Brake release monitoring Disabled.
din-1..din-5
t18t19 : T18 and T19 of the encoder module (TKK-ENDAT2 & TKK-SINCOS2) used for monitoring the brake micro switches.
P6-12 Brake Release- monitoring time 0.1 5.0 0.5 s
If the monitoring terminal has not changed state in this time then the drive will trip “" or “" (if number of attempts
as set in P6-13 has been met) See section 14.3.
P6-13 Brake Release-number of errors before lockout 0 5 0 -
Number of brake release monitoring errors before permanent trip “” is displayed.
If Parameter P2-36 is set to  then the drive will automatically reset the “" message, otherwise the trip will have to
be reset manually e.g. Enable/direction input toggled.
P6-17 Max Torque limit timeout 0.0 25.0 0.0 s
Sets the maximum time allowed for the motor to be operating at the motor/generator torque limit (P4-07/P4-09) before tripping.
This parameter is enabled only for vector control operation.
P6-18 DC injection braking voltage 0.0 30.0 0.0 %
Auto, 0.0..25.0% (V/F mode only)
P6-22 Reset cooling fan run-time 0 1 0 -
Setting to 1 resets internal Fan run-time counter to zero (as displayed in P0-35).
P6-23 Reset kWh meter 0 1 0 -
Setting to 1 resets internal kWh meter to zero (as displayed in P0-26 and P0-27).
P6-24 Service time interval 0 60000 0 h
Defines the service interval counter period. This defines the total number of run time hours which must elapse before the service
indicator is shown on the drive (OLED/Optipad) display.
When P6-25 is set to 1, the internal service interval counter is set to this value.
P6-25 Reset service indicator 0 1 0 -
When this parameter is set to 1, the internal service interval counter is set to the value defined in P6-24
P6-26 Analog output 1 scaling 0 500.0 100.0 %
Defines the scaling factor as a percentage used for Analog Output 1
Output value = (Input value - Offset) * Scaling

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60 Takedo Tek User Guide V2.10
Par Parameter Name Minimum Maximum Default Units
P6-27 Analog output 1 offset -500.0 500.0 0.0 %
Defines the offset as a percentage used for Analog Output 1
Output value = (Input value - Offset) * Scaling
P6-28 P0-80 display value index 0 - 0 -
Internal use only. Only to be changed with guidance from technical support.
P6-29 Save User Parameters as default 0 1 0 -
Setting this parameter to 1 saves the current parameter settings as "User default parameters". When the User carries out a 3-button
default parameter command (UP, DOWN and STOP), the parameters saved when P6-29 was last set to 1 will be restored.
P6-30 Level 3 access code 0 9999 201 -
Defines the access code which must be entered into P1-14 to allow access to the Advanced Parameters in Groups 6 to 9.

Parameter Group 7 : Motor measured data, 2nd Speed loop gains.

Par Parameter Name Minimum Maximum Default Units
P7-01 Motor Stator Resistance (Rs) 0.000 31.500 Rating Ohm
dependant
For induction and PM motors: phase to phase rotor resistance value in ohms as measured following an Auto-tune.
P7-02 Motor Rotor resistance (Rr) 0.000 31.500 Rating Ohm
dependant
For induction motors: phase to phase rotor resistance value in ohms as measured following an Auto-tune.
P7-03 Rating
Motor stator inductance (Lsd) 0.0000 1.0000 H
dependant
For induction motors: phase stator inductance value.
For permanent magnet motors: phase d-axis stator inductance in Henry (H).
P7-04 Motor Magnetising current (Id rms) 0.0 Rating Rating A
dependant dependant
For induction motors only : magnetizing / no load current, before Auto-tune, this value is approximated to 60% of motor rated
current (P1-08), assuming a motor power factor of 0.8. Note: For gearless PM motors this value must be 0.
P7-05 Motor Leakage coefficient (sigma) 0.000 0.250 Rating
dependant
For induction motors: motor leakage inductance coefficient
P7-06 Motor stator inductance (Lsq) – PM motors only 0.0000 1.0000 Rating H
dependant
For PM motors : phase d-axis stator inductance in Henry (H).
P7-07 Enhanced generator control - - - -
Internal use only. Only to be changed with guidance from SMS technical support.
P7-08 Motor Parameter adaptation Enable - - - -
Internal use only. Only to be changed with guidance from SMS technical support.
P7-09 Over voltage current limit - - - -
Internal use only. Only to be changed with guidance from SMS technical support.
P7-10 System Inertia constant 0 600 10
System Load Inertia to Motor Inertia Ratio entered as H = (JTot/JMot) this value can normally be left at the default value (10).
P7-11 Pulse width minimum limit - - - -
Internal use only. Only to be changed with guidance from SMS technical support.
P7-12 V/F mode/PM magnetising period - - - -
Internal use only. Only to be changed with guidance from SMS technical support.
P7-13 Rollback Control Gain 0.0 400 0.0
Sets the Rollback gain value for the speed controller during motor starting. Too high a value can cause instability/Vibrations/Over
current trips, In general this value is at least 50% higher than P4-03 value.
Further guidance is provided in section 13.1 “Comfort Optimisation adjustments.. (Not active when P4-01 = 2, Enhanced V/F mode)
P7-14 Low frequency torque boost 0.0 100 0.0
Not used when P4-01 = 2, Primarily intended for PM Motors operating in open loop.
Allows a Boost current to be applied at start-up and low frequency (limit defined by P7-15), as a % of the motor rated current P1-08).
Injecting some additional current into the motor at low speed to ensure that rotor alignment is maintained, and improving operation
during starting and low speed.
P7-15 Torque boost frequency limit 0.0 50.0 0.0 -
Frequency range for applied boost current (P7-14) as a % of motor rated frequency (P1-09). This sets the frequency cut-off point
above which boost current is no longer applied to the motor.
P7-16 Reserved - - - -
P7-17 Rescue Mode P-gain 0 400 10 -
Sets the proportional gain value for the speed controller during rescue Mode operation.
Too high a value can cause instability or even over current trips.

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 Takedo Tek User Guide V2.10 61

Group 8 and Group 9 : Refer to Optitools studio commissioning tool.

Parameter Group 0 – Monitoring Parameters (Read Only)
Par Description Units
P0-01 Analog Input 1 Applied Signal Level %
Displays the signal level applied to analog input 1 (Terminal 6) after scaling and offsets have been applied.
P0-02 Analog Input 2 Applied Signal Level %
Displays the signal level applied to analog input 2 (Terminal 10) after scaling and offsets have been applied.
P0-03 Digital Input Status -
Displays the status of the drive inputs, starting with the left hand side digit = Digital Input 1 etc.
P0-04 Pre Ramp Speed Controller Reference Hz
Displays the set point reference input applied to the drive internal speed controller
P0-05 Torque Controller Reference %
Displays the set point reference input applied to the drive internal torque controller
P0-06 Digital Speed Reference (Motorised Pot) Hz
Displays the value of the drive internal Motorised Pot (used for keypad) speed reference
P0-07 Fieldbus Communication Speed Reference Hz
Displays the setpoint being received by the drive from the currently active Fieldbus interface.
P0-08 PID Reference (Setpoint) %
Displays the setpoint input to the PID controller.
P0-09 PID Feedback Level %
Displays the Feedback input signal to the PID controller
P0-10 PID Controller Output %
Displays the output level of the PID controller
P0-11 Applied Motor Voltage V
Displays the instantaneous output voltage from the drive to the motor
P0-12 Output Torque %
Displays the instantaneous output torque level produced by the motor
P0-13 Trip History Log -
Displays the last four fault codes for the drive. Refer to section 19.1 for further information
P0-14 Motor Magnetising Current (Id) A
Displays the motor magnetising Current, providing an auto tune has been successfully completed.
P0-15 Motor Rotor Current (Iq) A
Displays the motor Rotor (torque producing) current, providing an auto tune has been successfully completed.
P0-16 DC Bus Voltage Ripple Level V
Displays the level of ripple present on the DC Bus Voltage. This parameter is used by the TAKEDO TEK drive for various internal
protection and monitoring functions.
P0-17 Motor Stator resistance (Rs) Ω
Displays the measured motor stator resistance, providing an auto tune has been successfully completed.
P0-18 Motor Stator Inductance (Ls) H
Displays the measured motor stator inductance, providing an auto tune has been successfully completed.
P0-19 Motor Rotor Resistance (Rr) Ohms
Displays the measured motor rotor resistance, providing an auto tune has been successfully completed.
P0-20 DC Bus Voltage V
Displays the instantaneous DC Bus Voltage internally within the drive
P0-21 Drive Temperature °C
Displays the Instantaneous Heatsink Temperature measured by the drive
P0-22 Time Remaining to next service V
Displays the number of hours remaining on the service time counter before the next service is due.
P0-23 Operating Time Accumulated With Heatsink Temperature Above 85°C HH:MM:SS
Displays the amount of time in hours and minutes that the TAKEDO TEK drive has operated for during its lifetime with a heatsink
temperature in excess of 80°C. This parameter is used by the TAKEDO TEK drive for various internal protection and monitoring
functions.
P0-24 Operating Time Accumulated With Ambient Temperature Above 80°C HH:MM:SS
Displays the amount of time in hours and minutes that the TAKEDO TEK drive has operated for during its lifetime with an ambient
temperature in excess of 80°C. This parameter is used by the TAKEDO TEK drive for various internal protection and monitoring
functions.
P0-25 Rotor Speed (Estimated or Measured) -
In Vector control mode, this parameter displays either the estimated rotor speed of the motor, if no encoder feedback is present, or
the measured rotor speed if an optional Encoder Feedback Interface Option is fitted.

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62 Takedo Tek User Guide V2.10

Par Description Units

P0-26 Energy Consumption kWh Meter kWh
Displays the amount of energy consumed by the drive in kWh. When the value reaches 1000, it is reset back to 0.0, and the value of
P0-27 (*MWh meter) is increased.
P0-27 Energy Consumption MWh Meter MWh
Displays the amount of energy consumed by the drive in MWh.
P0-28 Software Version and Checksum -
Displays the software version of the drive
P0-29 Drive Type -
Displays the type details of the drive
P0-30 Drive Serial Number -
Displays the unique serial number of the drive.
P0-31 Drive Lifetime Operating Time HH:MM:SS
Displays the total operating time of the drive. The first value shown is the number of hours. Pressing the Up key will display the
minutes and seconds.
P0-32 Drive Run Time Since Last Trip (1) HH:MM:SS
Displays the total operating time of the drive since the last fault occurred. The first value shown is the number of hours. Pressing the
Up key will display the minutes and seconds.
P0-33 Drive Run time Since Last Trip (2) HH:MM:SS
Displays the total operating time of the drive since the last fault occurred. The first value shown is the number of hours. Pressing the
Up key will display the minutes and seconds.
P0-34 Drive Run Time Since Last Disable HH:MM:SS
Displays the total operating time of the drive since the last Run command was received. The first value shown is the number of
hours. Pressing the Up key will display the minutes and seconds.
P0-35 Drive Internal Cooling Fan Total Operating Time HH:MM:SS
Displays the total operating time of the TAKEDO TEK drive internal cooling fans. The first value shown is the number of hours.
Pressing the Up key will display the minutes and seconds. This is used for scheduled maintenance information
P0-36 DC Bus Voltage Log (256ms) V
P0-37 DC Bus Voltage Ripple Log (20ms) V
P0-38 Heatsink Temperature Log (30s) °C
P0-39 Ambient Temperature Log (30s) °C
P0-40 Motor Current Log (256ms) A
The above parameters are used to store the history of various measured levels within the drive at various regular time intervals prior
to a trip. The values are frozen when a fault occurs and can be used for diagnostic purposes – see section 19.1 for further information
P0-41 Critical Fault Counter – Over Current -
P0-42 Critical fault counter – Over Voltage -
P0-43 Critical fault counter – Under Voltage -
P0-44 Critical fault counter – Over Temperature -
P0-45 Critical fault counter – Brake Transistor Over Current -
P0-46 Critical fault counter – Ambient Over Temperature -
These parameters contain a record of how many times certain critical faults have occurred during a drives operating lifetime. This
provides useful diagnostic data
P0-47 Reserved
Reserved Parameter
P0-48 Reserved
Reserved Parameter
P0-49 Modbus RTU Communication Error Counter -
This parameter is incremented every time an error occurs on the Modbus RTU communication link. This information can be used for
diagnostic purposes.
P0-50 CAN Open Communication Error Counter -
This parameter is incremented every time an error occurs on the CAN Open communication link. This information can be used for
diagnostic purposes.

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17.Serial communications
RS-485 communications
TAKEDO TEK drive has an RJ45 connector on the front of the control panel. This connector allows the user to set up a drive network via a wired
connection. The connector contains two independent RS485 connections, one for SMS’s Optibus Protocol and one for Modbus RTU. Both
connections can be used simultaneously.

The electrical signal arrangement of the RJ45 connector is shown as follows:

CAN-
CAN+
0 Volt
Optibus / Remote Keypad / PC Connection -
Optibus / Remote Keypad / PC Connection +
+24 Volt Remote Keypad Power Supply
RS 485- Modbus RTU
RS 485+ Modbus RTU

Modbus RTU Communications

17.2.1. Modbus Telegram Structure
The TAKEDO TEK drive supports Master / Slave Modbus RTU communications, using the 03 Read Holding Registers and 06 Write Single Holding
Register commands. Many Master devices treat the first Register address as Register 0; therefore it may be necessary to convert the Register
Numbers detailed in section 19.1 by subtracting 1 to obtain the correct Register address. The telegram structure is as follows:-

Command 03 – Read Holding Registers

Master Telegram Length Slave Response Length
Slave Address 1 Byte Slave Address 1 Byte
Function Code (03) 1 Byte Starting Address 1 Byte
1st Register Address 2 Bytes 1st Register Value 2 Bytes
No. Of Registers 2 Bytes 2nd Register Value 2 Bytes
CRC Checksum 2 Bytes Etc...
CRC Checksum 2 Bytes

Command 06 – Write Single Holding Register

Master Telegram Length Slave Response Length
Slave Address 1 Byte Slave Address 1 Byte
Function Code (06) 1 Byte Function Code (06) 1 Byte
Register Address 2 Bytes Register Address 2 Bytes
Value 2 Bytes Register Value 2 Bytes
CRC Checksum 2 Bytes CRC Checksum 2 Bytes

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64 Takedo Tek User Guide V2.10
17.2.2. Modbus Control & Monitoring Registers

The following is a list of accessible Modbus Registers available in the TAKEDO TEK drive.

 When Modbus RTU is configured as the Fieldbus option (P5-01 = 0, factory default setting), all of the listed registers can be accessed.
 Registers 1 and 2 can be used to control the drive providing that Modbus RTU is selected as the primary command source (P1-12 = 4)
 Register 3 can be used to control the output torque level providing that
o The drive is operating in Vector Speed modes (P4-01 = 0 or 1)
o The torque controller reference / limit is set for ‘Fieldbus’ (P4-06 = 3)
 Register 4 can be used to control the acceleration and deceleration rate of the drive providing that Fieldbus Ramp Control is enabled
(P5-08 = 1)
 Registers 6 to 24 can be read regardless of the setting of P1-12

Register Upper Byte Lower Byte Read Notes

Number Write
Command Control Word R/W Command control word used to control the TAKEDO TEK drive when operating with
Modbus RTU. The Control Word bit functions are as follows :-
Bit 0 : Run/Stop command. Set to 1 to enable the drive. Set to 0 to stop the drive.
1 Bit 1 : Fast stop request. Set to 1 to enable drive to stop with 2nd deceleration ramp.
Bit 2 : Reset request. Set to 1 in order to reset any active faults or trips on the drive.
This bit must be reset to zero once the fault has been cleared.
Bit 3 : Coast stop request. Set to 1 to issue a coast stop command.
2 Command Speed Reference R/W Setpoint must be sent to the drive in Hz to one decimal place, e.g. 500 = 50.0Hz
3 Command Torque Reference R/W Setpoint must be sent to the drive in % to one decimal place, e.g. 2000 = 200.0%
Command Ramp times R/W This register specifies the drive acceleration and deceleration ramp times used when
4 Fieldbus Ramp Control is selected (P5-08 = 1) irrespective of the setting of P1-12. The
input data range is from 0 to 60000 (0.00s to 600.00s)
Error code Drive status R This register contains 2 bytes.
The Lower Byte contains an 8 bit drive status word as follows :-
Bit 0 : 0 = Drive Disabled (Stopped), 1 = Drive Enabled (Running)
6
Bit 1 : 0 = Drive Healthy, 1 = Drive Tripped
The Upper Byte will contain the relevant fault number in the event of a drive trip.
Refer to section 19.1 for a list of fault codes and diagnostic information
7 Output Frequency R Output frequency of the drive to one decimal place, e.g.123 = 12.3 Hz
8 Output Current R Output current of the drive to one decimal place, e.g.105 = 10.5 Amps
9 Output Torque R Motor output torque level to one decimal place, e.g. 474 = 47.4 %
10 Output Power R Output power of the drive to two decimal places, e.g.1100 = 11.00 kW
11 Digital Input Status R Represents the status of the drive inputs where Bit 0 = Digital Input 1 etc.
20 Analog 1 Level R Analog Input 1 Applied Signal level in % to one decimal place, e.g. 1000 = 100.0%
21 Analog 2 Level R Analog Input 2 Applied Signal level in % to one decimal place, e.g. 1000 = 100.0%
22 Pre Ramp Speed Reference R Internal drive frequency setpoint
23 DC bus voltages R Measured DC Bus Voltage in Volts
24 Drive temperature R Measured Heatsink Temperature in °C

17.2.3. Modbus Parameter Access

All User Adjustable parameters (Groups 1 to 5) are accessible by Modbus, except those that would directly affect the Modbus
communications, e.g.
 P5-01 Communication Protocol Select
 P5-02 Drive Fieldbus Address
 P5-03 Modbus RTU Baud Rate
 P5-04 Modbus RTU Data Format
All parameter values can be read from the drive and written to, depending on the operating mode of the drive – some parameters cannot be
changed whilst the drive is enabled for example.

When accessing a drive parameter via Modbus, the Register number for the parameter is the same as the parameter number,
E.g. Parameter P1-01 = Modbus Register 101.
Modbus RTU supports sixteen bit integer values, hence where a decimal point is used in the drive parameter, the register value will be
multiplied by a factor of ten,
E.g. Read Value of P1-01 = 500, therefore this is 50.0Hz.

For further details on communicating with TAKEDO TEK drive using Modbus RTU, please refer to your local SMS Sales Partner.

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 Takedo Tek User Guide V2.10 65
18.Technical Data
Environmental
Ambient temperature range:
Operational : -10 … 50C IP20 Units
: - 10 … 40°C IP55 Units (UL Approved)
: -10 … 50°C IP55 Units (Non UL Approved with derating, refer to section
18.5.1 for Derating for Ambient Temperature Information)

Storage and Transportation : -40 C … 60 C

Max altitude for rated operation : 1000m (Refer to section 18.5 for Derating Information)
Relative Humidity : < 95% (non-condensing)

Note : Drive must be Frost and moisture free at all times

Installation above 2000m is not UL approved

Input voltage ranges

Depending upon model and power rating, the drives are designed for direct connection to the following supplies:

18.2.1. Mains supply.

Model Number Supply Voltage Phases Frequency

ODL-2-x4xxx-3xxxx 380 – 480 Volts + / - 10% 3 50 – 60Hz + / - 5%
ODL-2-x2xxx-1xxxx 200 – 240 Volts + / - 10% 1 50 – 60Hz + / - 5%

18.2.2. Rescue Mode (UPS) supply.

Model Number Supply Voltage

 Sine wave Output UPS = 200-240VAC
ODL-2-x4xxx-3xxxx  In order to support Simulated Sine Wave type UPS supplies the DC bus as measured by parameter P0-20 must be in the
range 290Vdc - 400Vdc.

All TAKEDO TEK 3 phase drives have phase imbalance monitoring. A phase imbalance of > 3% will result in the drive tripping. For input supplies
which have supply imbalance greater than 3% (typically the Indian sub- continent & parts of Asia Pacific including China) SMS Drives
recommends the installation of input line reactors.

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66 Takedo Tek User Guide V2.10

Output Power and Current ratings

18.3.1. 200 – 240 Volt, 1 Phase Input
Recommended Minimum
Frame Power Rating Input Fuse or MCB Maximum Cable Rated Maximum Motor Brake Brake
Size Current (Type B) Size Output Cable Length Resistance Resistance
A Non AWG/ Current
kW HP UL UL mm kcmil A m ft Ω
2 0.75 1 8.5 10 15 8 8 4.3 100 330 100
2 1.5 1.5 15.2 25 20 8 8 7 100 330 50
2 2.2 1.5 19.5 25 25 8 8 10.5 100 330 35

18.3.2. 380 – 480 Volt 3 Phase Input

Recommended Minimum
Frame Power Rating Input Fuse or MCB Maximum Cable Rated Maximum Motor Brake Brake
Size Current (Type B) Size Output Cable Length Resistance Resistance
A Non AWG/ Current
kW HP UL UL mm kcmil A m ft Ω
2 4 5 11.2 16 15 8 8 9.5 100 330 100
3 5.5 7.5 19 25 25 8 8 14 100 330 75
3 7.5 10 21 25 30 8 8 18 100 330 50
3 11 15 28.9 40 40 8 8 24 100 330 40
4 15 20 37.2 50 50 16 5 30 100 330 22
4 18.5 25 47 63 60 16 5 39 100 330 22
4 22 30 52.4 63 70 16 5 46 100 330 22
5 30 40 63.8 80 80 35 2 61 100 330 12
5 37 50 76.4 100 100 35 2 72 100 330 12

18.3.3. Output Overload Ratings

 The drive can deliver up to 200% of the value shown in the “Rated Output Current A” column for a period of 2 seconds.
 The drive has motor thermal overload protection which allows 150% of the motor rated current for a period of 60 sec’s, once in every 10
minutes, further detailed in section 6.6.

Note
 Ratings shown above apply to 40°C Ambient temperature. For derating information, refer to section 18.5
 The maximum motor cable length stated applies to using a shielded motor cable. When using an unshielded cable, the maximum cable length
limit may be increased by 50%. When using the SMS Drives recommended output choke, the maximum cable length may be increased by 100%
 The PWM output switching from any inverter when used with a long motor cable length can cause an increase in the voltage at the motor
terminals, depending on the motor cable length and inductance. The rise time and peak voltage can affect the service life of the motor. SMS
Drives recommend using an output choke for motor cable lengths of 50m or more to ensure good motor service life
 For UL compliant installation, use Copper wire with a minimum insulation temperature rating of 70°C, UL Class CC or Class J Fuses

Additional Information for UL Approved Installations

TAKEDO TEK is designed to meet the UL requirements. In order to ensure full compliance, the following must be fully observed.
Input Power Supply Requirements
Supply Voltage 380 – 480 Volts for 400 Volt rated units, + / - 10% variation allowed, Maximum 500 Volts RMS
Imbalance Maximum 3% voltage variation between phase – phase voltages allowed
All TAKEDO TEK drives have phase imbalance monitoring. A phase imbalance of > 3% will result in the drive tripping.
For input supplies which have supply imbalance greater than 3% (typically the Indian sub- continent & parts of Asia
Pacific including China) SMS Drives recommends the installation of input line reactors. Alternatively, the drives can be
operated as a single phase supply drive with 50% derating.
Frequency 50 – 60Hz + / - 5% Variation
Short Circuit Capacity Voltage Rating Min kW (HP) Max kW (HP) Maximum supply short-circuit current
230V/400V 0.75 (1) 37 (50) 100kA rms (AC)
All the drives in the above table are suitable for use on a circuit capable of delivering not more than the above
specified maximum short-circuit Amperes symmetrical with the specified maximum supply voltage.
Incoming power supply connection must be according to section 6.3.1
All TAKEDO TEK drives are intended for indoor installation within controlled environments which meet the condition limits shown in section
18.1
Branch circuit protection must be installed according to the relevant national codes. Fuse ratings and types are shown in section 18.3
Suitable Power and motor cables should be selected according to the data shown in section 18.3
Power cable connections and tightening torques are shown in section 5.4 and 6.
TAKEDO TEK drives provide motor overload protection in accordance with the National Electrical Code (US).
 Where a motor thermistor is not fitted, or not utilised, Thermal Overload Memory Retention must be enabled by setting P4-12 = 1
 Where a motor thermistor is fitted and connected to the drive, connection must be carried out according to the information shown
in section 6.6.2

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 Takedo Tek User Guide V2.10 67
Derating Information
Derating of the drive maximum continuous output current capacity is required when:
 Operating at ambient temperature in excess of 40°C / 104°F for enclosed drives (non UL approved)
 Operating at Altitude in excess of 1000m/ 3281 ft
 Operation with Effective Switching Frequency higher than the minimum setting

The following derating factors should be applied when operating drives outside of these conditions:

18.5.1. Derating for Ambient Temperature

Enclosure Type Maximum Temperature Derate by Maximum Permissable Operating Ambient

Without Derating Temperature with Derating (Non UL Approved)
(UL Approved)
IP20 50°C / 122°F N/A 50°C

18.5.2. Derating for Altitude

Enclosure Type Maximum Altitude Derate by Maximum Permssable Maximum Permssable

Without Derating (UL Approved) (Non-UL Approved)
IP20 1000m / 3281ft 1% per 100m / 328 ft 2000m / 6562 ft 4000m / 13123 ft

18.5.3. Derating for Swicthing Frequency

Switching Frequency (Where available)

Enclosure Type 4kHz 8kHz 12kHz 16kHz 24kHz 32kHz
IP20 N/A N/A 20% 30% 40% 50%

18.5.4. Example of applying Derating Factors

A 4kW, IP66 drive is to be used at an altitude of 2000 metres above sea level, with 12kHz switching frequency and 45°C ambient temperature.
From the table above, we can see that the rated current of the drive is 9.5 Amps at 40°C,
Firstly, apply the swicthing frequency derating, 12kHz, 25% derating
9.5 Amps x 75% = 7.1 Amps
Now, apply the derating for higher ambient temperature, 2.5% per °C above 40°C = 5 x 2.5% = 12.5%
7.1 Amps x 87.5% = 6.2 Amps
Now apply the derating for altitude above 1000 metres, 1% per 100m above 1000m = 10 x 1% = 10%
7.9 Amps x 90% = 5.5 Amps continuous current available.
If the required motor current exceeds this level, it will be neccesary to either
- Reduce the switching frequency selected
- Use a higher power rated drive and repeat the calculation to ensure sufficient output current is available.

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68 Takedo Tek User Guide V2.10

19.Troubleshooting
Fault messages
Fault Code No. Description Corrective Action
 00 No Fault Displayed in P0-13 if no faults are recorded in the log

 01 Brake channel over current Ensure the connected brake resistor is above the minimum permissible level for the drive –
refer to the ratings shown in section 18.3.
Check the brake resistor and wiring for possible short circuits.
 02 Brake resistor overload The drive software has determined that the brake resistor is overloaded (based on the values
entered in P3-13 and P3-14), and trips to protect the resistor. Always ensure the brake
resistor is being operated within its designed parameter before making any parameter or
system changes.
To reduce the load on the resistor, increase deceleration the time, reduce the load inertia or
add further brake resistors in parallel, observing the minimum resistance value for the drive
in use.
 03 Instantaneous over current on drive Fault Occurs on Drive Enable
output. Check the motor and motor connection cable for phase – phase and phase – earth short
Excess load on the motor. circuits.
Check the load mechanically for a jam, blockage or stalled condition
Ensure the motor nameplate parameters are correctly entered, P1-07, P1-08, P1-09.
If operating in Vector mode (P4-01 – 0 or 1), also check the motor power factor in P4-05 and
ensure an autotune has been successfully completed for the connected motor.
Reduced the Boost voltage setting in P1-11
Increase the ramp up time in P1-03
If the connected motor has a holding brake, ensure the brake is correctly connected and
controlled, and is releasing correctly
Fault Occurs When Running
If operating in Vector mode (P4-01 – 0 or 1), reduce the speed loop gain in P4-03
. 04 Drive has tripped on overload after Check to see when the decimal points are flashing (drive in overload) and either increase
delivering >100% of value in P1-08 for acceleration rate or reduce the load.
a period of time. Check motor cable length is within the limit specified for the relevant drive in section 18.3
Ensure the motor nameplate parameters are correctly entered in P1-07, P1-08, and P1-09
If operating in Vector mode (P4-01 – 0 or 1), also check the motor power factor in P4-05 and
ensure an autotune has been successfully completed for the connected motor.
Check the load mechanically to ensure it is free, and that no jams, blockages or other
mechanical faults exist
 05 Instantaneous over current on drive Refer to fault 3 above
output.
 06 Over voltage on DC bus The value of the DC Bus Voltage can be displayed in P0-20
A historical log is stored at 256ms intervals prior to a trip in parameter P0-36
This fault is generally caused by excessive regenerative energy being transferred from the
load back to the drive. When a high inertia or over hauling type load is connected.
If the fault occurs on stopping or during deceleration, increase the deceleration ramp time
P1-04 or connect a suitable brake resistor to the drive.
If operating in Vector Mode, reduce the speed loop gain P4-03
If operating in PID control, ensure that ramps are active by reducing P3-11
 07 Under voltage on DC bus This occurs routinely when power is switched off.
If it occurs during running, check the incoming supply voltage, and all connections into the
drive, fuses, contactors etc.
 08 Heatsink over temperature The heatsink temperature can be displayed in P0-21.
A historical log is stored at 30 second intervals prior to a trip in parameter P0-38
Check the drive ambient temperature
Ensure the drive internal cooling fan is operating
Ensure that the required space around the drive as shown in sections 5.5 has been observed,
and that the cooling airflow path to and from the drive is not restricted
Reduce the effective switching frequency setting in parameter P2-24
Reduce the load on the motor / drive
 09 Under temperature Trip occurs when ambient temperature is less than -10°C. The temperature must be raised
over -10°C in order to start the drive.
 10 Factory Default parameters have Press STOP key, the drive is now ready to be configured for the required application
been loaded
 11 External trip E-trip requested on control input terminals. Some settings of P1-13 require a normally closed
contactor to provide an external means of tripping the drive in the event that an external
device develops a fault. If a motor thermistor is connected check if the motor is too hot.
 12 Communications Fault Communications lost with PC or remote keypad. Check the cables and connections to
external devices
 13 Excessive DC Ripple The DC Bus Ripple Voltage level can be displayed in parameter P0-22
A historical log is stored at 20ms intervals prior to a trip in parameter P0-39
Check all three supply phases are present and within the 3% supply voltage level imbalance
tolerance.
Reduce the motor load
If the fault persists, contact your local SMS Drives Sales Partner
 14 Input phase loss trip Drive intended for use with a 3 phase supply, one input phase has been disconnected or lost.

 15 Instantaneous over current on drive Refer to fault 3 above

output.

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 Takedo Tek User Guide V2.10 69
Fault Code No. Description Corrective Action
 16 Faulty thermistor on heatsink. Refer to your SMS Sales Partner.
 17 Internal memory fault. Parameters not saved, defaults reloaded.
Try again. If problem recurs, refer to your IDL Authorised Distributor.
 18 4-20mA Signal Lost The reference signal on Analog Input 1 or 2 (Terminals 6 or 10) has dropped below the
minimum threshold of 3mA. Check the signal source and wiring to the TAKEDO TEK drive
terminals.
 19 Internal memory fault. Parameters not saved, defaults reloaded.
Try again. If problem recurs, refer to your IDL Authorised Distributor.
 20 User Parameter Defaults User Parameter defaults have been loaded. Press the Stop key.

 21 Motor PTC Over Temperature The connected motor PTC device has caused the drive to trip
 22 Cooling Fan Fault Check and if necessary, replace the drive internal cooling fan
 23 Ambient Temperature too High The measured temperature around the drive is above the operating limit of the drive.
Ensure the drive internal cooling fan is operating
Ensure that the required space around the drive as shown in sections 5.5 has been observed,
and that the cooling airflow path to and from the drive is not restricted
Increase the cooling airflow to the drive
Reduce the effective switching frequency setting in parameter P2-24
Reduce the load on the motor / drive
 24 Maximum Torque Limit Exceeded The output torque limit has exceeded the drive capacity or trip threshold
Reduce the motor load, or increase the acceleration time
 25 Output Torque Too Low The torque developed prior to releasing the motor holding brake is below the preset
threshold.
 26 Drive output fault Drive output fault

 29 Internal STO circuit Error Check supply to terminal T12 is >18V, otherwise Refer to your SMS Sales Partner
 30 Encoder Feedback Faults Encoder communication /data loss
31 (Only visible when an encoder Encoder Speed Error. The % error between the measured encoder feedback speed and the
 module is fitted and enabled) drive estimated rotor speed is greater than the value set in P6-07.
 32 Incorrect Encoder PPR count set in parameters
 33 Encoder Channel A Fault

 34 Encoder Channel B Fault

 35 Encoder Channels A & B Fault
 36 Encoder Communication loss (check Encoder wiring Connections and that encoder module is
pushed fully into the option slot of the drive)
 40 Measured motor stator resistance varies between phases. Ensure the motor is correctly
connected and free from faults. Check the windings for correct resistance and balance.
 41 Measured motor stator resistance is too large. Ensure the motor is correctly connected
(motor contactor is closed) and free from faults. Check that the power rating corresponds to
the power rating of the connected drive.
 42 Measured motor inductance is too low. Ensure the motor is correctly connected and free
Autotune Failed from faults.
 43 Measured motor inductance is too large. Ensure the motor is correctly connected and free
from faults. Check that the power rating corresponds to the power rating of the connected
drive.
 44 Measured motor parameters are not convergent. Ensure the motor is correctly connected
and free from faults. Check that the power rating corresponds to the power rating of the
connected drive.
 47 Brake Release Monitoring- Warning Check Brake micro-switches, brake release function and that time set in P6-13 is suitable, see
section 14.3 for further details on the “brake release monitoring” function.
 48 Brake Release Monitoring- Lockout
 49 Output (Motor) Phase Loss One of the motor output phases is not connected to the drive, check motor is connected.
Also refer to section 14.5.
 50 Modbus comms fault A valid Modbus telegram has not been received within the watchdog time limit set in P5-06
Check the network master / PLC is still operating
Check the connection cables
Increase the value of P5-06 to a suitable level
 51 CAN Open comms trip A valid CAN open telegram has not been received within the watchdog time limit set in P5-06
Check the network master / PLC is still operating
Check the connection cables
Increase the value of P5-06 to a suitable level
 52 Communications Option Module Internal communication to the inserted Communication Option Module has been lost.
Fault Check the module is correctly inserted
 53 IO card comms trip Internal communication to the inserted Option Module has been lost.
Check the module is correctly inserted

Travel comfort troubleshooting.

See Section 42 “Comfort Optimisation”.

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70 Takedo Tek User Guide V2.10

20.User Settings Table.

Par Parameter Name Default User
P1-01 Maximum Frequency / Speed Limit 50.0 (60.0)
P1-02 Minimum Frequency / Speed Limit 0.0
P1-03 Acceleration Ramp Time 2.0
P1-04 Deceleration Ramp Time 2.0
P1-07 Motor Rated Voltage/Back EMF-PM Motors -
P1-08 Motor Rated Current -
P1-09 Motor Rated Frequency 50 (60)
P1-10 Motor Rated Speed 0
P1-11 V/F Mode Voltage Boost
P1-12 Primary Command Source Mode 0
P1-13 Digital Inputs Function Select 1
P1-14 Extended Menu Access Code 0
P2-01 Levelling Speed 5.0
P2-02 High Speed 50.0
P2-03 Intermediate Speed 25.0
P2-04 Inspection Speed 5.0
P2-05 Rescue Mode Speed (400V drives only) 5.0
P2-06 Unbalancing Max speed 5.0
P2-07 UPS Saving mode Minimum Speed 1.0
P2-08 UPS Saving mode Minimum Speed Time 5.0
P2-11 Analog / Digital Output 1 (Terminal 8) Function Select 1
P2-12 Analog Output 1 (Terminal 8) Format 
P2-13 Analog/Digital Output 2 (Terminal 11) Function Select 0
P2-14 Analog Output 2 (Terminal 11) Format 
P2-15 User Relay 1 Output (Terminals 14, 15 & 16) Function select 8
P2-16 Adjustable Threshold 1 Upper Limit (Analog Output 1 / Relay Output 1) 100.0
P2-17 Adjustable Threshold 1 Lower Limit (Analog Output 1 / Relay Output 1) 0.0
P2-21 Display Scaling Factor 0.000
P2-22 Display Scaling Source 0
P2-24 Effective Switching Frequency -
P2-25 2nd Deceleration Ramp Time 0.00
P2-30 Analog Input 1 (Terminal 6) Format 
P2-31 Analog Input 1 Scaling 100.0
P2-32 Analog Input 1 Offset 0.0
P2-33 Analog Input 2 (Terminal 10) Format 
P2-34 Analog Input 2 Scaling 100.0
P2-35 Analog Input 2 Offset 0.0
P2-36 Start Mode Select / Automatic Restart 
P2-37 Keypad Mode Restart Speed 1
P2-39 Parameter Access Lock 0
P2-40 Extended Parameter Access Code Definition 101
P3-01 Acceleration Start Jerk 1.0
P3-02 Acceleration end Jerk 1.0
P3-03 Deceleration Start Jerk 1.0
P3-04 Deceleration end Jerk 1.0
P3-05 Stopping Jerk 1.0
P3-06 Output Contactor Closing Time/Run command delay time 0.2
P3-07 Brake Release time 0.50
P3-08 Brake Apply Delay 0.20
P3-09 Brake Apply Speed 0.0
P3-10 Zero Speed Holding Time on disable 0.2
P3-11 Short Floor Operation 0
P3-12 Rescue Operation Function 0
P3-13 Brake Resistor Resistance 0.0
P3-14 Brake Resistor Power 0.0
P3-15 Sheave diameter 0.0
P3-16 Roping Ratio 1
P3-17 Gear Ratio 1.0
P3-18 Motor Connected Check 15
P3-19 Torque Reduction during stopping 10

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 Takedo Tek User Guide V2.10 71
Par Parameter Name Default User
P4-01 Motor Control Mode 0
P4-02 Motor Parameter Auto-tune Enable 0
P4-03 Vector Speed Controller Proportional Gain 50.0
P4-04 Vector Speed Controller Integral Time Constant 0.050
P4-05 Motor Power Factor Cos Ø -
P4-07 Maximum Motoring Torque Limit 200.0
P4-09 Generator Mode Max. Torque Limit (Maximum Regenerative Torque) 100.0
P4-10 V/F Characteristic Adjustment Frequency 0.0
P4-11 V/F Characteristic Adjustment Voltage 0.0
P4-12 Thermal Overload Value Retention 0
P4-13 Output Phase Sequence (Geared (Induction) motors only) 0
P4-15 Low Speed Proportional Gain 50
P4-16 Low Speed Integral Gain 0.05
P4-17 Low Speed Gains Transition Point 0.0
P5-01 Drive Fieldbus Address 1
P5-02 CAN Open Baud Rate 500
P5-03 Modbus RTU Baud Rate 115.2
P5-04 Modbus Data Format n-1
P5-05 Communications Loss Timeout 1.0
P5-06 Communications Loss Action 0
P5-07 Fieldbus Ramp Control 0
P5-08 Fieldbus Process Data Word 4 Output Select 0
P5-12 Fieldbus Process Data Word 3 Output Select 0
P5-13 Fieldbus Process Data Word 4 Output Select 0
P5-14 Fieldbus Process Data Word 3 Output Select 0
P6-01 Firmware Upgrade Enable 0
P6-02 Auto thermal management 4kHz
P6-03 Auto-reset delay time 20
P6-04 User relay hysteresis band 0.3
P6-05 Encoder feedback enable 0
P6-06 Encoder PPR 0
P6-07 Speed error trip level 10.0
P6-08 Max speed ref frequency 0
P6-09 Encoder offset 0.0
P6-10 Enable PLC operation 0
P6-11 Brake Release-monitoring terminal Enable Off
P6-12 Brake Release- monitoring time 0.5
P6-13 Brake Release-number of errors before lockout 0
P6-17 Max Torque limit timeout 0.0
P6-18 DC injection braking voltage 0.0
P6-22 Reset cooling fan run-time 0
P6-23 Reset kWh meter 0
P6-24 Service time interval 0
P6-25 Reset service indicator 0
P6-26 Analog output 1 scaling 100.0
P6-27 Analog output 1 offset 0.0
P6-28 P0-80 display value index 0
P6-29 Save User Parameters as default 0
P6-30 Level 3 access code 201
P7-01 Motor Stator Resistance (Rs) Rating dependant
P7-02 Motor Rotor resistance (Rr) Rating dependant
P7-03 Motor stator inductance (Lsd) Rating dependant
P7-04 Motor Magnetising current (Id rms) Rating dependant
P7-05 Motor Leakage coefficient (sigma) Rating dependant
P7-06 Motor stator inductance (Lsq) – PM motors only Rating dependant
P7-07 Enhanced generator control -
P7-08 Motor Parameter adaptation Enable -
P7-09 Over voltage current limit -
P7-10 System Inertia constant 10
P7-11 Pulse width minimum limit -
P7-12 V/F mode/PM magnetising period -
P7-13 Rollback Control Gain 0.0
P7-14 Low frequency torque boost 0.0
P7-15 Torque boost frequency limit 0.0 -
P7-17 Rescue Mode P-gain 10 -

www.sms-lift.com User Settings Table.

72 Takedo Tek User Guide V2.10

21.Quick Reference Sheet

Terminal Functions (default Settings).

Optional +24Vdc 1 +24Vdc 100mA Output
External
Power Open = StoP
2
Supply 0Vdc Closed = Run Up (Forward)
Open = StoP
3
Closed = Run Down (Reverse)
Open = Levelling Speed
4
Closed = High Speed
5 +10Vdc 10mA Output
Open = Terminal 4 Selection
6
Closed = Inspection Speed
7 0V

8 Drive Healthy (24Vdc Output)

9 0V
Open = Terminal 4 Selected Speed
10
Closed = Intermediate speed
11 Drive Running (24Vdc Output)

12 ST0 +

13 ST0 -

14 RL1-C Common
Motor Contactor
15 RL1-NO
Control
16 RL1-NC

17 RL2-A Common
Motor Brake
18 RL2-B
Control

Speed Profile setup.

Related Parameters Action

P1-03 (Accel ramp time)

P1-04 (Decel ramp time)

Speed
P2-01 (Levelling Speed)

P2-02(Run Speed) P3-03

P3-02 P2-02
P2-03 (Intermediate Speed) P1-04
P1-03
P2-04 (Inspection Speed) P3-04
P2-03
P2-01 P3-05
P3-01 (Accel start Jerk) P3-01
Time
P3-02 (Accel end Jerk)

P3-03 (decel start Jerk)

P3-04 (decel end Jerk)

P3-05 (Stopping Jerk)


82-OLMAN-SMS_V2.10
EFFECTIVE: 23-01-2017

Quick Reference Sheet www.sms-lift.com