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Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
91
Standard Drive Parameters Appendix A
[
Pr - 4.04]
Negative External Current Limit
Ultraware Name
Current Limits: Negative External 
Range
0…500 
Default
100 
Units
% of motor rated continuous current 
When Enabled 
Immediately 
Applicable Operating Mode 
All
Modbus Address
404 
[Pr - 4.05]
Overtravel Current Limit
Ultraware Name
Stopping Functions: Maximum Stopping Current 
Range
0…500 
Default
300 
Units
% of motor rated continuous current 
When Enabled 
Immediately 
Applicable Operating Mode 
All
Modbus Address
405 
[Pr - 4.06]
Initial Current Bias
Ultraware Name
Initial Current Bias 
Description
Constant current applied when the drive enables. Meant 
to hold vertical loads. 
Range
-100…100 
Default
Units
% of motor rated continuous current 
When Enabled 
Immediately 
Applicable Operating Mode 
All
Modbus Address
406 
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92
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Appendix A
Standard Drive Parameters
Group 5 - Supplemental Drive Controls 
[Pr - 5.00]
In Position Size
Ultraware Name
Position Functions: In Position Size
Description
If position error < In Position Size for 1ms and the In 
Position Size output signal is assigned, the In Position 
output is turned ON.
Range
0…2500
Default
10
Units
Counts
When Enabled 
Immediately 
Applicable Operating Mode 
Follower 
Modbus Address
500 
[Pr - 5.01]
Reserved
When Enabled
Reserved for future use. 
[Pr - 5.02]
Near Position Size
Ultraware Name
Position Functions: Near Position Size
Description
If position error < Near Position Size and the Near Position 
output signal is assigned, the Near Position output is 
turned ON
Range
0…2500
Default
20
Units
Counts
When Enabled 
Immediately 
Applicable Operating Mode 
Follower 
Modbus Address
502 
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Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
93
Standard Drive Parameters Appendix A
[Pr - 5.03]
Speed Window
Ultraware Name
Speed Functions: Speed Window
Description
If the speed error < Speed Window for 10 ms and the 
Within Speed Window output signal is assigned, then the 
Within Speed Window output is turned ON
Range
0…1000
Default
10
Units
Rotary motors: rpm; Linear motors: mm/s
When Enabled 
Immediately 
Applicable Operating Mode 
Follower, Analog Velocity Input, Preset
Modbus Address
503 
[Pr - 5.04]
Up to Speed
Ultraware Name
Speed Functions: Up to Speed
Description
If the motor speed > Up to Speed and the Up to Speed 
output signal is assigned, then the Up to Speed output is 
turned ON.
Range
1…5000
Default
20
Units
Rotary motors: rpm; Linear motors: mm/s
When Enabled 
Immediately 
Applicable Operating Mode 
All 
Modbus Address
504 
[Pr - 5.05]
Zero Clamp
Ultraware Name
Speed Functions: Zero Clamp
Description
If the Analog Speed command < Zero Clamp, then the 
Analog Speed command is ignored and the Motor Speed 
command is set to zero. 
Range
0…5000
Default
0
Units
Rotary motors: rpm; Linear motors: mm/s
When Enabled 
Immediately 
Applicable Operating Mode 
All 
Modbus Address
505 
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94
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Appendix A
Standard Drive Parameters
[Pr - 5.06]
Brake Inactive Delay
Ultraware Name
Digital Outputs: Brake Inactive Delay
Description
Brake Inactive delay is the time from when the drive is 
enabled to when the brake is released.
Range
0…10,000
Default
0
Units
ms
When Enabled 
Immediately 
Applicable Operating Mode 
Servo-Off -> Setting
Modbus Address
506 
[Pr - 5.07]
Disable Delay
Ultraware Name
Stopping Functions: Disable Delay
Description
Disable Delay is the time from when the Drive Disable 
command is received to when the Drive Disable command 
is actually executed.
Range
0…10,000
Default
0
Units
ms
When Enabled 
All 
Applicable Operating Mode 
Servo-Off -> Setting
Modbus Address
507 
[Pr - 5.08]
Brake Active Delay
Ultraware Name
Digital Outputs: Brake Active Delay
Description
Brake Active Delay is the time from when the drive is 
disabled to when the break starts operating.
Range
0…10,000
Default
500
Units
ms
When Enabled 
All 
Applicable Operating Mode 
Servo-Off -> Setting
Modbus Address
508 
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Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
95
Standard Drive Parameters Appendix A
[Pr - 5.09]
Disabled Braking Speed
Ultraware Name
Stopping Functions: Braking Application Speed
Description
The Disabled Braking Speed is the feedback speed below 
which the motor break is engaged, after disabling the 
drive.
Range
0…1000
Default
100
Units
Rotary motors: rpm; Linear motors: mm/s
When Enabled 
All 
Applicable Operating Mode 
Servo-Off -> Setting
Modbus Address
509 
[Pr - 5.10]
Following Error Limit
Ultraware Name
Following Error Limit
Description
A following error fault occurs when the difference 
between position command and actual position is greater 
than this parameter.
Range
0…2,147,483,647
Default
99,999
Units
Counts
When Enabled 
Immediately 
Applicable Operating Mode 
Follower 
Modbus Address
Pr5-10[Lo] = 510, Pr5-10[Hi] = 511
[Pr - 5.11]
Reserved
When Enabled
Reserved for future use. 
[Pr - 5.12]
AC line loss fault delay
Ultraware Name
AC Line Loss Fault Delay
Description
The AC Line Loss Fault is inhibited for this amount of time, 
when a loss of AC power is detected.
Range
20…1000
Default
20
Units
ms
When Enabled 
Servo-Off -> Setting
Applicable Operating Mode 
All 
Modbus Address
513
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96
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Appendix A
Standard Drive Parameters
[Pr - 5.13]
Analog Output CH1 Selection
Ultraware Name
Analog Output 1: Signal
Range
0…28 (except 15,23,25,26) 
Default
0
When Enabled 
Immediately
Applicable Operating Mode 
All 
Modbus Address
514
[Pr - 5.14]
Analog Output CH2 Selection
Ultraware Name
Analog Output 2: Signal
Range
0…28 (except 15,23,25,26) 
Default
1
When Enabled 
Immediately
Applicable Operating Mode 
All 
Modbus Address
515
[Pr - 5.15]
Analog Output CH1 Scale
Ultraware Name
Analog Output 1: Scale
Range
1 …99,999
Units
Units depend on the channel selected in [Pr- 5.13]
Default
500
When Enabled 
Immediately
Applicable Operating Mode 
All 
Modbus Address
Pr5-15[Lo] = 516, Pr5-15[Hi] = 517 
[Pr - 5.16]
Analog Output CH2 Scale
Ultraware Name
Analog Output 2: Scale
Range
1…99,999
Units
Units depends on the channel selected in [Pr - 5.14]
Default
500
When Enabled 
Immediately
Applicable Operating Mode 
All 
Modbus Address
Pr5-16[Lo] = 518, Pr5-16[Hi] = 519
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Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
97
Standard Drive Parameters Appendix A
Group 6 - Supplemental Gain and Report Settings 
[Pr - 6.00]
Analog Velocity Command Offset
Ultraware Name
Velocity Command Offset
Range
-10,000…10,000
Default
0
Units
0.1 mV
When Enabled
Servo-Off -> Setting (ENG Mode)
Applicable Operating Mode
Analog Velocity Command
[Pr - 6.01]
Analog Current Command Offset
Ultraware Name
Current Command Offset
Range
-10,000…10,000
Default
0
Units
0.1 mV
When Enabled
Servo-Off -> Setting (ENG Mode)
Applicable Operating Mode
Analog Current Command
[Pr - 6.02]
U Phase Current Sensing Offset
Ultraware Name
Calibration: U Phase Current Offset
Range
-60,000…60,000
Default
0
Units
0.01 mA
When Enabled
Servo-Off -> Setting (ENG Mode)
Applicable Operating Mode
All
[Pr - 6.03]
W Phase Current Sensing Offset
Ultraware Name
Calibration: W Phase Current Offset
Range
-60,000…60,000
Default
0
Units
0.01 mA
When Enabled
Servo-Off -> Setting (ENG Mode)
Applicable Operating Mode
All
[Pr - 6.04]
A lead B Swap
Ultraware Name
A lead B Swap
Description
Select A-lead-B, or B-lead-A 
Data Size
1 digit
98
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Appendix A
Standard Drive Parameters
Range
Value
Description
0
Disable
1
Enable
Default
0
Unit
-
When Enabled
Servo-Off -> Setting -> After power cycle 
(ENG Mode)
Applicable Operating Mode
All
[Pr - 6.05]
Dynamic Brake Circuit Protection
Ultraware Name
Dynamic Brake Circuit Protection
Description
The Dynamic Brake Circuit Protection is inhibited that the 
motor DB braking current is too large for the drive
Data Size
1 digit
Range
Value
Description
0
Disable
1
Enable
Default
1
Units
-
When Enabled
Servo-Off -> Setting (ENG Mode)
Applicable Operating Mode
All
[Pr - 6.06]
Fault Detail Sampling Period
Ultraware Name
Fault Detail Setup: Sample Period 
Range
1…100
Default
5
Units
0.2 ms
When Enabled
Immediately (ENG Mode)
[Pr - 6.07]
Fault Detail Data Selection 1
Ultraware Name
Fault Detail Setup: Channel A 
Description 
Refer toMonitor Variables on page 131
for more 
information on the range options. 
Range
0…28 
(except 15, 23, 25, and 26) 
Default
0
When Enabled
Immediately (ENG Mode)
[Pr - 6.04]
A lead B Swap
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
99
Standard Drive Parameters Appendix A
[Pr - 6.08]
Fault Detail Data Selection 2
Ultraware Name
Fault Detail Setup: Channel B 
Description 
Refer to Monitor Variables on page 131
for more 
information on the range options. 
Range
0…28 
(except 15, 23, 25, and 26) 
Default
When Enabled
Immediately (ENG Mode) 
[Pr - 6.09]
Fault Detail Data Selection 3
Ultraware Name
Fault Detail Setup: Channel C 
Description 
Refer to Monitor Variables on page 131
for more 
information on the range options. 
Range
0…28 
(except 15, 23, 25, and 26) 
Default
11 
When Enabled
Immediately (ENG Mode) 
[Pr - 6.10]
Fault Detail Data Selection 4
Ultraware Name
Fault Detail Setup: Channel D 
Description 
Refer to Monitor Variables on page 131
for more 
information on the range options. 
Range
0…28 
(except 15, 23, 25, and 26) 
Default
16 
When Enabled
Immediately (ENG Mode) 
[Pr - 6.11]
1st Resonant Frequency Suppression Filter
Ultraware Name
Main Current Regulator Gains: 1st Resonant Frequency 
Suppression Filter
Description
Suppresses Vibration by cutting off Current Command in 
assigned frequency band
Range
0…10,000
Default
10,000
Units
Hz
When Enabled
Immediately (Read Parameter for ENG)
Applicable Operating Mode
All
100
Rockwell Automation Publication 2071-RM001B-EN-P - April 2013
Appendix A
Standard Drive Parameters
[Pr - 6.12]
2nd Resonant Frequency Suppression Filter
Ultraware Name
Main Current Regulator Gains: 1st Resonant Frequency 
Suppression Filter
Description
Suppresses Vibration by cutting off Current Command in 
assigned frequency band
Range
0…10,000
Default
10,000
Units
Hz
When Enabled
Immediately (Read Parameter for ENG)
Applicable Operating Mode
All
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