BG221-BS21E User Manual 2019.A1

PM Door Drive
User Manual
Model ：BG221-BS21E
Version：2019. A1
1
BG221-BS21E User Manual
Content
Content ...................................................................................................................................................... 2
1 Statement................................................................................................................................................ 3
2 Products ................................................................................................................................................. 3
2.1 Application Scope ....................................................................................................................... 3
2.2 Model Definition ......................................................................................................................... 4
2.3 Outer Dimension ......................................................................................................................... 4
2.4 Technical Specification ............................................................................................................... 4
3 Debug ..................................................................................................................................................... 7
3.1 Wiring Illustration ....................................................................................................................... 7
3.2 Keypad ........................................................................................................................................ 8
3.2.1 Outline Drawing ............................................................................................................... 8
3.2.2 Display Function .............................................................................................................. 9
3.2.3 Key Function .................................................................................................................. 10
3.2.4 Operation illustration ..................................................................................................... 10
3.3 Debugging Steps ....................................................................................................................... 12
4 Parameter ............................................................................................................................................. 14
4.2 Parameter Table......................................................................................................................... 14
4.3 Parameter Description ............................................................................................................... 21
5 Trouble Shooting.................................................................................................................................. 31
6 Maintenance ......................................................................................................................................... 32
2
1 Statement
Before using it please note below:

 Handling with care to decrease risk of damaging equipment.
 Preventing screws, washers and other metal objects from falling into the drive. Or, damage
or fire may occur.
 Bare metal of cable end must be wrapped with insulating tape.
 Make sure correct earthing to avoid electric shock！
 Voltage input should accord to the drive's rated voltage level. For high or low voltage,
please add a voltage adaptor.
 During running , non-professional should not do the inspection detect in case of personal
injury or equipment damage.
 Do not insert or pull out any connectors before power off. Do not repair and maintain
equipment when it's power-on. Otherwise, electric shock may occur.
When scrap the controller, please note:
 Electrolytic capacitors on the PCB may cause fire;
 PCBA may produce toxic gases when incinerated;
 Please treat it as industrial waste.
2 Products
2.1 Application Scope

Application Free from direct sunlight,
environment no dust, corrosive gas, flammable gas, oil mist, etc.
Less than 1000 meters (derating is required above 1000 meters
Altitude area, because of thin air make the cooling effect of controller be
worse, so please cool it.)
Environmental Operation -20℃ ~ +50℃ (cooling required when temperature above +40)
requirements Humidity <90% RH, No condensation, no freezing
Vibration <5.9m/s2(0.6g)
Storage -40℃ ~ +70℃
IP21 (with the mounting plate); when special needs, require addi
Protection
tional protective measures.
Cooling Natural air cooling
Caution：Long-term storage will lead to performance degradation on filter electrolytic capacitor.

Regular electrical maintenance is required (It's better to power on every six months for more than half
an hour in no-load condition)
3
2.2 Model Definition
Fig 2-2-1 model definition
2.3 Outer Dimension
Fig 2-3-1 Dimension
2.4 Technical Specification

Table 1.3.1 main specification
Item Description
Voltage Single phrase, AC180V ~ 264V, 50 Hz / 60Hz
Power Input Frequency 50 Hz±5% , 60Hz±5%
Fuse 5A/250VAC, time delay type
4
MODE
OPEN
CLOSE
Status LED MODE: When the LED is on, motor is Running. When the LED is
off, the motor stops working.
FAULT
OPEN: When the LED is on, motor is running in opening
direction.
CLOSE: When the LED is on, motor is running in closing
direction.
FAULT: When the LED is twinkling, it means Fault happens
Self-learning Motor self-learning , door-width self-learning
Fault resetting Some fault reset automatically, some faults need resetting.
125ST-13, BPM23E-47,140ST-33
Motor
Motor Wiring：PE(Yellow-Green)、W(Blue)、V(Brown)、U(Black)
Encoder BQ201,BQ207,B208
Operation Mode DDOC Mode, Keypad Debug Mode, Demo Debug Mode
Communication CAN,RS485
IN1 Door Open (IN1)
IN2 Door Close (IN2)
IN3 Door slow closing (IN3)
Input signal IN4 Inspection (IN4)
IN5 Door Closed(IN5)
Note: IN5 is a signal input of
COM for
COM1 fully closed, Setting by P07.02
IN1,IN2,IN3,IN4,IN5
COM2 COM for K1,K2
K1A Door fully opened (NC)
Relay output(NC,NO)
K1B Door fully opened (NO)
(DC30V/1A or 125VAC/0.5A)
K2A Door fully closed (NC)
Output signal K2B Door fully closed (NO)
COM3 Obstruction Output Relay output(NC, Default)
K3A Obstruction Output (DC30V/5A or 250VAC/10A)
COM4 Fault Output Relay output(NO, Default)
K4B Fault Output (DC30V/5A or 250VAC/10A)
5
Over-voltage protection, under-voltage protection, over temperature protection,
overload protection, over-torque error indication, self-learning fault indication,
EEPROM read and write error alarm indication, ADC detection error indication,
Protection ADC offset error indication, belt slip error indication , encoder fault alarm
Function indication, communication error alarm indication , temperature sensor failure
indication, the DC bus voltage detection errors indication, SPM module fault
indication, obstruction fault indication, open door fault indication, close door
fault indication, over-speed protection.
6
3 Debug
3.1 Wiring Illustration
After completing wire connection, be sure to check:

 Wires are correctly and tightly connected as per the diagram.
7
3.2 Keypad
3.2.1 Outline Drawing
Outline drawing of Keypad is shown as below. It consists of four status LED, a five-digit display,
and four keys. Four status LEDs are MODE indicator (run indicator), OPEN indicator, CLOSE
indicator, FAULT indicator. The display shows debugging information. 4 keys are left key, up key,
ESC key (cancel), ENT key (confirm)
The Keypad has function as following:

 Real- time monitor of parameter (P00 group), browse and change parameter (group
P01-P09).
 Password login and change: After logging in by correct password, the user can browse or
change system parameters, history record and change the initial password (1234).
 Real-time display of fault information: if sudden fault occurs, the information will be
displayed and can be removed by pressing cancel key.
 P01.00=1，Through press + key to open the door and release the key to stop
opening .
 P01.00=1，Press + key to close the door and release the key to stop closing .
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3.2.2 Display Function
The Keypad has several display interfaces including software version, status function Code, status
parameter, password login, system function Code, system parameter, revision, real-time warning.
Display Description
Software version software version
Status function Code of P00.01

Status interface
group
Status Parameters
Parameter value of P00.01 group
interface
Password Login Password Login
System Function
System function Code P01.00
interface
System parameter Parameter value corresponding to

interfere System function Code P01.00
Parameter/password Parameter interface（password login

interface and change, parameter change）
Fault warning (remove fault Code

Fault warning
display by cancel key)
Parameter P00.10 indicating four
inputs:
1. opening input
2. closing input
Input status
interface 3. Slow closing input
（P01.00=0） 4. Inspection input
IO Status If the decimal point in the right
Interface bottom illumines, the signal input
are valid(opening signal is valid in
this example)
Parameter P00.11 indicating inputs:
1. Fully opening 2.fully closing
Output status 3. Obstruction 4. fault
If the decimal point in the right
bottom illumines, the signal input
9
are valid(closing signal is valid in
this example)
3.2.3 Key Function

Functions of keys are as below:
 Function parameter change(circulatory)
 Select function interface (circulatory)
 In parameter interface, press 2s to delete parameters.
Left key  In P00.00 interface (MODE LED off), press left key 3 seconds, door
motor start to self-learning.
 When“P01.00=1 and in P00.00 interface, press ESC and left key to
manually open the door and release to stop.
 Select function interface (circulatory)
 Changing the value by increasing
UP key
 When“P01.00=1 and in P00.00 interface, press ESC and up key to
manually close the door and release to stop.
 Enter to next interface
Confirm key
 Confirm the data input
 Return to the last display interface

Cancel key
 Cancel the data input
3.2.4 Operation illustration

1）Status parameter browse
Example ，Check the parameter value of status function Code P00.03:
2）Password Login example:

Default password 1234. In the PL position ,press confirmed key , then enter into Scintillation
editor status, at this time , by enter into password 1,2,3,4 , then press confirmed key to realize the
process of password . (After log in , display system function Code :P01.00 )：
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3）System parameter browse and revision :

After password login , through / 2 keys select system function Code , then press key , to
check corresponded (system parameter). In this example, check P01.00 corresponded parameter value
and then revised as 4 (In this example displays as bellow):
4）operation illusion :
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3.3 Debugging Steps
Step 1: Prepare
 Check the wiring of motor and encoder. During the landing, make sure the operator is
separated from landing.
 Disconnect P2 connector. After self-learning finish, reconnect the P2 connector.
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Make sure the door operator is half opening during the self-learning.
 Confirm power supply (AC 180V-264V, single phase), and then power on.
Step 2: Motor self-learning

To ensure that the motor is not running, enter the interface at P00, and press key for 3s, and the
MODE LED is lighting. MODE LED will be off after learning completes.
Step 4: Door width self-study

Set P03.02=1, the door will start door width self-study. The ‘MODE’ light is on; the door closes first,
opens and then closes. When ‘MODE’ light is off, self-study completes. Check door width data through
P03.03&P03.04.
Attention:
1. During the self-learning, if after powering on, comes ERROR12, Z wire of encoder is not well
connected; if motor rotates, and ERROR 12 comes out, usually A/B wire sequence is wrong.
2. After completing the self-learning, if ERROR12 or ERROR07 comes out, need check the motor
wires and encoder wires. Or, need to repeat the self-learning.
3. Reconnect P2 connector after self-learning finish.
Step 4: Adjust the opening and closing door effect.

After door operator and landing installed and well linked, setting P01.00 = 1, using the key & or
key & to adjust the door running performance. Or, set P01.00 = 4, the door will open
automatically, and adjust the performance by changing parameters in P04 / P05 / P06.
Attention:
Closing speed adjustment:
1. P05.09 (closing high speed percentage) affects the closing speed. Increase the value to shorten the
closing time. If increase value of P05.09, also need to adjust P05.11 (closing creeping distance).
2. If there is door panels impact, increase the value of P05.11.
3. If door skate(knife) cannot tighten, increase value of P05.13(skate creeping distance), and
P05.14(skate creeping speed)
4. If creeping distance or landing door cannot fully close, need to reduce value of P05.11(closing
creeping distance)
Opening speed adjustment:
1. P04.09 (opening high speed percentage) affects the opening speed. Increase the value to shorten
the opening time. If increase value of P04.09, also need to adjust P04.11 (opening creeping
distance).
2. If creeping distance or landing door cannot fully close, need to reduce value of P04.11(opening
creeping distance)
3. If there is door skate(knife) impact, need increase P04.00(opening start distance)
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Torque adjustment:
1. If door cannot fully opening or closing, change value of P06.01 (opening holding torque) and
P06.06 (closing holding torque) to adjust the performance.
2. Change value of P06.02 (biggest opening force), P06.07(biggest closing force) to adjust the force.
1. After self-learning, set P01.00=0, then, door can work normally.
2. Set P01.00=1, door drive will not receive the command from controller.
3. Set P01.00=4(demo mode) to achieve the best performance by adjusting.
4. Set P04.14=21 to initial setting.
5. Car operator should first fully opening than landing, if not, please adjust the mechanical parts, or
running curve may be abnormal.
4 Parameter
P00――Status parameter P01――Basic parameter P02――Motor parameter

P03――Encoder parameter P04―-door open parameter P05――door close parameter
P06――Auxiliary parameter P07――Terminal setting P08――Performance parameter
P09――Enhanced parameter P10――History record
4.2 Parameter Table
“●”：Means the parameter shall not be changed regardless of the motor is running or not.
“★ ”：Means the parameter can be changed regardless of the motor is running or not.
“☆ ”：Means the parameter shall only be changed during the motor stops.
Factory
Group Code Name scope Min unit attribute
setting
P00.00 Feedback speed —— 0.001m/s —— ●
P00.01 Reference speed —— 0.001m/s —— ●
P00.02 Speed deviation —— 0.001m/s —— ●
P00.03 DC bus voltage —— 1V —— ●
P00.04 Output Current —— 0.01A —— ●
P00.05 Door width low —— 0.1mm —— ●
P00 P00.07 Door position low —— 0.1mm —— ●
P00.10 Input signal —— —— —— ●
P00.11 Output signal —— —— —— ●
P00.12 radiator temperature —— 1℃ —— ●
P00.13 Software version —— —— —— ●
P00.14 Maximum —— 1V —— ●
input voltage
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Factory
setting
P00.15 Minimum —— 1V —— ●
input voltage
P01.00 Running mode 0:DDOC mode 1 0 ☆
1:Keypad mode
3:CAN mode
4:demo mode
P01.03 Low-speed 0~0.200m/s 0.001m/s 0.100m/s ★
P01.04 Running direction 0：same as the 1 1 ☆
P01 setting direction
1：opposite as the
setting direction
P01.14 Initial default 0：No operation 1 0 ☆
21：restore
parameters to
factory default
P03.02 self-learning 2.Motor 1 0 ☆
self-learning
1:Door width
self-learning
P03.03 Door width 0~6000.0mm 0.1mm —— ☆
P03 P03.10 Delay after power on 0~15000ms 1ms 5000ms ☆
P03.11 Motor spec 0、1: 125ST-13
2、3:140ST-13
4: BPM23E
5: user-defined
P03.15 Motor angle 0~360.0 0.1 —— ☆
P04.00 DO start-up distance 0~100.0mm 0.1mm 53.0mm ★
P04.02 DO start-up speed 0~1.000m/s 0.001m/s 0.020m/s ★
P04.03 DO Acceleration time 0~10.0s 0.1s 1.6s ★
P04.06 DO Deceleration time 0~10.0s 0.1s 1.6s ★
P04.07 Active distance for 0~100.0mm 0.1mm 20.0mm ★
P04
DO limit output
P04.08 Inactive distance for 0~100.0mm 0.1mm 20.0mm ★
DO limit output
P04.09 DO high speed 0~100% 1% 50% ★
percentage
15
Factory
setting
P04.11 DO crawl distance 0~100.0mm 0.1mm 1.0mm ★
P04.12 DO limit point 0~ 100.0mm 0.1mm 40.0mm ★
distance
P04.13 Skate DEC point for 0~ 100.0mm 0.1mm 40.0mm ★
DO
P04.14 Skate max speed for 0~1.000m/s 0.001m/s 0.100m/s ★
DO
P04.15 Skate ACC point for 0~ 200.0mm 0.1mm 1.0mm ★
DO
P05.00 Belt slack value 0~20.0mm 0.1mm 4.5mm ★
P05.02 DC start-up speed 0~1.000m/s 0.001m/s 0.015m/s ★
P05.03 DC Acceleration time 0~10.0s 0.1s 1.6s ★
P05.06 DC Deceleration time 0~10.0s 0.1s 1.6s ★
P05.07 Distance for DC limit 0~100.0mm 0.1mm 10.0mm ★
output enable
P05.08 Distance for DC limit 0~100.0mm 0.1mm 15.0mm ★
output disable
P05.09 DC high speed 0~100% 1% 40% ★
P05 percentage
P05.11 DC creep distance 0~100.0mm 0.1mm 5.0 ★
P05.12 DC limit point 0~100.0mm 0.1mm 53.0mm ★
distance
P05.13 Skate action creep 0~ 100.0mm 0.1mm 50.0mm ★
distance
P05.14 Skate action creep 0~1.000m/s 0.001m/s 0.090m/s ★
speed
P05.15 Skate decelerate point 0~ P05.13 0.1mm 5.0mm ★
distance
P06.01 DO holding torque 0.0%~100.0% 0.1% 60.0% ★
（motor rated
torque）
P06
P06.02 DO maximum torque 0.0%~150.0% 0.1% 100.0% ★
limit （motor rated
torque）
16
Factory
setting
P06.03 Final holding 0.0%~100.0% 0.1% 50.0% ★
torque for DO limit （motor rated
torque）
P06.04 Switch time from DO 0.0~360.0s 0.1s 15.0s ★
holding torque to final
holding torque
P06.06 DC holding torque 0.0%~100.0% 0.1% 50.0% ★
（motor rated
torque）
P06.07 DC max torque limit 0.0%~150.0% 0.1% 80.0% ★
（motor rated
torque）
P06.09 Final holding torque 0.0%~100.0% 0.1% 20.0% ★
for DC limit （motor rated
torque）
P06.10 The time from DC 0.0~360.0s 0.1s 5.0s ★
holding torque to final
holding torque
P06.13 DC limit holding 0~150.0% 0.1% 80.0% ★
torque switch point
P06.14 DC limit holding 0~150.0% 0.1% 50.0% ★
torque switch point
P07.00 Input signal filter time 0~250ms 1ms 0.5 ★
P07.01 DC limit mode 0: Delay mode 1 0 ★
1: Block mode1
2: Block mode2
P07.02 DC limit mode 0: Delay mode 1 0 ★
1: Block mode1
2: Block mode2
P07
P07.03 Relay Out polarity BIT0~BIT3 1 7 ★
setting Bit=0: Default
Bit=1: Opposite
P07.04 Time delay for DO 0~10.0s 0.1s 0.2s ★
limit mode 0
P07.05 Time delay for DC 0~10.0s 0.1s 0.4s ★
limit mode 0
17
Factory
setting
P07.06 Input Signal polarity BIT0~BIT3 1 0 ★
setting Bit=0: Default
Bit=1: Opposite
P07.07 DO obstruction signal 0：no 1 0 ★
output 1：yes
P07.08 Lock mode for DO 0：Disable 1 1 ★
limit position or DC 1：Enable
limit position
P07.09 Lock while 0：Disable 1 0 ★
obstruction occurs 1：Enable
P07.11 Input signal logic 0~3 1 3 ★
mode setting
P07.12 RS485 Address 2~127 1 2 ★
P08.04 Operation mode for Mode 0: not lock 1 0 ★

P08
leaving limit position Mode 1: Lock
P09.00 DO timeout 0.1-3600.0s 0.1s 15.0s ★
P09.01 DC timeout 0.1-3600.0s 0.1s 15.0s ★
P09.02 Action mode when mode0: 1 0 ★
blocked during DC. Follow elevator
command.
mode1:
P09 Reopening the
door.
P09.03 Stop mode 0: DE-energized 1 1 ★
1: short UVW
2: Lock
P09.04 Memory for blocking 0:disable 1 0 ★
position 1: enable
18
Factory
setting
P09.05 DC mode when power 0：only carrying 1 0 ★
on out the elevator
command;
1：closing the
door while no
elevator
command
appears;
2：closing the
door to the limit
P09.06 Holding time for DO 0.1~10.0s 0.1s 3.0s ★
limit in demo
P09.07 Holding time for DC 0.1~10.0s 0.1s 3.0s ★
limit in demo
P09.08 Abnormal 0~20.0s 0.1s 0.4s ★
deceleration time
P09.11 Extern DO command 0~10000s 1s 0s ★
Valid time
P09.12 Extern DC command 0~10000s 1s 0s ★
Valid time
P09.13 Password setting 0~9999 1 1234 ★
P10.00 First fault Refer to fault list —— —— ●
P10.01 Second fault Refer to fault list —— —— ●
P10.02 Third fault Refer to fault list —— —— ●
P10.03 Forth fault Refer to fault list —— —— ●
P10.04 Fifth fault Refer to fault list —— —— ●
P10.05 DC BUS voltage in —— —— —— ●
first fault
P10 P10.06 Current at First fault —— —— —— ●
P10.07 Frequency at first —— —— —— ●
fault
P10.08 Door position at first —— —— —— ●
fault
P10.09 Running times high —— —— —— ●
P10.10 Running times low —— —— —— ●
P10.11 Max. DCBUS voltage —— —— —— ●
19
Factory
setting
P10.12 Min. DCBUS voltage —— —— —— ●
P11.00 IN0 function setting when P01.00=0, 1 1 ★
P11.01 IN1 function setting function setting 1 2 ★
P11.02 IN2 function setting as: 1 3 ★
P11.03 IN3 function setting 0：None 1 4 ★
1：DO
2：DC
3：LDC
4：Inspection
P11.04 IN4 function setting —— —— —— ●
P11.08 OUT0 function when P01.00=0, 1 1 ★
setting function setting
P11 P11.09 OUT1 function as: 1 2 ★
setting 1：DOL
P11.10 OUT2 function 2：DCL 1 3 ★
setting 3：Obstruction
P11.11 OUT3 function 4：Fault 1 4 ★
setting
P11.12 UVW short enable 0~1 1 1 ★
when power on.
P11.13 External input voltage 0~1 1 1 ★
detect enable
P11.14 Time for external 0~1000 1ms 60 ★
input voltage detect.
Fault Codes：
Code Description Code Description
1 Under-voltage 13 Temperature sensor fault
2 Over-voltage 14 Abnormal DC Bus voltage detection
3 Over-heat 15 SPM module fault
5 Obstruction 16 Over-load
6 EEPROM fault 17 DO timeout
7 Self-learning fault 18 DC timeout
8 AD inspection fault 20 Over-speed
9 AD bias fault 21 CAN BUS Interruption
10 Belt creep 22 CAN BUS check error
20
11 Over-torque 23 Wrong motor wiring
12 Encoder fault 24 Power off or hardware damage
4.3 Parameter Description
P01.00 Running mode
Setting range：0：DDOC mode
1：Keypad mode
4：demo mode
0：DDOC mode: when drive works at this mode, it will receive operating order from elevator system,
such as DO, DC, and LDC to drive the door.
1: Keypad mode. Users can debug the controller. Enter P01.00 and set the parameter as 1, exit to status
Code display interface P00.00. Press " & " button to close door, and press & to open door,
release the button to stop the operation.
4：Demo mode. Set this mode to make the door operate automatically, DO/close interval time can set
by function Code P09.06 and P09.07.
P01.03 Low-speed
Setting range：0~ 1.000m/s
This function Code sets the speed of low-speed operation. When conducting slow DO, slow DC,
start-up and other abnormalities, the door will operate at the setting speed.
Note: if the operation time of DO or DC is right to the elevator system (otherwise, overtime fault of the
elevator will occur), the value shall be as little as possible to avoid crashing during the low-speed
operation
P01.04 Running direction
Setting range：0：Forward operation
1：Reverse operation
Motor's running direction can be changed by setting this parameter. After wiring, if the needed
direction is opposite to the present operation direction, change this parameter to change without
re-wiring.
P01.14 Factory default
Setting range：0：No operation
21：Restore parameter P01.00 ~ P09.12 to factory defaults
P03.02 Self-learning
Setting range：0~2
 Set P03.02=2，motor self-learning.’ MODE’ light is on, self-learning function is carrying out.
When ‘MODE’ light is off, the self-learning function completes. if the self-learning failed, the
drive will show Err07 warning.
 Set P03.02=1, door width self-learning. close the door first, then open the door, and then close the
door finally, when” MODE” light is off, the self-learning completes. P03.03 records the door
width data .if the self-learning failed, the drive will show Err07 warning.
Note:
21
 Confirm the motor and encoder wiring.
 Confirm there is no landing door and car door located together and car door open half in the
middle position before motor pole self-learning.
 Checking the motor running direction is right as need, if different, set P01.04 = 1 to change the
running direction.
 Be sure that motor self-learning starts before door width self-learning.
 Self-learning must be redo after the motor or inverter changed.
P03.03 Door-width
Setting range：0~6000.0mm
This parameter shows the door width low by self-learning.
P03.15 Motor –angle
Setting range：0~360.0
The motor data is achieved by motor self-learning.
P04 group
DO procedure:
1) When DO command is active, door operator opens skate set at DO start-up distance
(P04.00) as shown in curve.
2) When door operator detects present door position is over than DO start distance
(P04.00) , operator increases speed to DO high speed percentage (P04.09) after DO
accelerating time P04.03, and then open at constant speed.
3) When door arrives at open limit point distance (P04.12) and the motor is blocked, the
drive will shift to DO final torque holding status.
P04.00 DO start-up distance
Set the active range of start speed
P04.02 DO start-up speed
Setting range：0~1.000m/s
22
Set minimum starting speed and crawling band of DO.
P04.03 DO acceleration time
Setting：0~10.0s
Set time for DO from starting low speed to maximum running speed.
P04.04 Max Running speed
Set maximum running speed of DO/close curve
P04.06 DO deceleration time
Setting range：0~10.0s
Set time for decelerating from high speed to DO completing low speed
P04.07 Active distance for DO limit output
Set the active range of DO limit output.
P04.08 Inactive distance for DO limit output
Set the inactive range of DO limit output.
P04.09 DO high speed percentage
Setting range：0~100.0%
Set the percentage of high speed and max running speed during DO
P04.11 DO crawl distance
P04.12 DO limit point distance
Set handle interval of sufficient DO。
P05 Group
DC procedure:
1）When DC command is active, door operator runs at DC start-up speed (P05.02), then
23
accelerates to DC high speed percentage (P05.09)according to S curve, then decelerating to P05.02.
2）when DC start-up speed(P5.02) over than DC crawl distance(P05.11),closing skate according to
above curve.
3）When the door crawls to DC limit point distance (P05.12) and motor obstruction, the drive will
shift to DC final torque holding status
P05.00 belts slack value
Set the operation range of start-up speed
P05.02 DC start-up speed
Set the speed of start-up low-speed running
P05.03 DC acceleration time
Set time from DC start low speed to closing high speed
P05.06 DC decelerating time
Set time for closing decelerating from high speed to DC completing low speed
P05.07 Active distance for DC limit output
Set the active range of DC limit output.
P05.08 Inactive distance for DC limit output
Set the inactive range of DC limit output.
P05.09 DC high speed percentage
Setting range：0~100％
Set frequency of high speed running
P05.11 DC crawl distance
Setting：0～100.0mm
P05.12 DC limit point distance
Setting range：0~ 100.0mm
Perform relevant processing of sufficient closing
P05.13 Skate action crawl distance
Define distance between skate set closing position and close limit position
P05.14 Skate action crawl speed
Setting range: 0~1.000m/s
P05.15 Skate action Decelerating point distance
Setting range：0~P05.13
Define the decelerating distance of skate set closing. it can reduce skate set closing time together with
24
P05.13/P05.14.
P06.01 DO holding torque
Setting range：0~100.0%（motor rated torque）
Define ending torque of DO to avoid impact。
P06.02 DO maximum torque limit
Define max. Running torque during DO.
Attention: Set the value as small as possible if the door operator can run smoothly to the door open
limit.
P06.03 Final holding torque for DO limit
To prevent overheat of motor which caused by long time open status of operator. Set this parameter as
small as possible, but too small parameter may cause insufficient holding force.
P06.04 Switch time from DO holding torque to final holding torque
Define the switching time from holding torque to final holding torque
P06.06 DC holding torque
Define ending torque of DC to avoid impact。
P06.07 DC max torque limit
Define max operation torque during DC procedure, to avoid clamping persons. Set this parameter as
small as possible if it would not affect normal closing
P06.09 Final holding torque for DC limit
To prevent overheat of motor which caused by long time close status of operator.
P06.10 Switch time from DC holding torque to final holding torque
Define the switching time from holding torque to final holding torque
P06.13 DO limit holding torque switch point
Define the switching torque for final holding torque.
P06.14 DC limit holding torque switch point
Define the switching torque for final holding torque.
P07.00 Input signal filter time
Setting range：0~250ms
Define valid minimum time of input signal, to prevent error action caused by interruption.
P07.01 DO limit mode
25
Setting range：0~2
0: mode 0
Drive outputs DO limit signal after P07.03 time when the encoder pulses reaches the door width pulse
in open direction.
1: mode 1
Drive outputs DO limit signal after the door obstruction when the encoder pulses reaches the door
width pulse in open direction
2: mode 2
Drive outputs DO limit signal when the door is blocked and within the valid DO limit signal distance.
P07.02 DC limit mode
Setting range：0~2
Drive outputs DC limit signal after P07.04 time when the encoder pulses reaches the door width pulse
in close direction.
1: mode 1
Drive outputs DC limit signal after the door obstruction when the encoder pulses reaches the door
width pulse in close direction.
2: mode 2
Drive outputs DC limit signal when the door is blocked and within the valid DO limit signal distance.
P07.03 Relay Output polarity setting
Setting range：0~15
 Bit0: setting 1, output relay 0 reverse. Such as DO output polarity reversal, set P07.03=1。
 Bit1: setting 1, output relay 1 reverse. Such as DC output polarity reversal, set P07.03=2。
 Bit2: setting 1, output relay 2 reverse. Such as obstruction output polarity reversal, set P07.03=4。
 Bit3: setting 1, output relay 3 reverse. Such as safety panel close signal polarity reversal, set
P07.03=8。Such as, DO, close polarity both reversal, set P07.03=1+2=3；
P07.04 Time delay for DO limit mode
During door opening, after door drive receives enough impulse counts which is more for door open
limit, the output of door open limit will be delayed.
P07.05 Time delay for DC limit mode
During door closing, after door drive receives enough impulse counts which is more for door close
limit, the output of door open limit will be delayed.
P07.06 Input Signal polarity setting
Setting range：0~15。
Bit0=1, IN1 is break effective; 0 means connect effective.
26
P07.07 DO obstruction signal output

Setting range：0~1
0: No
1: Yes
P07.08 Lock mode for DO limit position or DC limit position
Setting range：0~1
0: No
1: Yes
P07.09 Lock while obstruction occurs
Setting range：0~1
0: No
1: Yes
P07.11 Input signal logic mode setting
Setting range：0~3, default 3
Mode 0：
DO DC LDC Door Action
1 1 x STOP
1 0 1 STOP
1 0 0 DO
0 1 0 DC
0 X 1 LDC
0 0 0 1)Motor deenergized (door not in the limit holding area)
2)Motor running(door in the limit holding area)
Mode 1:
1 x x DO
0 x 1 LDC
0 1 0 DC
Mode 2:
1 1 x STOP
0 0 1 DO
1 0 0 DO
0 1 0 DC
0 X 1 LDC
27
Mode 3:
1 1 x STOP
0 0 1 LDC
1 0 0 DO
0 1 0 DC
0 X 1 LDC
Note:
1: signal valid
0: signal invalid
X: signal valid or signal invalid
P07.13 power on times
Record range: 0~65535, for monitoring the power on times.
P08.04 Running mode for leaving limit position
Setting range：0~1
0: de-energized
1: keep former status
P09.00 DO time
Setting range：0.1~3600.0s
The max DO time, correctly setting this value can achieve protect of abnormal door operation. Normal
running time will not exceed this setting, and when abnormal situation occurs, such as door cannot be
opened for over this time, DO timeout protect will be triggered
P09.01 DC time
The max DC time, correctly setting this value can achieve protect of abnormal door running. Normal
running time will not exceed this setting, and when abnormal situation occurs, such as door cannot be
closed for over this time, DC timeout protect will be triggered.
P09.02 Action mode when blocked during DC
Setting range：0~1
0: Follow the elevator system command. When the motor is blocked, the drive will continue to operate
as the elevator system command.
1: Automatic anti-open. When obstruction happens, the drive will open the door automatically and act
as the elevator system command after open limit.
P09.03 Stop mode
Setting range：0~2
28
0: the motor is de-energized.
1: short U/V/W wire of motor by the drive
2: lock the door at the present position.
P09.04 Memory for blocked position
Setting range：0~1
0: Disable
1: Enable
P09.05 DC mode when power on
Setting range：0~2
0：When power on, the drive acts as elevator command.
1：when power on, the drive performs a low speed DC operation as P01.03 if there is no DO/DC
command; if there is DO/DC command after power on, the drive cancel automatic DC function and
performs elevator command slowly first before DC limit or DO limit until the door width is confirmed,
and then runs at normal curve speed, otherwise continue to perform DO/DC command slowly.
2：the drive Performs DC action to DC limit position regardless of any other command.
P09.06 Hold time for DO limit in demo
When DO to limit position, door drive perform close action after continue to hold setting time
P09.07 Hold time for DC limit in demo
When DO to limit position, door drive perform open action after continue to hold setting time
P09.08 Abnormal Deceleration time
Setting range：0 ~20.0s
Decelerate the present running frequency to 0 speed time to ensure that the door will not have a large
impact, the parameters to be set as small as possible in order to ensure rapid response on DO/DC/。
P09.11 Extern DO command valid time
Setting range：0 ~10000s
The running status holding time while external DDOC command，holing time more than or same as this
parameter will halt, it will be permanent retention if set 10000s
P09.12 Extern DC command valid time
Setting range：0 ~10000s
The running status holding time of invalid command on external input signal setting，holing time more
than or same as this parameter will halt, it will be permanent retention if set 10000s
P09.13 password setting
Set login password. Default value 1234.
Do remember the password after modified otherwise shall not browse and modify system parameter.
P09.14 Inspection mode
Setting range：0~1
0: the drive carries out terminal command first and then panel command.
29
1: the drive only carries out panel command.
30
5 Trouble Shooting
Code Name Possible reason Solution

power off check power supply
Err01 Under-voltage
system power abnormal check power supply
abnormal power supply abnormal power supply
Err02 Over-voltage
Sensing circuit is abnormal seek for service
temperature is too high check working environment
Err03 Over-heat
load is too high(spring、resistance) check spring、door operation
Door blocked check door
Err05 Obstruction
unreasonable parameter setting check parameter
Err06 EEPROM fault EEPROM R/W fault seek for service
Wrong wiring of motor check wiring
Err07 Self-learning fault
encoder fault check encoder
Abnormal wiring of motor Check the wiring
Err08 AD inspection fault
Drive abnormal seek for service
Err09 AD bias fault Drive abnormal seek for service
belt broken check belt condition
check door width and real
Err10 Belt creep Wrong door width data
condition
belt seriously loosen check belt condition
Motor or door is blocked Check the motor or door
Err11 Over-torque
Torque are set too little check torque parameters
1)encoder wiring problem 1)check encoder wiring
Err12 Encoder fault
2)encoder invalid 2)change encoder
Err13 Temperature fault short circuit or open circuit check temperature sensor
Abnormal DC Bus
Err14 Short circuit or open circuit seek for service
voltage detection
Over-current check motor wiring
Err15 SPM module fault
IPM damage seek for service
AC voltage is too low check power supply
Err16 Over-load Load is too high check the door
Encoder problem check the encoder
Door operator blocked check door operator
Err17 DO timeout Encoder problem check encoder
P09.00 is set too small check P09.00
31
Door operator blocked check door operator
Err18 DC timeout Encoder Fault check encoder
P09.01 is set too small check P09.01
Wrong magnetic data Motor self-learning again
Wrong wiring of motor or encoder Check the wiring
Err20 Over-speed Lack phase of motor Check the wiring or motor
More than 120% of DO/DC
Check the parameters
maximum speed
CANBUS Long time (>8s) did not receive Check CANBUS wires or
Err21
Interruption host CAN data parameters or terminal resister
CANBUS data
Err22 CANBUS data check error Check CANBUS parameter
check error
Err23 Motor wiring error Motor wiring problem Check motor wiring
Check power supply or seek for

Err24 Power off warning Power off or hardware problem
service
6 Maintenance
Lots of factors such as ambient temperature, humidity, acid/alkali substances, dust, and vibration,
internal component aging and wearing may raise the chance of the occurrence of potential faults.
Therefore, it is quite necessary to conduct monthly checking and periodical maintenance to the drive
that are operated or stored.
User shall operate drive according to user manual, maintain drive at regular intervals (12 months as
general), ensure reliable running of drive. Maintenance includes:
 Check if terminal wiring has been loosened
 clean dust inside drive at regular intervals
 Check the heat dissipation of controller is normal or not
 Do not change controller without authorization, otherwise there is a risk of damage on controller
and personnel safety.
32

BG221-BS21E User Manual 2019.A1

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PM Door Drive

Before using it please note below:

2.1 Application Scope

Caution：Long-term storage will lead to performance degradation on filter electrolytic capacitor.

Fig 2-2-1 model definition

2.3 Outer Dimension

Fig 2-3-1 Dimension

2.4 Technical Specification

3.1 Wiring Illustration

After completing wire connection, be sure to check:

The Keypad has function as following:

Software version software version

Status function Code of P00.01

Password Login Password Login

System parameter Parameter value corresponding to

Parameter/password Parameter interface（password login

Fault warning (remove fault Code

3.2.3 Key Function

 Return to the last display interface

3.2.4 Operation illustration

2）Password Login example:

3）System parameter browse and revision :

3.3 Debugging Steps

Step 2: Motor self-learning

Step 4: Door width self-study

Step 4: Adjust the opening and closing door effect.

P00――Status parameter P01――Basic parameter P02――Motor parameter

4.2 Parameter Table

P07.12 RS485 Address 2~127 1 2 ★

P08.04 Operation mode for Mode 0: not lock 1 0 ★

P07.07 DO obstruction signal output

Code Name Possible reason Solution

Check power supply or seek for

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