5 Chapter 5 - Crane Program Description. ABB ACS800 CraneDrive Control, ACC800 7.1

5

Chapter 5 - Crane Program Description

5.1 Overview

This chapter describes the functionality of the Crane program with its two

Application Macros: CRANE and M/F CTRL, and the two external control modes: Field bus mode and Stand Alone mode.

The chapter also describes how to use the two User Macros.

The chapter contains the following information:

• Operation, Fieldbus and Stand alone mode

• Functional Block diagram of program

• Function module descriptions

The Parameter Settings tables in this chapter indicate parameters you may have to modify. These parameters are indicated in the tables with an arrow (-->) symbol.

Refer to Appendix A – Complete Parameter Settings for the alternative settings for each parameter.

5.2

Application Macros

There are two application macros: CRANE and M/F CTRL.

Selection is done with parameter 99.2 Application macro.

Default setting is CRANE macro.

CRANE macro includes all the crane software functions except the

Master/Follower bus functionality.

M/F CTRL macro includes all functions of the CRANE macro plus

Master/Follower bus functionality (see description of function module

“Master/Follower (72)”).

NOTE: A change of application macro will reset all parameter settings to default, except for parameter group 99 and motor ID Run data stored.

Therefore macro selection should be done before making the application parameter settings.

ACC 800 Firmware Manual 5-1

Chapter 5 – Crane Program Description

Material to be issued later.

5-2 ACC 800 Firmware Manual


5.4 Stand alone mode operation

All drive commands and reference settings can be given from the Control

Panel keypad or selectively from an external control location.

The active control location is selected with the LOC REM key on the

Control Panel keypad. The drive is speed controlled.

In External Control the control location is the basic I/O. The reference signal is connected to analogue input AI1 and On/Start and Direction signals are generated from digital inputs DI2 ... DI4 on terminal block

X21.

DI5 is used for connecting slowdown limit switches in series, and DI6 for

Fast Stop order from mechanical overload and slack rope indications.

The mechanical brake is controlled from DO1 and the acknowledgement is connected to DI1.

Two analogue and three relay output signals are available on terminal blocks. Default signals for the Actual Signal Display Mode of the Control

Panel are SPEED, TORQUE and CURRENT.

The feedback data through Fieldbus communication: drive -> PLC is available also in stand alone mode (by enabling Comm module; parameter 98.2).

Operation Diagram

Input

Power

Ext. Controls

Motor

~

M

3~

~

Brake

rpm

Nm

Speed

Torque

Relay

Outputs

1 L -> 50.0% 1

SPEED 470 rpm

TORQUE 50 %

CURRENT 40 A

Reference and Start/Stop and Direction commands are given from the

Control Panel. To change to External ctrl, press LOC REM key at standstill.

1 50.0% 1

SPEED 470 rpm

TORQUE 50 %

CURRENT 40 A

Speed reference is read from analogue input AI1 (Terminal Block

X21). On/Start and Direction commands are generated from digital inputs DI2, DI3 and DI4.

Figure 5-1 Operation Diagram for Stand Alone Mode.

5.4.1 Input and Output I/O Signals

Input and Output I/O Signals as default (“Joystick” control type) assigned by the Crane program. (For more details see Crane module (64) description in section 5.6.5)

Input Signals

Brake Ackn: (DI1)

Zero Pos: (DI2)

Start Dir A: (DI3)

Start Dir B: (DI4)

Slow Down-N: (DI5)

Fast Stop-N: (DI6)

Speed Ref: (AI1)

Torque Ref: (AI2)

Speed Corr: (Ext AI1)

Output Signals

Analogue Output AO1: Speed

Analogue Output AO2: Torque

Relay Output RO1: Brake lift

Relay Output RO2: Watch dog-N

Relay Output RO3: Fault-N

ACC 800 Firmware Manual 5-3


5.4.2

External Connections

The following connection example is applicable when the Crane program with Stand Alone control mode and Joystick control is used. rpm

Nm

TE

Terminal Block X20

1

VREF -

2 GND

Terminal Block X21

4

5

6

1

2

3

VREF +

GND

AI1+

AI1-

AI2+

AI2-

7

8

9

AI3+

AI3-

AO1+

10

11

AO1-

AO2+

12 AO2-

Terminal Block X22

Function

Reference voltage -10 V max 10 mA

Function

Reference voltage 10 V max 10 mA

Speed reference

0 ... 10V

Torque reference

0 ... 20 mA

Not used

0 ... 20 mA

Speed actual

0 ... 20mA <-> 0 100 %

Torque actual

0 ... 20mA <-> 0 ... T

N

TE

1

2

3

DI1

DI2

DI3

6

7

4

5

8

9

DI4

DI5

DI6

+24DVDC

+24DVDC

DGND1

10

11

DGND2

DI_IL

Terminal Block X23

BRAKE ACKN

ZERO

START DIR A

START DIR B

SLOWDOWN-N

FAST STOP-

+24 VDC max 100 mA

Not connected

Digital ground 1

Digital ground 2

Digital input DI_IL (programmable)

1 +24 VDC

2

GND

Terminal Block X25

Auxiliary voltage output 24 VDC

0 V

Brake lift

1

RO11

RO12

2

3

RO13

Terminal Block X26

Relay output 1

Brake lift

1

RO21

Relay output 2

Watch dog

2

RO22

Watch dog -N

3

RO23

Terminal Block X27

E-stop

1 RO31

Relay output 3

Fault

2 RO32

Fault -N

3 RO33

Figure 5-2 External connections to RMIO board in Stand Alone mode,

Joystick control.


230 Vac N

+24Vdc 0 V

Electric shaft control

+/- 10V


RDIO-01, DI/O Ext module no. 1

Terminal block

(24 – 250 V)

X11:

1 DI1A

Stop Lim A -N

2 DI1B

X12:

1 DI2A

Stop Lim B –N

2 DI2B

3 DI3A

Fast stop –N

4 DI3B

RDIO-01, DI/O Ext module no. 2

Terminal block

(24 – 250 V)

X11:

1 DI1A

Step Ref 2

2 DI1B

X12:

1 DI2A

Step Ref 3

2 DI2B

3 DI3A

Step ref 4

4 DI3B

RAIO-01, AI/O Ext module

Terminal block X1 Function

1 AI1-

Speed Correction

2 AI1+

3 AI2-

"not used"

4 AI2+

5 SHLD

6 SHLD

Figure 5-3 External connections to extended I/O modules RDIO-01 and

RAIO-01, in Stand Alone mode, Step joystick control.



5.4.3 Control Signals Connection Stand Alone mode

STAND

ALONE

DI1-DI6

EXT DI1-4

AI.1

SPEED

REF

CRANE

MODULE

SPEED REF

Power

Otimization

MAX

SELECTOR

EXTERNAL

KEYPAD

SPEED

CONTROLER

MINIMUM SPEED 20.1

MAXIMUM SPEED 20.2

SPEED CTRL

Group 23

AI.2

TORQUE REF.

EXT AI1

SPEED CORR.

CDP 312R

PANEL

REF

LOC

REM

REF. WITH SIGN.

TORQUE REF.

KEYPAD

EXTERNAL

ON/START

TORQUE

CONTROLLER

MAXIMUM

TORQUE 20.4, 20.5

TORQUE CTRL

Group 24

1

0

Figure 5-4 Control Signals Connection Stand Alone mode



5.4.4 Parameter Settings for the Stand alone mode

Table 5-1 Listing of parameters typically requiring changes during start-up.

Stand alone mode.

99 START-UP DATA

99.2 APPLICATION MACRO

99.3 APPLIC RESTORE

99.4 MOTOR CTRL MODE

99.5 MOT NOM VOLTAGE

99.6 MOTOR NOM CURRENT

99.7 MOTOR NOM FREQ

99.8 MOTOR NOM SPEED

99.9 MOTOR NOM POWER

99.10 MOTOR ID RUN

99.11 DEVICE NAME

10 DIGITAL INPUTS

10.1 BRAKE ACKN SEL

10.2 ZERO POS SEL

10.3 SLOWDOWN-N SEL

10.4 FAST STOP-N SEL

10.5 POWER ON ACKN SEL

10.6 SYNC SEL

10.7 CHOPPER FLT-N SEL

10.8 STEP REF2 SEL

10.9 STEP REF3 SEL

10.10 STEP REF4 SEL

10.11 HIGH SPEED SEL

10.12 SNAG LOAD-N SEL

10.13 ACCELERATE SEL

10.14 FB STOPLIM SEL

10.15 ELSHAFT ON SEL

20 LIMITS

20.1 MINIMUM SPEED

20.2 MAXIMUM SPEED

20.3 MAXIMUM CURRENT A

20.4 MAXIMUM TORQUE

20.5 MINIMUM TORQUE

20.6 OVERVOLTAGE CTRL

20.7 UNDERVOLTAGE CTRL

20.10 SPEED LIMIT AI3

21 START/STOP

21.1 START FUNCTION

21.2 CONST MAGN TIME

23 SPEED CTRL

23.1 GAIN

23.2 INTEGRATION TIME

23.3 DERIVATION TIME

23.4 ACC COMPENSATION

23.5 SLIP GAIN

23.6 AUTOTUNE RUN ?

NO

→ DTC

→ 0 V

→ 0.0 A

→ 50.0 Hz

→ 1 rpm

→ 0.0 kW

→ ID MAGN

→

DI1

→ DI2

→ DI5

→ DI6

→ NOT USED

NOT USED

→ NOT USED

NOT USED

NOT USED

NOT USED

NOT USED

NOT USED

NOT USED

NOT USED

NOT USED

62.1 TORQ MON SEL

62.2 SP DEV LEV

62.3 TORQ FLT TD

62.4 SP DER BLK LEV

63 FAST STOP

63.1 FAST STOP TYPE 11


64.1 STAND ALONE SEL

64.2 CONTIN GEAR

64.3 HIGH SPEED LEVEL 1

64.4 DEADZONE A

64.5 DEADZONE B

64.6 REF SHAPE

64.7 SLOWDOWN SPEEDREF

64.8 ZERO POS OK TD

64.9 TORQUE REF SCALE

→ (calculated)

→ (calculated)

→ 200 % I hd

(A)

→ 200 %

→ -200 %

OFF

ON

100%

CONST DC-MAGN

→ 500 ms

66.1 TORQ PROV SEL

66.2 TORQ PROV FLT TD

66.3 TORQ PROV REF

68 POWER OPTIMIZATION

68.1 POWOP SELECT

68.2 BASE SPEED

68.3 POWOP AUTOTUNE SEL

68.4 INERTIA TOTAL UP

68.5 INERTIA TOTAL DWN

68.6 TQLIM UP

68.7 TQLIM DWN

68.8 POWOP RESET LEV

68.9 T MAX

→ 10.0

→ 2.50 s 69 REFERENCE HANDLER

0.0 ms 69.1 SPEED SCALING RPM

0.00 s

100.0 %

NO

69.2 ACC TIME FORW

69.3 ACC TIME REV

69.4 DEC TIME FORW

69.5 DEC TIME REV

69.6 S-RAMP TC

69.7 RAMP SCALE LOCAL

23.7 FEEDB FILTER TIME

23.8 SPEED STEP

27 BRAKE CHOPPER

27.1 BRAKE CHOPPER CTL

27.2 BR OVERLOAD FUNC

27.3 BR RESISTANCE

27.4 BR THERM TCONST

27.5 MAX CONT BR POWER

27.6 BC CTRL MODE

4 ms

0.0 rpm

→ OFF (R2&R3=ON)

→ NO

→ 100.00 ohm

→ 0.000 s

→ 0.00 kW

AS GENERATOR

50 PULSE-ENCODER (visible when 98.1 is activated)

50.1 ENCODER PULSE NR → 1024

50.2 SPEED MEAS MODE A_-_B_-_

64.10 CONTROL TYPE

64.11 MINIMUM REF

64.12 JOYSTICK WARN TD

64.13 STEP REF LEVEL 1




69.10 RAMP RATE=1

98 OPTION MODULES

98.1 ENCODER MODULE

98.2 COMM. MODULE

98.3 CH3 NODE ADDR

98.4 CH0 NODE ADDR

98.5 DI/O EXT MODULE 1


98.7 AI/O EXT MODULE 1

→

→

→

→

→ FALSE

→ 100 %

FALSE

→ 3 KGM 2

→ 30 KGM 2

→ 100 %

→ 75 %

12 %

→ 500 %

→ 1500 rpm

→ 5.0 s

→ 5.0 s

→ 5.0 s

→ 5.0 s

0.0 s

2.0

TRUE

NO

NO

1

1

NO

NO

NO

TRUE

10 %

600 ms

→ 13 % /s *)

NOT USED

→ NOT USED

TRUE

FALSE

98 %

→ 0 %

→ 0 %

20

→ 25 %

0.3 s

1.00

→ JOYSTICK

0.0 %

400 ms

10 %

25 %

50 %

100 %

→ FALSE

0.5 s

20 %

50.3 ENCODER ALM/FLT FAULT

50.4 ENCODER DELAY 1000 ms *) Calculate as: 100 / (RT x 1.5) %/s where RT = longest ramp time in seconds

→

Typical parameter values to check during start-up. If required, alter the values to meet the needs of your application. A complete parameter list is provided in Appendix A.



5.5 Fieldbus mode operation

All drive commands and reference settings can be given from the Control

Panel keypad or selectively from an external control location.

The active control location is selected with the LOC REM key on the

Control Panel keypad. The drive is normally speed controlled.

In External Control the control location is from the Fieldbus communication. The reference signal, On/Start a.s.o. are connected to corresponding datasets, see Fieldbus Receive description for details.

The mechanical brake is controlled from DO1 and the acknowledgement is connected to DI1 as a default.

Example of digital input connections:

DI2 Power On Ackn, is connected to an auxiliary contact of the incoming power breaker. DI3 Sync, is position measurement synchronisation. DI4

Chopper Fault-N, is connected to the braking chopper fault contact.

Two analogue and three relay output signals are available on terminal blocks. Default signals for the Actual Signal Display Mode of the Control

Panel are SPEED, TORQUE and CURRENT.

Operation Diagram

1 L -> 50.0% 1

SPEED 470 rpm

TORQUE 50 %

CURRENT 40 A

Fieldbus comm. module

Nm Torque

Relay

Outputs

Reference and Start/Stop and Direction commands are given from the Control Panel. To change to External ctrl, press LOC REM key

~

~

rpm Speed at standstill.

1 50.0% 1

SPEED 470 rpm

TORQUE 50 %

CURRENT 40 A

Motor

M

3~

Brake Start/Stop commands and References are received through the

Fieldbus communication

Figure 5-5 Operation Diagram for Fieldbus Mode.

5.5.1 Input and Output I/O Signals

Example of Input and Output I/O Signals selected when Fieldbus mode is selected i.e. supervisory controller (PLC) is used:

Input Signals

Brake Ackn: (DI1)

Power On Ackn: (DI2)

Sync: (DI3)

Chopper Flt-N: (DI4)

Output Signals

Analogue Output AO1: Speed

Analogue Output AO2: Torque

Relay Output RO1: Brake lift

Relay Output RO2: Watchdog-N

Relay Output RO3: Fault-N



The following connection example is applicable when the Crane program is used in Fieldbus mode. rpm

Nm

Terminal Block X20

1

VREF -

2 GND

Terminal Block X21

4

5

6

1

2

3

VREF +

GND

AI1+

AI1-

AI2+

AI2-

7

8

9

AI3+

AI3-

AO1+

10

11

AO1-

AO2+

12 AO2-

Terminal Block X22

Function

Reference voltage -10 V max 10 mA

Function

Reference voltage 10 V max 10 mA

Not used in this mode

Not used in this mode

Not used

0 ... 20 mA

Speed actual

0 ... 20mA <-> 0 100 %

Torque actual

0 ... 20mA <-> 0 ... T

N

TE

1

2

3

DI1

DI2

DI3

6

7

4

5

8

9

DI4

DI5

DI6

+24DVDC

+24DVDC

DGND1

10

11

DGND2

DI_IL

Terminal Block X23

BRAKE ACKN

POWER ON ACKN (example)

SYNC (example)

+24 VDC max 100 mA

Not connected

Digital ground 1

Digital ground 2

Digital input DI_IL, programmable

1 +24 VDC

2 GND

Terminal Block X25

Auxiliary voltage output 24 VDC

0 V

Brake lift

1

RO11

RO12

2

3

RO13

Terminal Block X26

Relay output 1

Brake lift

Watch dog

1

RO21

2

RO22

3

RO23

Terminal Block X27

Relay output 2

Watch dog -N

E-stop

1 RO31

Relay output 3

Fault

2 RO32

Fault -N

3 RO33

Figure 5-6 External connections in Fieldbus mode



5.5.3 Control Signals Connection in Field Bus mode

FIELD BUS

DataSet1, Word1

Bit 2 and 4

ON, START

DataSet1,

Word2

SPEED REF.

DS1.1 Bit 7

SELECT

TORQ. CTRL

TORQUE REF.

DataSet1,

Word3

DS3,2

SPEED CORR.

CDP 312R

PANEL

REF

LOC

REM

Power

Optimization

MAX

SELECTOR

EXTERNAL

KEYPAD

REF. WITH SIGN.

KEYPAD

EXTERNAL

ON/START

SPEED CONTROLLER

MINIMUM SPEED 20.1

MAXIMUM SPEED 20.2

SPEED CTRL

Group 23

TORQUE CONTROLLER

MAXIMUM

TORQUE 20.4, 20.5

TORQUE CTRL

Group 24

1

0

Figure 5–7 Control Signals Connection in Fieldbus mode


5.5.4

5.5.5


Speed correction in Fieldbus mode

In Fieldbus mode there is a possibility to send a speed correction

reference (“non-ramped” reference added to ramp unit output), to the drive:

In the Fieldbus communication interface: DataSet 3, Word 2 is connected as a Speed Correction input signal (8 ms updating time in ACC 800 application software).

The speed correction reference is limited so that the sum of the normal

“ramped” speed reference and the speed correction reference cannot exceed Maximum/Minimum Speed setting (parameters 20.1 & 20.2).

External Chopper monitoring (available in both Fieldbus and Standalone mode)

If using an external braking chopper, the braking chopper fault contact

(use the “normally open” contact; closed contact when DC voltage is on and no fault), can be monitored by the drive if connected to a digital input

(Parameter 10.7 Chopper Flt-N Sel). If open contact (“0”) to the digital input, the drive will trip and indicate CHOPPER FAULT to panel, faultlogger and Fieldbus faultword. Also the Watchdog signal (DO2) will indicate.

WARNING! If a braking chopper fault occurs, the incoming AC voltage to the drive must be disconnected! (This is the only way to stop the current in the braking resistor if the fault is a short circuit in the braking chopper)

This is done by connecting the Watchdog-N output DO2 to the drive emergency stop circuit.

During power on of drive (Power On Ackn ,e.g. DI2, changing from “0” to

“1”) the Chopper fault monitoring is blocked during the time Chopper

Monit Td, parameter 71.3, to avoid false indications.

Parameter value must be kept as low as possible (approx. 1000 ms).

This is to avoid burning out the charging resistor in the drive, if switching on power to the drive when there is a short circuit in the braking chopper.



5.5.6 Parameter Settings for the Fieldbus mode

Table 5-2 Listing of parameters typically requiring changes during start-up. Fieldbus mode.

99 START-UP DATA 62 TORQUE MONITOR


99.3 APPLIC RESTORE

99.4 MOTOR CTRL MODE

99.5 MOT NOM VOLTAGE


99.7 MOTOR NOM FREQ



99.10 MOTOR ID RUN

99.11 DEVICE NAME

10 DIGITAL INPUTS

10.1 BRAKE ACKN SEL

10.2 ZERO POS SEL

10.3 SLOWDOWN-N SEL



10.6 SYNC SEL


10.8 STEP REF2 SEL

10.9 STEP REF3 SEL

10.10 STEP REF4 SEL


10.12 SNAG LOAD-N SEL




20 LIMITS

20.1 MINIMUM SPEED

20.2 MAXIMUM SPEED


20.4 MAXIMUM TORQUE

20.5 MINIMUM TORQUE


20.7 UNDERVOLTAGE CTRL


21 START/STOP

21.1 START FUNCTION


23 SPEED CTRL

23.1 GAIN




23.5 SLIP GAIN

23.6 AUTOTUNE RUN ?


23.8 SPEED STEP

50 PULSE-ENCODER (visible when 98.1 = yes)

50.1 ENCODER PULSE NR

50.2 SPEED MEAS MODE

50.3 ENCODER ALM/FLT

50.4 ENCODER DELAY

50.5 SPEED FEEDB USED

51 COMM MODULE (visible when 98.2 = yes)

CRANE

NO

→ DTC

→ 0 V

→ 0.0 A

→ 50.0 Hz

→ 1 rpm

→ 0.0 kW

→ ID MAGN

DI1

! NOT USED

! NOT USED

! NOT USED

→ NOT USED

NOT USED

NOT USED

NOT USED

NOT USED

NOT USED

NOT USED

NOT USED

NOT USED

→ NOT USED

NOT USED

→ (calculated)

→ (calculated)

→ 2 * I hd

(A)

→ 200 %

→ -200 %

OFF

ON

100%

CONST DC-MAGN

→ 500 ms

→ 15.0

→ 0.50 s

0.0 ms

0.00 s

100.0 %

NO

4 ms

0.0 rpm

→ 1024

A_-_B_-_

FAULT

1000 ms

TRUE

62.1 TORQ MON SEL

62.2 SP DEV LEV

62.3 TORQ FLT TD

62.4 SP DER BLK LEV

63 FAST STOP




64.2 CONTIN GEAR


64.4 DEADZONE A

64.5 DEADZONE B

64.6 REF SHAPE

64.7 SLOWDOWN SPEEDREF

64.8 ZERO POS OK TD


64.10 CONTROL TYPE

64.11 MINIMUM REF






66 TORQUE PROVING

66.1 TORQ PROV SEL


66.3 TORQ PROV REF


68.1 POWOP SELECT

68.2 BASE SPEED

68.3 POWOP AUTOTUNE SEL



68.6 TQLIM UP

68.7 TQLIM DWN


68.9 T MAX

69 REFERENCE HANDLER

69.1 SPEED SCALING RPM

69.2 ACC TIME FORW

69.3 ACC TIME REV

69.4 DEC TIME FORW

69.5 DEC TIME REV

69.6 S-RAMP TC


69.10 RAMP RATE=1

98 OPTION MODULES

98.1 ENCODER MODULE

98.2 COMM. MODULE

98.3 CH3 NODE ADDR

98.4 CH0 NODE ADDR



→

→

→

→

→

→

→

→

→

→

→

→

→

→

→

→

TRUE

10 %

600 ms

→ 13 % /s *)

→ NOT USED

NOT USED

! FALSE

FALSE

98 %

0 %

0 %

20

25 %

0.3 s

1.00

JOYSTICK

0.0 %

400 ms

10 %

25 %

50 %

100 %

FALSE

0.5 s

FALSE

100 %

FALSE

3 KGM

2

30 KGM 2

100 %

75 %

12 %

500 %

1500 rpm

5.0 s

5.0 s

5.0 s

5.0 s

0.0 s

2.0

TRUE

NO

NO

1

1

20 %

NO

NO

51.1 MODULE TYPE

51.2…51.15 (See manual for fieldbus module used)

98.7 AI/O EXT MODULE NO

*) Calculate as: 100 / (RT x 1.5) %/s where RT = longest ramptime in sec.

→ Typical parameter values to check during start-up. If required, alter the values to meet the needs of your application. A complete parameter list is provided in Appendix A.

! Parameter value different from default setting


D

FUNCTION BLOCK DIAGRAM

C B


A

1

2

3

Figure 5-8 Function Block Diagram

ACC 800 Firmware Manual

RU

N

4

5

5-13


5.6.1 Local operation ( 60 )

This function module contains the necessary logic for Local mode operation by the operator’s panel on the front of the frequency converter.

Normally used only for commissioning and maintenance. The unit isreceives commands: Start/stop, Speed ref local, Local/remote and Reset from the panel. All crane drive functions (such as mechanical brake control) are active also in Local control mode (except power optimisation).

Please note that inputs for Slowdown limits, Stop limits and Fast

stop are NOT active when running in Local control mode.

Speed correction references are active when running in Local mode.

Parameter (60.1) LOC OPER INH = ” true ” will force the drive to external control mode (LOCAL = ” 0 ”). The drive is then only controlled from the

Field Bus communication or in Stand alone mode from I/O signals.

To be able to change the mode from External control to Local control or reverse the motor has to be stopped with brakes set, that is: ZERO

SPEED = ”1” and RUNNING = “0”.

Local running is performed from the operators panel which contains push-buttons for START PANEL, STOP PANEL of the converter, and for controlling the speed of the motor up and down with the REF plus Up and Down Arrow push-buttons for Fast and Slow reference change respectively. Ramp times (par. 69.2 - 5) are in Local multiplied with a scaling factor: RAMP SCALE LOCAL (parameter 69.7, default = 2.0).

The direction of the drive is changed with the push buttons Forward and

Reverse.

Pressing Start push-button will give both ON = Magnetising and Startorder, ramping up per given speed reference.

If pressing Start on panel but no reference higher than ZERO SPEED

LEV (67.6) given within the time LOC ZERO SPEED TD (60.3), than the drive will switch off again.

Pressing Stop push-button while running will ramp motor to zero speed, and switch motor magnetising off after the time OFF TD (65.2) if

CONTIN ON (65.1) = False.

If pressing Stop push-button (a second time) when at zero speed the magnetising will be switched off = converter switched off. cannot be started in Local (or External) mode unless input selected for

POWER ON ACKN = “1”.


5.6.2


Speed monitor ( 61 )

The function module is used to supervise overspeed of the motor, to give tripping signal at motor overspeed.

If the motor speed exceeds the level determined by MOT OVERSPEED

LEV (61.3) then the drive is tripped instantanuously (converter Off + brakes set) via the signal MOT OVER SPEED, indicating fault on panel, to Fieldbus and faultlogger.

5.6.3 Torque monitor ( 62 )

T he function module is used to supervise the torque of the motor by checking that the motor is following the speed reference in terms of direction of change during accel-/deceleration and without excessive speed error during accel-/deceleration and normal running.

For the supervision to be active TORQ MON SEL (62.1) has to be set

”True”.

If the absolute value of the speed error (SPEED REF4 - SPEED ACT) is higher than SP DEV LEV (Parameter 62.2) for a time longer than TORQ

FLT TD (Parameter 62.3), the drive trips for torque fault; TORQ FLT, indicating fault to panel, Fieldbus and faultlogger.

Parameter SP DER BLK LEV (62.4), rate of actual speed change in % per second, can be set so that it blocks the protection during acceleration and deceleration. As long as the actual rate of change (derivative) of the motor speed during acceleration or deceleration is higher than the setting of parameter SP DER BLK LEV, the torque fault protection is blocked.

Example: Acceleration ramp times set to e.g. 5 seconds. With SP DER

BLK LEV set to 8 %/s, the drive will not trip for torque fault if reaching torque limit during acceleration, as long as the actual acceleration time

(0-100%) is below 12.5 seconds (100% / 8%/s = 12.5 s).



5.6.4 Fast stop ( 63 )

The module contains logic for fast stopping the drive.

Three different types of fast stop can be obtained with this module.

They are:

- With torque limit only = fast stop 1

- With torque limit and mechanical braking = fast stop 2

- With mechanical braking only = fast stop 3

Note that fast stop is not to be mixed up with emergency stop.

NOTE: Fast stop functions are not active when in Local control!

The module has three output signals to achieve the different fast stops.

FAST ZERO SET is set to ” 1 ” when fast stop 1 is ordered, i. e. fast stop with torque limit only (brake is applied at zero speed).

All three signals FAST ZERO SET, SPEED OFF and FAST STOP are set to ” 1 ” when fast stop 2 is ordered, i. e. stop with both current limit and mechanical breaking.

FAST STOP is set to “1” when fast stop 3 is ordered, i.e. fast stop with mechanical braking only.

To run the drive again after reaching zero speed, the START-signal must be reset before accepting a new start-order.

There are two input signals from the Fieldbus Command Word (DS1.1),

FAST STOP 1 and FAST STOP 11 to order fast stop (active in both

Fieldbus and Stand alone mode):

-FAST STOP 1 = ” 1 ” gives fast stop 1

-FAST STOP 11 = ” 1 ” gives a fast stop per selection parameter 63.1

FAST STOP TYPE 11

Please note that drive cannot be started from External control place, if any of FAST STOP 1 or FAST STOP 11 (if activated in 63.1) control bits are active =“1”. Local start (from e.g. CDP panel) is possible.

To use FAST STOP 11 for:

Fast stop 1: set FAST STOP TYPE 11 (63.1) = FAST STOP 1



When using Stand alone modes there is also a signal FAST STOP 12, activated by digital input e.g. DI6 (FAST STOP-N) = “0” (see function module CRANE (64) for more details), which can be programmed to give anyone of the three types of fast stop. This is done with parameter 63.2

FAST STOP TYPE 12.

For settings of FAST STOP TYPE 12 see FAST STOP TYPE 11 above.

Note: If in Stand alone mode selecting the Control type (parameter

64.10) = FB JOYSTICK, than both FAST STOP 12 through digital input as well as FAST STOP 1 and FAST STOP 11 through the Fieldbus

Command Word are available to use.

Any active Fast stop is indicated in signal 4.5 FB AUX STATUSWORD bit 11.


5.6.5


Crane ( 64 )

NOTE: Stand Alone mode is active if parameter 64.1 STAND ALONE

SEL is set = “True”.

Table 5-3 Stand Alone default I/O signal interface and functions.

Signal

BRAKE ACKN

ZERO POS

START DIR A

START DIR B

SLOWDOWN-N

FAST STOP-N

SPEED REF

TORQ REF

SPEED CORR

BRAKE LIFT

WATCHDOG-N

FAULT-N

MEAS VALUE 1

MEAS VALUE 2

Input

(DI set in

Group10)

DI1

Function

DI2

DI3

(fixed)

DI4

(fixed)

DI5

DI6

AI1

(fixed)

AI2

(fixed)

Ext AI1

(fixed)

DO1

DO2

DO3

AO1

AO2

Brake acknowledge from aux. contact on brake contactor (and from brake)

Zero position contact from joystick

Direction A (pos.=up) from joystick, to be connected in series with Stop Lim

A and contact from mechanical overload protection equipment

Direction B (neg.=down) from joystick, to be connected in series with Stop

Lim B and contact from slack rope protection equipment

Slow down lim A and B. Direction from

START DIR inputs. After a power down (main contactor off) only slow speed is possible until this input is ”1”.

Fast stop signal to the converter

Speed reference signal from joystick.

0-10 V (or “par. 13.7”-10V) for 0-100

%

Torque reference signal from joystick.

0-20 mA for 0 to maximum torque reference (maximum set with

Parameter 64.9 TORQ REF SCALE).

Speed Correction signal from e.g. electric shaft control unit.

0 – (+/-)10V for 0 - (+/-)100% speed correction signal.

Output to brake contactor

Closed contact indicates ”healthy” drive.

Open contact makes hardwired emergency stop; main contactor(s) off and brakes on.

Fault (trip) signal indication

Default selection: Motor speed

Default selection: Motor torque



Joystick control mode ( 64.10=JOYSTICK)

When connecting a joystick directly to the drive I/O, then parameter 64.10

CONTROL TYPE should be selected to “JOYSTICK” (= default).

ANALOGUE REF INPUTS: The analogue reference signal (0 - max. reference) is connected to Analogue input 1 for speed reference, and to

Analogue input 2 for torque reference. The sign for the reference, speed as well as torque reference is given by inputs DI3 (Start Dir A) for positive reference (=up for hoist) and DI4 (Start Dir B) for negative reference (=down for hoist). With parameter 13.7 “AI1 0% REF LEV” the minimum AI1 voltage level corresponding to 0% speed reference is set (used e.g. with 4-20mA signal).

REFERENCE CURVE: The joystick for giving reference has parameters for setting of the deadzone in direction A and B (64.4 and 64.5).

REF SHAPE (64.6) is for giving the reference a parabolic shape.

Parameter set to ”0” = straight line, “20” = X 2 and ”100” = X 3 curve.

JOYSTICK CHECKS: The drive is stopped (normal deceleration ramp if speed control) and prevented from a new start until the joystick is moved back to the neutral position, i.e. Zero Position (ZERO POS: e.g. DI2 = “1”, DIR A: DI3 = “0”

& DIR B: DI4 = “0”) indicated longer than time ZERO POS OK TD (64.8), if any of following conditions (joystick or wiring problems) occur for a duration longer than JOYSTICK WARN TD (64.12):

- START DIR A= ”1” and START DIR B=”1” at the same time.

- SPEED REF is > 1V or TORQUE REF is > 2mA when joystick is in the neutral position (ZERO POS = “1”, DIR A = “0” and DIR B = “0”). Indicates a possible loose ground connection.

Panel also indicates this with an alarm text: “WARNING

JOYSTICK”.

START: The drive is started when one of the signals START DIR A or START

DIR B is ”1” and ZERO POS is “0”, unless any of the above listed fault conditions occur. The sequence starts with a magnetising phase = ON (unless already magnetised) which is immediately followed by the reference ramp-up.

At a normal stop the switching off of the magnetising current is off-delayed by an adjustable time (parameter 65.2 OFF TD).

Power-up: Start order is not accepted after READY signal is active, until joystick is first in zero position.

SLOWDOWN: The speed is limited by a preset level (parameter SLOWDOWN

SPEEDREF 64.7) if the SLOWDOWN-N input e.g. DI5 is zero-set. The converter remembers the direction of movement and allows full speed in the opposite direction as long as the supply voltage (AMC board supply) is not switched off. If the voltage has been switched off and the input SLOWDOWN-

N = ”0” than only slow speed is allowed in both directions.

By setting parameter 10.3 SLOWDOWN-N SEL = DI5 + DI6, separate inputs are available for wiring of slowdown limit switches to the drive. Slowdown direction A is wired to digital input 5 and slowdown direction B is wired to digital input 6. If input 5 is open, speed is limited to slowdown reference level in positive (A) speed direction (e.g. upwards), but no limitation for negative speed

(e.g. downwards) operation. And vice versa if input 6 is open. If both inputs 5 and 6 are closed (“1”), there is no slowdown speed limitation active - full speed allowed.



Slowdown selection “DI5 + DI6” is also possible to use when operating in

Fieldbus mode.



FAST STOP: When the FAST STOP-N input e.g. DI6 changes to “0” (activates on a negative edge) while running, the drive is fast stopped (active in both speed and torque control). Three alternatives Fast Stop 1 = Torque limit braking, Fast Stop 2 = Torque limit and mechanical braking or Fast stop 3 =

Mechanical braking can be selected from by parameter FAST STOP TYPE 12

(63.2).

After reaching zero speed and the “ZEROPOS” input has been set to ”1”, with a positive edge required for reset of fast stop condition, for a time longer than parameter ZERO POS OK TD, start of the drive is allowed. That is: the joystick must be returned to the neutral position for a minimum of 0.3 seconds (default value) before starting in other direction is possible.

To avoid running in the same direction (hoisting after overload indication or lowering after slack rope indication) the appropriate direction input must be wired in series with an additional contact from the protection equipment. These contacts must be of “NO” type and are closed when the protection equipment is energised and opens when a fault occurs.

TORQUE CONTROL is activated when the current level of input AI2 TORQ

REF the first time (after each power on) passes the level 2 mA, and if the speed reference to AI1 is below 1V.

Speed reference is activated the first time AI1 passes the level 1V (and after each power on = default).

If both inputs are above limit, than speed control is active.

Updating time for speed and torque references are 32 ms.

If a slowdown limit switch is activated, drive will change to speed control and limit speed to slowdown speed reference level set.

SPEED CORRECTION: The additional speed reference input Speed

Correction (Ext AI1 = RAIO input AI1) is a reference without any ramp that is added to the output of the normal speed reference ramp generator. Can be used as a correction input from a “electric shaft” control unit. Updating time is 8 ms for the speed correction input.

0 V signal is 0 % reference level and the 0 – (+)10 V range corresponds to 0 –

(+)100 % speed. 0 – (-) 10 V range corresponds to 0 - (-)100 % speed.

Additionally the fieldbus Speed correction signal (DS3.2) can also be used

(added to Ext AI1 signal) in Stand alone mode.

The speed correction reference is limited so that the sum of the normal

“ramped” speed reference and the speed correction reference cannot exceed

Maximum/Minimum Speed setting (parameters 20.1 & 20.2).

WATCHDOG: The signal WATCHDOG-N (digital output 2 as default) is used to indicate a healthy drive. This output is zero-set if the software detects any of the following faults:

Fieldbus communications fault (MAS OSC FLT)

- Master/Follower bus (Ch2) communication fault

- Brake long falling time

- Chopper fault (e.g. short circuit or overload)

- External fault

- CPU stalls out

If this relay output contact opens, the supply contactor to the converter must immediately be opened and mechanical the brakes applied by removing power from the brake contactor = emergency stop of the crane drive.



Fast stop-N (DI 6)

Trigg

"Speedref < 5%"

Zero speed

Running

&

<Zero Pos OK TD> t 0

&

Zero pos (DI 2)

Dir A (DI 3)

Dir B (DI 4)

& &

&

S

R

S

R

Fast stop 12

Fault or Fast Stop

> 1

<Joystick Warn TD> t 0

> 1

=1

& &

Start

&

1V

Speed ref (AI1)

<Deadzone>

<Ref. shape>

MAX

Slowdown-N (DI 5)

<Minimum ref.>

< Speed ref.

reduced>

INV

"0"

Drive speed ref.

<Abcd> = Parameter

CRANE stand alone logic using Joystick Control type

Figure 5-9 Crane Stand Alone logic in Joystick mode



Radio control mode (64.10=RADIO CTRL)

If the joystick is connected to and monitored by an external unit such as a Radio controller or PLC, then Control type “Radio Control” (parameter

64.10) can be used. The differences from “Joystick” control are:

- The “Zero Pos” input signal (e.g. DI2) is not used/required.

- If receiving both direction orders “Start Dir A” and “Start Dir B” at the same time, the start order and reference are interlocked while the error occurs, but no indication is given to the panel nor any requirement for both signals to be zero before releasing the interlock

- No check of reference level is made before responding to the start order.

Reference inputs for speed, torque and speed correction reference (AI1-

Ext AI1) have the same scaling and functions as in “Joystick” control mode.

Fast stop-N (DI 6)

"Speedref < 5%"

Zero speed

Trigg

&

S

R

Fast stop 12

Dir A (DI 3)

Dir B (DI 4)

&

=1

&

Start

Speed ref. (AI 1)

MAX

Drive speed ref

Slowdown-N (DI 5)

<Minimum ref>

< Speed ref.

reduced>

INV

"0"

Figure 5-10 Crane Stand Alone logic in Radio Control mode



Motorised Potentiometer control mode (64.10=MOTOR POT)

If using (for example) a pendant controller with push-buttons for start

and increase speed, then Control Type (parameter 64.10) should be set to “Motor Pot”.

“Start Dir A” and “Start Dir B” contacts connects to DI3 & DI4. “Increase” contacts should be connected in parallel to DI2 (activated by setting parameter 10.13 ACCELERATE SEL = DI2).

The Drive will start and accelerate on ramp towards (+ or -) 100 % speed if both direction and increase inputs are activated (= closed). If increase order is removed before reaching 100 % speed, drive will stop accelerating and run with the speed level reached. With a new increase order the drive will continue to accelerate towards 100 %.

If direction order is removed, the drive will decelerate on ramp towards 0

% speed. Reclosing the direction contact before reaching 0 % speed will stop deceleration and hold speed at the level reached.

Inputs AI1 and AI2 are inactive in this control mode. Other inputs have normal functions.

Fast stop-N (DI 6)

Trigg

Zero speed

Dir A (DI 3)

Dir B (DI 4)

&

&

=1

Increase (DI 2)

100%

Ramp output

MAX

<Minimum ref>

< Speed ref.

reduced>

Slowdown-N (DI 5)

INV

&

"0"

S

R

Fast stop 12

Start

Drive speed ref

Figure 5-11 Crane Stand Alone logic in Motorised Potentiometer



NOTE: “Motor pot” mode does not work if drive is using Scalar control mode.

Step joystick reference mode (64.10=STEP JOYST)

When using a step type joystick having reference contacts instead of an analogue potentiometer, the control mode STEP JOYST (parameter

64.10) should be used. Up to 4 different speed levels are supported, direction order giving first speed level + 3 more contacts for different speed levels. Contacts can be connected to selectable digital inputs

(including extended I/O modules), see parameters 10.8 STEP REF2 SEL,

10.9 STEP REF3 SEL and 10.10 STEP REF4 SEL. The corresponding speed reference levels are set with parameters 64.13 SPEED REF

LEVEL 1 up to 64.16 SPEED REF LEVEL 4.

All lower step reference contacts must remain closed for next level to be active.

Example: when closing contact corresponding to Step reference level 4, contacts for level 2 and level 3 must still be closed.

Note that Zero Pos signal from joystick is required in this mode, similar to control mode JOYSTICK. Joystick monitoring function is active.

Step radio reference mode (64.10=STEP RADIO)

When using a radio controller or PLC having step reference output contacts, the control mode STEP RADIO (parameter 64.10) can be used.

Maximum 4 different speed levels available.

Digital inputs and speed reference levels are selected as described above with Step Joystick mode.

Zero Pos input signal is not required in this control mode. Joystick monitoring is not active.



FB JOYSTICK control mode (64.10 = FB JOYSTICK & 64.1 = True)

This mode is used if the joystick I/O is wired to a PLC which has fieldbus communication to the CraneDrive drive, and we still want to use the

Stand alone mode (CRANE module).

When FB Joystick mode is selected the drive is reading signals START

DIR A, START DIR B, ZERO POS and the Reference from fieldbus datasets instead of the digital inputs DI2, DI3, DI4, and analog input AI1.

Dataset 5 word 1 from PLC is used with the following bit mapping:

Dataset 5 Word 1: Aux Command word

Bit number Signal Range Description

0 = Bit 0, LSB FB ZERO POS ”1”, ”0” Joystick Zero Position signal

1

2

FB START DIR A ”1”, ”0” Joystick direction A signal (pos.=up)

FB START DIR B ”1”, ”0” Joystick direction B signal (neg.=down)

JOYST Joystick torque control

CTRL enable

ON

ELSHAFT Electric shaft control on

Bits 0 – 2 are used for sending the joystick signals from PLC. Dataset 1 word 2 DRIVE SPEED REF (see section 5.5.12 for scaling information) is used for sending the joystick analog reference (without sign) in FB

JOYSTICK mode.

If using torque control, bit 3 in dataset 5 word 1 should be set to “1”. The torque reference (without sign) is then sent with dataset 1 word 3 TORQ

REF (see section 5.5.12 for scaling information).

Bit 4 FB ELSHAFT ON is only used with Electric shaft control, see section

5.5.14 for details.

Slowdown limit switches can still be wired to the drive digital input(s), selections per parameter 10.3 SLOWDOWN-N SEL.

End limit switches can be wired to drive digital inputs DI3 + DI4, see parameter 10.14 FB STOPLIM SEL, when FB JOYSTICK mode is used

(also available in Fieldbus mode).

When using FB JOYSTICK mode the fieldbus Command word, dataset 1 word 1 (see section 5.5.12) can be used except for the following bits that are not active: START OVR and TORQ CTRL.

Please note that the fieldbus communication supervision is active:

Comtest toggle bit in Command word + Status word must be connected in the PLC program (see section 5.5.12) to avoid communication fault in drive!



5.6.6 Logic handler ( 65 )

Contains logic for on-, off and start-order.

On is the motor magnetising command and start command releases speed and torque controllers. To get an On-order to the converter the signal ON must become ” 1”. This can only be obtained if no off order is issued which means if:

- Power On Ackn (e.g. DI2) = “1”.

- Converter is not tripped (FAULT = ” 0 ”)

- The button ” 0 ” at the panel is not pushed (LOCAL STOP = ” 0 ”)

When an “On signal” is given either in local mode with the panel LOCAL

START or in remote mode with the signal DRIVE ON (field bus mode) or

START DIR A/ START DIR B (stand-alone mode) to get the signal ON, then a signal Ready For Run is awaited, acknowledging that the motor is magnetised. If this acknowledgement is not received within 5 seconds the ON-order signal is reset to zero.

Off order is given by the panel LOCAL STOP at zero speed (stop pushbutton on panel) or in external control when signal DRIVE ON is set to

”0” (field bus mode ).

If parameter CONTIN ON (65.1) = ” false ” and running becomes ” 0 ” the

ON signal will be reset to ” 0 ” after expired time OFF TD ( 65.2 ). This is a ” magnetising shut-off” function if the drive is not operated within the last OFF TD seconds.

“Start order” is issued when START 2 = ” 1 ”. In remote mode the signal

START OVR (Fieldbus mode) or START DIR A / START DIR B (standalone mode) is giving this (the start order). In local mode the start order is given with signal LOCAL START (start push-button on panel).

No start order can be given unless the converter is “On” = magnetised, acknowledged by the signal Ready For Run.

Signal REF ZERO SET will hold the speed reference to ” 0 ” when Fast

Stop is ordered.

See also timing and logic diagrams on the next 2 pages.



Figure 5-12 Start and stop sequence time diagram



Running

<Contin on>

Ready for run

<OFF TD> t 0

0

5 sec t

&

> 1

Power on ackn

Stop panel

Zero speed

&

Fault

> 1

On "FieldBus"

Start "Panel"

Start "I/O"

> 1 TRIG

R

S

On

&

Start 2

Start "Fieldbus"

> 1

Logic handler (65)

Figure 5-13 Logic Handler logic


5.6.7


Torque proving (66)

Torque proving is a function module included in the drive control to ensure, before releasing the brake and starting the crane operation, that the drive is able to produce torque, and that brakes are not slipping

(signal “Zero speed”=1). The function module is mainly intended for hoist drives, but can also be used with other motions using encoder feedback.

Torque proving is performed by giving a positive torque reference with the brake applied. If torque proving is successful, that means torque reaches the correct level, the brake is lifted and the next step in the starting sequence is initiated.

The time to execute the torque proving sequence is so short

(approximately 100 ms) that the operator does not experience any time delay in the starting sequence.

The torque proving is activated by setting:

- TORQ PROV SEL (66.1) = ” True ”

The torque proving reference, TORQ PROV REF (66.4) sets output signal TORQ PROV REF. The actual torque is read from signal MOT

TORQ.

When the torque proving is activated but not yet performed, the output signal TORQ PROV OK is ” 0 ”

The torque proving sequence starts when the input signal RUNNING is ”

1 ”, i. e. when the converter is started. When the torque proving sequence is completed the output signal TORQ PROV OK is set to ” 1 ”.

If any fault is detected during the proving sequence, signal TORQ PROV

OK does not go to ” 1 ” but output signal TORQ PROV FLT is set to ” 1 ” and the drive trips. A message is displayed on the drive panel and an indication given to the supervisory control.

NOTE: Torque proving is not active (even if selected with parameter

66.1) if the drive is in torque control mode.

<TORQ PROV SEL>

Motor torque

S

R

> 1 Torq prov OK

Zero Speed

Running

<TORQ PROV REF>

<TORQ PROV FLT TD> t 0

> 1 & Torq prov flt

Torq prov ref

Torque proving (66)

Figure 5-14 Torque Proving logic



5.6.8 Mechanical brake control ( 67)

The program supports electrical and mechanical braking to stop the motor. Electrical braking gives a controlled and smooth braking which is the most common way to bring a motor to stop. Mechanical braking should only be used in critical situations and if so there are two possibilities:

- Emergency stop (category 0 stop)

- Fast stop

The function module contains logic for controlling the mechanical brake.

Output signal BRAKE LIFT (2.21) is the brake lift order. Brake lift acknowledgement is received as input (e.g. DI1) BRAKE ACKN.

In the starting sequence it is possible to set a rampstart time delay related to the brake actual lifting time with parameter 67.8 SPEED REF

TD.

After the motor has come to zero speed during a stop (by electrical braking) the mechanical brake should be applied without unnecessary delay.

Detection of the motors zero speed rotation at stop:

While running the motor the output signal ZERO SPEED (signal 4.1:4) is

”0”. When the speed is below the level ZERO SPEED LEV (67.6) and the time ZERO SPEED TIME ( 67.7) has elapsed the signal ZERO

SPEED becomes ”1”, indicating zero speed on the motor and the mechanical brake will be set if no start order exist.

A brake lift is initiated by a start order i. e. brake control input signal

START 2 = ”1”. This will set output signal RUN = ”1” releasing speed & torque controllers. After receiving TORQ PROV OK = ”1” and no stop orders are active the BRAKE LIFT is set ”1”. With a slow brake, start of the speed ref. ramp can be delayed with par. 67.8 SPEED REF TD.

Normal stop sequence:

Removing the start order will set the reference to zero and the drive will, if speed controlled, ramp to zero speed (Reference handler). When the input signal ZERO SPEED = ”1” then BRAKE LIFT is set to zero. When receiving acknowledgement BRAKE ACKN = ”0” the RUN order is reset to ”0” after delay time BRAKE FALL TIME (67.1). Except at emergency stop (EMERG STOP = ”1” when Power On Ackn = 0 in Fieldbus mode) and fast stop (FAST STOP = ”1”) the brake module maintains the

BRAKE LIFT and RUN order as long as ZERO SPEED is not detected.

With parameter 67.4 BRAKE REOPEN TD, a minimum time delay between a stop and next start, i.e. a “close brake order” (BRAKE LIFT=0) and next “brake lifting order” (BRAKE LIFT=1), can be set.

A brake fault, i.e. Brake Ackn (DI1) = 0 (during start or normal running) with a duration longer than setting of BRAKE FLT TD (67.2), activates an output signal BRAKE FLT that will trip the drive and indicate.



A long falling time at stop (Brake Ackn =1) with a duration longer than setting of BRAKE LONG FT TD (67.5), keeps torque on the motor and provides indication with an output signal BRAKE LONG FTIME to: panel,

Fieldbus statusword and activates the Watchdog output contact (DO2) to make an emergency stop of the drive (brake and drive power off).

See also logic diagram on this page and timing diagram in chap. 5.6.6

Torque prov OK

Power On Ackn

Running

Fast stop

&

&

> 1

> 1

&

<BRAKE REOPEN TD>

t 0

Brake lift

Speed off

Zero Speed

&

On

Start 2

Brake ackn

<BRAKE FALL TIME>

0 t

&

&

> 1

> 1

&

&

<BRAKE FLT TD> t 0

RUN

Brake fault

&

<BRAKE LONG FT TD> t 0

Brake long fall time

Mechanical Brake Control (67)

Figure 5-15 Mechanical Brake Control logic



Conical motor function

This section describes how to handle the use of a conical motor (rotor displacement motor) with built-in brake instead of standard motor plus external mechanical brake. In a conical motor the rotor will move along it’s length, thereby separating the brake disc mounted on the shaft from the counterpart mounted on the stator, as soon as magnetizing current is applied to the motor winding. When current is switched off at stop, rotor is pushed back closing the brake by spring force.

By setting parameter 67.11 MOTOR TYPE = CONICAL the conical motor function is activated. Following parameters will than automatically get the new default values below, suitable for use with conical motors

(parameters are reset to normal defaults if par. 67.11 is set to

STANDARD).

10.1 BRAKE ACKN SEL = INTERNAL ACK

21.2 CONST MAGN TIME = 30 ms

65.2 OFF TD = 0.0 s

67.1 BRAKE FALL TIME = 0.0 s

67.6 ZERO SPEED LEV = 3.0 %

67.7 ZERO SPEED TIME = 1000 ms

To minimize the “roll-back” (load dip) of a hoist conical motor when stopping, the flux is reduced during stop to a level set in parameter 67.12

RED FLUX LEVEL. Default value 75 % is sufficient for most conical motors, but for larger motors (30-40 kW) there can be a need to lower this value further to minimize the “roll-back”. Note that during stopping when reducing the flux the motor current will increase proportional. Due to this there can be a need to check converter sizing to have enough current margin. Normally one size bigger converter is selected.

This flux reduction is only active if conical motor function is activated with parameter 67.11 (=CONICAL).

To minimize the “roll-back” (load dip) of a hoist conical motor at start, the flux level at start can be increased to a level set in parameter 67.13

START FLUX LEVEL (100 - 140 %) during a time set with parameter

67.14 START FLUX TIME.

With parameter 67.7 ZERO SPEED TIME it’s possible to delay the closing of conical motor brake at stop. For example to get faster response to a new start order within this time.

NOTE: When making ID Run with a conical motor, the REDUCED type of ID Run must be selected in parameter 99.10 . The STANDARD type of

ID Run cannot be used as it is making measurements with low flux levels, making conical motor stop.

Conical motors used on hoist applications must have an encoder speed feedback.


5.6.9


Power optimisation ( 68 )

The power optimisation function module can only be used in drives with an active (pulling) load, i. e. in general only on hoist drives. Speed reference in hoisting direction must be positive value (Dir A).

When increasing the motor speed above motor nominal speed (base speed), field weakening is used. Field weakening, however reduces the maximum available torque of the motor. To ensure that the motor will always be able to produce sufficient torque for controlling the load in the field weakening range, a maximum allowed speed is calculated. This function is called power optimisation. This means that for a heavy load the maximum allowed speed is less than that of a light load.

Fieldbus mode: Speed reference from PLC (DS1.2) when accelerating hoist drive must be limited to Base speed level (set in parameter 68.2, e.g. 50%). If the power optimisation receives a logical 1 on the signal

HIGH SPEED, from fieldbus Command word (DS1.1) bit 2 , telling that maximum speed is requested by the driver, the maximum speed reference in field weakening area (above base speed) calculated by power optimisation is than used as input to the ramp unit and the motor will accelerate up to the corresponding speed. When driver is reducing reference from maximum, the HIGH SPEED signal should be set = 0.

The speed will now be below base speed unless PLC reference has been rescaled to be proportional to maximum reference (SPEED REF3 in DS4.1) reached during acceleration.

Stand alone mode: Speed reference is received through I/O (e.g. AI1 if

JOYSTICK control mode) or from PLC (DS1.2) if FB JOYSTICK control mode selected (parameter 64.10 CONTROL TYPE used for Stand alone control mode selection). Speed reference is given as 0 – 100 % (% of parameter 69.1 SPEED SCALING RPM). The minimum of this requested reference and the reference calculated by power optimisation is than used as input to ramp unit. Note that parameter 64.3 HIGH

SPEED LEVEL 1 should be set equal to the Base speed level (set in parameter 68.2) to get the HIGH SPEED signal correctly (this signal is created internally in Stand alone mode).

To be active the parameter POWOP SELECT(68.1) must be set ” True ”.

Parameters TQLIM UP (68.6) and TQLIM DWN (68.7) are maximum load torque (power limits) in positive/negative running directions.

When the speed, during acceleration towards base speed, has reached

90% of base speed the module makes a calculation (using speed and torque measurements during 250 ms before reaching 90% of base speed) of the maximum allowed speed by the formula: maximum speed =

BASE SPEED * TQLIM

TORQ HOLD



TORQ HOLD is the torque needed to hold the load (this level is equal to the motor torque value you can see when reaching steady state = constant speed), and is calculated by the module during acceleration. If the module receives the order HIGH SPEED = ”1”, commonly given when the master switch is in its outermost position, output SPEED REF POWOP is set to the calculated maximum speed reference. The quality of the calculation depends on the measurements done before reaching 90% of base speed. The speed must have a linear acceleration and without excessive ripple.

The power optimisation output speed reference SPEED REF POWOP is set to zero if the input signal HIGH SPEED is set to “0”. The calculated maximum reference is reset to zero when the actual speed SPEED ACT has decreased to a speed corresponding to the parameter POWOP RESET LEV (parameter

68.8).

The calculated reference value (before the “HIGH SPEED switch”) can be seen in signal 2.25 POWOP SPEEDREF.

The TORQUE HOLD value mentioned above is continuously calculated by the power optimisation module. It’s available as signal LOAD TORQUE % (2.31), in % of the motor nominal torque. This signal is filtered with a filter time constant set in parameter 68.10 LOAD TORQ FILT TC.

This LOAD TORQUE signal is used to detect a “Slack rope” situation, that is load torque dropping below the level set in par. 68.11 SLACK ROPE TQ LEV.

SLACK ROPE is indicated in signal 4.05 FB AUX STATUSWORD (DS12.1) bit

10. A detected slack rope will make a Fast stop1 of the drive. This Fast stop can be disabled via signal DISABLE SLACKROPE in fieldbus Dataset 5 Word

1: FB AUX COMMAND WORD (signal 3.07) Bit 7. Also setting of parameter

68.11 = -400% (default) will disable the Fast stop.

NOTE: When dimensioning the hoist motor it must be ensured that the available motor breakdown torque (T max

) in the frequency converter duty, is sufficient for the total torque required during acceleration (hoisting) and deceleration (lowering) in the field weakening area. The breakdown torque decreases proportionally to 1/n 2 in the field weakening area!

Power optimising will during acceleration, using total torque measured (load + accel), calculate the maximum speed possible in field weakening without exceeding the motors stated breakdown torque TMAX (parameter 68.9).

This value is used to limit the SPEED REF POWOP reference.



Commissioning instructions for the power optimisation.

This is an instruction how to adjust the parameters INERTIA TOTAL UP (68.4) ,

INERTIA TOTAL DWN (68.5) , TQLIM UP (68.6), TQLIM DWN (68.7) and

TMAX (68.9).

1. Set the parameter POWOP SELECT (68.1) to ”True”. Also temporarily set 68.9 to maximum = 500%.

2. Set the parameter TQLIM UP (68.6) to the rated torque of the motor (100%).

3. Temporarily set the parameter TQLIM DWN (68.7) to 75% of rated torque of the motor. The reason to set TQLIM DWN lower than TQLIM FLD WEAK UP is to get about same speed in positive and negative directions, with a certain load on the hoist.

4. The parameters INERTIA TOTAL UP and INERTIA TOTAL DWN are acceleration constants in positive and negative direction. Use a load that is 75 -

100% of full load.

5. Set parameter POWOP AUTOTUNE SEL (68.3) to ” true ”. The tuning part is now activated for one autotune cycle.

6. Start the drive with base speed reference (from Local or External control) in positive (respectively negative) direction, and the motor will accelerate up to base speed. The motor will keep at base speed for about 4 seconds for calculation to be completed. If giving start and reference from External control place it’s required to disconnect HIGH SPEED OK signal during Autotune (in

Standalone set par. 64.3=100%). Calculation is completed when actual signal no. 24 TOTAL INERTIA is showing a non-zero value. Stop the drive.

7. Read the actual signal no.24 TOTAL INERTIA on the panel.

Repeat this procedure 2-3 times in each direction and calculate the average value for parameter INERTIA TOTAL UP and INERTIA TOTAL DWN respectively.

8. Set this value to parameter INERTIA TOTAL UP (68.4) or INERTIA TOTAL

DWN (68.5) depending upon the direction. Reconnect HIGH SPEED OK signal

(i.e. in Standalone, set par. 64.3 back to 98%).

9. Adjusting TQLIM UP and TQLIM DWN:

Connect a load equal to the highest load specified to operate to max field weakening = 100% speed. Lower parameters TQLIM UP and TQLIM DWN to a low value, e.g. 40%. Testrun from joystick giving full reference up (resp. down).

Check max speed reached. If not equal to 100%, than increase TQLIM UP

(resp. TQLIM DWN) in steps of 5% until reaching 100% speed each time.

10. Now with this same load decrease TMAX 68.9 step-by-step and testrun up respectively down until you find the first value where speed starts to be limited below 100% in either up or down direction. Than slightly increase TMAX 68.9 to still reach 100 % speed both in hoisting and lowering direction.



An alternative to points 4 – 8 above for finding the Inertia values is:

Monitor signal 2.31 LOAD TORQUE % with DrivesWindow while making start and stop test runs (acceleration, constant speed for a couple of seconds and deceleration) with different settings on Inertia parameter. Any load 20 - 100% is possible to use. Do not run faster than base speed. First run in hoisting direction.

When you have found the correct value for parameter 68.4 INERTIA TOTAL UP, than signal 2.31 LOAD TORQUE % will show the same level during acceleration and deceleration as during constant speed. If the Load torque signal is showing a higher value during acceleration than during constant speed, the INERTIA TOTAL UP parameter should be increased. If lower value during accel. than during constant speed, than Inertia should be lowered.

Next make similar test runs in lowering direction to find correct value for parameter 68.5

INERTIA TOTAL DWN. If Load torque signal is now showing a higher value during acceleration than during constant speed, the INERTIA TOTAL DWN parameter should instead be decreased (and increased if showing lower value during accel).


5.6.10


Reference handler ( 69 )

The function module includes:

- Setting of ramp times

- Handling of speed references

- Torque memory function

Setting of ramp times can be made for both acceleration and deceleration and can be set differently for forward and backward (or upwards and downwards) with parameters: 69.2 ACC TIME FORW, 69.3

ACC TIME REV, 69.4 DEC TIME FORW and 69.5 DEC TIME REV.

The possibility to use a scaling factor for the set ramp times is available in external (only in Fieldbus mode) and local control mode. In external control mode the scaling is done with signal RAMP RATE (DS3.1) from supervisory control, if parameter 69.10 “RAMP RATE=1” is set False.

Parameter RAMP SCALE LOCAL (69.7) is used when running in local.

Default setting is 2.0 (except for the Master drive in Master/Follower macro operation, then the setting is fixed at: 1.0), meaning that the actual ramp times when running in local control mode are double the settings of the ramp time parameters 69.2 - 69.5.

Speed reference when running in external Fieldbus control mode

(64.1=False):

The drive is using the higher value from DRIVE SPEED REF or SPEED

REF POWOP. The DRIVE SPEED REF is a reference up to base speed at start. Then if the power optimisation has calculated, for the actual load, that it is possible to run above base speed, it will use SPEED REF

POWOP which brings the speed into the field weakening range. DRIVE

SPEED REF should then normally be rescaled to ”follow” the maximum speed reached to have a smooth behaviour when decreasing the reference from the joystick (continuous gear).

When running in Stand alone mode (64.1=True), the drive is instead using the lower value of driver reference given (via AI1 or the DRIVE

SPEED REF from PLC, if FB Joystick mode) and the SPEED REF

POWOP.

Speed reference when running in local control mode is SPEED REF

LOCAL and the direction is chosen with the direction push-buttons on the panel.

Speed reference output to speed controller can be delayed if having a slow acting brake (long lifting time) using the time SPEED REF TD

(67.8).

The ramp unit is equipped with an S-curve function, for “smoothing” both the beginning and the end of the ramp. S-curve time constant is set with parameter 69.6 S-RAMP TC.

Parameter START TORQ SEL (67.9) is used for selecting type of torque memory function , to avoid “roll-back” at start on a hoist drive:

NOT USED = No extra starting torque

AUTO TQ MEM = Automatic torque memory will store the load torque needed when stopping and apply the same torque reference when


Chapter 5 – Crane Program Description starting again. The value of parameter 67.10 START TORQ REF is used as a minimum value for the torque memory.

LOAD MEAS = Starting torque reference is received from a PLC (DS5.2

LOAD MEAS REF) or from the extended RAIO analog input 2

(connected e.g. from a load cell). The “Ext AI2” input is filtered with parameter 13.6 (also used for Ext AI1) and scaling is done with par. 64.9

TORQUE REF SCALE. Parameter 64.9 = 2.0 gives following scaling: Ext

AI2= 10V corresponds to 200% starting torque reference.

NOTE: signal LOAD MEAS SEL from Fieldbus command word must be set “true” to enable the fieldbus reference from DS5.2.

The fieldbus DS5.2 reference and Ext AI2 reference are added together.

PAR 67.10 = Starting torque reference is set fixed equal to value given in parameter 67.10 START TORQ REF.

Brake lift

Start 2

Local

Speed ref local

Drive speed ref

Speed ref powop

<SPEED REF TD>

t 0

MAX/

MIN

"0" "0"

Ref zero set

Ramp hold

Fast zero set

"0"

<ACC TIME FORW>

<DEC TIME FORW>

1 2

<S-RAMP TC>

Speed ref 3

3 4

<DEC TIME REV>

<ACC TIME REV>

Figure 5-16 Reference Handler logic

Reference handler (69)



5.6.11 Position measurement ( 70 )

The function module is used to give a position measurement from a pulse encoder input RTAC or NTAC. Position measurement can be used in both Fieldbus and Stand alone modes.

The measurement can be synchronised to the value POS PRECOUNT

PPU sent from the supervisory controller, either by signal PGMSYNC from the fieldbus Command word or from digital input hw-sync

(parameter 10.6 SYNC SEL).

NOTE: Hw-sync from digital input is blocked when drive is not running

(2.20 RUNNING = 0).

Acknowledgement of synchronisation is done with the signal SYNC RDY to the supervisory controller. Reset of the acknowledgement is done with signal RESET SYNC RDY from the supervisory controller.

Hardware synchronisation through e.g. DI.3 can be blocked if HW SYNC

INHIBIT from supervisory controller = ” 1 ”. Synchronising edge of DI.3 is selected with parameter SYNC COND (70.2).

Measurement value POS ACT PPU sent to the supervisory controller is the number of pulses counted divided with the value of parameter POS

SCALE (70.1).

The number of pulses counted depends upon the settings of parameters

50.1 Pulse Nr and 50.2 Speed Meas Mode. Default setting of Speed

Meas Mode parameter is that both positive and negative edges from both A and B signals are counted.

Example: If 50.1 is set to 1024 ppr and 50.2 is set to default: “A_-_B_-_”, then a total of 4*1024=4096 pulses are added per revolution of the pulse encoder.

Position measurement can be used also if the pulse encoder is not mounted directly on the motor shaft (e.g. pulse encoder mounted on a separate measurement wheel). Parameter 50.5 SPEED FEEDB USED should than be set to ”False”, thereby not using speed measurement signal from pulse encoder (drive will then use the calculated speed signal instead). Pulse encoder signals are now used only for position measurement.



5.6.12 Field bus communication ( 71 )

Receive

This part is used to receive signals from a superior controller via a high speed serial bus in the form of a Field Bus (e.g. Advant link, CS31 (max

8 words), Profibus (10 words), Modbus, Interbus-S, Devicenet. Please check the respective fieldbus adapter manual for limitations on the number of words possible for sending and receiving. The ACC receive signal interface is standardised as a block of 12 words where each signal has its specific position. The module also includes one element for unpacking the Command word signal to 16 Boolean signals. Updating interval for datasets 1, 3 & 5 is 32 ms, except FB SPEED REF, FB

TORQ REF and FB SPEED CORR that are updated every 8 ms. For transmission of signals from drive to superior controller, see Fieldbus communication Transmit.

NOTE: If parameter 71.5 DSET BASE ADDRESS is set to 10 instead of the default value 1, than add 9 to all dataset numbers below (e.g.

DS1 -> DS10, DS3 -> DS12 aso).

Table 5-4 Receive Dataset 1 (alt. 10) Word 1

FB COMMAND WORD = DataSet 1 Word 1 (signal 3.1)


0 = Bit 0, LSB COMTEST REC ”1” ”0” Comtest receive bit.

(1=active) PLC in Fieldbus mode

3

4

START OVR

RAMP HOLD

(1=active)

”1” ”0”

(1=active)

”1” ”0”

(1=active)

(Power optimisation)

Startorder from PLC in

Fieldbus mode

Speedramp hold signal

SEL

(1=active) signal (only in M/F ctrl)

CTRL Torque control selected.

(1=active) (Torque ref = DS1.3)

9

10

SEL

MEAS Load measurement select

(1=active) (enable LOAD MEAS REF)

”0 → 1”

(edge)

Reset fault from overriding control (PLC)

FAST STOP 1 ”1” ”0”

(1=active)

FAST STOP 11 ”1” ”0”

(1=active)

11 PGM → 1”

(edge)

Fast stop type 1 (torque limit stop)

Fast stop 11 type select

(see par. 63.1)

Program synchronisation of position measurement

INHIBIT

READY

(1=active)

Hardware (DI) sync. of pos. measurement blocked

SYNC Reset synchronisation

(1=active) ready

15 = Bit 15,

MSB

CHANGE

ENABLE FB

CTRL

(0=User1)

”1” ”0”

(1=active) change request

Enable fieldbus control in

Stand alone Joystick mode

(used by SwayControl)



Table 55 Receive DataSets 1, 3, 5 and 7 (alt. 10, 12, 14 and 16)

Example: DS1.2 = DataSet 1, Word 2

DataSet.Word Signal Range corresp. to

+/- 32767

Description

DS1.2 (DS10.2) FB SPEED REF -163.84-

DS1.3 (DS10.3) FB TORQ REF

DS3.1 (DS12.1) FB RAMP RATE 0.00-32.767

(Integer

1000 equals a rate=1.0)

DS3.2 (DS12.2) FB SPEED

CORR

+163.84

-327.67-

+327.67

-163.84-

+163.84

Drive speed reference, %

(20000=100%)

Torque reference, %

(10000=100%)

Ramp rate multiplying factor for the speed ramp times set in drive, normally=1.0

(1000=1.0)

Speed correction signal, %

(20000=100%)

DS3.3 (DS12.3) FB POS

PRECOUNT

-32767-

+32767

DS5.1 (DS14.1) FB AUX COMM

WORD

DS5.2 (DS14.2) FB LOAD MEAS

REF

DS5.3 (DS14.3) “not used”

-327.67-

+327.67

DS7.1 (DS16.1) PAR VALUE 1 -32767-

+32767

Preset value to position counter = sync value

(1=1)

Auxiliary Command Word

(see Table 5-6 below for details)

Load measure reference,

% (10000=100%)

DW signal 3.9

DS7.2 (DS16.2) PAR VALUE 2

DS7.3 (DS16.3) PAR VALUE 3

-32767-

+32767

-32767-

+32767

Parameter value for parameter selected with parameter 90.1



“SPEED” signals have scaling: 20 000 corresponds to 100 %

”TORQUE” signals have scaling: 10 000 corresponds to 100 %.

The communication is supervised continuously using a “toggle bit” received in FB STATUS WORD (DS1.1) bit 0 COMTEST REC:


If ”next edge” is not received within a certain time COMTEST FLT TD

(71.1), the MAS OSC FLT fault occurs and the drive trips.

The drive is inverting the bit received from the superior controller (PLC):

COMTEST REC and sending it back in FB COMMAND WORD (DS2.1)

Bit 14 COMTEST TRA.

NOTE: In the superior controller the received bit should be sent to the drive again without inverting!

5-41


Table 5-6 - Receive Dataset 5 (alt. DS14) Word 1

FB AUX COMM WORD = DS5.1 (signal 3.7)

Bit number

Signal Range Description

0 = Bit 0,

LSB

1

FB ZERO POS ”1” ”0”

(1=active)

FB START DIR A ”1” ”0”

(1=active)

FieldBus transmitted Zero Position signal from joystick (if par. 64.10 =

FB JOYSTICK)

FieldBus transmitted Start Dir A signal from joystick (if par. 64.10 =

FB JOYSTICK)

2 FB START DIR B ”1” ”0”

(1=active)

4

TQREF SEL (1=active)

FB ELSHAFT ON ”1” ”0”

(1=active)

5 RESTART ”0 → 1”

(edge)

FieldBus transmitted Start Dir B signal from joystick (if par. 64.10 =

FB JOYSTICK)

FieldBus Joystick mode Torque control enabling (if par. 64.10 = FB

JOYSTICK)

FieldBus Electric Shaft control On

(enabled) for Master or Slave drive

Restart the drive DataLoggers

7 DISABLE

SLACKROPE

(edge)

”1” ”0”

(1=active)

Forced trigg (stop) of the drive

DataLoggers

Disable that Slack rope makes a

Fast stop (stop on torque limit)



Transmit

This part is used to transmit signals from the drive to a supervisory controller via high-speed serial bus in the form of a Field Bus (e.g.

Advant link, CS31 (max 8 words), Profibus (10 words), Modbus,

Interbus-S, Devicenet. Please check the respective fieldbus adapter manual for limitations on the number of words possible for sending and receiving. The ACC transmit signal interface is standardised as a block of 14 words where each signal has its specific position. The module also includes elements for packing 16 Boolean signals to word signals.

Updating interval for datasets 2, 4 & 12 is 32 ms, except for signals

SPEED ACT and POS ACT PPU that are updated every 8 ms. Updating interval for datasets 6 & 8 is 56 ms.

Note: If parameter 71.5 DSET BASE ADDRESS is set to 10 instead of the default value 1, than add 9 to all dataset numbers below (e.g.

DS2 -> DS11, DS4 -> DS13 aso).

Table 5-7 Transmit DataSet 2 (alt. DS11) Word 1

FB STATUS WORD = DataSet 2 Word 1 (signal 4.1)


0 = Bit 0, LSB

2

3

4

5

6

7

8

9

10

11

RDY FOR ON ”1” ”0”

ACKN

RDY FOR RUN

RUNNING

ZERO SPEED

REM LOC

TORQ PROV OK ”1” ”0”

USER 1 OR 2

FAULT

WARNING

LIMIT

SYNC

”1” ”0”

”1” ”0”

”1” ”0”

”1” ”0”

”1” ”0”

”1” ”0”

”1” ”0”

”1” ”0”

”1” ”0”

Ready for on

Power on acknowledgement, e.g. DI_IL

Ready for run

(magnetized)

Running (producing torque)

At zero speed

Remote /Local

(1= Remote)

Torque proving OK

User macro 1 or 2 active

Fault active

Warning active

Drive in torque limit

Sync input (e.g. DI3) status

14

FTIME

COMTEST TRA

15 = Bit 15, MSB SNAG LOAD

”1” ”0”

”1” ”0” ready

Brake long falling time indication

Communication test transmit bit

Snag load indication



Table 5-8 Transmit DataSets 2, 4, 6, 8 & 12 (alt. 11, 13, 15, 17 & 21)

Example: DS2.2 = DataSet 2, Word 2

DataSet.Word Signal Description

DS2.2 (DS11.2) SPEED ACT

(fixed)

DS2.3 (DS11.3) MOTOR

TORQUE FILT

(fixed)

DS4.1 (DS13.1) SPEED REF 3

(p92.1 to select)

Range corresp. to

+/- 32767

-163.84-

+163.84

-327.67-

+327.67

-163.84-

+163.84

Speed actual (%)

(20000=100%)

Torque actual (%)

(10000=100%)

-32767-

+32767

-3276.7-

+3276.7

Speed reference 3 = ramp output (%)

(20000=100%)

Position actual value

(1=1)

Motor current (A)

(10=1A)

DS4.2 (DS13.2) POS ACT PPU

(92.2)

DS4.3 (DS13.3) MOTOR CURR

(92.3)

DS6.1 (DS15.1) FB FAULT

WORD 1

(92.4)

DS6.2 (DS15.2) FB FAULT

WORD 2

(92.5)

DS6.3 (DS15.3) FB ALARM

WORD

(92.6)

DS8.1 (DS17.1) MOTOR VOLT

(92.7)

DS8.2 (DS17.2) DC VOLT

(92.8)

DS8.3 (DS17.3) POWER

(92.9)

DS12.1 (DS21.1) FB AUX

STATUSWORD

(fixed)

DS12.2 (DS21.2) AI1 REF

(fixed)

Warnings

-32767-

+32767

-32767-

+32767

-3276.7-

+3276.7

-163.84-

+163.84

Motor control faults

Motor voltage (V)

(1=1V)

DC voltage (V)

(1=1V)

Motor shaft power

(%) (10=1%)

Aux status word

Standard analog input 1 speed reference value (%)

(20000=100%)



Table 5-9 Transmit Dataset 12 (alt. DS21) Word 1

FB AUX STATUSWORD = DS12.1 (signal 4.5)

Bit number Signal

0 = Bit 0, LSB DIR A

Range

“1” “0”

Description

Stand alone direction A order

1 DIR B “1” “0”

2 ZERO POS

DIR A

DIR B

“1” “0”

Stand alone direction B order

Stand alone zero position order

Stand alone slowdown dir

A

Stand alone slowdown dir

B

6

7

ACKN

BRAKE LIFT “1” “0”

FOLL SEP ACKN “1” “0”

READY

Electric shaft control on acknowledge

Brake lift order

Follower Separate acknowledge

Drive datalogger data ready (triggered)

10

11

12

ACTIVE

“1” “0”

SLACK ROPE

COMTEST MF

FAST STOP

“1” “0”

“1” “0”

“1” “0”

Analog input 3 speed limit is active (AI3<10mA)

Slack rope is detected

Master/Follower comtest

Fast stop is active

4

5

6

7

Table 5-10 FB Fault Word 1 Dataset 6 (alt. DS15) Word 1

FB FAULT WORD 1 = Dataset 6, Word 1 (signal 4.2)

Bit number Signal (panel

Fault text)

Description

0 = Bit 0, LSB

1

2

3

MOT OVERSP

TORQ FLT

BRAKE FLT

ELECTR SHAFT

Motor overspeed fault

Torque fault

Mechanical brake fault

Electrical shaft control fault

TORQ PR FLT

MAS OSC FLT

Torque proving fault

Fieldbus “oscillator” (toggle) bit fault

CHOPPER FLT Braking chopper faults

INV OVERLO Inverter overload

9

10

11

12

13

14

MF COMM ERR

PANEL LOSS

I/O COMM

Master/Follower bus communication fault

Panel communication fault

I/O board communication fault

AMBIENT TEMP ACS800 ambient over temperature

THERMISTOR

MF RUN FLT

Thermistor fault (DI6)

Master/Follower running fault

15 = Bit 15, MSB COMM MODULE Comm module communication fault



Table 5-11 FB Fault Word 2 DataSet 6 (alt. DS15) Word 2

FB FAULT WORD 2 = Dataset 6, Word 2 (signal 4.3)


Fault text)

Description

0 = Bit 0, LSB

1

DC OVERVOLT DC-link over voltage

DC UNDERVOLT DC-link under voltage

7

8

9

3

4

5

6

10

11

12

13

EARTH FAULT

MOTOR PHASE

USER MACRO

ACS 800 TEMP

MOTOR TEMP

OVERFREQ

START INHIBIT

ENCODER ERR

Earth fault

Motor phase loss fault

User macro requested is not saved

Over temperature in IGBT Power plate

Motor over temperature (calculated)

Over frequency fault

Start inhibit fault (“Prevention of unexpected start” active)

SHORT CIRCUIT Short circuit at output

PPCC LINK Power Plate communication link fault

(INT board)

SUPPLY PHASE Supply phase missing (DC ripple)

Encoder module / speed deviation fault

14 LINE CONV Line converter fault (4Q drive)

15 = Bit 15, MSB THERMAL MODE Thermal protection mode fault (30.5)



Table 5-12 FB Alarm Word DataSet 6 (alt. DS15) Word 3

3

4

5

6

FB ALARM WORD = Dataset 6, Word 3 (signal 4.4)


Warning text)

Description

0 = Bit 0, LSB

1

2

MOTOR TEMP Motor high (95%) temperature

(calculated)

COMM MODULE Comm module communication alarm

ID RUN FAIL ID Run failed

ACS 800 TEMP

ENCODER ERR

JOYSTICK

High temperature in IGBT Power plate

Encoder module speed deviation alarm

Joystick supervision alarm (Stand alone)

START INHIBIT Start inhibit alarm (“Prevention of unexpected start” active)

8

9

10

THERMISTOR Thermistor alarm (DI6)

NO MOT DATA No motor data or too low nominal current entered

LIFETIME>90% Crane hoist machinery lifetime exceeded

90% of total lifetime set in par. 74.2

15 = Bit 15, MSB “Not used”



5.6.13 Master/Follower ( 72 )

General

The Master/Follower is a load sharing Application and is designed for applications in which the system is run by two CraneDrives and the motor shafts are coupled to each other via gearing, rail, shaft, etc.

The Master/Follower application is then controlling the load distribution between the drives. The Master drive is sending order signals and references (speed and torque) through the Master/Follower bus to the

Follower drive. The Master is also reading back status information from the Follower drive to ensure a safe operation.

The Master/Follower application can be used for both hoist and travel motions, in both Fieldbus mode and Standalone mode.

The Master station shall always be speed controlled and the Follower station normally be Torque controlled.

NOTE: Both drives must be in DTC control mode (i.e. M/F ctrl does not work in Scalar mode).

To ensure correct Follower load sharing the Follower speed limits 20.1 &

20.2 must be set 5 % higher than the setting of Master parameter 69.1

SPEED SCALING.

Checklist for a Quick Start-up

The installation and start-up procedure of the CraneDrive is explained in

ACS 800 Hardware manual.

An additional checklist for the

Master/Follower application is given below:

1 Switch off the power supplies to the CraneDrive units. Wait for five minutes to ensure that the intermediate circuits are discharged.

2 Build the M/F link, Master Ch2 to Follower Ch2.

See Figure 5-17 Master/Follower configuration in Stand Alone mode.

NOTE: Optical fibers for Master/Follower bus to be ordered

separately!

3 Connect the external control signals to the Master.

4 Switch on the power supplies.

5 Activate M/F control Macro in both CraneDrives (Parameter

99.2 Application Macro = M/F CTRL)

6A Stand Alone Mode

In the Master set parameter:

- Stand Alone Sel (Parameter 64.1) to True

- Master/Follower Mode (Parameter 72.1) to Master.

In the Follower set parameter:

- Stand Alone Sel (Parameter 64.1) to True

- Master/Follower Mode (Parameter 72.1) to Follower.

- Torque Selector (Parameter 72.2) to Torque

- Brake Int Ackn (Parameter 67.3) to True



6B Fieldbus mode

In the Master set parameter:

- Enable Comm module (Parameter 98.2)

- Stand Alone Sel (Parameter 64.1) to False

- Master/Follower Mode (Parameter 72.1) to Master.

In the Follower set parameter:

- Enable Comm module if required (Parameter 98.2)

- Stand Alone Sel (Parameter 64.1) to False

- Master/Follower Mode (Parameter 72.1) to Follower.

- Torque Selector (Parameter 72.2) to Torque

- Brake Int Ackn (Parameter 67.3) to True

7 Set all application parameters in both drives

8 Switch the CraneDrive units to external control with the

LOC

REM

- key on the Control Panel (there should be no L on the first row of the display). Reset both drives.

9 Perform the test run with the motors still de-coupled from the driven machinery. For this test temporary set the Follower in speed control mode (Parameter 72.2 Torque Selector = Speed). Give the control signals both through the Master analogue/digital or through fieldbus inputs and from the master Control Panel.

Check the correct operation of the Master and Follower drives visually (motor & Control Panel display):

• Start and Stop signals to the Master are received by the drives.

• The Master follows the speed reference given

• The Follower follows the master speed reference.

10 The Control Panel on the Follower is not active and can not control

11 Change Follower back to Torque mode (set Parameter 72.2 =

Torque)

71.

Switch off the power supplies.

13 Couple the motor shafts to the driven machinery and switch on the



Speed ref.

Brake ack.

Zero Pos.

Dir A

Dir B

Slowdown-N

Fast Stop-N

The external control signals are connected to the drive concerned. The

Master controls the Follower via a fiber optic serial communication link.

NOTE: For hoist applications pulse encoder and RTAC-01 (or NTAC-02) is compulsory on both drives.

ACC 800

Master Drive

AI 1

DI 1

DI 2

DI 3

DI 4

DI 5

DI 6

CH2

*

RO1

RO2 Watch dog-N

RO3 Fault-N

RTAC-01

Pulse encoder module

Brake lift

ACC 800

Follower Drive

CH2

*

RO1

RTAC-01

Pulse encoder module

RO2 Watch dog-N

RO3 Fault-N

Tx Rx Tx Rx

*

Used with hoist drive

Figure 5-17 Master/Follower wiring information for Stand Alone application



The Master, which is controlled from the Fieldbus, controls the Follower via a fiber optic serial communication link. The external control signals are connected to the drive concerned. (DI1 - DI4)

ACC 800

Master Drive

Brake ack.

DI1

Power on ack.

DI2

Sync DI3

Chopper fault DI4

RO1

RO2

RO3

RxxA

Fieldbus adapter modul

Brake lift

Watch dog-N

Fault-N

Power on ack.

Sync

Chopper fault

ACC 800

Follower Drive

DI2

DI3

DI4

RxxA modul

Fieldbus adapter

RO1

RO2 Watch dog-N

RO3 Fault-N

CH2

Tx Rx

CH2

Tx Rx

Operation

Figure 5-18 Master/Follower wiring information for Fieldbus application

Master and Follower Stations

The default settings of the Master/Follower Control macro parameters

does not define the station as Master or Follower. The selection is done with parameter 72.1 MAST/FOLL MODE.

If Follower operation is selected the convertor can not be operated from the panel.



Redundancy operation

If one motion is driven by two mechanically coupled motors with separate drives in Master/Follower mode, than separate operation of Master or

Follower drive can be used for redundancy operation (if one drive fails).

The drives can be run separately by User Macro 1 for normal

Master/Follower operation. (Parameter 99.2 = M/F CTRL) and

User Macro 2 for redundancy operation (Parameter 99.2 = CRANE).

For changeover from User Macro 1 to User Macro 2 a digital input or bit

14 in fieldbus Command word can be used (see parameter 16.5).

Brakes needs to be controlled by both drives if motors mechanically connected.

Separate operation

The signal SEPARATE in the fieldbus Command word (DS1.1 bit 5) can also be used for changing M/F drives from Master/Follower operation to normal, non-Master/Follower operation. This is available in both Stand alone and Fieldbus modes. For Follower drive there is a “separate change acknowledge” signal available in fieldbus Aux status word

(DS12.1 Bit 7), see also section 5.5.12 .

NOTE: Changing of signal SEPARATE (0 to 1 or 1 to 0) can only be done if status signal RUNNING=0.

Panel separate operation

The Master and Follower drives can be operated separately from the

Control Panel or DriveWindow, e.g. during maintenance, by setting parameter 72.1 MAST/FOLL MODE = OFF.

Multiple Followers

It is possible to connect more than one Follower drive in a

Master/Follower configuration by activating the “Broadcast mode”

(parameter 72.11=YES) in all drives. See also section 6.2.27 .

Master drive is on the Ch2 M/F bus sending the Torque and Speed references to any Follower connected. But in this mode there is no start order sent from Master to Followers. Neither is there any check of

Followers status done by the Master drive. Start order and status check

(e.g. any faulty Follower) must be done externally via I/O or fieldbus to all

Master/Follower drives.



Master/Follower link Specification

Size of the Link: One Master and one Follower station can be connected.

Transmission medium: Fiber Optic Cable.

• Construction: Plastic core, diameter 1 mm, shielded with plastic jacket

• Attenuation: 0.31 dB/m

• Maximum length between Stations: 10 m

• Other:

Parameter

Storage Temperature

Short Term Tensile Force

Short Term Bend Radius

Minimum

-55

Installation Temperature -20

25

Long Term Bend Radius 35

Long Term tensile Load

+85

+70

50

1

Unit o C o C

N mm mm

N

Various lengths of fiber optic cables are available as optional add-on kit

for the CraneDrive.

Connectors on the RDCO-0x board: Blue - receiver (hp 9534, T-1521); grey – transmitter

(hp 9534, R-2521)

Serial Communication Type:

Transmission Rate:

Transmission Interval:

Synchronous, full duplex

4 Mbit/s

4 ms



5.6.14 Electric shaft (73)

The electric shaft control is used for synchronized operation of two drives.

For example, two independent hoist machineries connected to the same load.

To use Electric shaft control both drives are required to have pulse encoder feedback. They are also required to have fiber optic connection between channel 2 in Master and Slave drive (RDCO-0x board needed).

Basic function is that position counter values from the Master and Slave drive are compared and the difference is controlled to zero by adding a speed correction reference (positive or negative) in Slave drive. This correction is limited to +/- 5 %. When stopping (startorder=0) the correction is disabled below a speed set in parameter 73.6 ELSH CTRL

MIN SPD (but position difference is still measured and used for correction when new start order is given).

Correction P-controller is adjusted with parameter 73.2 ELSHAFT GAIN.

Electric shaft control can be used in both Stand alone and Fieldbus mode.

Electric shaft control can be switched on or off with an external signal

ELSHAFT ON using a digital input, parameter 10.15 ELSHAFT ON SEL, or fieldbus Aux. command word (DS5.1:4) signal FB ELSHAFT ON. This external signal should be connected to both Master and Slave drive.

When Electric shaft control is switched on, start orders and reference are only required for Master drive. Master sends orders and reference to

Slave drive via channel 2 Master/Follower bus. Ramp times in Slave must be set equal to or shorter than Master.

When Electric shaft control is switched off, both drives work as two individual “normal” drives (similar to activating “Separate” with M/F drives).

If switching Electric shaft control on or off while motors are running, drives will make a ramp stop. New start is possible after returning joystick to zero position.

When any of the Master or Slave drive receives a Slowdown limit switch indication, both drives will be limited to this slowdown speed (if Electric shaft control is active).

Power optimisation can be utilised on Electric shaft hoist drives. Both drives should have power optimisation enabled. The lower reference value calculated by Master or Slave will be used by both drives.

When using different gear box ratios for Master and Slave drive, a speed ratio between Master and Slave can be set using parameters 73.3 GEAR

NUMERATOR and 73.4 GEAR DENOMINATOR (see section 6.2,28 for details).

If Master and Slave drive are set to have different 100 % speed (i.e. different setting of parameter 69.1 SPEED SCALING RPM), than parameter 70.1 POS SCALE must be adjusted accordingly in one of the drives e.g. Slave.




Example: If Slave speed scaling is 2 times Master speed scaling, than

Slave Pos scale should be set 2 times Master drive Pos scale.

If electric shaft position error (signal 2.26 ELSHAFT POS ERROR) exceeds the level set in parameter 73.5 POS ERROR LIMIT, both drives will trip and the Slave indicates “ELECTR SHAFT” fault. Master will then also indicate “FOLL FAULT” (Follower fault).

Configuring the Electric shaft control:

Both drives, designated “Master” and “Slave”, are to be set up with Ch2

Master/Follower communication. This is done by selecting parameter

99.2 APPLICATION MACRO = M/F CTRL. Also fiber optic connection is required between Ch 2 in both drives.

To define communication master and slave: Set parameter 72.1

MAST/FOLL MODE = MASTER in the “Master” drive.

Set parameter 72.1 MAST/FOLL MODE = FOLLOWER and set 72.2

TORQUE SELECTOR = SPEED in the “Slave” drive.

Set parameter 73.1 ELSHAFT MODE SEL = MASTER in “Master” drive and to SLAVE in “Slave” drive.

If using drives in Stand alone mode (i.e. parameter 64.1 STANDALONE

SEL = True), select what digital input is used for enabling the Electric shaft control. Set with parameter 10.15 ELSHAFT ON SEL.

Example: Selecting parameter 10.15 = EXT DI3 refers to extended NDIO module #2, digital input #1.

To be set in both “Master” and “Slave” drive.

If using Fieldbus mode (i.e. parameter 64.1 = False) or Stand alone FB

Joystick mode, the enabling of Electric shaft control can also be done with bit number 4 (bit numbering 0…15) in dataset no. 5, word 1.

Other related parameters to be checked:

98.1 Encoder module = e.g. RTAC SLOT1

50.1 Encoder pulse nr

69.1 Speed scaling rpm = max. operating Speed

69.2 – 5 Acc/Dec ramp times forward and reverse

70.1 Pos scale (e.g. no. of pulses/mm)

20.1 – 2 Minimum/Maximum speed limits (to be 5% higher than

98.5 – 6 DI/O Ext modules 1 – 2 selection

5-55


5.6.15 Crane lifetime monitor (74)

The main function of the Crane lifetime monitor is to indicate how much is left of the crane hoist mechanical lifetime, signal 1.35 LIFETIME LEFT %.

This is done with the help of the following signals:

- Total operating time (= brake open time) of the drive, signal 1.32 TOTAL

OPER TIME. Signal is backed up in non-volatile memory.

- Continuously calculated actual hoist load, signal 1.33 LOAD TORQUE ton.

- Load spectrum factor Km (function of load and time), signal 1.34 LOAD

SPEC FACT Km. Signal is backed up in non-volatile memory.

To get a correct load signal the Inertia parameters 68.4 and 68.5 must be tuned, see tuning instruction on page 5-34 (part of commissioning power optimisation instruction).

NOTE: There is no requirement to set parameter 68.1 POWOP SELECT or 68.2 BASE SPEED in order to get the load torque signal to work.

For compensating the mechanical efficiency of hoist machinery to get equal load torque value in both hoisting and lowering direction, parameters 68.12 LOADCORR FACT UP and 68.13 LOADCORR FACT

DWN should be adjusted.

These parameters are also used for scaling the motor utilization, i.e. the motor torque level (in per unit; % torque/100) when hoisting rated load.

The signal 1.33 “LOAD TORQUE ton” must to be scaled using parameter

74.1 NOMINAL LOAD.

The mechanical lifetime is set with parameter 74.3 CRANE LIFETIME.

When all settings are done the Crane lifetime calculation is started by setting parameter 74.3 START LIFETIMEMON = ON.

Note: This parameter cannot be reset with user parameters.

When the signal LIFETIME LEFT % has reached a level below 10%, the drive will give a warning: “LIFETIME>90%”.

NOTE:

To transfer the latest TOTAL OPER TIME and LOAD SPEC FACT Km signals values from an existing RMIO control board to a spare board in case of service repair, please contact ABB Service.



User Macros allow the current parameter settings to be stored in memory. Two User Macros can be created. This can be used for Shared motion operation, i.e. two different motors using same converter via contactors.

To store your customised parameters:

1. Access the Start-up Data group as described in Table 2-6 in Chapter 2

- Overview of CraneDrive Programming .

2. Change Parameter 99.2 APPLICATION MACRO to USER1 SAVE or

USER2 SAVE.

Note: It’s recommended to keep parameter 10.17 “User macro ch srce” =

NOT SEL until User macro saving is completed (10.17 is not saved in

User macros).

3. Press ENTER to save.

The current settings are now stored in the User Macro. The storing will take a few minutes, please wait. The Parameter settings can be changed thereafter without loosing the settings saved to the User Macro. After power switch off, when you turn on the power again the original User

Macro settings are valid. (With other Application Macros the parameter setting will be permanently saved when you press ENTER after changing the parameter value and during power up default values of the parameters are not restored.)

To recall the last saved parameters (User Macro):

1. Access the Start-up Data group as described in Table 2-6 in Chapter 2

- Overview of CraneDrive Programming .

2. Change Parameter 99.2 APPLICATION MACRO to USER1 LOAD or

USER2 LOAD.

3. Press ENTER to load.

If there exists no User Macro is saved and you try to load one a fault indication is displayed

** FAULT **

USER MACRO


The User Macros can also be switched via digital inputs or Fieldbus; selectable with Parameter 10.17 as described in chapter 6.

The User Macro used can be changed via a digital input or Fieldbus communication (edge triggered) only after the drive is off (magnetising is off) i.e. Rdy For Run = 0. During the change the drive will not start. The acknowledgement signal USER 1 OR 2 (digital output or Fieldbus) indicates when the change is completed and the drive can be started again.

5-57


NOTE: User Macro load restores also the motor settings of Start-up

Data group and the results of the Motor ID Run. Check that the settings correspond to the motor used.


This page is intentionally left blank.



6

Chapter 6 - Parameters

6.1 Overview

This chapter explains the function of, and valid selections for, each

CraneDrive parameter.

6.2 Parameter

The CraneDrive parameters are arranged into groups by their function.

Figure 6-1 illustrates the organisation of the parameter groups. Chapter 2

– Overview of CraneDrive Programming explains how to select and set the parameters. Refer to Chapter 3 – Start-up Data and Chapter 4 –

Control Operations for more information on the Start-up Data and Actual

Signals. Some parameters that are not in use in the current application are hidden to simplify programming.

CAUTION! Exercise caution when configuring I/O connections as it is possible to use one I/O connection to control several operations. If an I/O is programmed for some purpose the setting remains, even if you select the I/O for another purpose with another parameter.

ACC 800 PARAMETER GROUPS

30 FAULT FUNCTIONS

27 BRAKE CHOPPER

90 DATASET REC ADDR

92 DATASET TR ADDR

98 OPTION MODULES

99 START-UP DATA

PROTECTIONS

26 MOTOR CTRL

24 TORQUE CTRL

23 SPEED CTRL

21 START/STOP

20 LIMITS

DRIVE

16 SYSTEM CTR INPUTS

15 ANALOG OUTPUTS

14 RELAY OUTPUTS

13 ANALOG INPUT

10 DIGITAL INPUTS

START-UP DATA

73 ELECTRIC SHAFT

72Master/Follower

71 FIELD BUS COMM.

70 POSITION MEASUREM.

69 REFERENCE HANDLER


67 MECH.BRAKE CONTROL

66 TORQUE PROVING

65 LOGIC HANDLER

64 CRANE

63 FAST STOP

62 TORQUE MONITOR

61 SPEED MONITOR

60 LOCAL OPERATION

CRANE module GROUPS

51 COMM MODULE

50 PULSE ENCODER

CONTROL

CONNECTIONS

OPTION MODULES

Figure Parameter Groups


Chapter 6 – Parameters

6.2.1

6-2

Group 10 Digital Inputs

These parameter values can be altered with the CraneDrive running,

The Range/Unit column in Table 6-1 below shows the allowable parameter values. The text following the table explains the parameters in detail.

Table 6-1 Group 10.

Parameter Range/Unit Description

1 BRAKE ACKN SEL INTERNAL ACK; DI1;

DI2; DI5; DI6; DI_IL

2 ZERO POS SEL NOT SEL; DI1; DI2;

DI5; DI6; DI_IL

3 SLOWDOWN-N SEL NOT SEL; DI1; DI2;

DI5; DI6; EXT DI1.1 …

EXT DI2.2; DI5 + DI6;

DI1.1+DI1.2; DI_IL

4 FAST STOP-N SEL NOT SEL; DI1; DI2;


EXT DI2.2; DI_IL

5 POWER ON ACKN

SEL

NOT SEL; DI1; DI2;


EXT DI2.2; EXT DI1.3;

EXT DI2.3; DI_IL

6 SYNC SEL.

7 CHOPPER FLT-N

SEL

8 STEP REF2 SEL

NOT SEL; DI1 … DI6;

EXT DI1.1 … EXT

DI2.2; DI_IL

Synchronisation digital input

See parameter 10.6 Chopper fault digital input

See parameter 10. 5

Brake acknowledge digital input

Zero position digital input

(Stand alone)

Slowdown digital input

Fast stop digital input

(Stand alone)

Power-On acknowledge digital input

Step reference 2 digital input (Stand alone)

9 STEP REF3 SEL See parameter 10. 5 Step reference 3 digital input (Stand alone)

10 STEP REF4 SEL See parameter 10. 5 Step reference 4 digital input (Stand alone)

11 HIGH SPEED SEL See parameter 10. 4 High speed digital input

(Stand alone)

12 SNAG LOAD-N SEL NOT SEL; DI1 … DI6;

DI_IL

Snag load digital input

13 ACCELERATE SEL See parameter 10. 4 Accelerate digital input

(Stand alone)

14 FB STOPLIM SEL NOT SEL; DI3 + DI4;

DI5+DI6; DI1.1+DI1.2

Fieldbus stop limit digital inputs

15 ELSHAFT ON SEL NOT SEL; DI1; DI2;

EXT DI1.1…EXT DI

2.2; EXT DI1.3; EXT

DI2.3; DI5; DI6; DI_IL

Electric shaft control on digital input

Fault reset digital input. 16 FAULT RESET SEL NOT SEL; DI1 ... DI6;

DI_IL

17 USER MACRO CH

SRCE

NOT SEL; DI1 ... DI6,

COMM MOD; DI_IL

18 EXTERNAL FAULT NOT SEL; DI1-DI6;

DI_IL

Restores parameters to user macro setting values.

External fault input.


Chapter 6 - Parameters

1 BRAKE ACKN SEL Selection of digital input for signal BRAKE ACKN

INTERNAL ACK; DI1; DI2; DI5; DI6; DI_IL

INTERNAL ACK (internal acknowledge) setting is used if no brake acknowledge signal is available.

2 ZERO POS SEL Selection of digital input for signal ZERO POS, used in Stand alone mode.

NOT SEL; DI1; DI2; DI5; DI6; DI_IL

3 SLOWDOWN-N SEL Selection of digital input for signal SLOWDOWN-N, used in Stand alone mode. DI5 + DI6 or DI1.1+DI1.2 selected gives SLOWDOWN DIR A-N and SLOWDOWN DIR B-N signals. DI5 + DI6 and DI1.1+DI1,2 also work in Fieldbus mode.

NOT SEL; DI1; DI2; DI5; DI6; EXT DI1.1; EXT DI1.2; EXT DI2.1; EXT

DI2.2; DI5 + DI6; DI1.1+DI1.2; DI_IL

4 FAST STOP-N SEL Selection of digital input for signal FAST STOP-N, used in Stand alone mode.

NOT SEL; DI1; DI2; DI5; DI6; EXT DI1.1 … EXT DI2.2; DI_IL

5 POWER ON ACKN SEL Selection of digital input for signal POWER ON ACKN, used if separate

24Vdc supply to control unit. Connected to aux contact (NO) on Main contactor.

NOT SEL; DI1; DI2; DI5; DI6; EXT DI1.1 … EXT DI2.2; EXT DI1.3; EXT

DI2.3; DI_IL

6 SYNC SEL Selection of digital input for signal SYNC, used to make Hw synchronisation of position counter.

NOT SEL; DI1 … DI6; EXT DI1.1 … EXT DI2.2; DI_IL

7 CHOPPER FLT-N SEL Selection of digital input for signal CHOPPER FLT-N, used to indicate fault in chopper unit. Wired from chopper fault contact (NO).

NOT SEL; DI1 … DI6; EXT DI1.1 … EXT DI2.2; DI_IL

8 STEP REF 2 SEL Selection of digital input for signal STEP REF 2, used in Stand alone mode, with Step Joystick or Step Radio control.


DI2.3; DI_IL



DI2.3; DI_IL





DI2.3; DI_IL

11 HIGH SPEED SEL Selection of digital input for signal HIGH SPEED, used in Stand alone mode, to enable Power optimising speed ref.


12 SNAG LOAD-N SEL Selection of digital input for signal SNAG LOAD-N, used in Fieldbus mode to activate Fast stop 2 during hoisting only.

NOT SEL; DI1 … DI6; DI_IL

13 ACCELERATE SEL Selection of digital input for signal ACCELERATE, used in Stand alone mode, with Motor Pot control.


14 FB STOPLIM SEL Selection of digital inputs for STOPLIM A and STOPLIM B signals. Used in Fieldbus mode and Stand alone FB Joystick mode.

NOT SEL; DI3+DI4; DI5+DI6; DI1.1+DI1.2

15 ELSHAFT ON SEL Selection of digital input for ELSHAFT ON signal, used in Electric shaft control.

NOT SEL; DI1; DI2; EXT DI1.1 … EXT DI2.2; EXT DI1.3; EXT DI2.3;

DI5; DI6; DI_IL

16 FAULT RESET SEL NOT SEL; DI1 ... DI6; DI_IL

If you select NOT SEL, fault reset can only be executed from the Control

Panel keypad. If a digital input is selected, fault reset is executed from an external switch, if in External control mode, or from the Control Panel.

Reset from a digital input is activated by opening a normally closed contact (negative edge on digital input).

Note: Reset from Fieldbus Command word is always available when in

External control. Reset from Fieldbus Command word (RESET OVR) is activated on positive edge of signal.



17 USER MACRO NOT SEL; DI1 ... DI6; COMM MODULE; DI_IL

This parameter enables the selection of the desired User Macro via a digital input or Fieldbus communication in the following way:

When the state of the specified digital input or Fieldbus signal changes from high to low (on negative edge) User Macro 1 is restored. When the state of the specified digital input or Fieldbus signal changes from low to high (on positive edge) User Macro 2 is restored.

If the required User Macro does not exist a fault indication is displayed:

** FAULT **

USER MACRO

The User Macro used can be changed via a digital input or Fieldbus communication (edge triggered) only after the drive is off (magnetising is off) i.e. Rdy For Run = 0. During the change the drive will not start. The acknowledgement signal USER 1 OR 2 (digital output or Fieldbus) indicates when the change is completed and the drive can be started again.

18 EXTERNAL FAULT NOT SEL

No input for External fault trip & indication selected.

DI1-DI6, DI_IL

This selection defines the digital input used for an external fault signal. If an external fault occurs, i.e. digital input drops to 0 VDC, the CraneDrive stops.



6.2.2 Group 13 Analogue Inputs

These parameter values can be altered with the CraneDrive running,


NOTE: Updating interval for AI1 and AI2 is 32 ms, and for EXT AI1

(Speed correction) the updating interval is 8 ms.

Parameter

1 SCALE AI1

2 FILTER AI1

3 SCALE AI2

4 FILTER AI2

5 SCALE EXT AI1

6 FILTER EXT AI1

7 AI1 0% REF LEV

Range/Unit

0 ... 4.000

0 s ... 4.00 s

0 ... 4.000

0 s ... 4.00 s

0 ... 4.000

0 s ... 4.00 s

0.0 ... 10.0 V

Description

Scaling factor for AI1

Filter time constant for

AI1.

Scaling factor for AI2


AI12

Scaling factor for EXT

AI1 (RAIO)


EXT AI1 (RAIO)

AI1 signal level corresponding to 0% speed reference

1 SCALE AI1 Scaling factor for analogue input AI1 signal.

2 FILTER AI1 Filter time constant for analogue input AI1

As the analogue input value changes, 63 % of the change takes place within the time specified by this parameter. If you select 0 sec. that equals the minimum value, the signal is filtered with a time constant of 10 ms.

%

100

63 t

6-6

Figure 6-2 shows the filter time constant.

3 SCALE AI2 Refer to parameter 13.1.

4 FILTER AI2 Refer to parameter 13.2.

5 SCALE EXT AI1 Refer to parameter 13.1.



6 FILTER EXT AI1 Refer to parameter 13.2.

7 AI1 0% REF LEV The minimum AI1 voltage level that should correspond to 0 % speed reference is adjustable with this parameter.

Can for example be used if a 4-20 mA reference signal is connected to

AI1 (with 500 ohm resistor across AI1 input giving a 2-10V signal).

Parameter is than set equal to 2.0 V. Input signal range of 2 -10 V than gives the 0 - 100 % speed reference with a linear relation (e.g. 6V=50%).

Any voltage on input AI1 below the level set in parameter gives 0 % speed reference.



6.2.3 Group 14 Relay Outputs

The text following Table 6-3 below explains the parameters in detail.

NOTE: Updating interval for Relay outputs is 32 ms.

Table 6-3 Group 14.


1 RELAY RO1 OUTPUT

2 RELAY RO2 OUTPUT

3 RELAY RO3 OUTPUT

4 EXT1 DO1 OUTPUT

5 EXT1 DO2 OUTPUT

6 EXT2 DO1 OUTPUT

Refer to the text below for the available selections.

Relay output 1 content.



#1 RDIO, DO1 content



7 EXT2 DO2 OUTPUT #2 RDIO, DO2 content

1 RELAY RO1 OUTPUT This parameter allows you to select which information is indicated with

relay output 1.

READY

The CraneDrive is ready for ON-order. The relay is not energized if: the

“Power On Ackn” signal (e.g. DI2) is not present, or DC bus voltage is not OK, or “Prevention of unexpected start” circuit is open (Multidrive) or a fault exists.

RUNNING

The CraneDrive has been started with speed and torque controllers active.

FAULT

A fault has occurred. Refer to Chapter 7– Fault Tracing for more details.

FAULT-N

Relay energized when power is applied, and de-energized upon a fault trip.

CONTROL LOC

Control location. Indication if External or Local control mode is selected from panel. CONTROL LOC = False indicates Local control mode (panel control).

BRAKE LIFT

Signal for controlling the mechanical brake.



WATCHDOG-N

Indicates: Communication supervision (MAS OSC FLT or MF COMM

ERR), Braking chopper faults (CHOPPER FLT, BC OVERHEAT, BC

SHORT CIR or BR OVERHEAT), External fault (EXT FAULT) and Brake long falltime (BRAKE LONG FTIME) of the brake. Also indicating if CPU

Stalls out. This signal should be used to give Emergency Stop to crane drive.

NOTE: Fieldbus communication supervision (MAS OSC FLT) only available in Fieldbus mode or Standalone FB Joystick mode.

USER 1 OR 2

Indicates if User Macro 1 is loaded (=0), or if User Macro 2 is loaded

(=1).

REVERSE

Indicates if motor speed is negative.

OVERSPEED

Fault signal indication for motor overspeed trip (level set with parameter

61.3)

RDY FOR RUN

Indicates that motor is magnetized (ON) and ready for a start order.

SPEED LIM 1

Activated if absolute value of motor speed is above level set in parameter 61.4 SPEED LIM 1.

LIFETIME>90%

Activated if the Crane lifetime monitor signal 1.35 LIFETIME LEFT % is below 10% (percent of parameter 74.2 CRANE LIFETIME).

2 RELAY RO2 OUTPUT Refer to Parameter 14.1 RELAY RO1 OUTPUT.

3 RELAY RO3 OUTPUT Refer to Parameter 14.1 RELAY RO1 OUTPUT.

4 EXT1 DO1 OUTPUT Refer to Parameter 14.1 RELAY RO1 OUTPUT.






6.2.4

Group 15 Analogue Outputs

These parameter values can be altered with the CraneDrive running.


NOTE: Updating interval for Analogue outputs is 32 ms.



1 ANALOGUE OUTPUT 1 Refer to the text

below for the available selections.

2 INVERT AO1 NO; YES

3 MINIMUM AO1

4 FILTER AO1

5 SCALE AO1

6 ANALOGUE OUTPUT 2 Refer to the text below for the

7 INVERT AO2

Analogue output 1 content.

0 mA; 4 mA

Analogue output signal

1 inversion.


1 minimum.

0.00 s ... 10.00 s Filter time constant for

AO1.

10 % ... 1000 % Analogue output signal

1 scaling factor.

Analogue output 2 content. available

selections.

NO; YES

8 MINIMUM AO2 0 mA; 4 mA


2 inversion.


2 minimum.

9 FILTER AO2

10 SCALE AO2

0.00 s ... 10.00 s Filter time constant for

AO2.

10 % ... 1000 % Analogue output signal

2 scaling factor

1 ANALOGUE This parameter allows you to select which output signal is connected to

OUTPUT 1 analogue output AO1 (current signal). The following list shows the full scale value with Parameter 15.5 SCALE AO1 set to 100 %.

NOT USED

MEAS SPEED

Measured (RTAC module) speed of the motor. 0mA = - 100 % motor maximum speed (Parameters 20.1 & 20.2), 10 mA = 0 % speed, 20 mA

= + 100 % motor maximum speed.

SPEED

Motor speed. 20 mA = 100 % of motor nominal speed, absolute value.



FREQUENCY

Output frequency. 20 mA = motor nominal frequency.

CURRENT

Output current. 20 mA = motor nominal current.

SIGN TORQUE

Motor torque with sign. 0 mA = TORQUE REF SCALE (Par 64.9) * -100

% of motor nominal rating, 10 mA = 0 % torque, 20 mA = TORQUE REF

SCALE * +100% of motor nominal rating.

POWER

Motor power. 20 mA = 100 % of motor nominal rating, absolute value.

DC BUS VOLT

DC bus voltage. 20 mA = 100 % of maximal nominal DC bus voltage.

Max nominal DC = 675V if 500V unit and 560V if 400V unit.

OUTPUT VOLT

Motor voltage. 20 mA = motor rated voltage.

SIGN POSACT

Position counter (RTAC) measurement value (see signal 2.18) with sign.

0mA = - 32767 units (scaling with parameter 70.1), 10 mA = 0 units, 20 mA = + 32767 units.

SIGN SP REF

Speed reference (Speed ref3 = output from ramp) with sign. 0mA = - 100

% of motor maximum speed (par. 20.1 & 20.2), 10 mA = 0 % speed, 20 mA = + 100 % of motor maximum speed.

2 INVERT AO1 If you select YES, the analogue output AO1 signal is inverted.

3 MINIMUM AO1 The minimum value of the analogue output signal can be set to either 0 mA or 4 mA.

4 FILTER ON AO1 Filter time constant for analogue output AO1.

As the analogue output value changes, 63 % of the change takes place within the time period specified by this parameter. If you select the minimum value 0 s, the signal is not filtered (See Figure 6-2, page 6-6).

5 SCALE AO1 This parameter is the scaling factor for the analogue output AO1 signal.

If the selected value is 100 %, the nominal value of the output signal corresponds to 20 mA. If the maximum is less than full scale, increase the value of this parameter.



6 ANALOGUE This parameter allows you to select which output signal is connected to

OUTPUT 2 analogue output AO2 (current signal). The following list shows the full scale value with Parameters 15.10 SCALE AO2 set to 100 %.

NOT USED

SIGN SPEED

Motor speed with sign. 0mA = - 100 % motor maximum speed (par. 20.1

& 20.2), 10 mA = 0 % speed, 20 mA = + 100 % motor maximum speed.

SPEED

Motor speed. 20 mA = 100 % of motor nominal speed, absolute value.

FREQUENCY

Output frequency. 20 mA = motor nominal frequency.

CURRENT

Output current. 20 mA = motor nominal current

TORQUE

Motor torque. 20 mA = 100% of motor nominal rating. Absolute value.

POWER

Motor power. 20 mA = 100 % of motor nominal rating, absolute value.

DC BUS VOLT

DC bus voltage. 20 mA = 100 % of maximal nominal DC bus voltage

(see also parameter 15.1).

OUTPUT VOLT

Motor voltage. 20 mA = motor rated voltage.

TORQUE REF

Torque reference used by torque controller. 20 mA = 100 % of motor nominal torque, absolute value.

SIGN SP REF

Speed reference (Speed ref3 = output from ramp) with sign. 0mA = - 100

% of motor maximum speed (par. 20.1 & 20.2), 10 mA = 0 % speed, 20 mA = + 100 % of motor maximum speed.

7 INVERT AO2 Refer to Parameter 15.2.

8 MINIMUM AO2 Refer to Parameter 15.3.

9 FILTER ON AO2 Refer to Parameter 15.4.

10 SCALE AO2 Refer to Parameter 15.5.



6.2.5 Group 16 System Ctr Inputs


Table 6-5 Group 16


2 PARAMETER LOCK

3 PASS CODE

OPEN; LOCKED Parameter lock input.

0 ... 30 000

8 FAN SPD CTRL MODE CONST 50HZ;

RUN/STOP;

CONTROLLED

Parameter lock pass code.

Fan speed control mode

9 FUSE SWITCH CNTR

10 INT CONFIG USER

OFF; ON

1 … 12

Fuse switch control

Inverter module configuration

2 PARAMETER LOCK This parameter selects the state of the Parameter Lock. With Parameter

Lock you can inhibit unauthorised parameter changes.

OPEN

Parameter Lock is open. Parameters can be altered.

LOCKED

Parameter Lock is closed from the Control Panel. Parameters cannot be altered. Only entering the valid code at Parameter 16.3 PASS CODE can open the Parameter Lock.

Note: This function is not available if User macros are used.

3 PASS CODE This parameter selects the Pass Code for the Parameter Lock. The default value of this parameter is 0. In order to open the Parameter Lock change the value to 358. After the Parameter Lock is opened the value is automatically changed back to 0.

8 FAN SPD CTRL MODE Selection of control mode for the optional speed control of the inverter fan in ACS800 Multidrive.

CONST 50HZ

No fan speed control active. Fan is always running with constant nominal

50 or 60 Hz speed.

RUN/STOP

Fan is running with constant nominal speed when inverter is modulating and inverter temperature is above min limit.

CONTROLLED

Fan speed is controlled between 30 and 110% of nominal depending on inverter temperature.



9 FUSE SWITCH CNTR Activation parameter for optional inverter DC fuse switch.

OFF

Charging logic for DC fuse switch control is disabled. Parameter must be selected to OFF if no DC fuse switch is installed.

ON

Charging logic for DC fuse switch control is active. To be selected ON if an optional DC switch is installed.

10 INT CONFIG USER Adjustable inverter module configuration for n*R8i size inverters. This parameter is user acceptance for Reduced Run (i.e. running with reduced power) function and the number must correspond to the active inverter configuration (number of connected modules) when there are

R8i inverter modules removed, e.g. for service. If active inverter configuration is the same as original factory setup than this parameter has no meaning .


6.2.6 Group 20 Limits


These parameter values can be altered with the CraneDrive running. The

Range/Unit column in Table 6-6 below shows the allowable parameter values. The text following the table explains the parameters in detail.


1 MINIMUM SPEED -

2 MAXIMUM SPEED -

-18 000/(number of pole pairs) rpm …

MAXIMUM SPEED

(value of par. 20.2).

MINIMUM SPEED

(value of par. 20.1)

...

18 000/(number of pole pairs) rpm

Operating range minimum speed. Cannot be used in the SCALAR mode(see page 3-9).

Operating range

maximum speed.

Cannot be used in the

SCALAR mode.

3 MAXIMUM CURRENT A 0.00 Amp ... Imax

Amp

4 MAXIMUM TORQUE 0.0 % ... 600.0 %

Maximum output current.

Maximum positive output torque.

5 MINIMUM TORQUE -600.0 % … 0.0 % Maximum negative output torque.

6 OVERVOLTAGE CTRL ON; OFF DC over voltage controller

7 UNDERVOLTAGE CTRL ON; OFF

8 MINIMUM FREQ - 300.00 Hz ...

MAXIMUM FREQ


DC undervoltage controller

Operating range

minimum frequency.

Visible in the SCALAR mode only

9 MAXIMUM FREQ

10 SPEED LIMIT AI3

11 P MOTORING LIM

MINIMUM FREQ


... 300.00 Hz

Operating range

maximum frequency.

Visible in the SCALAR mode only

0.0 % … 100.0 % Speed limit AI3 activated

0.0 % … 600.0 % Maximum motoring output power

12 P GENERATING LIM -600.0 % … 0.0% Maximum generating output power

13 TORQ RISE T LIM 0 … “max” %/ms Torque risetime limit

1 MINIMUM SPEED Limitation of the minimum speed reference to speed controller. The default value depends on the selected motor and it is either -750, -1000,

-1500 or -3000 rpm.

WARNING: If this value is set positive the motor can not decelerate to zero speed and stop when removing start-order!

This limit cannot be set in the SCALAR control mode.



2 MAXIMUM SPEED Limitation of the maximum speed reference to speed controller. The default value depends on the selected motor and it is either 750, 1000,

1500 or 3000 rpm.

WARNING: If this value is set negative the motor can not decelerate to zero speed and stop when removing start-order!

This limit cannot be set in the SCALAR control mode.

MAXIMUM CURRENT A The maximum output current, in Amps, that the CraneDrive will supply to the motor. The default value is the “Imax” current rating of the ACS800 CraneDrive. For ACS600 Multidrive inverters the default value is two times the catalogue value “200% Cycle load” base rating: “I

AC 50/60s

”.

4 MAXIMUM TORQUE This setting defines the momentarily allowed maximum positive torque of the motor. The motor control software of the CraneDrive limits the setting range of the maximum torque according to the inverter and motor data.

The default value is 200 % of the nominal torque of the motor.

This limit has no function in the Scalar control mode.

5 MINIMUM TORQUE This setting defines the momentarily allowed maximum negative torque of the motor. The motor control software of the CraneDrive limits the setting range of the maximum torque according to the inverter and motor data. The default value is -200 % of the nominal torque of the motor.

This limit has no function in the Scalar control mode.

6 OVERVOLTAGE This parameter deactivates the DC over voltage controller.

CTRL

The DC over voltage controller increases (if pos. speed) the torque if the

DC bus voltage exceeds the limit - typically due to motor working in generator mode - to prevent an over voltage trip. Note: Controller should be deactivated if using braking chopper.

7 UNDERVOLTAGE This parameter allows you to deactivate the undervoltage controller.

CTRL

If the DC bus voltage drops due to loss of input power, the undervoltage controller will decrease the motor speed in order to keep the DC bus voltage above the lower limit. By decreasing the motor speed, the inertia of the load will cause regeneration back into the CraneDrive, keeping the

DC bus charged, and preventing an undervoltage trip. This will increase power loss ride through on systems with a high inertia, such as a centrifuge or fan.

8 MINIMUM FREQ Limitation of the minimum frequency reference used.

Warning: If this value is set positive the motor can not decelerate to zero speed and stop when removing start-order!

This limit can be set in the SCALAR control mode only.

9 MAXIMUM FREQ Limitation of the maximum frequency reference used.

Warning: If this value is set negative the motor can not decelerate to zero speed and stop when removing start-order!

This limit can be set in the SCALAR control mode only.



10 SPEED LIMIT AI3 The speed reference to the drive is limited to the set value if analog input

3 input current is below 10 mA. If AI3 input current is above 10 mA, there is no speed limitation active (100% allowed). 100% is equal to the rpm set in parameter 69.1 SPEED SCALING RPM.

The function is available in both Stand alone and Fieldbus mode.

11 P MOTORING LIM This parameter defines the momentarily allowed maximum power fed by the inverter to the motor. The value is in percent of the motor nominal power.

12 P GENERATING LIM This parameter defines the momentarily allowed maximum power fed by the motor to the inverter. The value is in percent of the motor nominal power.

13 TORQ RISE T LIM This parameter is used to limit the maximum allowed torque reference change per millisecond. Output of the limitation is 2.14 TORQ USED

REF. Default (=maximum) value depends on the inverter and motor size combination.

NOTE: Motor data in group99 must be set before accessing this parameter.



6.2.7 Group 21 Start/Stop



1 START FUNCTION CNST

DCMAGN

2 CONST MAGN TIME 30 ms ... 10000 ms

Conditions during motor ONorder.

Duration of pre–magnetising

1 START FUNCTION CNST DC MAGN

This parameter cannot be altered . Sets the constant magnetising mode.

This is the fastest starting method if the motor is at a standstill.

The CraneDrive can provide full starting torque by pre-magnetising the motor. The optimal magnetising current is calculated on the basis of the parameters concerning the motor. The pre-magnetising time is defined by Parameter 21.2 CONST MAGN TIME

Note: This mode is always used with the ACC 800 Crane Control

Software.

2 CONST MAGN TIME Defines the duration of the pre-magnetising in the constant magnetising mode.

An approximate value for this can be calculated as the motor nominal power in kW multiplied by 4.

Example:

For a 100 kW motor, set parameter 21.2 CONST MAGN TIME = 4 * 100

= 400 ms.



6.2.8 Group 23 Speed Ctrl


Range/Unit column in Table 6-8 shows the allowable parameter values.

The text following the table explains the parameters in detail.

These parameters are not visible in the SCALAR control mode.



1 GAIN

2 INTEGRATION

TIME

0.0 ... 100.0

0.01 s ...

999.98 s

Gain for speed controller.

Typical value for cranes = 15.

Integration time for speed controller. Typical value for cranes = 0.2 - 0.5 sec.

3 DERIVATION TIME 0.0 ms ...

9999.8 ms

4 ACC

COMPENSATION

5 SLIP GAIN

0.00 s ...

100.00 s

Derivation time for speed controller.

Derivation time used in compensation of acceleration.

Note: Set to zero after ID Run

0.0% ... 400.0% Gain for the slip of the motor.

6 AUTOTUNE RUN NO; YES Autotuning of the speed controller.

7 FEEDB FILTER TIME 0 ms … 100 ms Filter time for actual speed

8 SPEED STEP -1500.00 rpm

… 1500.00 rpm

Speed step input for

DrivesWindow step gen.

It is possible to tune the PID algorithm based speed controller of the

CraneDrive by setting Parameters 1 to 5 in this group or by selecting the

Autotune run by Parameter 6.

The values of these parameters define how the output of the Speed

Controller changes when there is a difference (error value) between the actual speed and the reference. Figure 6-3 displays typical step responses of the Speed Controller.

Step responses can be seen by monitoring Actual Signal 1.1 SPEED

ESTIMATED.

NOTE: The Standard Motor ID Run (refer to Chapter 3 - Start-up data) updates the values of Parameters 23.1, 23.2 and 23.4.

Parameter 23.1 is set = 15, 23.2 is set = 0.5 sec and 23.4 is reset to

0.0 sec after ID Run by ACC application sw.

The dynamic performance of the speed control at low speeds can be improved by increasing the relative gain and decreasing the integration

time.

Speed controller output is the reference for the torque controller. The torque reference is limited by Parameters 20.4 MAXIMUM TORQUE and

20.5 MINIMUM TORQUE



Speed

Step height

A B C D t

A: Undercompensated: 23.2 INTEGRATION TIME too short and 23.1 GAIN too low

B: Normally tuned, autotuning

C: Normally tuned, manual tuning. Better dynamic performance than with B

EGRATION TIME too short and 23.1 GAIN too high

Figure 6-3 Step responses of the Speed Controller with different settings. 1 to 10 % reference step is used.

Derivative

Speed Error

Proportional

Torque reference

Derivative

Calculated

Figure 6-4 Speed controller, a simplified block diagram.



1 GAIN Relative gain for the speed controller. If you select 1, a 10 % change in error value (e.g. reference - actual value) causes the speed controller output to change by 10 % of the nominal torque

Note: Too high gain causes speed oscillation.

%

Gain = K p

T

I

= 1

= Integration time = 0

T

D

= Derivation time = 0

Error Value

Controller Output e = Error value t

Figure 6-5 Speed Controller output after an error step when the error remains constant

2 INTEGRATION TIME Integration time defines the rate at which the controller output changes

when the error value is constant. The shorter the integration time, the

faster the continuous error value is corrected. Too short integration

time makes the control unstable.

%

Controller Output

K p

⋅ e

Gain = K p

T

I

= 1

= Integration time > 0

T

D

= Derivation time = 0

K p

⋅ e

T

I remains constant.

e = Error value t



3 DERIVATION TIME Derivative action boosts the controller output if the error value changes.

The longer the derivation time, the more the speed controller output is boosted during the change. The derivation makes the control more responsive for the disturbances. If derivation time is set to zero, the controller works as a PI controller, otherwise as a PID controller.

K p

⋅ T

D

⋅

∆e

T s

K p

⋅ e

%

Controller Output

Error Value

Gain = K

T

I

T

D

T

S p

= 1

= Integration time > 0

= Derivation time > 0

= Sample time period = 2 ms

∆e = Error value change between two samples

K p

⋅ e e = Error value

T

I t

Figure 6-7 Speed Controller Output after an error step when the error remains constant

NOTE: Changing this parameter is recommended only if a pulse encoder is used.

4 ACC COMPENSATION Derivation time for compensation of acceleration. In order to compensate

inertia during acceleration the derivative of the reference is added to the output of the speed controller. The principle of a derivative action is described in section 3 DERIVATION TIME above.

As a general rule, set this parameter to a value from 50 to 100 % of the sum of the mechanical time constants of the motor and the driven machine.

%

No Acceleration Compensation

%

Acceleration Compensation

Speed Reference Speed Reference

Actual Speed t

Actual Speed t



5 SLIP GAIN Defines the gain for the slip. 100 % means full slip compensation; 0 %

means no slip compensation. The default value is 100 %. Other values

can be used if static speed error is detected despite of the full slip compensation.

Despite of the full slip compensation (SLIP GAIN = 100 %) a manual

tachometer measurement from the motor axis gives speed value 998

rpm. The static speed error is 1000 rpm - 998 rpm = 2 rpm. To

compensate the error, the slip gain should be increased. At 106 % gain

value no static speed error exists.

6 AUTOTUNE RUN The speed controller of the ACS 800 can be tuned automatically by

performing the Autotune Run. The mechanical inertia of the load is

taken into consideration in GAIN, INTEGRATION, DERIVATION and

ACC COMPENSATION parameters. The system is tuned to be

undercompensated rather than overcompensated.

To perform the Autotune Run:

• Run the motor at a constant speed of 20 to 70 % of the rated speed.

• Change Parameter 23.6 AUTOTUNE RUN to YES.

After the Autotune Run is performed, this parameter value

automatically reverts to NO.

NOTE: Autotune Run can be performed only while the CraneDrive is running. The motor load must be connected to the motor. The best result is achieved when the motor is run up to 20 ... 40 % of the rated speed before starting the autotune run.

CAUTION!

The motor will be accelerated by 10 % of the rated speed with 10 ... 20 % torque step without any ramp during this procedure. BE

SURE THAT IT IS SAFE TO RUN THE MOTOR BEFORE

PERFORMING THE AUTOTUNING!

7 FEEDB FILTER TIME Filter time constant for the actual speed signal used. That is, normally the estimated speed signal, or if Encoder module (RTAC or NTAC-02) is enabled the measured speed signal from pulse encoder. If not using encoder measured speed (using estimated speed), typical filter time settings to use are 0 – 2 ms (parameter default = 4 ms).

8 SPEED STEP Speed reference step input (without ramp). Only to be used with

DrivesWindow step test generator.



6.2.9 Group 24 Torque Ctrl

These parameter values can be altered with the CraneDrive running.


These parameters are not visible in Follower drive (with M/F CTRL macro).



1 TORQ RAMP UP 0.00 s ...

120.00 s

2 TORQ RAMP DOWN 0.00 s ...

120.00 s

3 TORQ STEP -300.00 % …

300.00 %

Time for reference from 0 to the rated torque.

Time for reference from the rated torque to 0.

Torque step input for

DrivesWindow step gen.

1 TORQ RAMP UP Defines the time required for the reference to increase from zero to the rated torque.

2 TORQ RAMP DOWN Defines the time required for the reference to decrease from the rated torque to zero.

Note: These parameters do not effect the torque reference sent from master to follower drive in Master/Follower control mode (using

Master/Follower bus).

3 TORQ STEP Torque reference step input (without ramp). Only to be used with

DrivesWindow step test generator



6.2.10 Group 26 Motor Control (visible only in SCALAR mode) shows the allowable

The Range/Unit column in Table 6-10 below parameter values. The text following the table explains the parameters in detail.



3 IR COMPENSATION 0 % ... 30 % Compensation voltage level.

(Visible only in SCALAR mode.)

3 IR COMPENSATION This parameter is adjustable in the SCALAR control mode only.

This parameter sets the extra relative voltage level that is given to the motor at zero frequency. The range is 0 ... 30 % of motor nominal voltage.

U (%)

U

N

IR compensation voltage

Field weakening point f (Hz) the motor. a percentage of motor voltage. U max of the CraneDrive.

maximum output voltage



6.2.11 Group 27 Brake Chopper




1 BRAKE CHOPPER OFF; ON

2 BR OVERLOAD

FUNC

3 BR RESISTANCE

NO; WARNING;

FAULT

0.00 … 100.00 ohm

4 BR THERM TCONST 0.000 …

10000.000 s

5 MAX CONT BR

POWER

6 BC CTRL MODE

0.00 … 10000.00 kW

AS GENERATOR;

COMMON DC

Brake chopper control

Brake resistor overload function

Brake resistor resistance value

Brake resistor time constant

Maximum continuous brake resistor power

Brake chopper control mode

1 BRAKE CHOPPER Activates the brake chopper control.

OFF

Brake chopper control is inactive.

ON

Brake chopper control is active. NOTE: Ensure that the brake chopper and resistor are installed and the overvoltage control is switched off

(parameter 20.6)

2 BR OVERLOAD FUNC Activates the overload protection of the brake resistor. The useradjustable variables are parameters 27.03, 27.04 and 27.05.

NO

Overload protection is inactive.

WARNING

Overload protection is active. If the drive detects an overload, it generates a warning.

FAULT

Overload protection is active. If the drive detects an overload, it trips on a fault.

3 BR RESISTANCE Defines the resistance value of the brake resistor. The value is used in the overload protection. See parameter 27.02 .



4 BR THERM TCONST Defines the thermal time constant of the brake resistor. The value is used in the overload protection. See parameter 27.02 .

5 MAX CONT BR POWER Defines the maximum continuous braking power which will raise the resistor temperature to the maximum allowed value. The value is used in the overload protection. See parameter 27.02 .

6 BC CTRL MODE Brake chopper control mode.

AS GENERATOR

Chopper operation is allowed when the DC voltage exceeds the braking limit, the inverter bridge modulates and motor generates power to the drive. The selection prevents the operation in case the intermediate circuit DC voltage rises due to abnormally high supply voltage level.

Long term supply voltage rise would damage the chopper.

COMMON DC

Chopper operation is allowed always when the DC voltage exceeds the braking limit. The selection is to be used in applications where several inverters are connected to the same intermediate circuit (DC bus).



6.2.12 Group 28 Motor Model




1 LONG DISTANCE

MODE

2 TR TUNE

OFF; ON

-60 … +200 %

Long distance mode

Rotor time constant tuning

1 LONG DISTANCE MODE This function is used to reduce the maximum voltage peaks in the motor circuit and to reduce the switching frequency of the inverter. This parameter is active as standard in 690V inverter units. It can also be used when the total motor cables are long.

OFF

Long distance mode is disabled.

ON

Long distance mode is enabled.

2 TR TUNE This coefficient affects the calculated rotor time constant according to the motor rating plate values. It is used if the nominal speed value of the motor rating plate does not correspond to the real full load speed. For example, if the real slip is 10% higher than the slip calculated from motor rating plate speed, a coefficient value of +10% is set into this parameter

(e.g. if full load speed should be 989 rpm instead of rating plates 990 rpm, for a motor with 1000 rpm no-load speed. Meaning 11 rpm instead of 10 rpm slip).

Note: This parameter is effective only if a pulse encoder is used.


6.2.13


Group 30 Fault Functions


Range/Unit column in Table 6-11 shows the allowable parameter values.

The text following the table explains the parameters in detail.



2 PANEL LOSS

4 MOTOR THERM

PROT;

5 MOT THERM P

MODE

6 MOTOR THERM

TIME

7 MOTOR LOAD

CURVE

FAULT; NO

FAULT;

WARNING NO

DTC; USER

MODE;

THERMISTOR

256.0 s ... 9999.8 s

50.0 % ... 150.0

%

8 ZERO SPEED LOAD 25.0 % ... 150.0

%

9 BREAK POINT

10 MOTOR PHASE

LOSS;

11 EARTH FAULT

12 MASTER FAULT

FUNC

13 COMM FLT TIME-

OUT

71.

1.0 Hz ... 300.0

Hz

NO; FAULT

NO; FAULT

FAULT; NO;

WARNING

Operates when the Control

Panel is selected as the active control location for the

CraneDrive, and the panel stops communicating.

Operates when the motor is thermally overloaded.

Motor thermal protection mode selection.

Time for 63 % temperature rise.

Motor current maximum limit.

Motor load curve point at zero speed.

Break point of motor load curve.

Operates when a motor phase is lost.

Operates when there is an earth fault.

Operates when there is a

Fieldbus communication fault

0.10 s ... 60.00 s Communication fault time delay



2 PANEL LOSS Defines the operation of the CraneDrive if the Control Panel selected as the control location for the CraneDrive stops communicating.

CAUTION: If you select NO, make sure that it is safe to continue operation in case communication with the Control Panel fails.

FAULT

Fault indication is displayed (if there are any Control Panels communicating on the link) and the CraneDrive stops (coast stop + set brake).

NO

No protection provided

4 MOTOR THERM This parameter defines the operation of the motor thermal protection

PROT function which protects the motor from overheating.

FAULT

Displays a warning indication at the warning level. Displays a fault indication and stops the CraneDrive when the motor temperature reaches the 100 % level.

WARNING

Warning indication is displayed when the motor temperature reaches the warning level (95 % of the nominal value).

NO

No protection provided.

Note: Make an init to drive control board if changing parameter to NO after a Fault or Warning is indicated.



5 MOT THERM P Selects the thermal protection mode. The motor protection is made by

MODE means of the thermal model or thermistor measurement.

The CraneDrive calculates the temperature rise of the motor using the following assumptions:

• The motor is in ambient temperature (30 ° C) when power is applied to the CraneDrive.

• Motor heating is calculated assuming a load curve (Figure 6-9). The motor will heat above nominal temperature if it operates in the region above the curve, and cool if it operates below the curve. The rate of heating and cooling is set by MOTOR THERM TIME.

Because of the simple thermal model used for calculating temperature rise, this technique of thermal protection may cause undesirable trips if the motor is run continuously at low speeds. If your application requires continuous running at speeds lower than BREAK POINT, you may need to provide external cooling.

CAUTION: Motor thermal protection will not protect the motor if the cooling of the motor is reduced due to dust and dirt.

DTC

The DTC (Direct Torque Control) load curve is used for calculating heating of the motor. Motor thermal time is approximated for standard self-ventilated squirrel-cage motors as a function of the current of the motor and the number of pole pairs.

It is possible to scale the DTC load curve with Parameter 30.7 MOTOR

LOAD CURVE if the motor is used in conditions other than described above. Parameters 30.6 MOTOR THERM TIME, 30.8 ZERO SPEED

LOAD and 30.9 BREAK POINT cannot be set.

Note: Automatically calculated model (DTC) cannot be applied when

99.6 MOTOR NOM CURRENT > 800 Amp. Instead use USER MODE.

USER MODE

In this mode the user can define the operation of thermal protection by setting Parameters 30.6 MOTOR THERM TIME, 30.7 MOTOR LOAD

CURVE, 30.8 ZERO SPEED LOAD and 30.9 BREAK POINT.

THERMISTOR

Motor thermal protection is activated with an I/O signal based on a motor thermistor.

This mode requires a motor thermistor or break contact of a thermistor relay connected between digital input DI6 and +24 V d.c. If direct thermistor connection is used, digital input DI6 activates when resistance rises higher than 4 k Ω. The drive stops if the Parameter 30.4 is preset as

FAULT. DI6 is reset to zero when the resistance of the thermistor is between 0 and 1.5 k Ω.



WARNING!

According to IEC 664, the connection of the thermistor to the digital input 6 och ACS 800 requires double or reinforced insulation between motor live parts and the thermistor. Reinforced insulation entails a clearance and creepage of 8 mm (400/500 VAC equipment). If the thermistor assembly does not fulfil the requirement, the other I/O terminals of ACS 800 must be protected against contact, or a thermistor relay must be used to isolate the thermistor from the digital input.

WARNING! As the default in CraneDrive digital input 6 is selected as the source for Fast stop. Change this setting before selecting THERMISTOR for Parameter 30.5 MOT THERM P MODE. In other words, ensure that digital input 6 is not selected as signal source by any other parameter than 30.5 MOT THERM P MODE.

6 MOTOR THERM This is the time within which the motor temperature reaches 63 % of the

TIME final temperature rise. Figure 6-9 shows Motor Thermal Time definition. If the DTC mode is selected for motor thermal protection, motor thermal time can be read from this parameter. This parameter can be set only if

Parameter 30.5 MOT THERM P MODE is set to USER MODE. f thermal protection according to UL requirements for NEMA class motors is desired, use this rule of thumb - Motor Thermal Time equals 35 times t6 (t6 in seconds is the time that the motor can safely operate at six times its rated current, given by the motor manufacturer). The thermal time for a Class 10 trip curve is 350 s, for a Class 20 trip curve 700 s and for a Class 30 trip curve 1050 s.

Temp

6-32 t

100%

63%

Temp.

Figure 6-9 Motor Thermal Time. t



7 MOTOR The Motor Load Curve sets the maximum allowable operating load of

LOAD CURVE the motor. When set to 100 %, the maximum allowable load is equal to the value of Start-up Data Parameter 99.5 MOTOR NOM CURRENT.

The load curve level should be adjusted if the ambient temperature differs from the nominal value.


150%

100%

50%

30.7 MOTOR LOAD CURVE

30.8 ZERO SPEED LOAD

Figure 6-10

30.9 BREAK POINT

Motor Load Curve .

Speed

8 ZERO SPEED This parameter defines the maximum allowable current at zero speed

LOAD to define the Motor Load Curve.

9 BREAK POINT This parameter defines the point at which the motor load curve begins to decrease from the maximum value set by Parameter 30.7 MOTOR

LOAD CURVE to the ZERO SPEED LOAD (Parameter 30.8). Refer to

Figure 6-10 for an example of motor load curve.

10 MOTOR PHASE This parameter defines the operation when one or more motor

LOSS phases are lost.

FAULT

Fault indication is displayed and the CraneDrive stops (active when motor speed higher than +/- 40 rpm).

NO




11 EARTH FAULT This parameter defines the operation when an earth fault is detected in the motor or the motor cable.

FAULT

Fault indication is displayed and the CraneDrive stops.

NO


12 MASTER FAULT This parameter defines the operation when a fault is detected in the

FUNC communication between the drive and the Fieldbus comm. module.

FAULT

Fault indication COMM MODULE is displayed and the CraneDrive trips.

NO

No activity wanted.

WARNING

Warning indication COMM MODULE is displayed.

13 COMM FLT This parameter defines the delay time before activating the fault

TIME-OUT (see par 30.12).



6.2.14 Group 50 Pulse Encoder

These parameters are visible, and need to be adjusted, only when a pulse encoder module RTAC or NTAC (optional) is installed and activated with Parameter 98.01 ENCODER MODULE.

The parameters in Group 50 define the encoder signal decoding and the operation of the ACS 800 in encoder or RTAC/NTAC module fault conditions.


1 PULSE NR

2 SPEED MEAS

MODE

3 ENCODER

FAULT

4 ENCODER

DELAY

1 … 29999

A_- B DIR; A_-_;

A_-_ B DIR; A_-_ B_-_

WARNING; FAULT

5 ... 50000 ms

Number of encoder pulses per

Revolution.

Calculation of encoder pulses.

Operation of the CraneDrive if an

Encoder failure or encoder

Communication failure is

Detected.

Delay for the encoder

Supervision function (See

Parameter 50.03 ENCODER

FAULT).

Speed feedback used 5 SPEED

FEEDB USED

True; False

1 PULSE NR This parameter states the number of the encoder pulses per one revolution.

2 SPEED MEAS MODE This parameter defines how the encoder pulses are calculated.

A_- B DIR

Ch A: positive edges used for calculation of speed and position.

Ch B: direction.

A_-_

Ch A: positive and negative edges used for calculation of speed and position.

Ch B: not used.

A_-_ B DIR

Ch A: positive and negative edges used for calculation of speed and position.

Ch B: direction.

A_-_ B_-_

All edges of the signals A and B are used for calculation of speed and position.



3 ENCODER FAULT This parameter defines the operation of the CraneDrive if a failure is

detected in communication between the pulse encoder and the Pulse

Encoder Interface Module (RTAC or NTAC) or in between the

RTAC/NTAC module and the RMIO board.

Encoder supervision function activates if either of the following

conditions is valid:

1.

2.

There is a 20 % difference (filtered) between the estimated speed and the measured speed received from the encoder.

No pulses are received from the encoder at start within defined time (see Parameter 50.04 ENCODER DELAY), while the motor torque is at the limit value.

WARNING

Warning indication is generated. Drive will switch over to calculated speed.

FAULT

Fault indication is generated and the CraneDrive stops the motor.

4 ENCODER DELAY This is the time delay for the encoder supervision function at start (See

Parameter 50.03 ENCODER FAULT). If set = 0 ms, this start supervision is disabled.

5 SPEED FEEDB USED True

The actual speed feedback value from connected encoder module is used in speed & torque control.

False

The actual speed feedback value from connected encoder module is not used in speed & torque control (RTAC or NTAC module only used for position measurement).

6.2.15 Group 51 Comm module

For information on these parameters see manual: ACS800 Fieldbus

adapter RxxA-01 Installation & Start-up Guide for the respective type used.

Note: Fieldbus Command Word and Status word mapping is still as specified in section 5.6.12 of this manual.

Only “Vendor specific mode” is supported by CraneDrive sw (“Generic mode” is not supported) for AnyBus modules, e.g. RPBA-01.



6.2.16 Group 60 Local operation

The Range/Unit column in Table 6-13 shows the allowable parameter values. The text following the table explains the parameters in detail.


Parameter Range/unit Description

1 LOC OPER INH

2 LOC SPEED MAX

True ; False

0-100%

Local operation inhibit

Local speed maximum

3 LOC ZERO SPEED TD 0....300 s Local zero speed time delay

True

1 LOC OPER INH

Only possible to run in External control.

Note: Panel will show “L” indication even though drive is in External control.

False

Possible to run in LOCAL (panel) control and External control

2 LOC SPEED MAX The maximum speed reference when running in LOCAL

3 LOC ZERO SPEED TD After making a local START the ZERO SPEED signal has to become ”0”, that is motor start running, before the time LOC ZERO SPEED TD has expired otherwise the start order is removed and drive is switched off.



6.2.17 Group 61 Speed monitor




3 MOT OVERSPEED LEV 0....200 %

4 SPEED LIM 1 0....200 %

Motor overspeed level

Speed limit 1 level

3 MOT OVERSPEED LEV If the motor speed exceeds the level determined by MOT OVERSPEED

LEV the drive trips, indicating MOT OVERSP.

100 % setting corresponds to the motor speed set in parameter 69.1

SPEED SCALING RPM.

4 SPEED LIM 1 Relay output indication signal SPEED LIM 1 (selectable in group14) is activated if absolute value of motor speed is above this level.


6.2.18


Group 62 Torque monitor



Parameter

1 TORQ MON SEL

2 SP DEV LEV

3 TORQ FLT TD

Range/unit

True ; False

0...100 %

0...60000 ms

4 SP DER BLK LEV 0...100 % / s

Description

Torque monitor select

Speed deviation level

Torque fault time delay

Speed derivative blocking level

1 TORQ MON SEL True

Torque monitor is activated

False

Torque monitor is blocked

2 SP DEV LEV A level above SP DEV LEV means that the speed error is too high

3 TORQ FLT TD If a speed error higher than SP DEV LEV occurs, and if it last longer than the time TORQ FLT TD the drive will trip, indicating TORQ FLT message.

4 SP DER BLK LEV The protection is blocked during acceleration and deceleration if the sign of the speed error is OK and if the derivative of the actual speed is higher than the setting of SP DER BLK LEV.

Calculate as: 100 / (RT x 1.5) %/s , where RT = longest ramp time in seconds.



6.2.19 Group 63 Fast stop


Parameter Range/unit

1 FAST STOP TYPE 11 NOT USED; FAST STOP 1;

FAST STOP 2; FAST STOP 3

2 FAST STOP TYPE 12 NOT USED; FAST STOP 1;

FAST STOP 2; FAST STOP 3

Description

Fast stop type 11

Fast stop type 12

1 FAST STOP TYPE 11 Parameter for selecting type of fast stop action from PLC. Activated if signal FAST STOP 11 in Fieldbus communication Command word is set true.

NOT USED = No activity wanted.

FAST STOP 1 = Fast stop by braking on torque limit.

FAST STOP 2 = Fast stop by braking with both mechanical brake and on torque limit.

FAST STOP 3 = Fast stop by braking with mechanical brake only.

2 FAST STOP TYPE 12 Parameter for selecting type of fast stop action in Stand alone mode.

Activated by e.g. input DI6. Refer to Parameter 63.1 for settings



6.2.20 Group 64 Crane


Note: Parameters 64.3 – 64.6 and 64.8 – 64.16 are only active in Stand alone mode (i.e. when 64.1 = True).



1 STAND ALONE SEL True; False

2 CONTIN GEAR True; False

3 HIGH SPEED LEVEL 1 0.0 ... 100.0 %

4 DEADZONE A 0 ... 100 %

5 DEADZONE B

6 REF SHAPE

7 SLOWDOWN

SPEEDREF

0 ... 100 %

0 ... 100

0 ... 100 %

8 ZERO POS OK TD 0.0 ... 60.0 s

9 TORQUE REF SCALE 0 ... 4.00

Description

Stand Alone Select

“not used”

High speed level 1

Deadzone A

Deadzone B

Reference shape

Slowdown speed reference

Zero position OK time delay

Torque reference scaling.

Control type selection 10 CONTROL TYPE JOYSTICK; RADIO

CTRL; MOTOR POT;

STEP JOYST; STEP

RADIO; FB JOYSTICK

11 MINIMUM REF 0.0 ... 100.0 %

12 JOYSTICK WARN TD 0 ... 5000 ms

13 STEP REF LEVEL1

14 STEP REF LEVEL2

15 STEP REF LEVEL3

16 STEP REF LEVEL4

0.0 … 100.0 %

0.0 … 100.0 %

0.0 … 100.0 %

0.0 … 100.0 %

1 STAND ALONE SEL True

Stand alone mode is selected.

False

Fieldbus mode is selected.

Minimum reference

Joystick warning time delay

Step reference level 1






3. HIGH SPEED LEVEL 1 Joystick output (e.g. AI1) speed reference signal level to give HIGH

SPEED signal for power optimisation.

4 DEADZONE A Deadzone on the joystick before it starts to give reference in direction A

(positive, e.g. hoisting direction)

5 DEADZONE B Deadzone on the joystick before it starts to give reference in direction B

(negative, e.g. lowering direction)

6 REF SHAPE Parameter for making a parabolic curve for the reference

0 = straight line

20 = X 2

100 = X

curve

3 curve

7 SLOWDOWN SPEEDREF Reduced speed reference (if running in same direction) when slowdown function is activated (e.g. DI5=0).

8 ZERO POS OK TD Time delay for the joystick to stay in zero position before a new start order can be given after a stop from: trip, fast stop or joystick warning.

9 TORQUE REF SCALE Scaling of torque reference from joystick (AI.2). E.g. with TORQUE REF

SCALE set to 2.0: a 100 % joystick reference will give 200 % torque reference to the torque controller

10 CONTROL TYPE JOYSTICK

External control of drive, in Stand alone mode, is done by using a joystick controller, with Zero Pos (e.g. DI2), Dir A (DI3) and Dir B (DI4) contacts connected to digital inputs and analogue reference connected to AI1 (speed control) or AI2 (torque control). Joystick supervision is active.

External control of drive, in Stand alone mode, is done by connecting signals from a radio controller or PLC to drive I/O. Dir A and Dir B orders connected to DI3 and DI4 (Zero Pos not required). Reference connected to AI1 (speed control) or AI2 (torque control).



External control of drive, in Stand alone mode, is done by using e.g. a pendant controller giving direction and increase orders. Increase orders connected to DI2, Dir A and Dir B connected to DI3 and DI4.

STEP JOYST

External control of drive, in Stand alone mode, is done by using a joystick controller, with Zero Pos (e.g. DI2), Dir A (DI3) and Dir B (DI4) contacts connected to digital inputs and Step type of speed reference connected to digital inputs selected with parameters 10.8 – 10.10.

Joystick supervision is active.

STEP RADIO

External control of drive, in Stand alone mode, is done by connecting signals from a radio controller or PLC to drive I/O. Dir A and Dir B orders connected to DI3 and DI4. Step type of speed reference connected to digital inputs selected with parameters 10.8 – 10.10.

FB JOYSTICK (=Fieldbus JOYSTICK)

External control of drive, in Stand alone mode, is done by using a joystick controller connected to a PLC’s I/O. Drive receives control signals for Dir A, Dir B, Zero Pos and Reference through fieldbus communication datasets (see end of section 5.6.5 for details).

11 MINIMUM REF Minimum speed reference in stand alone mode. Normally used with

MOTOR POT control type.

12 JOYSTICK WARN TD Time delay for joystick supervision.

13 STEP REF LEVEL1 First speed reference level applied with startorder, i.e. DirA or DirB, when using STEP JOYST or STEP RADIO control types.

14 STEP REF LEVEL2 Second speed reference level applied when digital input, selected by parameter 10.8 STEP REF2 SEL, is activated (plus start order active).

15 STEP REF LEVEL3 Third speed reference level applied when digital input, selected by parameter 10.9 STEP REF3 SEL, is activated (plus step ref2 conditions still active).

16 STEP REF LEVEL4 Fourth speed reference level applied when digital input, selected by parameter 10.10 STEP REF4 SEL, is activated (plus step ref3 conditions still active).



6.2.21 Group 65 Logic handler



Parameter

1 CONTIN ON

2 OFF TD

Range/unit

True ; False

0.0 ... 10000.0 s

Description

Continuous on

Off time delay

1 CONTIN ON Magnetization of the motor will remain on without time limit after the motor is stopped, if parameter CONTIN ON = True.

2 OFF TD The time for how long the Magnetization current shall remain on after the motor is stopped.



6.2.22 Group 66 Torque proving




1 TORQ PROV SEL True ; False

2 TORQ PROV FLT TD 0.0 ... 100.0 s

Torque proving select

Torque proving fault time delay

3 TORQ PROV REF 0.0 ... 200.0 % Torque proving reference

1 TORQ PROV SEL True

Torque proving active (requires pulse encoder).

False

Torque proving not active.

2 TORQ PROV FLT TD Time delay for fault signal TORQ PROV FLT

3 TORQ PROV REF Torque proving reference level.



6.2.23 Group 67 Mechanical brake contr.



1 BRAKE FALL TIME

2 BRAKE FLT TD

4 BRAKE REOPEN TD

5 BRAKE LONG FT TD

6 ZERO SPEED LEV

7 ZERO SPEED TIME

8 SPEED REF TD

0.0 ... 60.0 s

0.0 ... 60.0 s

0.0 … 60.0 s

0.0 ... 60.0 s

0 ...100 %

0 ...10000 ms

0.05 ... 10.00 s

Brake falling time

Brake fault time delay

Brake reopen time delay

Brake long falling time delay

Zero speed level

Zero speed time

Speed reference time delay

Starting torque selector

9 START TORQ SEL NOT USED;

AUTO TQ MEM;

LOAD MEAS;

PAR 67.10

0 … 300 % 10 START TORQ REF Start torque reference

11 MOTOR TYPE STANDARD;

CONICAL

12 RED FLUX LEVEL 25 ... 100 %

13 START FLUX LEVEL 100 ... 140 %

Conical motor function selector

Reduced flux level

Start flux level

14 START FLUX TIME 0.0 ...10.0 s Start flux duration

1 BRAKE FALL TIME Falling time for the mechanical brake. Time for brake to set and give full braking torque after brake close order (brake electrical supply disconnected).

2 BRAKE FLT TD Time delay for BRAKE FAULT signal.

4 BRAKE REOPEN TD Minimum time between two brake lift orders. That is BRAKE LIFT must be “False” for at least this time before next start is giving a new BRAKE

LIFT order issued. Used if mechanical brake is equipped with a “reduced holding voltage” circuit.

5 BRAKE LONG FT TD Time delay for monitoring signal ”brake long falltime ”

6 ZERO SPEED LEV Parameter for setting the speed level for ZERO SPEED indication.

Warning: Do not set 0% level. Result would be that brake would never close.



7 ZERO SPEED TIME Time delay before signal ZERO SPEED is set to ”1” when the motor speed is below ZERO SPEED LEV.

If parameter 67.11 MOTOR TYPE is set to CONICAL, than this parameter is used to delay the stop sequence with reduced flux.

8 SPEED REF TD Time delay at start before releasing speed reference to ramp unit.

9 START TORQ SEL NOT = No extra starting torque.

AUTO TQ MEM = Automatic torque memory selected. Note: value set in parameter 67.10 is used as a minimum value for the torque memory.

LOAD MEAS = Starting torque reference is received from an superior controller (DS5.2) e.g. measurement from a load cell.

PAR 67.10 = Starting torque reference is fixed using torque level set in parameter 67.10 MIN START TQ REF.

10 MIN START TQ REF Starting torque reference level used if parameter 67.9 is set to:

“PAR 67.10”.

11 MOTOR TYPE CONICAL = Conical motor function active. Reduced flux level at stop set with parameter 67.12 and possibility for increased flux at start (par 67.13

& 67.14). See section 5.6.8 Mecanical brake control, page 5-31, for details on Conical motor function.

STANDARD = Conical motor function not active.

12 RED FLUX LEVEL Reduced flux level used when stopping, if Conical motor function is activated in parameter 67.11 . For higher power conical motors on hoists, use a lower value than the default 75% if needed to further reduce “rollback” when stopping.

Note: The reduced flux at stop will increase the motor current during stopping. Therefor it’s normally needed to use one size bigger converter.

13 START FLUX LEVEL Increased flux level used when starting, if Conical motor function is activated in parameter 67.11 . Increased flux level active during time set in parameter 67.14 .

14 START FLUX TIME The increased flux level at start (with level set in parameter 67.13) is active during a time set with START FLUX TIME.



6.2.24 Group 68 Power optimisation




1 POWOP SELECT

2 BASE SPEED

True ; False

1.0 ... 100.0 %

3 POWOP AUTOTUNE SEL True ; False

4 INERTIA TOTAL UP

5 INERTIA TOTAL DWN

6 TQLIM UP

7 TQLIM DWN

0.00 ... 100.00

KGM2

0.00 ... 100.00

KGM2

0.0 ... 200.0 %

0.0 ... 200.0 %

Power optimisation select

Base speed

Powop autotune select

Inertia total upwards

Inertia total downwards

Powop torque limit upwards

Powop torque limit downwards

8 POWOP RESET LEV

9 T MAX

0 ... 100 %

0 … 2000 %

Power optimisation reset level

Motor maximum torque capacity

10 LOAD TORQ FILT TC 0 … 32000 ms Load torque signal filter time constant

11 SLACK ROPE TQ LEV -400 % … 400 % Slack rope torque indication level

12 LOADCORR FACT UP 0.00 … 100.00 Loadcorrection factor upwards

13 LOADCORR FACT DWN 0.00 … 100.00 Loadcorrection factor downwards

1 POWOP SELECT True

Power optimisation is active (only used on hoist drive).

False

Power optimisation not active.

2 BASE SPEED Breakpoint for Power optimisation calculation. Set in percent of parameter 69.1 SPEED SCALING RPM. Above this speed constant power, corresponding to level set in parameters 68.6 & 68.7 , is obtained.

Normally the speed where field weakening starts and the available RMS power of the motor is constant. Full load torque possible for mechanics up to this speed.



3 POWOP AUTOTUNE True

SEL

Activates the tuning.

Note: Parameter is reset to False after each calculated Total inertia value.

The value of the inertia can be read in actual signal no.1.24 TOTAL

INERTIA

An average value after running 2-3 times in each direction should than be entered to parameters INERTIA TOTAL UP and INERTIA TOTAL

DWN respectively

False

Autotune mode not active

4 INERTIA TOTAL UP Total inertia measured in upwards direction

NOTE: Calculation of Inertia parameters has changed compared to previous sw versions (crane application sw version ACAA7020 and earlier). For upgrading a drive with earlier sw versions use the following rescaling formula for Inertia parameters 68.4 and 68.5 .

Inertia(new) = ((8363*Pnom) / (nmax * nnom)) * Inertia(old) . Where:

- “Pnom” is the value of parameter 99.9 MOTOR NOM POWER.

- “nmax” is the value of parameter 69.1 SPEED SCALING RPM

- “nnom” is the value of parameter 99.8 MOTOR NOM SPEED.

5 INERTIA TOTAL DWN Total inertia measured in downwards direction

6 TQLIM UP Maximum load torque allowed upwards (=field weakening power limit)

7 TQLIM DWN Maximum load torque allowed downwards (=field weakening power limit)

8 POWOP RESET LEV Speed level where the calculated power optimisation reference will be reset to be prepared for a new calculation during the next acceleration.

9 T MAX Motor maximum relative torque capacity (also called “Pull-out torque” or

“Breakdown torque” level) per motor catalogue. Often given as e.g.

Tmax/Tn = 2.5 (=250%).

Note: Enter motor Tmax value (as normally given in catalogues for sinusoidal supply = direct-on-line data), without subtracting the 30%

“frequency converter supply reduction factor”.

If instead having a Tmax/Tn value given as a part of “Inverter parameter settings” values in a motor data sheet, than value must be divided with

0.7 (and multiplied with 100 to get %) before set to parameter 68.9



10 LOAD TORQ FILT TC Filter time constant for calculated signal 2.31 LOAD TORQUE % (see also page 5-32).

11 SLACK ROPE TQ LEV Detection level for “slack rope”, (see page 5-33 for more details on

“Slack rope” function). Load torque signal (2.31) dropping below this level is considered a “slack rope”, making a Fast stop type 1 to the drive.

Setting of -400% (default) will disable the Fast stop.

12 LOADCORR FACT UP Load correction factor in hoisting direction for LOAD TORQUE % signal

2.31 . To include the mechanical efficiency (in p.u.) of hoist machinery driven by hoist motor as well as motor utilization when hoisting nominal load (i.e. motor torque in p.u. at full load). E.g.: Eff. 0.9 * Util. 1.0 = 0.90 .

13 LOADCORR FACT DWN Load correction factor in lowering direction. Note: efficiency part for lowering is calculated as 1/mech.eff. E.g. 1/0.9=1.10 .



6.2.25 Group 69 Reference Handler




1 SPEED SCALING RPM 0 ... 10000 RPM

2 ACC TIME FORW 0.1 ... 60.0 s

3 ACC TIME REV

4 DEC TIME FORW

5 DEC TIME REV

6 S-RAMP TC

0.1 ... 60.0 s

0.1 ... 60.0 s

0.1 ... 60.0 s

0.0 s...10.0 s

7 RAMP SCALE LOCAL 0.5 ... 100.0

Description

Maximum speed

Acceleration time forward

Acceleration time reverse

Deceleration time forward

Deceleration time reverse

S-ramp time constant

Ramp scale local

10 RAMP RATE=1 True ; False; AI3 Ramp rate selection

1 SPEED SCALING RPM Setting of motor shaft rotational speed (rpm) corresponding to 100 % speed reference.

2 ACC TIME FORW Setting of acceleration ramp time forward direction (up), 0 to +100 % speed (where 100% corresponds to parameter 69.1).

3 ACC TIME REV Setting of acceleration ramp time reverse direction (down), 0 to –100 % speed (ref. Parameter 69.1).

4 DEC TIME FORW Setting of deceleration ramp time forward direction, +100 to 0 % speed

(ref. Parameter 69.1).

5 DEC TIME REV Setting of deceleration ramp time reverse direction, -100 to 0 % speed

(ref. Parameter 69.1).

6 S-RAMP TC Setting of the s-curve time constant in the speed reference ramp unit.

7 RAMP SCALE LOCAL Scaling (multiplying) factor for ramp times when running in local

10 RAMP RATE=1 Selection in Fieldbus mode if RAMP RATE signal from PLC controller is not required by drive. Alternatively to activate analog input 3 (AI3) as

Ramp rate signal in Fieldbus or Standalone modes.

True

The RAMP RATE signal available from Fieldbus communication is not active, set fixed to 1.0.

False

The RAMP RATE signal from Fieldbus communication (DS3.1) is active.

AI3

The RAMP RATE multiplying factor signal is connected from analog input 3. Signal level at or below 4mA (0 - 4 mA) corresponds to a multiplying factor of 1.0 . Signal levels between 4mA and 20 mA



6.2.26 corresponds to a multiplying factor between 1.0 and 10.0 . Relation is linear, giving e.g. 12 mA = 5.5 .

Group 70 Position measurement



Parameter

1 POS SCALE

2 SYNC COND

Range/unit

1.00 ... 32767.00

PPU

Pos; Neg

Description

Position scaling

Synchronisation condition

1 POS SCALE Set position counter scaling factor, POS SCALE, as number of Pulses

Per Unit, e.g. pulses/mm. (Position measurement value POSACT =

Pulse counter / POS SCALE.)

Example how to calculate POS SCALE: Hoist operating speed 40 m/min

(40.000 mm/min) corresponding to motor speed of 980 rpm. Pulse encoder with 1024 ppr (parameter 50.1). Speed measuring set to use all

4 edges (parameter 50.2=default). This gives us POS SCALE =

(980 * 1024 * 4) / 40.000 = 100.35 pulses/mm.

2 SYNC COND Pos

The HW synchronisation acts on positive edge (0 -> 1) of e.g. DI3

Neg

The HW synchronisation acts on negative edge (1 -> 0) of e.g. DI3



6.2.27 Group 71 Fieldbus Comm



1 COMTEST FLT TD 0...32767 ms Communication fault time delay

2 RESET POWER ON TD 0...32767 ms Reset at power on time delay

3 CHOPP/EXT MON TD 0...4000 ms Chopper & Ext fault monitoring time delay

4 ADVANT COMM TYPE ENG DRIVE;

STD DRIVE

5 DSET BASE ADDRESS 1; 10

Advant controller communication type

Dataset number of the first dataset used for fieldbus communication with PLC.

6 FIELDBUS R-TYPE NO; RPBA-01 Fieldbus Anybus module selection

1 COMTEST FLT TD If the Fieldbus communication toggle bit, being sent between the drive and supervisory controller and back, is not changing within the time set in COMTEST FLT TD the drive trips, indicating MAS OSC FLT.

2 RESET POWER ON TD After power on acknowledgement signal POWER ON ACKN (e.g.

DI2=”1”) is received, a reset of the drive is done after the time RESET

POWER ON TD.

3 CHOPP/EXT MON TD Monitoring of external Chopper fault (selected with parameter 10.7, e.g. input DI4=0) and External fault (selected with parameter 30.3), is disabled at power on (POWER ON ACKN=1) during the time

CHOPP/EXT MON TD.

4 ADVANT COMM TYPE Selection of Advant controller communication type if communicating via

Advant controller Module bus port (AC70, AC80, AC800M, AC410 with

FCI or AC450 with FCI).

ENG DRIVE

“Engineered” type of Advant communication (e.g. Advant controller selections “ACS 600 Eng” or “DRIENG”). Maximum 10 datasets/direction possible i.e. all ACC 800 datasets (1 – 12) are accessable.

STD DRIVE

“Standard” type of Advant communication (e.g. Advant controller selections “ACS 600 Std” or “DRISTD”). Maximum 2 datasets/direction possible i.e. only ACC 800 datasets 1 – 4 are accessable.



5 DSET BASE ADDRESS Dataset number of the first dataset used for fieldbus communication with the overriding control system (e.g. Advant controller). The dataset addressed by this parameter is the first dataset to the drive, while the next dataset is the first dataset from the drive, and so on.

1

Dataset range is: 1 … 12. Where dataset 1, 3, 5 & 7 is to the drive and datasets 2, 4, 6, 8 & 12 is from the drive to PLC. Used for example with

AC800M ModuleBus if “ABB Standard Drive” type of drive unit is selected.

10

Dataset range is: 10 … 21. Where dataset 10, 12, 14 & 16 is to the drive and datasets 11, 13, 15, 17 & 21 is from the drive to PLC. Used for example with AC800M ModuleBus if “ABB Engineered Drive” type of drive unit is selected.

6 FIELDBUS R-TYPE Possibility to preset ACC800 default settings of Group51 fieldbus parameters if Anybus module (“R-type”) used. Settings are done to configure fieldbus signals as described in manual section 5.6.12 .

RPBA-01

Default settings for Profibus parameters in group 51 changed to:

51.05=3, 51.06=6, 51.07=7, 51.08=10, 51.09=8, 51.10=11, 51.11=9,

51.12=12, 51.13=13, 51.14=16, 51.15=14, 51.16=17, 51.17=15,

51.18=18, 51.19=19, 51.20=22 .





1 MAST/FOLL MODE OFF; MASTER;

FOLLOWER

(visible only if M/F

CTRL macro selected)

2 TORQUE SELECTOR ZERO; SPEED;

TORQUE; MINIMUM;

MAXIMUM; ADD

3 LOAD SHARE 0.0 % ... 400.0 %



Master/Follower mode selection

Torque selector setting

Load sharing

4 WINDOW SEL OFF; ON Window ctrl selection on

5 WINDOW WIDTH POS 0.0 rpm...1500.0 rpm Window width positive

6 WINDOW WIDTH NEG 0.0 rpm...1500.0 rpm Window width negative

7 DROOP RATE

8 TORQ REF A FTC

0.0 % ... 100.0 %

0 ms ... 32767 ms



Droop rate

Torque reference

A filter time constant

Master/Follower fault time delay

9 M/F FAULT TD 0 ms ... 32767 ms



10 M/F COMM ERR TD 0 ms ... 32767 ms



11 MF BROADCAST

MODE

NO; YES

Master/Follower communication error time delay

Master/Follower broadcast mode

1 MAST/FOLL MODE Master and follower drive operating mode.

OFF

Master or Follower drive not activated, only separate control (or Local) available.

MASTER

Drive selected to be the Master drive in M/F control.

FOLLOWER

Drive selected to be the Follower drive in M/F control.



2 TORQUE SELECTOR Mode selection for Follower drive.

ZERO

Torque selector parameter is not active. Speed or torque control selection is done with I/O or Fieldbus in normal way (default is speed control).

SPEED

Drive is speed controlled. Receiving speed reference (Speed_ref3 ramp output!) from Master drive if M/F ctrl macro active i.e. using M/F bus communication. Note: Follower speed ramp times should be set equal or lower than Master ramp time settings.

TORQUE

Drive is torque controlled. Receiving torque reference from Master drive if M/F ctrl macro active (Torq ref A), i.e. load sharing between Master and Follower.

MINIMUM

Torque selector compares the torque reference and the output of the speed controller. The lower value is used as the reference for motor torque control. Receiving speed and torque references from Master drive if M/F ctrl macro active. This mode should normally not be used with a crane drive!

MAXIMUM

Torque selector compares the torque reference and the output of the speed controller. The higher value is used as the reference for motor torque control. Receiving speed and torque references from Master drive if M/F ctrl macro active. This mode should normally not be used with a crane drive!



ADD

Torque selector adds the speed controller output to torque reference.

The drive is torque controlled in normal operating range.

The selection ADD together with the window control form a speed supervision function for a torque controlled Follower drive:

In normal operating range, the Follower follows the torque reference

(TORQ REF A).

Window control keeps the speed controller input and output to zero as long as the speed error (speed reference – actual speed) remains within a certain window

If the speed error goes out of the window, window control connects the error to the speed controller. The speed controller output increases or decreases the internal torque reference, stopping the rise or fall of the actual speed.

Window Control e

G = Speed controller gain e = Value connected to speed controller

G ⋅e

Speed Reference

72.6 WINDOW

72.5 WINDOW

POS

Actual Speed

Torque Reference

Internal Torque Reference =

Torque Reference + Speed Controller Output

Speed Controller Output

Time



3 LOAD SHARE Follower drive setting adjusts the load split between Master and

Follower. 100% setting causes the Follower drive to produce the same percent of motor nominal torque as the Master drive, i.e. 50/50 load split.

4 WINDOW SEL Window control together with the selection of ADD of Parameter 72.2

TORQUE SELECTOR form a speed supervision function for a torque controlled drive.

OFF

Window control is off.

ON

Window control is on. This selection should be used only when

Parameter 72.2 TORQUE SELECTOR is set to ADD. Window control supervises the speed error value (Speed Reference – Actual Speed). In normal operating range the window control keeps the speed controller input at zero. The speed controller is evoked only if: the speed error exceeds the value of Parameter 72.5 WINDOW

WIDTH POS or the absolute value of the negative speed error exceeds the value of

Parameter 72.6 WINDOW WIDTH NEG.

When the speed error goes outside the window the exceeding part of the error value is connected to the speed controller. The speed controller produces a reference term relative to the input and gain of the speed controller (Parameter 23.1 GAIN) which the torque selector adds to the torque reference. The result is used as the internal torque reference for

CraneDrive.

For example, in a load loss condition, the internal torque reference of the drive is decreased, preventing the excessive rise of motor speed. If the window control were inactivated, the motor speed would rise until a speed limit of the CraneDrive was reached. Parameters 20.1 MINIMUM

SPEED and 20.2 MAXIMUM SPEED set the speed limits.

5 WINDOW WIDTH POS This parameter value is considered only if the window control is on. The allowed setting range is from 0 to 1500 rpm.

The speed controller input is kept to zero until the positive speed error exceeds the value WINDOW WIDTH POS.

6 WINDOW WIDTH NEG This parameter value is considered only if the window control is on. The allowed setting range is from 0 to 1500 rpm.

The speed controller input is kept to zero until the absolute value of the negative speed error exceeds WINDOW WIDTH NEG.



7 DROOP RATE This parameter value needs to be changed only if both the Master and the Follower are speed controlled.

CAUTION ! Follower speed control or drooping should not be used if the motor shafts of the Master and the Follower are solidly coupled together

(e.g. gearbox or common rail).

Drooping slightly decreases the drive speed as the drive load increases in order to provide better load sharing between the Master and Follower drives. The correct droop rate for each installation needs to be determined case by case. If drooping is used it is recommended to set some droop rate both for the Follower and Master drives.

The droop rate is set as % of the drive maximum speed. The actual speed decrease in a certain operating point depends on the droop rate setting and the internal torque reference of the drive (speed controller output).

Motor

Speed

(%)

Speed Decrease =

Drooping ⋅ Speed Controller Output ⋅ Max. Speed

Calculation Example:

DROOP RATE is 1%. Speed Controller Output is 50% and maximum speed of the drive is 1500 rpm.

Speed decrease = 0.01 ⋅ 0.50 ⋅ 1500 rpm = 7.5 rpm

No Drooping

Drooping

Par. 72.7 DROOP RATE

100%

Speed Controller

Output (%)

At 100 % speed controller output, drooping is at its maximum level i.e. equal to the value of the DROOP RATE. The drooping effect decreases linearly to zero along with the decreasing load.

8 TORQ REF A FTC Filtering time constant for torque reference TORQ REF A in Follower drive, received from Master drive.

9 M/F FAULT TD When the Follower drive have received start-order from Master drive, both drives check that they have signal RUNNING=1 within the time M/F

FAULT TD. If not the drive will trip, indicating MF RUN FLT. NOTE:

Master drive will trip as a result of a Follower drive tripping

10 M/F COMM ERR TD As soon as the Master and the Follower are activated (Parameter 72.1

MAST/FOLL MODE), they start to monitor a bus communication toggle bit that is sent between the two drives. If the toggle bit stops longer than the time M/F COMM ERR TD the drive trips, indicating MF COMM ERR.

NOTE: This delay for MF COMM ERR is not active if using

Master/Follower Broadcast mode.



11 MF BROADCAST MODE Enable Master/Follower broadcast mode if multiple Follower drives are required. Set = YES in both broadcast Master and Followers. If broadcast mode is selected, Master drive will send only Speed and

Torque reference to all drives set as Followers (par. 72.1). Master and

Followers to have channel 2 connected together in a closed optical ring.

On and Start orders must be connected via I/O or Fieldbus (Standalone or Fieldbus mode used, par. 64.1) directly to each drive in Master as well as Followers. Also monitoring of e.g. Running signal from all drives must be done externally.

NO

Master/Follower Broadcast mode disabled. Normal point-to-point

Master/Follower communication with only one Follower is possible.

YES

Master/Follower Broadcast mode is enabled.



6.2.29 Group 73 Electric Shaft




1 ELSHAFT MODE SEL

2 ELSHAFT GAIN

3 GEAR NUMERATOR

OFF; MASTER;

SLAVE

0.0 …100.0

1 …32000

4 GEAR DENOMINATOR 1 …32000

Electric shaft mode selection

Electric shaft control gain

Gear scaling numerator

Gear scaling denominator

5 POS ERROR LIMIT 0 …1000 “pos units” Position error fault limit

6 ELSH CTRL MIN SPD 0 … 100 % Electric shaft control minimum speed

1 ELSHAFT MODE SEL Electric shaft drive mode selection.

OFF

Master or Slave drive not activated for Electric Shaft control.

MASTER

Drive selected to be the Master drive in Electric shaft control. Required also to set parameter 99.2. Application macro = M/F CTRL and to set

72.1 Mast/Foll mode = MASTER.

SLAVE

Drive selected to be the Slave drive in Electric shaft control. Required also to set parameter 99.2. Application macro = M/F CTRL, parameter

72.1 Mast/Foll mode = FOLLOWER and 72.2 Torque selector = SPEED.

2 ELSHAFT GAIN Electric shaft controller (P-controller) gain. Only active in Slave drive.

With Elshaft Gain = 0.1 there is a –0.1% speed correction used for Slave drive if the position error (Slave signal 2.26) between Master and Slave is 1 unit.

See also section 5.5.14 for the description of Electric shaft control.

3 GEAR NUMERATOR This parameter is, together with parameter 73.4 Gear Denominator, used for giving the mechanical speed ratio between Master and Slave.

Speed ratio Master/Slave = Gear Numerator/Gear Denominator. This ratio factor is multiplied with the speed reference and position value in

Slave drive only when Electric shaft control is active (On).



Example: Hoist with Master and Slave drive having equal setting for the maximum operating speed (100%) parameter 69.1 Speed scaling rpm.

Gear boxes are selected with different ratio so that full speed of Master drive corresponds to a rope speed of 3.6 m/min and full speed of Slave drive corresponds to a rope speed of 6.4 m/min; meaning we have a speed ratio = 3.6/6.4 = 0.5625 between Master and Slave.

To run the two drives together (Electric shaft control on) with the same rope speed (0 – (+/-)3.6 m/min) we should set parameter 73.3 Gear

Numerator = 36 and parameter 73.4 Gear Denominator = 64

(36/64 = 0.5625). Parameter 70.1 POS SCALE should be set to same value in both drives.

NOTE: Parameter only active in Slave drive.

4 GEAR DENOMINATOR See the description above for parameter 73.3.

5 POS ERROR LIMIT If position error (signal 2.26) between Master and Slave drive, when

Electric shaft control is on, exceeds this value, drives will trip and the

Slave indicate “ELECTR SHAFT” fault. Master will then also indicate

“FOLL FAULT” (Follower fault). A Reset command to Master drive will reset both drives. Unit is “pos units” (e.g. mm) according to scaling done in parameter 70.1 POS SCALE.

The parameter is only active in Slave drive.

6 ELSH CTRL MIN SPD Electric shaft control is only active at motor speeds (without sign) above this minimum speed level. Meaning controller is inactive around zero speed e.g. during start and stop. When passing this speed limit the controllers output is gradually released respectively removed ( i.e. ramped up during start resp. ramped to zero during stop) to make a smooth change. Any accumulated position error when running below this speed limit (e.g. when motors stopped) will be controlled to zero as soon as motor is running above the minimum speed limit ELSH CTRL MIN

SPD again.

The parameter is only active in Slave drive.



6.2.30 Group 74 Crane Lifetime




1 NOMINAL LOAD

2 CRANE LIFETIME

0.00 ... 32767.00 ton Nominal hoist load

0 … 12500 hrs Crane lifetime

3 START LIFETIMEMON OFF; ON Start crane lifetime monitor

1 NOMINAL LOAD Nominal (full) load for crane hoist in tons, corresponding to 100% Load torque (signal 2.31).

2 CRANE LIFETIME The designed mechanical lifetime of crane hoist in hours. When the calculated LIFETIME LEFT signal 1.35 is below 10% the drive will give a warning “LIFETIME>90%”.

3 START LIFETIMEMON The Crane Lifetime monitor calculation of the “Load spectrum factor Km”

(signal 1.34) is started by setting parameter START LIFETIMEMON=ON.

Note: parameter cannot be reset with user parameters once set to ON during drive commissioning.



6.2.31 Group 90 Dataset REC Addr

The Range/Unit column in Table 6-28 shows the allowable parameter

values. The text following the table explains the parameters in detail.



1 DATASET 7 WORD 1 0 … 9999 Address for Dataset 7 Word 1



Group 90 is used to define the drive parameters into which the values of

Dataset 7 Words 1 – 3 are written.

1 DATASET 7 WORD 1 Drive parameter, group and index, to get value from fieldbus dataset 7 word 1 integer value. Integer scaling for “decimal parameters” given by number of decimals, e.g. parameter 69.2 = 5.0 sec equals integer value of 50.

Format: xxyy, where xx = Parameter Group (10 to 99), yy = Parameter

Index (always using 2 digits, i.e. 1 = 01).

Example: Setting 2001 = Parameter 20.1 MINIMUM SPEED receives it’s value from fieldbus dataset 7 word 1.

2 DATASET 7 WORD 2 Refer to Parameter 90.1 DATASET 7 WORD 1




6.2.32 Group 92 Dataset TR Addr





1 DATASET 4 WORD 1 0 … 9999 Address of Dataset 4 Word 1









Group 92 is used as a signal “switchbox” to connect signals from Groups

1 - 5 to Fieldbus datasets 4, 6 & 8 words 1 - 3.

1 DATASET 4 WORD 1 Address selection, Group and Index, for Fieldbus dataset 4 word 1.

Example: To connect signal SPEED REF3 for transmission in Dataset 4

Word 1, set parameter 92.1 = 202 . That is 202 = Group 2, Index 02.











6.2.33 Group 98 Option modules





1 ENCODER MODULE NTAC; NO;

RTAC-SLOT1;

RTAC-SLOT2;

RTAC-DDCS

2 COMM. MODULE

3 CH3 NODE ADDR

4 CH0 NODE ADDR

NO; FIELDBUS;

ADVANT

1 ... 254

0 … 125

5 DI/O EXT MODULE 1 NDIO; NO;

RDIO-SLOT1;

RDIO-SLOT2;

RDIO-DDCS

6 DI/O EXT MODULE 2 NDIO; NO;

RDIO-SLOT1;

RDIO-SLOT2;

RDIO-DDCS

7 AI/O EXT MODULE NAIO; NO;

RAIO-SLOT1;

RAIO-SLOT2;

RAIO-DDCS

Pulse encoder option module selection.

Communication option module selection.

Channel 3 node address

Channel 0 node address

Digital I/O extension module 1 selection

Digital I/O extension module 2 selection

Analogue I/O module selection

The parameters for the option module group are set if an option module is installed. For more information on option module parameters refer to the option module manuals.

1 ENCODER MODULE Activates the communication to the optional pulse encoder module. The drive will than use the measured speed signal instead of the calculated speed.

Parameters in group 50 ENCODER MODULE must be set before operation.

NTAC

Communication active. Module type: NTAC-02 module. Connection interface: Fiber optic DDCS link (connect to Ch1 on RDCO option module). Node address in NTAC-02 to be 16.

NO

Inactive.

RTAC-SLOT1

Communication active. Module type: RTAC. Connection interface: Option slot 1 of the drive control unit (RMIO board).



RTAC-SLOT2

Communication active. Module type: RTAC. Connection interface: Option slot 2 of the drive control unit (RMIO board).

RTAC-DDCS

Communication active. Module type: RTAC. Connection interface:

Optional I/O module adapter (AIMA) that communicates with the drive through a fiber optic DDCS link (via Ch1 on RDCO option module).

Note: Node ID selector (S1) on RTAC must be set to 0 (=default).

2 COMM. MODULE Set to FIELDBUS if a communication option module, e.g. NMBA-01 is connected to channel 0 of CraneDrive. Parameters in group 51 must be set before operation.

Set to ADVANT if optical “Modulebus” of ABB ADVANT controllers

AC70, AC80, AC410 (CI810), AC450 (CI810), AC800M or if AC80

“Drivebus” is connected to RDCO-01 channel 0 of CraneDrive.

NOTE: If changing parameter 98.2 from ADVANT to FIELDBUS, parameter 98.4 must be set = 1.

3 CH3 NODE ADDR Set a different node address for DDCS channel 3 in each drive, if connecting multiple drives together to DriveWindow PC-tool communication (ring or star connection).

4 CH 0 NODE ADDR Set node address for RDCO channel 0 if connected to Advant controller optical Modulebus or AC80 Drivebus (98.2 = ADVANT).

NOTE: If changing parameter 98.2 from ADVANT to FIELDBUS, parameter 98.4 must be set = 1.

The ch 0 node address is set according to the Module bus POSITION value used for this drive, by using the following conversion:

If POSITION = yzw than calculate drive ch 0 node address 98.4 as y*16+zw.

Example: If POSITION = 101 than Par 98.4 = 1*16+01 = 17

→ 17, 102 → 18, … 112 → 28

201

:

If using AC80 Drivebus, ch 0 node address is set equal to Drive Number setting on ACSRX function block in AC80.

If connecting to AC800M Module bus, see also parameter 71.5 DSET

BASE ADDRESS.

5 DI/O EXT MODULE 1 Activates the communication to the optional digital I/O extension module

1 and defines the type and connection interface of the module. This is used to extend the number of inputs and outputs. See parameter groups

10 and 14 for possible connections.

NDIO

Communication active. Module type: NDIO module. Connection interface: Fiber optic DDCS link (connect to Ch1 on RDCO option


Chapter 6 – Parameters module). Set the module node address to 2 (for directions see module manual).

Signals available are: EXT DI1.1, EXT DI1.2, EXT1 DO1, EXT1 DO2.

NO

Inactive.

RDIO-SLOT1

Communication active. Module type: RDIO. Connection interface: Option slot 1 of the drive control unit (RMIO board).

Signals available are: EXT DI1.1, EXT DI1.2, EXT DI1.3, EXT1 DO1,

EXT1 DO2.

RDIO-SLOT2



EXT1 DO2.

RDIO-DDCS

Communication active. Module type: RDIO. Connection interface:


Note: Node ID selector (S1) on RDIO must be set to 2 (=default).


EXT1 DO2.

6 DI/O EXT MODULE 2 Activates the communication to the optional digital I/O extension module

2 and defines the type and connection interface of the module. This is used to extend the number of inputs and outputs. See parameter groups

10 and 14 for possible connections.

NDIO

Communication active. Module type: NDIO module. Connection interface: Fiber optic DDCS link (connect to Ch1 on RDCO option module). Set the module node address to 3 (for directions see module manual).

Signals available are: EXT DI2.1, EXT DI2.2, EXT2 DO1, EXT2 DO2.

NO

Inactive.

RDIO-SLOT1



EXT2 DO2.



6.2.34

7 AI/O EXT MODULE Activates the communication to the optional analog I/O extension module and defines the type and connection interface of the module. Used when connecting analogue +/- 10V Speed correction reference signal to Ext

AI1 (available in both Stand alone and Fieldbus mode), and when connecting an analogue 0-10V Load measure reference to Ext AI2 (see also description for parameter 67.9 START TORQ SEL).

.

RDIO-DDCS

Communication active. Module type: RDIO. Connection interface:


Note: Node ID selector (S1) on RDIO must be set to 3.


EXT2 DO2.

NAIO

RDIO-SLOT2



EXT2 DO2.

Communication active. Module type: NAIO-02 module. Connection interface: Fiber optic DDCS link (connect to Ch1 on RDCO option module). Set the module node address to 5 (for directions see module manual)..

NO

Inactive.

RAIO-SLOT1

Communication active. Module type: RAIO. Connection interface: Option slot 1 of the drive control unit (RMIO board).

RAIO-SLOT2

Communication active. Module type: RAIO. Connection interface: Option slot 2 of the drive control unit (RMIO board).

RAIO-DDCS

Communication active. Module type: RAIO. Connection interface:


Note: Node ID selector (S1) on RAIO must be set to 5.

Group 99 Start-up Data

See Chapter 3 Start-up Data for information on these parameters.





7

Chapter 7 - Fault Tracing and Maintenance

7.1 Overview

The CraneDrive is equipped with advanced protection features that continuously guard the unit against damage and down time due to incorrect operating conditions and electrical and mechanical malfunctions. This chapter explains the CraneDrive fault tracing procedure with the CDP 312R Control Panel.

All Warning and Fault messages (including the ones from user definable

Programmable Fault Functions) are presented in Table 7-1 and Table

7-2 with information on the cause and remedy for each case. Fault and

Warning indications are displayed in the Actual Signal Display Mode as well as in the Parameter Mode. Warnings do not have a direct effect on operation. Faults terminate motor operation.

The standard maintenance measures are described in the latter part of this chapter.

Most Warning and Fault conditions can be identified and cured with the information in this manual. There are, however, some situations that can only be treated by an ABB service representative. The unit is fitted with complex circuitry, and measurements, parts replacements and service procedures not described in this manual are not allowed for the user.

Programmable Fault Functions are explained in detail in chapter 6,

Group 30. Signal Group 5 (Information) shows software versions of the unit.

CAUTION!

Do not attempt any measurement, parts replacement or other service procedure not described in this manual. Such action will void guarantee, endanger correct operation, and increase downtime and expense.


Chapter 7 - Fault Tracing and Maintenance

WARNING! All electrical installation and maintenance work described in this Chapter 7– Fault Tracing and Maintenance should only be undertaken by a qualified electrician. Disconnect mains power if fault tracing involves work inside the frame, the motor or the motor cable.

For CraneDrive units with EMC Line Filter disconnect mains power at the distribution board. The fuse switch (with handle in the front door) of the enclosed ACS 800 does not switch off power from the EMC Line Filter.

Wait 5 minutes for the intermediate circuit capacitors to discharge. The ACS 800 can contain dangerous voltages from external control circuits. Exercise appropriate care when working on the unit. Neglecting these instructions can cause physical injury and death.

WARNING! The printed circuit boards contain integrated circuits that are extremely sensitive to electrostatic discharge. Exercise appropriate care when working on the unit to avoid permanent damage to the circuits.

7.2 Warnings

The Control Panel enters the Fault Display when a Warning condition is detected. The Fault Display shows the cause of the Warning. The programmable warning messages are displayed when the value of the

Parameter 30.4 and 30.12 is set as WARNING. The default settings of the Programmable Fault Functions are given in Appendix A– Complete

Parameter and default settings.

Table 7-1 contains the Warning messages, their most likely causes and possible remedies. An example of a Warning message is displayed in

Figure 7-1.

1 L -> 50.0% 1

ACS800-01 75 kW

** WARNING **

ACS 800 TEMP

Figure 7-1. A Warning display.

The Warning does not have a direct effect on frequency converter operation. The message disappears when any of the Control Panel keys are pressed. The Warning will reappear in one minute if conditions remain unchanged.

In the most critical applications it might be practical to terminate the process in a controlled manner rather than run the risk of a Fault trip.

If a Warning persists despite the actions indicated in the remedy column, contact an ABB service representative.



Table 7-1 The ACC Warning Messages

Warning Cause Remedy

ACS 800 TEMP

BRAKE L FT

The ACS 800 internal temperature is excessive. A warning is given if inverter module temperature exceeds 125 °C.

Check ambient conditions.

Check air flow and fan operation.

Check heatsink fins for dust pick-up.

Check motor power against unit power.

Brake Falling Time at stop longer than time Check brake contactor. delay BRAKE LONG FT TD (Parameter

67.5) gives a warning signal that will not trip the drive but activate Watchdog output

Check wiring of brake acknowledgement to digital input 1. signal, to be used for Emergency stop of crane.

BR OVERHEAT Brake resistor overheated. Stop drive. Let resistor cool down.

Check parameter settings of resistor overload protection function (see parameter group 27 BRAKE

CHOPPER).

Check that braking cycle meets allowed limits.

DRV ID CHG

ID DONE

ID MAGN

ID RUN FAIL

The ID number of the drive has been changed from 1 in Drive Selection Mode

(the change is not shown on the display). If the ID number is not changed back to 1 during the session, the panel will not be able to communicate with the drive after the next power-up.

Go to Drive Selection Mode by pressing DRIVE. Press ENTER. Set the ID number to 1. Press ENTER.

If the panel does not communicate with the drive, set the ID number of the drive to 1 as explained in chapter

2.

Continue drive operation. The drive has performed the motor identification of magnetisation and is ready for operation. This warning belongs to the normal start-up procedure.

Motor identification of magnetisation is ongoing. This warning belongs to the normal start-up procedure.

Wait until the drive indicates that

The Motor ID Run is not completed successfully.

Check the maximum speed

(Parameter 20.2) It should be at least

80 % of the nominal speed of the motor (Parameter 99.8).

Crane is in need of mechanical overhaul (reconditioning). Please contact crane builder.

LIFETIME>90% Calculated mechanical lifetime (in Crane

Lifetime Monitor function) of hoist has exceeded 90% of the setting of parameter

74.3 CRANE LIFETIME.

MOTOR TEMP

(programmable

Fault Function

30.4

.. 30.10)

Motor temperature is too high (or appears to be too high). This can be caused by excessive load, insufficient motor power, inadequate cooling or incorrect start-up data.

NO MOT DATA Motor data is not given or motor data does not match with inverter data.

Check motor ratings, load and cooling.

Check start-up data.

Check MOTOR TEMP Fault Function parameters

(see chapter 6, group 30).

THERMISTOR

(programmable

Fault Function

30.4

... 30.5)

Motor thermal protection mode selected as

THERMISTOR and the temperature is excessive.

Check the motor data given by

Parameters

99.4 ... 99.9.

Check motor ratings and load.


Check thermistor connections for digital input DI6.



USER MACRO User Macro is being saved.

WARNING

JOYSTICK

The drive is stopped and prevented from start.

If Stand Alone Sel (Parameter 64.1) is

“True” and Control Type (Par 64.10) is

“JOYSTICK”

Conditions:

- START DIR A= ”1” and START DIR

B=”1” simultaneously

- SPEED REF is > 1V or TORQUE REF is

> 2Ma and ZERO POS =”1”

Or if Stand Alone Sel (Parameter 64.1) is

“True”, Control Type (Par 64.10) is not “FB

JOYSTICK” and FB Stoplim Sel (Par

10.14) is set to “DI3+DI4”. That is, DI3 &

DI4 is incorrectly used for both Direction orders A & B as well as Stoplimits A & B.

Please wait.

Check joystick and wiring to digital inputs 2 - 4 and analogue inputs 1 or

2.

Check setting of parameter 64.1

(Stand Alone Sel) if using fieldbus control

Change selection of FB Stoplim Sel, parameter 10.14.



7.3 Faults

The Control Panel enters the Fault Display when a Fault condition is detected. Motor operation is terminated. The Fault Display shows the cause for the Fault. The programmable Fault messages are displayed when the value of the Parameter is FAULT. The default setting of the

Programmable Fault Functions are given in Appendix A – Complete

Parameter and Default Settings.

If the frequency converter is operated with the Control Panel detached, the red LED in the Control Panel mounting platform indicates Fault condition. Table 7-2 contains the Fault messages, their most likely causes and possi-ble remedies. An example of a Fault message is displayed in Figure 7-2.

1 L -> 60.0% 1

ACS800-01 75 kW

** FAULT **

DC OVERVOLT

Figure 7-2. A Fault message.

The Fault message is acknowledged by pressing the RESET key or one of the Mode keys. After this the Control Panel operates in the normal way (operational commands on a tripped unit are disabled until the Fault is reset). The last 64 Faults can be viewed in the Fault History (in the

Actual Signal Display Mode). Parameter values can be changed if the

Fault is caused by incorrect parameter settings. Normal operation can be resumed after the Fault is reset with the RESET key (if not already reset) or from an external control location. After this, the motor can be started with (Start) key. If a Fault persists despite the actions indicated in the remedy column, contact an ABB service representative.


When a Fault is detected, it is stored in the Fault History for viewing at a later time. The last 16 Faults are stored in order of appearance along with the time the Fault was detected. The list is automatically updated at each Fault. The Fault History stores the information on all

Preprogrammed, Programmable and automatically resetting Faults.

The Fault History does store the DC undervoltage Fault that would be encountered if mains power is shut off during running (e.g. E-stop) if separate supply 24 V is used for RMIO board without using Power On

Ackn signal feedback.

The Fault History can be checked for trends that may be useful in preventing future Faults. For example, if there are several overvoltage

Faults in the Fault History, there might be an overvoltage problem in the mains system.

The Fault History is entered from the Actual Signal Display Mode by pressing or . The Faults can then be scrolled with and . To exit the Fault History press or .

The Fault History can be cleared by pressing the RESET key.

The Fault History is cleared before shipment from factory. All Faults therein have occurred since shipment.

7-5


Table 7-2 The CraneDrive Fault messages

Fault Cause Remedy

ACS 800 TEMP The ACS 800 internal temperature is excessive. The trip level of inverter module temperature is 140 °C.

Check ambient conditions.

Check air flow and fan operation.

Check heatsink fins for dust pick-up.

Check motor power against unit power.

BC OVERHEAT Brake chopper (internal) overload.

BC SHORT CIR Short circuit in brake chopper (internal)

BR BROKEN

IGBT(s).

BRAKE FLT, A brake fault = missing acknowledgement

(during brake release or at normal running) longer than time delay BRAKE FLT TD

(Parameter 67.2) will trip the drive.

Brake resistor is not connected or it is damaged.

The resistance rating of the brake resistor is too high.

Stop drive. Allow chopper to cool down.

Check parameter settings of resistor overload protection function (see parameter group 27 BRAKE CHOPPER).

Check that braking cycle meets the allowed limits.

Check that the supply AC voltage of the drive is not excessive.

Replace brake chopper. Ensure brake resistor is connected and not damaged.

Check brake contactor operation.

Check wiring of digital output Brake Lift

(DO1 = default) to contactor.

Check wiring of brake acknowledgement to digital input 1.

Check the resistor and the resistor connection.

Check that the resistance rating meets the specification. See the drive hardware manual.

BR OVERHEAT Overload of the brake resistor.

BR WIRING

Stop drive. Allow chopper to cool down.

Check parameter settings of resistor overload protection function (see parameter group 27 BRAKE CHOPPER).

Check that braking cycle meets the allowed limits.

Check that the supply AC voltage of the drive is not excessive.

Wrong connection of brake resistor or too low resistance value used.

Check resistor connection and resistance value. Ensure brake resistor is not damaged.

CHOPPER FLT External chopper (NBRA) fault should always disconnect power to the convertor.

A digital input e.g. DI4 (“1”=OK) can be connected to monitor the external braking chopper fault contact.

Faulty chopper will trip the drive, display fault on panel and give indication to the supervisory system. The chopper fault will also activate the Watchdog output signal, to be used for Emergency stop of crane.

Check external braking chopper (NBRA type).

Check wiring from chopper (NO) fault contact to e.g. digital input 4.

Check inhibit input on braking chopper.

(NC)


Fault Cause


Remedy

COMM

MODULE

Communication between drive and Fieldbus adapter module not working properly longer than time delay COMM FLT TIME-OUT

(Parameter 30.13).

Check Fieldbus adapter and it’s connection fibers to RDCO-0x channel 0.

CTRL B TEMP RMIO control board temperature is lower than Check air flow and fan operation.

-5...0 °C or exceeds +73...82 °C.

DC OVERVOLT Intermediate circuit DC voltage is excessive.

DC overvoltage trip limit is 1.3 · U

1max

U

1max

V. For 500 V units, U

1max voltage in the intermediate circuit

, where

is the maximum value of the mains voltage range. For 400 V units, U

1max

is 415

is 500 V. The actual corresponding to the mains voltage trip level is 728 Vdc for 400 V units and 877 Vdc for

500 V units.

Check Braking Chopper and Resistor.

Check deceleration time parameters.

Check mains for static or transient overvoltages.

DC

UNDERVOLT

Intermediate circuit DC voltage is not sufficient. This can be caused by a missing mains phase, a blown fuse or a rectifier bridge internal fault.

DC undervoltage trip limit is 0.65 · U 1min , where U

1min

is the minimum value of the mains voltage range. For 400 V and 500 V units, U 1min is 380 V.

The actual voltage in the intermediate circuit corresponding to the mains voltage trip level is 334 Vdc.

Check mains supply and fuses.

Check DC capacitors for leakage




EARTH FAULT

(programmable

Fault Function

30.11)

The load on the incoming mains system is out of balance. This can be caused by a fault in the motor, motor cable or an internal malfunction.

ELECTR SHAFT The Slave drive in Electrical shaft control has detected a Master-Slave position counter difference above limit set in parameter 73.5 POS ERROR LIMIT.

Check motor.

Check motor cable.

Check there are no power factor correction capacitors or surge absorbers in the motor cable.

In Slave drive check parameters

73.2-73.5 setting.

Check following settings in Master and

Slave drive: 50.1, 69.1-69.5, 70.1

Check group 23 speed controller settings.

ENCODER ERR Speed measurement fault detected. This can be caused by:

- Loose cable connection

- Communication timeout to RTAC or

NTAC module

- Faulty pulse encoder

- Diffference (filtered) between internal calculated and measured actual speed is greater than 20% of motor nominal speed

- No encoder pulses received (e.g. motor not rotating at start) within time set in par.

50.4 ENCODER DELAY while drive is in current or torque limit

Check settings of Parameter Group 50.

Check pulse encoder and it’s cabling including Ch A and Ch B phasing. The sign of the signal 2.17 SPEED

MEASURED must be the same as int. calculated speed 1.02 MOTOR SPEED when rotating the motor (set parameter

70.3 SPEED FEEDB USED = FALSE during this test). If not, exchange channels A and B.

Check connection between the RMIO board and the RTAC module.

Check for proper earthing of equipment.

Check for highly emissive components nearby.

Check external devices for faults.

Check EXT FAULT Fault Function parameter (see chapter 6, parameter

30.3).

Check fault text on Follower drive panel.

EXTERNAL FLT

(programmable

Fault Function

30.3)

FOLL FLT

There is a fault in one of the external devices. (This information is configured through one of the programmable digital inputs.)

Follower drive is in faulty state (tripped).

Indication given in Master drive if M/F ctrl.

Macro active.

INV OVERLOAD If running inverter in overload condition during braking i.e. IGBT overtemp alarm

Check Torque and Current limit settings. active + >10% braking power + speed >5% Check ramp time setting (69.2 - 5) and for more than 200 ms the drive will trip, fieldbus RATE signal display fault on panel and give indication to Check pulse encoder connections (A the supervisory system. and B) to RTAC or NTAC module (if used).

Check brake operation.

I/O COMM ERR Communication error on the control board, channel CH1.

Electromagnetic interference.

Check connections of fiber optic cables on RDCO board channel CH1.

Check all I/O modules (if present) connected to channel CH1, e.g. their node ID selector switch S1 setting.

See I/O Extension Manuals.




LINE CONV

MAS OSC FLT

Fault in the line side converter (only in ACC811 type drive).

If ”next edge” of the communication test bit is not received within a certain time COMTEST FLT TD

(Parameter 71.1 ), the drive will trip.

MF COMM ERR Master/Follower bus communication not active. Communication test bit not received within time M/F COMM

ERR TD

(Parameter 72.10)

Or in Broadcast mode:

Follower has not received any message from Master within 100 ms timeout (can be due to Ch2 configuration change).

MF RUN FLT

MOTOR PHASE

(programmable

Fault Function

30.10)

Both Master and Follower drive receiving start-order, but only one of the drives are in “Running” state.

One of the motor phases is lost. This can be caused by a fault in the motor, the motor cable, a thermal relay (if used) or an internal fault.

MOT OVERSP If the speed exceeds the level determined by MOT OVERSPEED

LEV

( 61.3) then the drive is tripped momentarily.

MOTOR TEMP

(programmable

Fault Function

30.4... 30.9)

Motor temperature is too high (or appears to be too high). This can be caused by excessive load, insufficient motor power, inadequate cooling or incorrect start-up data.

NO

COMMUNICATIO

N (X)

Panel comm. lost due to RMIO restarted (from 24V supply dip).

Or there is no Bus Administrator connected to the CDP panel link.

The selected drive is not present on the panel link. The panel link does not work because of hardware malfunction or problem in cabling.

Change the CDP panels monitored device from motor side converter to line side converter, by using DRIVE key on panel (see

Table 2-9).

Read line side converter fault message. See line side converter manual for fault description.

Check fieldbus adapter and its connection to

RDCO-0x channel 0.

Check that PLC program connection comm.

Test bit from input to output.

Check fieldbus wiring.

Check M/F bus connections and fibres between the Master drive channel 2 and the

Follower drive channel 2.

Check setting of parameter 72.1 MAST/FOLL

MODE:

Should be set to “MASTER” in Master drive and set to FOLLOWER” in Follower drive.

Check Setting of parameter 72.9

M/F FAULT TD.

Check M/F bus connections and fibres

Check motor and motor cable.

Check thermal relay (if used).

Check MOTOR PHASE Fault Function parameters (see chapter 6). Passivate this protection.

Check Torque and Current limit settings.

Check motor and motor cables.

Check pulse encoder connections (A and B) to

RTAC module (if used).



Check MOTOR TEMP Fault Function parameters (see chapter 6, group 30).

Press Reset. Check 24V supply quality.

Check from the Drive Selection Mode if there is a Bus Administrator connected. If not, see chapter 2 , for further advice.

Check the cabling.

Go to Drive Selection Mode by pressing

DRIVE . Press ENTER. Set the ID number to 1.

Press ENTER.

If the panel does not communicate with the drive, set the ID number of the drive to 1 as explained in chapter 2. If the above remedies do not help, write down the code from the fault message and contact ABB Service.




OVERCURRENT Output current is excessive. The software overcurrent trip limit is 3.5 · I hd

.

Check motor load.

Check acceleration time.

Check the motor and motor cable.


OVERFREQ Motor is turning faster than the highest allowed speed. This can be caused by an incorrectly set minimum/maximum speed, insufficient braking torque or changes in the load when using torque reference.

The trip level is 40 Hz over the operating range absolute maximum speed limit

(Direct Torque Control mode active) or frequency limit (Scalar Control active).

The operating range limits are set by

Parameters 20.1 and 20.2 (DTC mode active) or 20.8 and 20.9 (Scalar control active).

Check the minimum/maximum speed settings.

Check the adequacy of motor braking torque.

Check the applicability of torque control.

Check the need for a Braking Chopper and

Braking Resistor.

Parameter 20.1 must be set to a value not greater than 3000/(number of pole pairs) rpm.

PANEL/DW COM

(programmable

Fault Function par. 30.2)

The Control Panel or DriveWindow selected as active Local control location for the CraneDrive has ceased communicating.

PPCC LINK

SHORT CIRCUIT

INT board current measurement or communication fault between the RMIO and INT boards. This fault is masked when drive is off (no motor current).

This masking can be disabled by setting parameter 97.7=False (passcode=5600 to open group 97).

There is a short-circuit in the motor cable(s) or motor.

Check CDP312R Control Panel or

DriveWindow-PC connection.

Replace Control Panel in the mounting platform. Restart DriveWindow tool.

Check PANEL LOSS Fault Function parameter (see chapter 6, parameter

30.2

).

Check the fibre optic cables connected between RMIO and INT boards. In parallel connected inverters, check also cabling for

RPBU board (+ signal 2.28). Check for short circuit in the power stage. This can cause overload of the INT auxiliary power and result in PPCC communication failure.

The output bridge of the converter unit is faulty.

Check the motor and motor cable.


Check output semiconductors and current transducers. If detecting a faulty IGBT, replace also INT board.

Check mains supply unbalance and fuses.

SUPPLY PHASE Intermediate circuit DC voltage is oscillating. This can be caused by a missing mains phase, a blown fuse or a rectifier bridge internal fault.

A trip occurs when the DC voltage ripple is 17 per cent of the DC voltage.




THERMAL MODE The motor thermal protection mode is incorrectly set to DTC for a high-power motor (> 800 A).

THERMISTOR

(programmable

Fault Function

30.4... 30.5)

Motor thermal protection mode selected as

THERMISTOR and the temperature is excessive.

Change parameter 30.5 MOT THERM

P MODE from DTC to USER MODE

(also adjust parameter 30.6).



Check thermistor connections for digital input DI6.

Check thermistor cabling.

TORQ FLT If SPEED ERROR during constant speed is higher than SP DEV LEV (62.2 ) for a time longer than TORQ FLT TD (62.3 ) the drive will trip for TORQ FLT.

TORQ PR FLT If torque proving is not successful, that means torque does not reach the test level within the time TORQ PROV FLT TD

(66.2), the drive will trip. (Normally only used if active load, e.g. hoist drive, with pulse encoder feedback.

USER MACRO There is no User Macro saved or the file is defective.

Check ramp times.

Check Torque and Current limit settings.

Check Torque monitoring (Group) parameter settings.


Check pulse encoder connections (A and B) to RTAC module (if used).


Check if setting of parameter 21.2

Control Magnetising time is to low.

Create the User Macro again.



7.4 Maintenance

The ACS 800 requires minimum maintenance. It is recommended that the unit be kept under more close monitoring after the start-up. There is only need for the routine check-up once operations have stabilised.

The following safety instructions should be followed in the maintenance work.

WARNING! The maintenance work should only be undertaken by a qualified electrician. No measurements, parts replacements or other service procedures not described in this manual should be attempted.

Disconnect mains power if fault tracing involves work inside the frame, the motor or the motor cable. Wait 5 minutes for the intermediate circuit capacitors to discharge. The ACS 800 can contain dangerous voltages from external control circuits. Exercise appropriate care when working on the unit. Neglecting these instructions can cause physical injury and death.

7.4.1 Heatsink

WARNING! The printed circuit boards contain integrated circuits that are extremely sensitive to electrostatic discharge. Exercise propitiate care when working on the unit to avoid permanent damage to the circuits.

The heatsink fins pick up dust from the cooling air. The rate of pick-up depends on the frequency converter usage and the amount and type of contamination in the ambient air. The heatsink needs regular cleaning to ensure heat dissipation. The ACS 800 can run into overtemperature

Warnings and Faults if the heatsink is not cleaned regularly.

In normal environment, the heatsink should be checked and cleaned annually. Frequency converters operating in extreme conditions will need to be cleaned more often. The best cleaning frequency must be tried out experimentally.

The dust should be removed gently with a soft brush if the cleaning is carried out in the same room where the unit is normally operated.

Compressed air should not be used for cleaning unless the installation can be taken apart and the cleaning is carried out in another room (or outdoors). Fan rotation should be prevented (in order to prevent bearing wear) when using compressed air for heatsink cleaning.



7.4.2 Fan

The cooling fan minimum lifetime is calculated at about 60 000 hours, but in an average installation the fan is likely to operate considerably longer.

The actual lifetime depends on the frequency converter usage and ambient temperature.

The fan is completely sealed and its lifetime cannot be prolonged with cleaning or lubrication. Fan rotation must be prevented when compressed air is used for cleaning heatsink fins.

Fan failure can be predicted by the increasing noise from fan bearings and the gradual rise in the heatsink temperature in spite of heatsink cleaning. If the frequency converter is operated in a critical part of a process, fan replacement is recommended once these symptoms start appearing.

Fan failure will be self-evident due to the overtemperature Warnings and

Faults. After the heatsink has cooled it is possible to reset the

Warning/Fault and briefly operate the motor in a critical application.

7.4.3 Capacitors

A replacement fan is available from ABB. Do not attempt operation with other than ABB specified spare parts. The fan can be withdrawn by removing the bottom of the frame.

The ACS 800 intermediate circuit employs several electrolytic capacitors.

The minimum lifetime of these capacitors is calculated at about 100 000 hours, but in an average installation the capacitors are likely to operate considerably longer. The actual lifetime depends on the frequency converter loading and the ambient temperature.

Capacitor life can be prolonged by lowering the ambient temperature. It is not possible to predict capacitor failure.

Capacitor failure is usually followed by a mains fuse failure or a Fault trip.

Contact ABB if capacitor failure is suspected. Replacements are available from ABB. Do not attempt operation with other than ABB specified spare parts.

Relays and Contactors Frames R2 and R3 are fitted with a relay and frame R4 employs a contactor as a part of the charging circuit. The minimum estimated life spans for the relays and contactors are 100,000 and 1,000,000 operations respectively, but in average applications they are likely to operate considerably longer. The need for renewal of these components depends directly on the frequency of charging cycles.

Relay and contactor replacements are available from ABB. Do not attempt operation with other than ABB specified spare parts.





A

Appendix A - Complete Parameter and Default Settings

The tables in this appendix list all the actual signals, parameters, and alternative settings for the CraneDrive. Use these tables as reference when you are customizing macros for your CraneDrive application.

Table A-1 Actual Signals.

Signal name Short name

ACTUAL SIGNALS (Group 1)

1 SPEED ESTIMATED SP ESTIM

2 MOTOR SPEED FILT

3 FREQUENCY

4 MOTOR CURRENT

5 MOTOR TORQUE FILT

SPEED

FREQ

CURRENT

TORQUE

6 POWER

7 DC BUS VOLTAGE V

8 MAINS VOLTAGE

9 OUTPUT VOLTAGE

10 ACS 800 TEMP

11 APPLICATION MACRO

12 SPEED REF

13 CTRL LOCATION

14 OP HOUR COUNTER

15 KILOWATT HOURS

16 IDENTIF RUN DONE

17 DI7-1 STATUS

18 AI1 [V]

19 AI2 [mA]

20 EXT AI1 [V]

21 RO3-1 STATUS

22 AO1 [mA]

23 AO2 [mA]

24 TOTAL INERTIA

25 EXT DI6-1 STATUS

26 EXT RO4-1 STATUS

27 MOTOR RUN-TIME

28 MOTOR TEMP EST

29 CTRL BOARD TEMP

30 FAN ON TIME

31 AI3 [mA]

32 TOTAL OPER TIME

33 LOAD TORQUE ton

34 LOAD SPEC FACT Km

35 LIFETIME LEFT %

POWER

DC BUS V

MAINS V

OUT VOLT

ACS TEMP

MACRO

SPEEDREF

CTRL LOC

OP HOUR

KW HOURS

ID RUN

DI7-1

AI1 [V]

AI2 [mA]

EXT AI1

RO3-1

AO1 [mA]

AO2 [mA]

INERTIA

EXT DI6-1

EXT RO4-1

RUN-TIME

MOT TEMP

CTRL B T

FAN TIME

AI3 [mA]

OPERTIME

LOAD ton

FACT Km

LIFETIME

Range/Unit rpm rpm

Hz

A

%

%

V

V

V

%

CRANE; M/F CTRL; USER 1 LOAD; USER 2 LOAD

V mA mA kgm 2 h (Hours) rpm

LOCAL; I/O CTRL; FIELDBUS; M/F CTRL h kWh

True, False

V mA hrs ton

%

C (deg Celcius)

C (deg Celcius) h mA

Fieldbus scaling

20000 = par. 69.01

20000 = par. 69.01

100 = 1 Hz

10 = 1 A

10000 = 100 % of motor nominal torque

1000 = 100 % of motor nominal power (par..99.09)

1 = 1 V

1 = 1 V

1 = 1 V

10 = 1 %

1 = 1

(1 … 6 acc. par. 99.02)

20000 = par. 69.01

1 … 4

1 = 1 h

1 = 100 kWh

65535 = True, 0 = False

1 = 1 (0 … 127)

10 = 1 V

10 = 1 mA

10 = 1 V

1 = 1 (0 … 7)

10 = 1 mA

10 = 1 mA

10 = 1 kgm2

1 = 1 (0 … 63)

1 = 1 (0 … 15)

1 = 10 h

1 = 1 deg C

1 = 1 deg C

1 = 10 h

10 = 1 mA

10 = 1 h

100 = 1 ton

100 = 1

1 = 1 %

ACC 800 Firmware Manual A-1

Appendix A – Complete Parameter and Default Settings

Signal name

INT SIGNALS (Group 2)

Range/Unit

1 SPEED REF 2 rpm

2 SPEED REF 3 rpm

Description

Ramp input reference limited by speed limits (parameters 20.1

& 20.2)

Ramp output reference

3 SPEED REF 4 rpm

4 SPEED ERROR NEG

5 TORQUE PROP REF rpm

%

Total speed reference = ramp output reference + speed correction reference

Actual speed - total speed reference

Speed controller proportional part output


20000 = par. 69.01

20000 = par. 69.01

20000 = par. 69.01

6 TORQUE INTEG REF

7 TORQUE DER REF

8 TORQ ACC COMP REF

9 TORQUE REF1

%

%

%

%

Speed controller integration part output

Speed controller derivative part output

Acceleration compensation reference

Torque reference input to drive (torque ramp output)

20000 = par. 69.01







10 TORQUE REF2 % Speed controller total output + acceleration compensation reference.

Limited with parameters 20.4 & 20.5

Output of “Torque Selector”, see parameter 72.2 11 TORQUE REF3

12 TORQUE REF4

13 TORQUE REF

14 TORQ USED REF

15 MOTOR TORQUE

%

%

%

%

%

Torque ref 3 + Load compensation

Torque ref 4 + Torque step

Final torque reference used by torque controller (Torque ref 5 with limits)

Actual motor torque

16 FLUX ACT

17 SPEED MEASURED

18 POS ACT PPU

19 START

20 RUNNING

21 BRAKE LIFT

22 FAULT

%

Rpm

+/- 32767

True; False

True; False

True; False

True; False

Actual motor flux

Measured (RTAC or NTAC) motor speed

Position measurement value (scaled with parameter 70.1)

Start-order (Local or External)

Drive running acknowledgment

Brake lift order

Drive fault indication (tripped)

23 “not used”

24 SPEED CORR Rpm Speed correction reference

25 POWOP SPEEDREF

26 ELSHAFT POS

ERROR

27 LIMIT WORD 1 0 – FFFF Packed boolean (Hex)

28 FAULTED INT INFO 0 – FFFF Packed boolean (Hex)

29 TORQUE SELECTOR ZERO; SPEED;

TORQUE; MIN;

MAX; ADD

30 dV/dt

% rpm/s

Power optimisation calculated speed reference (enabled with

“High speed” signal)

Electric Shaft control position error in Slave drive (Slave Posact

– Master Posact). Scaling according to parameter 70.1 POS

SCALE setting.

Limit word indicating if drive is running in any limitation, For bit details see section 4.3

INT board fault info, For bit details see section 4.3

Torque reference (2.11) selector setting used:

0 = Zero control (not used in CraneDrive)

1 = Speed control (Torq ref 2)

2 = Torque control (Torq ref 1)

3 = Minimum control (min of Torq ref 1 and 2)

4 = Maximum control (max of Torq ref 1 and 2)

5 = Add control (sum of Torq ref 1 and 2)

Speed reference ramp derivative

31 LOAD TORQUE %

32 LIMIT WORD INV

33 INT SC INFO

% Tn (Integer scaling: 10=1%)

0 – FFFF Packed boolean (Hex)


Calculated load torque in % of motor nominal torque (filtered with par. 68.10)

Limit word indicating details if bit 4 in TORQ INV CUR LIM of

2.27 Limit Word 1 is set. For bit details see section 4.3

Information word on location of Short circuit fault. For bit details see section 4.3

1 = 1

1 = 1 (0 … 65535)

1 = 1 (0 … 65535)

1 = 1 (0 … 5)

20000 = par. 69.01

1000 = 100 %

1 = 1 (0 … 65535)

1 = 1 (0 … 65535)






1000 = 100 %

20000 = par. 69.01

1 = 1

65535 = True, 0 = False

65535 = True, 0 = False

65535 = True, 0 = False

65535 = True, 0 = False

1 = 1 rpm

1000 = 100 %

A-2 ACC 800 Firmware Manual


Signal name

FB REC WORDS

(Group 3)

1 FB COMMAND WORD

Range/Unit Description Fieldbus scaling


%

Fieldbus Command Word, Dataset 1 Word 1, For bit details see section 5.6.12

Fieldbus Speed Reference, Dataset 1 Word 2

1 = 1 (0 … 65535)

10000 = 100 % 2 FB SPEED REF

3 FB TORQ REF

4 FB RAMP RATE

5 FB SPEED CORR

6 FB POS PRECOUNT

%

%

(mm)

Fieldbus Torque Reference, Dataset 1 Word 3

Fieldbus Ramp rate, Dataset 3 Word 1, see table 5-5 for details.

Fieldbus Speed Correction reference, Dataset 3 Word 2

Fieldbus Position Precount value, Dataset 3 Word 3

7 FB AUX COMM WORD 0 – FFFF Packed boolean (Hex)

8 FB LOAD MEAS REF

9 FB DS5 WORD3

10 FB DS7 WORD1

11 FB DS7 WORD2

%


Fieldbus Aux Command Word, Dataset 5 Word 1, For bit details see section 5.6.12

Fieldbus Load Measure Reference, Dataset 5 Word 2 (or

PLC signal to DW)

Fieldbus Dataset 5 Word 3 (For boolean PLC signals to

DriveWindow, 8 ms updating time)

Integer +/- 32767 Fieldbus Dataset 7 Word 1, see section 6.2.29 for details

(or PLC signal to DW)

Integer +/- 32767 Fieldbus Dataset 7 Word 2, see section 6.2.29 for details


12 FB DS7 WORD3 Integer +/- 32767 Fieldbus Dataset 7 Word 3, see section 6.2.29 for details


10000 = 100 %

1000 = 1

10000 = 100 %

1 = 1

1 = 1 (0 … 65535)

10000 = 100 %

1 = 1 (0 … 65535)

1 = 1 (-32768 … 32767)

1 = 1 (-32768 … 32767)

1 = 1 (-32768 … 32767)

Signal name Range/Unit Description

FB TRA WORDS

(Group 4)

1 FB STATUS WORD

2 FB FAULT WORD 1



3 FB FAULT WORD 2

4 FB ALARM WORD



5 FB AUX STATUSWORD 0 – FFFF Packed boolean (Hex)

Fieldbus Status Word, Dataset 2 Word 1, For bit details see section 5.6.12

Fieldbus Fault Word 1, Dataset 6 Word 1, For bit details see section 5.6.12

Fieldbus Fault Word 2, Dataset 6 Word 2, For bit details see section 5.6.12

Fieldbus Alarm Word, Dataset 6 Word 3, For bit details see section 5.6.12

Fieldbus Aux Status Word, Dataset 12 Word 1, For bit details see section 5.6.12


1 = 1 (0 … 65535)

1 = 1 (0 … 65535)

1 = 1 (0 … 65535)

1 = 1 (0 … 65535)

1 = 1 (0 … 65535)

Signal name

INFORMATION (Group 5)

1 SW PACKAGE VER

2 APPLIC SW VERSION

3 TEST DATE

4 INVERTER TYPE

5 ACS800 -

Range/Unit e.g. ACXR7100

Description

Version of the complete ACC 800 software package e.g. ACAR7100 Version of the ACC 800 application software ddmmyy (Day Month Year) Converter factory test date

CraneDrive ACS800 Application type



Table A-2 Parameter Settings.

Parameter

99 START-UP DATA

99.1 LANGUAGE


99.3 APPLIC RESTORE

Alternative Settings

ENGLISH; ENGLISH AM; DEUTSCH; ITALIANO; ESPANOL;

PORTUGUES; NEDERLANDS; FRANCAIS; DANSK; SUOMI; SVENSKA;

CESKY; POLSKI; PO-RUSSKI

CRANE; M/F CTRL; USER 1 LOAD; USER 1 SAVE; USER 2 LOAD;

USER 2 SAVE

NO; YES

Default

setting

ENGLISH

CRANE

NO

99.4 MOTOR CTRL MODE DTC; SCALAR DTC

99.5 MOTOR NOM VOLTAGE ½ * U

N of ACS 800 ... 2 * U

N of ACS 800 (printed on the motor nameplate) 0 V

99.6 MOTOR NOM CURRENT 1/6 * I hd of ACS 800 ... 2 * I hd of ACS 800 (printed on the motor nameplate) 0.0 A

99.7 MOTOR NOM FREQ


8 Hz ... 300 Hz (printed on the motor nameplate)

1 rpm ... 18 000 rpm (printed on the motor nameplate)

50.0 Hz

1 rpm


99.10 MOTOR ID RUN

0 kW ... 9000 kW (printed on the motor nameplate)

ID MAGN; STANDARD; REDUCED

0.0 kW

ID MAGN

99.11 DEVICE NAME Drive section name, e.g. “Main Hoist”

10 DIGITAL INPUTS

10.1 BRAKE ACKN SEL INTERNAL ACK; DI1; DI2; DI5; DI6; DI_IL

10.2 ZERO POS SEL

10.3 SLOWDOWN-N SEL



10.6 SYNC SEL


10.8 STEP REF2 SEL

10.9 STEP REF3 SEL

10.10 STEP REF4 SEL


NOT SEL; DI1; DI2; DI5; DI6; DI_IL

NOT SEL; DI1; DI2; DI5; DI6; EXT DI1.1; EXT DI1.2; EXT DI2.1; EXT

DI2.2; DI5+DI6; DI1.1+DI1.2; DI_IL


DI2.2; DI_IL


DI2.2;

EXT DI1.3; EXT DI2.3; DI_IL

NOT SEL; DI1; DI2; DI3; DI4; DI5; DI6; EXT DI1.1; EXT DI1.2; EXT DI2.1;

EXT DI2.2; DI_IL

NOT SEL; DI1; DI2; DI3; DI4; DI5; DI6; EXT DI1.1; EXT DI1.2; EXT DI2.1;

EXT DI2.2; DI_IL


DI2.2; DI1.3; DI2.3; DI_IL


DI2.2; DI1.3; DI2.3; DI_IL


DI2.2; DI1.3; DI2.3; DI_IL


DI2.2; DI_IL

NOT SEL; DI1; DI2; DI3; DI4; DI5; DI6; DI_IL 10.12 SNAG LOAD-N SEL




10.16 FAULT RESET SEL


DI2.2; DI_IL

NOT SEL; DI3+DI4; DI5+DI6; DI1.1+DI1.2

NOT SEL; DI1; DI2; EXT DI1.1; EXT DI1.2; EXT DI2.1; EXT DI2.2; EXT

DI1.3; EXT DI2.3; DI5; DI6; DI_IL

NOT SEL; DI1; DI2; DI3; DI4; DI5; DI6; DI_IL

10.17 USER MACRO CH SRC NOT SEL; DI1; DI2; DI3; DI4; DI5; DI6; COMM MODULE; DI_IL

10.18 EXTERNAL FAULT

13 ANALOGUE INPUTS

NOT SEL; DI1; DI2; DI3; DI4; DI5; DI6; DI_IL

13.1 SCALE AI1

13.2 FILTER AI1

13.3 SCALE AI2

13.4 FILTER AI2

13.5 SCALE EXT AI1

13.6 FILTER EXT AI1

13.7 AI1 0% REF LEV

0 ... 4.000

0 s ... 4.00 s

0 ... 4.000

0 s ... 4.00 s

0 ... 4.000

0 s ... 4.00 s

0.0 ... 10.0 V

14 RELAY OUTPUTS

14.1 RELAY RO1 OUTPUT



14.4 EXT1 DO1 OUTPUT




NOT USED; READY; RUNNING; FAULT; FAULT-N; CONTROL LOC;

BRAKE LIFT; WATCHDOG-N; USER 1 OR 2; REVERSE; OVERSPEED;

RDY FOR RUN; SPEED LIM 1; LIFETIME>90%

See 14.1

See 14.1

See 14.1

See 14.1

See 14.1

See 14.1

DI1

DI2

DI5

DI6

NOT SEL

NOT SEL

NOT SEL

NOT SEL

NOT SEL

NOT SEL

NOT SEL

NOT SEL

NOT SEL

NOT SEL

NOT SEL

NOT SEL

NOT SEL

NOT SEL

1.000

0.02 s

1.000

0.02 s

0.000

0.02 s

0.0 V

0 = NO

65535 = YES

0 = DTC

65535=SCALAR

1 = 1 V

10 = 1 A

100 = 1 Hz

1 = 1 rpm

10 = 1 kW

1 = 1 (1 … 3)

1 = 1 (1 … 6)

1 = 1 (1 … 6)

1 = 1 (1 … 12)

1 = 1 (1 … 8)

1 = 1 (1 … 9)

1 = 1 (1 … 8)

1000 = 1

100 = 1 s

1000 = 1

100 = 1 s

1000 = 1

100 = 1 s

10 = 1 V

BRAKE LIFT 1 = 1 (1 … 14)

WATCHDOG-N

FAULT-N


1 = 1 (0 … 13)

1 = 1 (1 … 6)

1 = 1 (1 … 10)

1 = 1 (1 … 12)

1 = 1 (1 … 12)

1 = 1 (1 … 12)

1 = 1 (1 … 12)

1 = 1 (1 … 12)

1 = 1 (1 … 12)

1 = 1 (1 … 10)

1 = 1 (1 … 8)

1 = 1 (1 … 10)

1 = 1 (1 … 4)

1 = 1 (1 … 12)

1 = 1 (1 … 14)

1 = 1 (1 … 14)

NOT USED 1 = 1 (1 … 14)

NOT USED 1 = 1 (1 … 14)

NOT USED 1 = 1 (1 … 14)

NOT USED 1 = 1 (1 … 14)



Parameter

15 ANALOGUE OUTPUTS

15.1 ANALOGUE OUTPUT1

15.2 INVERT AO1

15.3 MINIMUM AO1

15.4 FILTER ON AO1

15.5 SCALE AO1

15.6 ANALOGUE OUTPUT2

15.7 INVERT AO2

15.8 MINIMUM AO2

15.9 FILTER ON AO2

15.10 SCALE AO2

16 SYST CTR INPUTS

16.2 PARAMETER LOCK

16.3 PASS CODE

16.8 FAN SPD CTRL MODE

16.9 FUSE SWITCH CNTR

16.10 INT CONFIG USER


NOT USED; MEAS SPEED; SPEED; FREQUENCY; CURRENT; SIGN TORQUE;

POWER; DC BUS VOLT; OUTPUT VOLT; SIGN POSACT; SIGN SP REF

NO; YES

0 mA; 4 mA

0.00 s ... 10.00 s

10 % ... 1000 %

NOT USED; SIGN SPEED; SPEED; FREQUENCY; CURRENT; TORQUE;

POWER; DC BUS VOLT; OUTPUT VOLT; TORQUE REF; SIGN SP REF

NO; YES

0 mA; 4 Ma

0.00 s ... 10.00 s

10 % ... 1000 %

OPEN; LOCKED

0 ... 30 000

CONST 50HZ; RUN/STOP; CONTROLLED

OFF; ON

0 … Int config (number of R8i modules configured in drive)

Default

setting

SPEED

NO

0 mA

0.10 s

100%

TORQUE


1 = 1 (1 … 11)

0 = NO

65535 = YES

1 = 0 mA

2 = 4 mA

100 = 1 s

1 = 1 %

1 = 1 (1 … 11)

NO

0 mA

0 = NO

65535 = YES

1 = 0 mA

2 = 4 mA

100 = 1 s 2.00 s

100% 1 = 1 %

OPEN 0 = OPEN

65535 = LOCKED

0 1 = 1

CONST 50HZ 1 = 1 (0 … 2)

OFF 0 = OFF

65535 = ON

“Int config” 1 = 1 (0 … 12)

20 LIMITS

20.1 MINIMUM SPEED

20.2 MAXIMUM SPEED


20.4 MAXIMUM TORQUE

20.5 MINIMUM TORQUE


0.00 Amp ... I max

Amp

0.0 % ... 600.0 %

-600.0 % … 0.0 %

20.7 UNDERVOLTAGE CTRL ON; OFF

20.8 MINIMUM FREQ

20.9 MAXIMUM FREQ


20.11 P MOTORING LIM

- 18 000/(number of pole pairs) rpm ... MAXIMUM SPEED (value of par. 20.2)

MINIMUM SPEED (value of par. 20.1) ... 18 000/(number of pole pairs) rpm

ON; OFF

(calculated) 20000 = p.69.1

(calculated) 20000 = p.69.1

I max

Amp

200.0 %

-200.0 %

OFF

ON

10 = 1 A

100 = 1 %

100 = 1 %

0 = OFF

65535 = ON

0 = OFF

65535 = ON

100 = 1 Hz - 300.00 Hz ... MAXIMUM FREQ Hz (value of par 20.9) (Visible if Scalar mode) -50.00 Hz

MINIMUM FREQ Hz (value of par 20.8) ... 300.00 Hz (Visible if Scalar mode) 50.00 Hz

0.0 % ... 100.0 %

0.0 % ... 600.0 %

100.0 %

300.0 %

100 = 1 Hz

10 = 1 %

100 = 1 %

20.12 P GENERATING LIM

20.13 TORQ RISE T LIM

-600.0 % … 0.0 %

0.0 % … “max” % (max depends on inverter & motor size combination)

100 = 1 %

100 = 1 %

21 START/STOP

21.1 START FUNCTION


23 SPEED CTRL

23.1 GAIN




23.5 SLIP GAIN

23.6 AUTOTUNE RUN ?


23.8 SPEED STEP (only for

DW)

CNST DC MAGN

30.0 ms ... 10000.0 ms

0.0 ... 200.0

0.01 s ... 1000.00 s

0.0 ms ... 9999.8 ms

0.00 s ... 1000.00 s

0.0 % ... 400.0 %

NO; YES

0.0 ... 999.9 ms

-1500.00 … 1500.00 rpm

-300.0 %

“max” %

CNST DC

MAGN

500.0 ms

10.0

2.50 s

0.0 ms

0.00 s

100.0%

NO

4.0 ms

0.00 rpm

3 = CONST DC

MAGN

1 = 1 ms

100 = 1.0

1000 = 1 s

1 = 1 ms

10 = 1 s

1 = 1 %

0 = NO

65535 = YES

1 = 1 ms

20000 = p.69.1

24 TORQUE CTRL

24.1 TORQ RAMP UP

24.2 TORQ RAMP DOWN 0.00 s ... 120.00 s

24.3 TORQ STEP (only for DW) -300.00 … 300.00 %

(not visible if par 72.1 MAST/FOLL MODE = FOLLOWER)

0.00 s ... 120.00 s

26 MOTOR CONTROL

26.3 IR COMPENSATION

(visible only when the “SCALAR motor control mode” is selected)

0 % ... 30 % (visible only when the “SCALAR motor control mode” is selected)

0.00 s

0.00 s

0.00 %

0%

100 = 1 s

100 = 1 s

100 = 1 %

100 = 1 %



Parameter

27 BRAKE CHOPPER

27.1 BRAKE CHOPPER CTL


OFF; ON

27.2 BR OVERLOAD FUNC

27.3 BR RESISTANCE

NO; WARNING; FAULT

0.01 … 100.00 ohm

27.4 BR THERM TCONST 0.000 … 10000.000 s

27.5 MAX CONT BR POWER 0.00 … 10000.00 kW

Default

setting

OFF

(R2&R3=ON)

NO

100.00 ohm

0.000 s

0.00 kW


0 = OFF

65535 = ON

1 = 1 (0 … 2)

1 = 1 ohm

1 = 1 s

1 = 1 Kw

27.6 BC CTRL MODE

28 MOTOR MODEL

AS GENERATOR; COMMON DC AS

GENERATOR

OFF

0 = AS GENERATOR

65535 = COMMON DC

28.1 LONG DISTANCE MOD

28.2 TR TUNE

OFF; ON

-60.0 % … +200.0 % 0.0 %

0 = OFF

65535 = ON

1 = 1 %

30 FAULT FUNCTIONS

30.2 PANEL LOSS

30.4 MOTOR THERM PROT

30.5 MOT THERM P MODE

30.6 MOTOR THERM TIME

30.7 MOTOR LOAD CURVE

30.8 ZERO SPEED LOAD

30.9 BREAK POINT

30.10 MOTOR PHASE LOSS

30.11 EARTH FAULT

FAULT; NO

FAULT; WARNING; NO

DTC; USER MODE; THERMISTOR

256.0 s ... 9999.8 s

50.0 % ... 150.0 %

25.0 % ... 150.0 %

1.0 Hz ... 300.0 Hz

NO; FAULT

NO; FAULT

FAULT

FAULT

DTC 1 = 1 (1 … 3)

(calculated) 1 = 1 s

100.0 %

74.0 %

1 = 1 %

1 = 1 %

45.0 Hz

FAULT

1 = 1 (1 … 2)

1 = 1 (1 … 3)

100 = 1 Hz

0 = NO

65535 = FAULT

FAULT 0 = NO

65535 = FAULT

30.12 MASTER FAULT FUNC FAULT; NO; WARNING (visible only when COMM MODULE is selected) FAULT 1 = 1 (1 … 3)

30.13 COMM FLT TIME-OUT 0.10 ... 60.00 s (visible only when COMM MODULE is selected) 1.00 s 100 = 1 s

50 PULSE-ENCODER

50.1 ENCODER PULSE NR

50.2 SPEED MEAS MODE

50.3 ENCODER ALM/FLT

50.4 ENCODER DELAY

50.5 SPEED FEEDB USED

51 COMM MODULE

51.1 MODULE TYPE

51.2 ... 51.15

60 LOCAL OPERATION

60.1 LOC OPER INH

60.2 LOC SPEED MAX

60.3 LOC ZERO SPEED TD

(Only visible when ENCODER MODULE is selected, par. 98.1)

1000 – 4096

A_-B DIR; A_-_; A_-_B DIR; A_-_ B_-_

WARNING; FAULT

5 ms ... 50000 ms

True; False

(Only visible when par. 98.2 selected to COMM MODULE)

(Fieldbus module type connected)

(Fieldbus module parameters per connected type of module)

True; False

0.0 % ... 100.0 %

0.0 s ... 300.0 s

1024

A_-_ B_-_

FAULT

1 = 1

1 = 1 (0 … 3)

1000 ms

True

0 = WARNING

65535 = FAULT

1 = 1 ms

0 = False

65535 = True

(module type) See module manual

See module manual

False

10.0 %

120.0 s

0 = False

65535 = True

10 = 1 %

10 = 1 s

61 SPEED MONITOR

61.3 MOT OVERSPEED LEV

61.4 SPEED LIM 1

62 TORQUE MONITOR

62.1 TORQ MON SEL

62.2 SP DEV LEV

62.3 TORQ FLT TD

62.4 SP DER BLK LEV

63 FAST STOP



0 ... 200 %

0.0 ... 200.0 %

True; False

0...100 %

0...60000 ms

0...100 %/s

NOT USED; FAST STOP 1; FAST STOP 2; FAST STOP 3

NOT USED; FAST STOP 1; FAST STOP 2; FAST STOP 3

110 %

20.0 %

True

10 %

600 ms

13 %/s

1 = 1 %

10 = 1 %

0 = False

65535 = True

1 = 1 %

1 = 1 ms

1 = 1 %/s

NOT USED 1 = 1 (0 … 4)

NOT USED 1 = 1 (0 … 4)



Parameter

64 CRANE


64.2 CONTIN GEAR


True; False

True; False


64.4 DEADZONE A

64.5 DEADZONE B

64.6 REF SHAPE

0.0 % ... 100.0 %

0.0 % ... 100.0 %

0.0 % ... 100.0 %

0 ... 100

64.7 SLOWDOWN SPEEDREF 0 % ... 100 %

64.8 ZERO POS OK TD 0.0 s ... 60.0 s


64.10 CONTROL TYPE

0 ... 4.00

JOYSTICK; RADIO CTRL; MOTOR POT; STEP JOYST; STEP RADIO;

FB JOYSTICK

0.0 % ... 100.0 % 64.11 MINIMUM REF




0 ms ... 5000 ms

0.0 % ... 100.0 %

0.0 % ... 100.0 %

0.0 % ... 100.0 % 64.15 STEP REF LEVEL 3


65 LOGIC HANDLER

65.1 CONTIN ON

0.0 % ... 100.0 %

True; False

65.2 OFF TD

66 TORQUE PROVING

66.1 TORQ PROV SEL

0.0 s ... 10000.0 s

True; False


66.3 TORQ PROV REF

67 MECH BRAKE CONT

67.1 BRAKE FALL TIME

67.2 BRAKE FLT TD

67.4 BRAKE REOPEN TD

67.5 BRAKE LONG FT TD

67.6 ZERO SPEED LEV

67.7 ZERO SPEED TIME

67.8 SPEED REF TD

67.9 START TORQ SEL

67.10 MIN START TQ REF

67.11 MOTOR TYPE

0.0 s ...100.0 s

0.0 % ... 200.0 %

0.0 s ... 60.0 s

0.0 s ... 60.0 s

0.0 s ... 60.0 s

0.0 s ... 60.0 s

0.0 % ... 100.0 %

0 ... 1000 ms

0.00 s ... 10.00 s

NOT USED; AUTO TQ MEM; LOAD MEAS; PAR 67.10

0 … 300 %

STANDARD; CONICAL

67.12 RED FLUX LEVEL

67.13 START FLUX LEVEL

67.14 START FLUX TIME

68 POWER OPTIMIZE

68.1 POWOP SELECT

25 ... 100 % (visible only if par. 67.11 selected to CONICAL)

100 ... 140 % (visible only if par. 67.11 selected to CONICAL)

0.0 ... 10.0 s (visible only if par. 67.11 selected to CONICAL)

True; False

68.2 BASE SPEED 1.0 % ... 100.0 %

68.3 POWOP AUTOTUNE SEL True; False



68.6 TQLIM UP

68.7 TQLIM DWN

0.00 kgm2 ... 100.00 kgm2

0.00 kgm2 ... 100.00 kgm2

0.0 % ... 200.0 %

0.0 % ... 200.0 %


68.9 T MAX

0 % ... 100 %

0% … 2000%

68.10 LOAD TORQ FILT TC 0 ms ... 32000 ms

68.11 SLACK ROPE TQ LEV -400 % ... 400 %

68.12 LOADCORR FACT UP 0.00 ... 100.00

68.13 LOADCORR FACT DWN 0.00 ... 100.00

Default

setting

True

False

98.0 %

0.0 %

0.0 %

20

25 %

0.3 s

1.00

JOYSTICK


0 = False

65535 = True

0 = False

65535 = True

10 = 1 %

10 = 1 %

10 = 1 %

1 = 1

1 = 1 %

10 = 1 s

100 = 1.0

1 = 1 (0 … 6)

0.0 %

400 ms

10.0 %

25.0 %

50.0 %

100.0 %

False

180.0 s

False

0.5 s

20.0 %

10 = 1 %

1 = 1 ms

10 = 1 %

10 = 1 %

10 = 1 %

10 = 1 %

0 = False

65535 = True

10 = 1 s

0 = False

65535 = True

10 = 1 s

10 = 1 %

1.0 s

1.0 s

0.0 s

10 = 1 s

10 = 1 s

10 = 1 s

0.5 s

1.0 %

200 ms

0.20 s

10 = 1 s

10 = 1 %

1 = 1 ms

100 = 1 s

NOT USED 1 = 1 (0 … 4)

0 % 1 = 1 %

STANDARD

75 %

100 %

1.0 s

0 = STANDARD

65535 =

CONICAL

1 = 1 %

1 = 1 %

10= 1 s

False

100.0 %

0 = False

65535 = True

10 = 1 %

False 0 = False

65535 = True

3.00 kgm2 100 = 1 kgm2

30.00 kgm2 100 = 1 kgm2

100.0 % 10 = 1 %

75.0 %

12 %

500 %

150 ms

-400 %

0.90

1.10

10 = 1 %

1 = 1 %

1 = 1 %

1 = 1 ms

1 = 1 %

100 = 1.0

100 = 1.0



Parameter

69 REFERENCE HANDLER

69.1 SPEED SCALING RPM

69.2 ACC TIME FORW

69.3 ACC TIME REV

69.4 DEC TIME FORW

69.5 DEC TIME REV

69.6 S-RAMP TC


69.10 RAMP RATE=1

70 POS MEASURE

70.1 POS SCALE

70.2 SYNC COND

71 FIELD BUS COMM

71.1 COMTEST FLT TD

71.2 RESET POWER ON TD

71.3 CHOPP/EXT MON TD

71.4 ADVANT COMM TYPE

71.5 DSET BASE ADDRESS

71.6 FIELDBUS R-TYPE

72 MASTER / FOLLOWER

72.1 MAST/ FOLL MODE

72.2 TORQUE SELECTOR

72.3 LOAD SHARE

72.4 WINDOW SEL ON

72.5 WINDOW WIDTH POS

72.6 WINDOW WIDTH NEG

72.7 DROOP RATE

72.8 TORQ REF A FTC

72.9 M/F FAULT TD

72.10 M/F COMM ERR TD

74.3 START LIFETIMEMON


0 rpm ... 10000 rpm

0.1 s ... 60.0 s

0.1 s ... 60.0 s

0.1 s ... 60.0 s

0.1 s ... 60.0 s

0.0 s ... 10.0 s

0.5 ... 100.0

0 ms ... 32767 ms

0 ms ... 32767 ms

1; 10

OFF; ON

True; False; AI3

1.00 ... 32767.00 PPU

Pos; Neg

0 ms ... 4000 ms

ENG DRIVE; STD DRIVE

Default

setting

1500 rpm

5.0 s

5.0 s

5.0 s

5.0 s

0.0 s

2 .0

True

OFF


1 = 1 rpm

10 = 1 s

10 = 1 s

10 = 1 s

10 = 1 s

10 = 1 s

10 = 1.0

1 = 1 (1 … 3)

100.00 PPU 100 = 1 ppu

Pos 0 = Pos

65535 = Neg

300 ms

2000 ms

1000 ms

1 = 1 ms

1 = 1 ms

1 = 1 ms

ENG DRIVE 0 = ENG DRIVE

65535 = STD DRIVE

1

NO

0 = 1

65535 = 10

1 = 1 (1 … 2) NO; RPBA-01

OFF; MASTER; FOLLOWER (visible only if M/F CTRL macro selected) OFF

ZERO; SPEED; TORQUE; MINIMUM; MAXIMUM; ADD

0.0 % ... 400.0 % (visible only if M/F CTRL macro selected)

OFF; ON

0.0 rpm ... 1500.0 rpm

0.0 rpm ... 1500.0 rpm

0.0 % ... 100.0 %

0 ms ... 32767 ms (visible only if M/F CTRL macro selected)



72.11 MF BROADCAST MODE NO; YES

73 ELECTRIC SHAFT

73.1 ELSHAFT MODE SEL

73.2 ELSHAFT GAIN

73.3 GEAR NUMERATOR

73.4 GEAR DENOMINATOR

73.5 POS ERROR LIMIT

73.6 ELSH CTRL MIN SPD

74 CRANE LIFETIME

74.1 NOMINAL LOAD

74.2 CRANE LIFETIME

OFF; MASTER; SLAVE

0.0 … 100.0 (only used in Slave)

1 … 32000 (only used in Slave)



0 … 100 % (only used in Slave)

0.00 … 32767.00 ton

0 … 12500 hrs

ZERO

100.0 %

OFF

0.0 rpm

0.0 rpm

0.0 %

0 ms

200 ms

200 ms

NO

OFF

0.1

1

1

10

20 %

0.00 ton

100 hrs

1 = 1 (1 … 3)

1 = 1 (1 … 6)

10 = 1 %

0 = OFF

65535 = ON

20000 = p.69.1

20000 = p.69.1

10 = 1 %

1 = 1 ms

1 = 1 ms

1 = 1 ms

0 = NO

65535 = YES

1 = 1 (1 … 3)

100 = 1.0

1 = 1

1 = 1

1 = 1

1 = 1 %

100 = 1 ton

1 = 1 hr

0 = OFF

65535 = ON


Parameter

90 DATASET REC ADDR

90.1 DATASET 7 WORD 1



92 DATASET TR ADDR










98 OPTION MODULES

98.1 ENCODER MODULE

98.2 COMM. MODULE

98.3 CH3 NODE ADDR

98.4 CH0 NODE ADDR



98.7 AI/O EXT MODULE


0 … 9999

0 … 9999

0 … 9999

0 … 9999

0 … 9999

0 … 9999

0 … 9999

0 … 9999

0 … 9999

0 … 9999

0 … 9999

0 … 9999

NTAC; NO; RTAC-SLOT1; RTAC-SLOT2; RTAC-DDCS

NO; FIELDBUS; ADVANT

1 ... 254

0 … 125

NDIO; NO; RDIO-SLOT1; RDIO-SLOT2; RDIO-DDCS

NDIO; NO; RDIO-SLOT1; RDIO-SLOT2; RDIO-DDCS

NAIO; NO; RAIO-SLOT1; RAIO-SLOT2; RAIO-DDCS


106

NO

NO

1

1

NO

NO

NO

202

218

104

402

403

404

109

107

Default

setting

0

0

0


1 = 1

1 = 1

1 = 1

1 = 1

1 = 1

1 = 1

1 = 1

1 = 1

1 = 1

1 = 1

1 = 1

1 = 1

1 = 1 (0 … 4)

1 = 1 (1 … 3)

1 = 1

1 = 1

1 = 1 (1 … 5)

1 = 1 (1 … 5)

1 = 1 (1 … 5)





B

Appendix B - User I/O Interface diagrams

The Figures in this appendix shows typical signal connections at the

RMIO board I/O, for the different control modes.

ACC 800 Firmware Manual B-1

Appendix B – User I/O Interface diagrams rpm

(%)

Terminal Block X16 RMIO board

1 -REF

Negative reference voltage –10V, max. 10 mA

2 AI GND

Terminal Block X21 Analogue signals

1 VREF

Positive reference voltage +10V, max. 10 mA

2 GND

3 AI1+

Speed Reference (voltage 0(2)…+10V)

4 AI1-

5 AI2+

Torque Reference (current 0…20 mA)

6 AI2-

7 AI3+

8 AI3-

Speed Limit, par. 20.10 (current 0(4)…20 mA)

9

AO1+ Motor Speed

10

AO1- 0…20 mA == 0…100 % Motor speed

11

AO2+ Motor Torque

12

AO2- 0…20 mA == 0…Motor Nominal Torque

Terminal Block X22 Digital Inputs

1

2

3

4

DI1

DI2

DI3

DI4

Brake Acknowledge (default)

Zero Position (default)

Start Direction A = Up or Forward

Start Direction B = Down or Backward

6

7

DI6 Fast Stop-N (default)

+24 VDC +24 VDC max. 100 mA ground

Use external power supply, if the total current consumption exceeds 250 mA

(DI7)

Terminal Block X23

1

+24 V DC Aux. voltage output 24V 250 mA

2 GND

Terminal Block X25 Digital Outputs

1 RO11

Relay Output 1

2 RO12 Brake Lift (default)

3 RO13


5 RO21 Relay Output 2

6 RO22 Watchdog-N (default)

7 RO23



6 RO32 Fault-N (default)

7 RO33

Figure B-1: Connections at the RMIO board in Stand Alone mode,

Joystick control.

B-2 ACC 800 Firmware Manual

Appendix B – User I/O Interface diagrams rpm

(%)

1

6

7

8

9

2

3

4

5

10


1 -REF


2 AI GND


1 VREF


2 GND

3 AI1+ not used

4 AI1-

5 AI2+ not used

6 AI2-

7 AI3+

8 AI3-


9

AO1+ Motor Speed

10


11

AO2+ Motor Torque

12



DI1 Brake Acknowledge (default)

DI2

DI3

DI4

DI5

Increase (= Accelerate)



Slowdown-N (default)


+24 VDC +24 VDC max. 100 mA

+24 VDC

DGND Digital ground

DGND Digital ground



1


2 GND


1 RO11



3 RO13




7 RO23



6 RO32 Fault-N (default)

7 RO33


Motor Pot control.


Appendix B – User I/O Interface diagrams rpm

(%)


1 -REF


2 AI GND


1 VREF


2 GND

3 AI1+

not used

4 AI1-

5 AI2+ not used

6 AI2-

7 AI3+

8 AI3-


9

AO1+ Motor Speed

10


11

AO2+ Motor Torque

12



1 DI1 Brake Acknowledge (default)

3

4

6

7

DI3

DI4




+24 VDC +24 VDC max. 100 mA ground



1


2 GND


1 RO11



3 RO13




7 RO23



6

7

RO32

RO33

Fault-N (default)


Radio Control.


Appendix B – User I/O Interface diagrams rpm

(%)


1 -REF


2 AI GND


1 VREF

Positive reference voltage +10V, max. 10 mA

2 GND

3 AI1+

not used

4 AI1-

5 AI2+

not used

6 AI2-

7 AI3+

8 AI3-


9

AO1+ Motor Speed

10


11

AO2+ Motor Torque

12



1 DI1 Brake Acknowledge (default)

2

3

DI2

DI3

Power On Ackn (programmable input)

Sync (programmable input)

4 DI4

5 DI5

6 DI6

7 +24 VDC +24 VDC max. 100 mA ground


(DI7)


1


2 GND


1 RO11



3 RO13




7 RO23



6

7

RO32

RO33

Fault-N (default)

Figure B-4: Connections at the RMIO board in Fieldbus mode.


Appendix B – User I/O Interface diagrams



ABB Automation Technologies AB

Crane Systems

721 67 Västerås

SWEDEN

Telephone +46 21 34 00 00

Telefax +46 21 34 02 90

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