6 Chapter 6 - Parameters. ABB ACS800 CraneDrive Control, ACC800 7.1

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

68 POWER OPTIMIZATION

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

ACC 800 Firmware Manual 6-1

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.

ACC 800 Firmware Manual

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.

6-4 ACC 800 Firmware Manual


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.

99.6 MOTOR NOM CURRENT

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.



This page is intentionally left blank.


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.


6 Chapter 6 - Parameters. ABB ACS800 CraneDrive Control, ACC800 7.1

Chapter 6 - Parameters

6.1 Overview

6.2 Parameter

ACC 800 PARAMETER GROUPS

Chapter 7 - Fault Tracing and Maintenance

7.1 Overview

7.2 Warnings

7.3 Faults

Key Features

Related manuals

Frequently Answers and Questions

What types of cranes can ACS 800 CraneDrive Control be used with?

What are the steps to start up the ACS 800 CraneDrive Control?

How can I program the ACS 800 CraneDrive Control?

What are the different control modes for the ACS 800 CraneDrive Control?

How do I troubleshoot faults on the ACS 800 CraneDrive Control?

Table of contents

6 Chapter 6 - Parameters. ABB ACS800 CraneDrive Control, ACC800 7.1

Chapter 6 - Parameters

6.1 Overview

6.2 Parameter

ACC 800 PARAMETER GROUPS

Chapter 7 - Fault Tracing and Maintenance

7.1 Overview

7.2 Warnings

7.3 Faults

Key Features

Related manuals

ABB

ACC 600 Crane Application Program 5.x

BLAUBERG

CDP-2/10

ABB

ACS800 Standard Control Program 7.x

ABB

ACS 1000

ABB

ACS800 标准应用程序

ABB

ACS 400

ABB

ACS800 Pump Control Application Program

ABB

ACS 600 MultiDrive

Danfoss

VLT® AutomationDrive FC 360

ABB

ACS 600

ABB

ACS 600 Pump and Fan Control

ABB

RAIO-01

Frequently Answers and Questions

What types of cranes can ACS 800 CraneDrive Control be used with?

What are the steps to start up the ACS 800 CraneDrive Control?

How can I program the ACS 800 CraneDrive Control?

What are the different control modes for the ACS 800 CraneDrive Control?

How do I troubleshoot faults on the ACS 800 CraneDrive Control?

Table of contents