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Program features

87

Speed matching (internal overload protection)

The Speed matching function is an internal overload protection function. It
supervises the motor torque. The function checks that the motor follows the speed
reference during acceleration and deceleration, and does not have an excessive
speed error during acceleration, deceleration and when running at the constant
speed.

There are two different parameters that can be used to define the speed matching
deviation, one during acceleration/deceleration and the other during steady state.
Parameter

SPD DEV LEV is used to check the deviation when the motor is

running in the steady state or when the motor is not accelerating or decelerating.
This is defined in terms of percentage of Par.

Parameter

SPD CHG PER SEC, the rate of the actual speed change in % per

second in terms of percentage of Par.

MAXIMUM SPEED, can be set so that

the difference between the rate of change of the motor speed and the rate of change
of the ramped speed reference is within this value during acceleration or
deceleration. If the difference between the rate of change of the motor speed and the
rate of change of the ramped speed reference is greater than the setting of Par.

for a period of Par.

SPD MATCH FLT TD, the drive trips on SPD MATCH

FLT.

Example

: Acceleration/deceleration ramp times are set to, for example, 3 seconds.

The maximum speed is 1500 rpm. Therefore, the drive speed reference should ramp
at 500 rpm/s or 33%/s. With SPD CHG PER SEC set to 2% / s (30 rpm/s), the drive
does not trip on SPD MATCH FLT during acceleration/deceleration as long as the
rate of change of the motor speed is within (31% to 35%). In the steady state, if the
SPD DEV LEV is set to 10%, the drive will trip when the difference between the
major speed and the ramped speed reference is greater than 150 rpm (10% of 1500
is 150 rpm). See the following figure. If the speed deviation is outside the window as
shown in the figure, the drive will wait for the Par.

SPD MATCH FLT TD period

and then trip on the SPD MATCH FLT fault.

The speed change must be within 31% (= 470 rpm/s) and 35% (= 530 rpm/s).

(rpm)

(s)

500rpm

1000rpm

1500rpm

1s 2s 3s

1650rpm

1350rpm

500rpm

500rpm

500rpm

(rpm)

(s)

500rpm

1000rpm

1500rpm

1s 2s 3s

1650rpm

1350rpm

500rpm

500rpm

500rpm

500rpm

1000rpm

1500rpm

1s 2s 3s

1650rpm

1350rpm

500rpm

500rpm

500rpm

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Summary of Contents for ACS 800 Series

Page 1: ...ACS800 Firmware Manual Crane Control Program N697 ...

Page 2: ...plication Guide 3AUA0000046481 English Load Speed Control Application Guide 3AUA0000046482 English Functional Specification for Conical Motor Function 3AUA0000046480 English The special application guides as well as this manual can be found and downloaded from ABB IHMM ...

Page 3: ...Crane Control Program N697 Firmware Manual 3AFE68775230 REV E EN EFFECTIVE 2012 09 25 2012 ABB Oy All Rights Reserved ...

Page 4: ......

Page 5: ...ist for controlling the drive from digital inputs and the potentiometer 27 Checklist for controlling the drive from the joystick 28 Checklist for controlling the drive from digital inputs and motorized potentiometer 28 Checklist for controlling the drive using Step reference 29 Checklist for controlling the drive in the fieldbus mode 29 Safety Control configuration 30 Checklist for safety control ...

Page 6: ...n mode 47 How to upload data from a drive to the panel 47 How to download data from the panel to a drive 48 How to set the contrast of the display 49 Drive selection mode 50 How to select a drive and change its panel link ID number 50 Reading and entering packed boolean values on the display 51 Program features Chapter overview 53 Typical crane configuration 53 Local control vs external control 53...

Page 7: ...dentification 66 Settings 66 Diagnostics 66 Start function Constant DC magnetising 66 Settings 66 DC hold 66 Settings 66 Flux braking 67 Settings 67 Flux optimisation 68 Settings 68 FS method 68 Settings 68 Acceleration and deceleration ramps 69 Settings 69 Step referencing 70 Settings 70 Speed controller tuning 71 Settings 71 Diagnostics 71 Speed control performance figures 72 Torque control perf...

Page 8: ...perature 79 Short circuit 79 Input phase loss 80 Control board temperature 80 Overfrequency 80 Internal fault 80 Operation limits 80 Settings 80 Power limit 80 Automatic resets 80 Parameter lock 81 Settings 81 Motor temperature measurement through the standard I O interface 81 Settings 82 Diagnostics 82 Motor temperature measurement through an analogue I O extension 83 Settings 84 Diagnostics 84 E...

Page 9: ...asic data for speed correction 103 Calculating the linear rope speed 103 Defining the basic data for speed reference calculation 103 Settings 106 Diagnostics 106 External speed correction 108 Settings 108 Synchro error blocking 109 Settings 109 Service counter 110 Settings 110 Diagnostics 110 Adaptive Programming using the function blocks 110 DriveAP 110 Examples of crane functionalities created w...

Page 10: ...cros 129 Control locations EXT1 EXT2 129 Control locations and control modes 130 Stand alone mode 130 Master Follower and Synchro control mode 130 Crane macro 130 Default control connections 131 User macros 132 Control schemes 134 Control using digital inputs and Potentiometer Reference 134 RDIO 01 digital I O extension 136 Control using Joystick 136 RDIO 01 digital I O extension 140 Wiring diagra...

Page 11: ... ACCEL DECEL 180 23 SPEED CTRL 182 24 TORQUE CTRL 184 26 MOTOR CONTROL 185 27 BRAKE CHOPPER 187 30 FAULT FUNCTIONS 187 33 INFORMATION 193 34 PROCESS VARIABLE 193 35 MOT TEMP MEAS 194 42 BRAKE CONTROL 196 50 ENCODER MODULE 200 51 COMM MODULE DATA 201 52 STANDARD MODBUS 201 60 MASTER FOLLOWER 201 70 DDCS CONTROL 205 74 SPEED MONITOR 205 75 SPEED MATCHING 206 76 TORQUE PROVING 206 77 LOAD SPEED CTRL ...

Page 12: ...fieldbus adapter is used 248 Communication profiles 249 ABB Drives communication profile 249 03 01 MAIN CONTROL WORD 250 03 02 MAIN STATUS WORD 251 State Machine for the ABB Drives communication profile 252 Fieldbus reference scaling 253 Start Stop sequence using communication bits 254 Flow chart for Main Control Command Bit sequence 255 Fieldbus references in a Master Follower configuration 256 G...

Page 13: ...ed by the drive 280 Warning messages generated by the control panel 287 Fault messages generated by the drive 288 Adaptive Programming examples for crane control Chapter overview 297 Main contactor control logic 297 Brake match 301 Working logic 301 Redundancy in Master Follower crane control 304 Scaling actual encoder position signal mm to analogue output as mA 310 Slack rope torque detection 311...

Page 14: ... 319 Rxxx adapter modules such as RPBA 01 RDNA 01 etc 319 Nxxx adapter modules such as NPBA 12 NDNA 02 etc 319 Actual signals 320 Parameters 324 DriveWindow Control block diagrams Further information Product and service inquiries 339 Product training 339 Providing feedback on ABB Drives manuals 339 Document library on the Internet 339 ...

Page 15: ...50 English With the DriveWindow PC tool version 2 xx it is possible create a full back up of the software bpg file You can use the back up file for example when replacing the RMIO xx board or a whole drive Safety instructions Follow all safety instructions delivered with the drive Read the complete safety instructions before you install commission or use the drive The complete safety instructions ...

Page 16: ...a connection diagram and also short descriptions of the control locations and modes Actual signals and parameters describes the actual signals and parameters of the drive Fieldbus control describes the communication through the serial communication links Fault tracing lists the warning and fault messages with the possible causes and remedies Adaptive Programming examples for crane control includes...

Page 17: ... the limited start up follow the instructions given in section How to perform the limited start up covers only the basic settings on page 18 Note Start the drive in the following order First select values for parameter group 99 that is enter the motor data and create the DTC motor model Only then give values for parameter groups 10 98 that is adjust the application parameters AFTER the DTC motor m...

Page 18: ...entification data CDP312 PANEL Vx xx then the Identification Display of the drive ACS800 ID NUMBER 1 then the Actual Signal Display 1 0 0 rpm O FREQ 0 00 Hz CURRENT 0 00 A POWER 0 00 1 0 0 rpm O The drive is now ready for the limited start up 1 0 0 rpm O FREQ 0 00 Hz CURRENT 0 00 A POWER 0 00 ENTERING START UP DATA MANUALLY parameter group 99 Select the language The general parameter setting proce...

Page 19: ...ve motor nominal voltage Allowed range 1 2 UN 2 UN of ACS800 UN refers to the highest voltage in each of the nominal voltage ranges 415 V AC for 400 V AC units 500 V AC for 500 V AC units and 690 V AC for 600 V AC units 1 0 0 rpm O 99 START UP DATA 05 MOTOR NOM VOLTAGE motor nominal current Allowed range approx 1 6 I2hd 2 I2hd of ACS800 0 2 I2hd if parameter 99 04 SCALAR 1 0 0 rpm O 99 START UP DA...

Page 20: ...out pressing any key The ID run STANDARD should be selected if the operation point is near zero speed and or operation at torque range above the motor nominal torque within a wide speed range and without any measured speed feedback is required Note If STANDARD ID run is selected the brake is opened when the Start command is given and remains open until the STANDARD ID run is completed If ID MAGN i...

Page 21: ...wer from the drive and wait 5 minutes for the intermediate circuit capacitors to discharge Measure the voltage between each input terminal U1 V1 and W1 and earth with a multimeter to ensure that the frequency converter is discharged Exchange the position of two motor cable phase conductors at the motor terminals or at the motor connection box Verify your work by applying mains power and repeating ...

Page 22: ...ault setting of acceleration and deceleration selection is ACC DEC DIR where the acceleration time 1 and deceleration time 1 are used if the motor is running in the forward direction and acceleration time 2 and deceleration time 2 are used if the motor is running in the reverse direction 1 L 0 0 rpm O 22 ACCEL DECEL 05 DECEL TIME 2 The drive is now ready for use ...

Page 23: ...ING IN FORWARD DIRECTION AND CONTROLLING THE SPEED OF THE MOTOR Start in the forward direction by switching the digital input DI1 ON DI2 should be OFF Note The default setting for forward direction start digital input is DI1 and reverse direction start digital input is DI2 1 0 0 rpm I FREQ 0 00 Hz CURRENT 0 00 A POWER 0 00 Regulate the speed by adjusting the voltage of the analogue input AI1 1 500...

Page 24: ...80 of motor rated speed 20 03 MAXIMUM CURRENT 100 Ihd 20 04 TORQ MAX LIM1 50 Ensure that the panel is in the local control mode L displayed on the status row Press the LOC REM key to switch between modes Change the ID run selection to STANDARD Press ENTER to verify the selection The following message is displayed If brake control is active the brake is opened when STANDARD ID run is selected To st...

Page 25: ...leted the speed controller parameters Group 23 SPEED CTRL are updated to optimized settings for the crane applications Parameter 23 01 GAIN is set to 15 and parameter 23 02 INTEGRATION TIME to 0 5 s You can change these settings afterwards manually Note If parameter group 99 gets locked the following warning message is displayed WRITE ACCESS DENIED PARAMETER SETTING NOT POSSIBLE Group 99 gets lock...

Page 26: ...Start up and control through the I O interface 26 ...

Page 27: ...ve in local mode Select the Crane macro Par 99 02 Enter the motor name plate data into group 99 Select the direction to Request Par 10 03 Open the group 99 read only lock using passcode 584 Par 16 03 Perform the ID run Par 99 10 After the ID run check the direction of rotation of the motor Forward direction positive must be the UP direction Select the keypad ref selection Par 11 01 Set the speed t...

Page 28: ...e macro Par 99 02 Enter the motor name plate data into group 99 Open the group 99 read only lock using passcode 584 Par 16 03 Perform the ID run Par 99 10 After the ID run check the direction of rotation of the motor Forward direction positive must be the UP direction Select the external control location EXT1 EXT2 Par 11 02 For example EXT1 selected Select the start stop control Par 10 01 For exam...

Page 29: ...wer on reset time delay Par 16 12 to ensure that all the boards are powered and the application is running Press the Local Remote button on the CDP to put the drive in Remote mode Select the Crane macro Par 99 02 Enter the motor name plate data into group 99 Open the group 99 read only lock using passcode 584 Par 16 03 Perform the ID run Par 99 10 After the ID run check the direction of rotation o...

Page 30: ...ication profile Par 98 07 Set the communication adapter if it is used group 51 Set the modbus control if modbus is used group 52 Set the CH0 address if ADVANT communication is used via modulebus Par 70 01 Set the CH0 topology if ADVANT communication is used via modulebus Par 70 04 See also chapter Fieldbus control for more information Safety Control configuration This section explains how the safe...

Page 31: ... the brake reopen delay Par 42 16 Set the brake chopper if it is used group 27 See section Control of a mechanical brake for more information Master Follower configuration This section explains how to configure the drive as a Master or a Follower A maximum of four Followers can be configured on a Master drive using the CH 2 communication link The Master Follower configuration has to be used with E...

Page 32: ...ntrol as COMM CW if the Master command is to be used Par 10 02 for EXT2 Select the direction control as REQUEST Par 10 03 Select the drive reference control as COMM REF FAST COMM Par 11 06 in EXT2 The FAST COMM selection should be used if the load sharing parameter Par 60 09 is to be functional Set the load sharing factor Par 60 09 Set the minimum reference limits Par 11 07 for EXT2 Set the maximu...

Page 33: ...ed to calculate the actual position in mm Set the following parameters for encoder configuration Select the encoder module type Par 98 01 Set the encoder PPR Par 50 01 Select the speed measurement mode Par 50 02 Select the speed feedback selection as ENCODER Par 50 06 Configure the encoder fault Par 50 03 Set the following parameters in the Master drive Select Synchro control as ON Par 78 01 Selec...

Page 34: ...nchro correction mode Par 78 12 Set the position hysteresis value Par 78 13 Load speed control configuration This section explains how the Load speed control function parameters have to be configured See section Load speed control for detailed explanation Checklist for Load speed control configuration Activate the Load speed control function Par 77 01 Set the motor base speed Par 77 20 This is the...

Page 35: ...can be set with the empty hook current at the base speed when running in the reverse direction Par 77 18 can be set with the maximum load current at the base speed in the reverse direction These parameters are to be entered in the increasing order in the above sequence For more details see section Load speed control Set the speed limit values for the reverse direction Par 77 13 77 15 77 17 and 77 ...

Page 36: ...Quick start up guide 36 ...

Page 37: ...selected at start up parameter 99 01 The control panel has four operation modes Actual Signal Display Mode ACT key Parameter Mode PAR key Function Mode FUNC key Drive Selection Mode DRIVE key The use of single arrow keys double arrow keys and ENTER depend on the operation mode of the panel The drive control keys are No Use 1 Start 2 Stop 3 Activate reference setting 4 Forward direction of rotation...

Page 38: ...ion start Drive selection Enter change mode Accept new value Actual Signal Display Mode ENTER ENTER ENTER ENTER selection ID number change Status row Status row ACT PAR FUNC DRIVE 1 L 1242 0 rpm O FREQ 45 00 Hz CURRENT 80 00 A POWER 75 00 1 L 1242 0 rpm O 10 START STOP DIR 01 EXT1 STRT STP DIR DI1 2 ACS800 AQCR7190 xxxxxx ID NUMBER 1 Act signal Fault message scrolling Actual signal names and value...

Page 39: ...ntrol status L Local control R Remote control External control Drive status I Motor is running O Motor is stopped ready for new start ACS800 is not ready for start fault or any interlock open 1 L 1242 0 rpm I Direction of rotation Forward Reverse Drive reference 1 L 1242 0 rpm I SPEED 1500 0 rpm CURRENT 80 00 A TORQUE 75 00 The figure below describes the status row digits ...

Page 40: ...tion Step Action Press Key Display 1 To show the status row 1 1242 0 rpm I FREQ 45 00 Hz CURRENT 80 00 A POWER 75 00 2 To switch to local control only if the drive is not under local control that is there is no L on the first row of the display 1 L 1242 0 rpm I FREQ 45 00 Hz CURRENT 80 00 A POWER 75 00 3 To stop 1 L 1242 0 rpm O FREQ 45 00 Hz CURRENT 80 00 A POWER 75 00 4 To start 1 L 1242 0 rpm I...

Page 41: ...lay 1 L 1242 0 rpm I FREQ 45 00 Hz CURRENT 80 00 A POWER 75 00 3 To enter the Reference Setting function 1 L 1242 0 rpm I FREQ 45 00 Hz CURRENT 80 00 A POWER 75 00 4 To change the reference slow change fast change 1 L 1325 0 rpm I FREQ 45 00 Hz CURRENT 80 00 A POWER 75 00 5 To save the reference The value is stored in the permanent memory it is restored automatically after power switch off 1 L 132...

Page 42: ... Hz CURRENT 80 00 A POWER 75 00 2 To select a row a blinking cursor indicates the selected row 1 L 1242 0 rpm I FREQ 45 00 Hz CURRENT 80 00 A POWER 75 00 3 To enter the actual signal selection function 1 L 1242 0 rpm I 1 ACTUAL SIGNALS 04 CURRENT 80 00 A 4 To select an actual signal To change the actual signal group 1 L 1242 0 rpm I 1 ACTUAL SIGNALS 05 TORQUE 70 00 5 a To accept the selection and ...

Page 43: ...rpm I FREQ 45 00 Hz CURRENT 80 00 A POWER 75 00 Step Action Press key Display 1 To enter the Actual Signal Display Mode 1 L 1242 0 rpm I FREQ 45 00 Hz CURRENT 80 00 A POWER 75 00 2 To enter the Fault History Display 1 L 1242 0 rpm I 1 LAST FAULT OVERCURRENT 6451 H 21 MIN 23 S 3 To select the previous UP or the next fault warning DOWN 1 L 1242 0 rpm I 2 LAST FAULT OVERVOLTAGE 1121 H 1 MIN 23 S To c...

Page 44: ... 75 00 ACT RESET 1 L 1242 0 rpm I 2 LAST FAULT DC OVERVOLT 3210 1121 H 1 MIN 23 S Event Information on display Drive detects a fault and generates a fault message Sequential number of the event and LAST FAULT text Name of the fault and a sign in front of the name Total power on time User resets the fault message Sequential number of the event and LAST FAULT text RESET FAULT text Total power on tim...

Page 45: ... a parameter within a group 1 L 1242 0 rpm O 11 REFERENCE SELECT 03 EXT REF1 SELECT AI1 4 To enter the parameter setting function 1 L 1242 0 rpm O 11 REFERENCE SELECT 03 EXT REF1 SELECT AI1 5 To change the parameter value slow change for numbers and text fast change for numbers only 1 L 1242 0 rpm O 11 REFERENCE SELECT 03 EXT REF1 SELECT AI2 6a To save the new value 1 L 1242 0 rpm O 11 REFERENCE S...

Page 46: ...to accept Step Action Press Key Display 1 See the table above to enter the Parameter Mode select the correct parameter group and parameter enter the parameter setting mode 1 L 1242 0 rpm O 84 ADAPTIVE PROGRAM 06 INPUT1 000 000 00 2 To scroll between the inversion group index and bit fields 1 1 L 1242 0 rpm O 84 ADAPTIVE PROGRAM 06 INPUT1 000 000 00 3 To adjust the value of a field 1 L 1242 0 rpm O...

Page 47: ...to the optional equipment See parameter group 98 OPTION MODULES Before upload do the following in the drive from which the copies are to be taken Set the parameters in groups 10 to 97 as preferred Proceed to the upload sequence below Step Action Press Key Display 1 Enter the Function Mode 1 L 1242 0 rpm O UPLOAD DOWNLOAD CONTRAST 4 2 Select the upload function a flashing cursor indicates the selec...

Page 48: ...aded data to the drive 2 Ensure the drive is in local control L shown on the first row of the display If necessary press the LOC REM key to change to local control 1 L 1242 0 rpm I FREQ 45 00 Hz CURRENT 80 00 A POWER 75 00 3 Enter the Function Mode 1 L 1242 0 rpm O UPLOAD DOWNLOAD CONTRAST 4 4 Select the download function a flashing cursor indicates the selected function 1 L 1242 0 rpm O UPLOAD DO...

Page 49: ... O UPLOAD DOWNLOAD CONTRAST 4 3 Enter the contrast setting function 1 L 1242 0 rpm O CONTRAST 4 4 Adjust the contrast 1 L 1242 0 rpm CONTRAST 6 5 a Accept the selected value 1 L 1242 0 rpm O UPLOAD DOWNLOAD CONTRAST 6 5 b Cancel the new setting and retain the original value by pressing any of the mode selection keys The selected mode is entered 1 L 1242 0 rpm I FREQ 45 00 Hz CURRENT 80 00 A POWER ...

Page 50: ...less the drive is to be connected to the panel link with other drives on line How to select a drive and change its panel link ID number Step Action Press key Display 1 To enter the Drive Selection Mode ACS800 AQCCXXXX xxxxxx ID NUMBER 1 2 To select the next drive view The ID number of the station is changed by first pressing ENTER the brackets round the ID number appear and then adjusting the valu...

Page 51: ...ked boolean that is each individual bit has a defined meaning explained at the corresponding signal or parameter On the control panel packed boolean values are read and entered in hexadecimal format In this example bits 1 3 and 4 of the packed boolean value are ON Boolean 0000 0000 0001 1010 Hex 0 0 1 A Bit 15 Bit 0 ...

Page 52: ...Control panel 52 ...

Page 53: ...ontrol without an incremental encoder Long travel drives Open loop motor control without an incremental encoder Local control vs external control The drive can receive Start Stop and Direction commands and reference values from the control panel or through digital and analogue inputs An optional fieldbus adapter module enables control over an open fieldbus link A PC equipped with DriveWindow can a...

Page 54: ... the drive is in local control the control commands are given from the control panel keypad L indicates local control on the panel display The control panel always overrides the external control signal sources when used in the local control mode Slot 1 CH0 DDCS Fieldbus ACS800 RDCO module Control panel DriveWindow External control Local control Standard I O Slot 1 or Slot 2 RTAC RDIO RAIO adapter ...

Page 55: ...fined as a source for the external control You can connect the control signals to two external control locations EXT1 or EXT2 Depending on the selection either one is active at a time This function operates on a 20 ms time level The figure below illustrates the use of the external control locations External control through the Input Output terminals or through the fieldbus interfaces 1 R 1242 rpm ...

Page 56: ... key Additional information LOC REM Selection between local and external control Parameter 11 02 Selection between EXT1 and EXT2 10 01 Start stop direction source for EXT1 11 03 Reference source for EXT1 10 02 Start stop direction source for EXT2 11 06 Reference source for EXT2 Group 98 OPTION MODULES Activation of the optional I O and serial communication Actual signals Additional information 01 ...

Page 57: ...ral drives Only in EXT2 Control on page 94 and a separate Master Follower Application Guide 3AFE64590430 English EXT1 AI1 Std IO AI1 AIO EXT AI2 AIO EXT 11 03 Select DI1 DIO EXT3 DI2 DIO EXT3 KEYPAD COMM REF Control panel I O Extensions See parameter group 98 OPTION MODULES AI2 Std IO AI3 Std IO DI3 Std IO DI4 Std IO AI1 AI2 AI3 DI3 DI4 Fb selection See chapter Fieldbus control AI5 AI6 DI11 DI12 R...

Page 58: ...ror check when the reference is taken from a joystick If the Zero position input is true and the speed reference or torque reference is greater than 10 of the minimum or maximum scaled value of the used joystick reference a JOYSTICK CHECK warning is generated after a delay of 11 13 JOYSTICK WARN TD If Start commands in both directions are true simultaneously then it is also detected as a joystick ...

Page 59: ...ed through a communication interface It is possible to scale the external reference so that the minimum and maximum values of the signal correspond to speeds other than the minimum and maximum speed limits Settings Diagnostics Parameter Additional information Group 11 REFERENCE SELECT External reference source type and scaling Group 20 LIMITS Operating limits Group 22 ACCEL DECEL Speed reference a...

Page 60: ...ate cycles in the Crane control program 1 Update cycle in the motor temperature measurement function See group 35 MOT TEMP MEAS Settings Diagnostics Input Cycle AI standard 6 ms AI extension 6 ms 100 ms 1 Parameter Additional information Group 11 REFERENCE SELECT AI as a reference source Group 13 ANALOGUE INPUTS Processing of the standard inputs 30 01 Supervision of AI loss 35 01 AI in a motor tem...

Page 61: ...ate cycles in the Crane control program 1 Update cycle in the motor temperature measurement function See group 35 MOT TEMP MEAS Settings Diagnostics Output Cycle AO standard 24 ms AO extension 24 ms 1000 ms 1 Parameter Additional information Group 15 ANALOGUE OUTPUTS AO value selection and processing standard outputs 30 22 Supervision of the use of optional AO Group 35 MOT TEMP MEAS AO in motor te...

Page 62: ...ST CTRL INPUTS DI as external Run Enable fault reset or user macro change signal 22 01 DI as acceleration and deceleration ramp selection signal 30 03 DI as external fault source 30 05 DI in motor overtemperature supervision function 30 22 Supervision of optional I O use 42 02 DI as mechanical Brake Acknowledge signal 98 03 96 05 Activation of the optional digital I O extension modules Actual sign...

Page 63: ... 1 STATUS RMIO DI1 001 017 00 RMIO DI2 001 017 01 RMIO DI3 001 017 02 RMIO DI4 001 017 03 RMIO DI5 001 017 04 RMIO DI6 001 017 05 RMIO DIL 001 017 06 Power ON acknowledge programmable with parameter 97 18 001 040 00 Values of optional Digital Inputs on RDIO board DI15 7 STATUS RDIO DI7 001 040 00 RDIO DI8 001 040 01 RDIO DI9 001 040 02 RDIO DI10 001 040 03 RDIO DI11 001 040 04 RDIO DI12 001 040 05...

Page 64: ...03 013 06 Par 03 13 bit 6 Par 14 02 RO PTR2 is configured default for running as 003 002 02 Par 03 02 bit 2 Par 14 03 RO PTR3 is configured default for inverted fault as 003 002 03 Par 03 03 bit 3 It is possible to write a value to a relay output through a serial communication link Update cycles in the Crane control program Settings Diagnostics Output Cycle RO standard 100 ms RO extension 100 ms P...

Page 65: ...d Analogue I O status Three signals can be shown simultaneously on the control panel display It is also possible to read the values through the serial communication link or through the analogue outputs Settings Diagnostics Parameter Additional information Group 15 ANALOGUE OUTPUTS Selection of an actual signal to an analogue output Group 92 D SET TR ADDR Selection of an actual signal to a data set...

Page 66: ...the mechanical brake open Diagnostics Actual signal 03 03 Bit 6 First start not done Bit 7 STANDARD ID run done Start function Constant DC magnetising When DC magnetising is activated the drive automatically magnetises the motor before starting This feature guarantees the highest possible breakaway torque up to 200 of motor nominal torque In crane applications this parameter is fixed to constant D...

Page 67: ...x braking are The braking starts immediately after a stop command is given The function does not need to wait for the flux reduction before it can start the braking The cooling of the motor is efficient The stator current of the motor increases during the Flux braking not the rotor current The stator cools much more efficiently than the rotor Settings Parameter 26 02 Flux braking No Flux braking t...

Page 68: ...mproved by 1 to 10 depending on the load torque and speed Settings Parameter 26 01 FS method The Flux stabilization method improves the behaviour of open loop trolley drives and long travel drives without speed feedback especially when the drive operates around the zero speed with high load The method is active on frequencies below 10 of nominal frequency and when the torque exceeds 30 Settings Pa...

Page 69: ...etting for Par 22 01 ACCEL DECEL acceleration deceleration selection is ACC DEC DIR for crane control In this selection acceleration time 1 and deceleration time 1 is used when the motor is running in the forward direction while acceleration time 2 and deceleration time 2 is used when the motor is running in the reverse direction The following figure shows how the acceleration and deceleration tim...

Page 70: ...uts you can use the following parameters for defining the combination For example if you need two step references with one digital input you can set Parameter 12 01 STEP REF SEL to STEP POINTER Speed defined by pointer selections Parameter 12 02 to for example 500 rpm Parameter 12 03 to for example 1000 rpm Parameter 12 06 to for example 001 017 04 DI5 After this If DI5 0 step reference 500 rpm is...

Page 71: ...ing figure shows speed responses at a speed reference step typically 1 to 20 The following figure is a simplified block diagram of the speed controller The controller output is the reference for the torque controller Settings Parameter group 23 SPEED CTRL and 20 LIMITS Diagnostics Actual signal 01 02 A Undercompensated B Normally tuned autotuning C Normally tuned manually Better dynamic performanc...

Page 72: ...TN Tload nact nref nN 0 1 0 4 s TN rated motor torque nN rated motor speed nact actual speed nref speed reference Dynamic speed error depends on speed controller tuning Speed control No pulse encoder With pulse encoder Static speed error of nN 0 1 to 0 5 10 of nominal slip 0 01 Dynamic speed error 0 4 s 0 1 s When operated around zero frequency the error may be greater Torque control No pulse enco...

Page 73: ...tification If the nominal current of the motor is less than 1 6 of the nominal output current of the drive If the drive is used without a motor connected for example for test purposes The drive runs a medium voltage motor via a step up transformer In the Scalar control mode some standard features are not available Settings Parameter 99 04 IR compensation for a scalar controlled drive IR compensati...

Page 74: ... frequency increases from 100 to 120 of the FWP Using the hexagonal flux pattern the maximum output voltage can be reached The peak load capacity is higher than with the circular flux pattern but the continuous load capacity is lower in the frequency range of FWP to 1 6 FWP due to increased losses Settings Parameter 26 05 Programmable protection functions AI Min AI Min function defines the drive o...

Page 75: ...hermal time and motor load curve see the figures below The load curve should be adjusted in case the ambient temperature exceeds 30 C Use of the motor thermistor It is possible to detect motor overtemperature by connecting a motor thermistor PTC between the 24 V DC voltage supply offered by the drive and digital input DI6 In normal motor operation temperature the thermistor resistance should be le...

Page 76: ...Settings Parameters 30 10 to 30 12 Parameters 20 03 20 13 and 20 14 Define the stall limit Underload protection Loss of motor load may indicate a process malfunction The drive provides an underload function to protect the machinery and process in such a serious fault condition Supervision limits underload curve and underload time can be chosen as well as the action that the drive takes upon the un...

Page 77: ...the protection Earth fault protection is deactivated when the drive is stopped Note With parallel connected inverter modules the earth fault indication is CUR UNBAL xx See chapter Fault tracing Settings Parameter 30 17 Communication fault The Communication fault function supervises the communication between the drive and an external control device for example a fieldbus adapter module Settings Par...

Page 78: ... limit is 1 3 1 35 U1max where U1max is the maximum value of the mains voltage range For 400 V units U1max is 415 V For 500 V units U1max is 500 V For 690 V units U1max is 690 V The actual voltage in the intermediate circuit corresponding to the mains voltage trip level is 728 V DC for 400 V units 877 V DC for 500 V units and 1210 V DC for 690 V units See the following Figure DC voltage control an...

Page 79: ...2 560 672 V DC Charging limit will be 0 79 560 442 V DC Drive temperature The drive supervises the inverter module temperature There are two supervision limits warning limit and fault trip limit If the inverter module temperature exceeds 115 o C the warning is generated and if the temperature exceeds 125 o C the fault is generated Signal 01 10 can be used for monitoring the temperature Short circu...

Page 80: ...rque control mode active or frequency limit Scalar control active Internal fault If the drive detects an internal fault the drive is stopped and a fault indication is given Operation limits ACS800 has adjustable limits for speed current maximum torque maximum and DC voltage Settings Parameter group 20 LIMITS Power limit Power limitation is used to protect the input bridge and the DC intermediate c...

Page 81: ...uires double or reinforced insulation between motor live parts and the sensor Reinforced insulation entails a clearance and creepage distance of 8 mm 400 500 V AC equipment If the assembly does not fulfil the requirement The RMIO board terminals must be protected against contact and they may not be connected to other equipment Or The temperature sensor must be isolated from the RMIO board terminal...

Page 82: ... 15 05 AO1 processing are not effective At the motor end the cable shield should be earthed through a 10 nF capacitor If this is not possible the shield is to be left unconnected Actual signal Additional information 01 35 Temperature value Warnings MOTOR 1 TEMP Measured motor temperature has exceeded the set alarm limit T MEAS ALM Motor temperature measurement is out of acceptable range Faults MOT...

Page 83: ...e parts and the sensor Reinforced insulation entails a clearance and creepage distance of 8 mm 400 500 V AC equipment If the assembly does not fulfil the requirement The RAIO module terminals must be protected against contact and they may not be connected to other equipment Or The temperature sensor must be isolated from the RAIO module terminals See also section Motor thermal protection on page 7...

Page 84: ...ignal selection and processing are not effective At the motor end the cable shield should be earthed through a 10 nF capacitor If this is not possible the shield is to be left unconnected Actual signal Additional information 01 35 Temperature value Warnings MOTOR 1 TEMP Measured motor temperature has exceeded the set alarm limit T MEAS ALM Motor temperature measurement is out of acceptable range F...

Page 85: ...20 23 MIN EXT LIM SPD if the motor is running in the reverse direction The limitation status can be monitored using bits 03 14 AUXILIARY STATUS WORD 4 bit 10 for maximum external speed limit and 03 14 AUXILIARY STATUS WORD 4 bit 11 for minimum external speed limit Settings Diagnostics Parameter Additional information 10 20 Configuring the external speed limit signal 20 22 Configuring the maximum e...

Page 86: ...rnal speed Par 20 22 and minimum external speed Par 20 23 The default value is 110 If the motor speed exceeds the limit defined with a parameter the drive trips to a fault the converter is switched off and the mechanical brake is controlled on Settings Diagnostics Parameter Additional information 74 01 Settings of motor overspeed level Actual signal Additional information 03 33 bit 0 Motor over sp...

Page 87: ...r deceleration If the difference between the rate of change of the motor speed and the rate of change of the ramped speed reference is greater than the setting of Par 75 04 for a period of Par 75 03 SPD MATCH FLT TD the drive trips on SPD MATCH FLT Example Acceleration deceleration ramp times are set to for example 3 seconds The maximum speed is 1500 rpm Therefore the drive speed reference should ...

Page 88: ...mechanical brake is still on If the Torque proving is successful in other words the actual torque of the drive reaches the reference level the drive allows the brake to open and initiates the next step in the starting sequence The time to execute the torque proving sequence is so short executed in 20 ms cycle time that the operator does not experience any time delay in the starting sequence The ma...

Page 89: ...PROV REF below The torque proving reference is changed from 30 to 10 if the High end limit parameter 10 12 HIGHEND PTR is true and the drive receives a new start signal given by the operator The actual torque is read from the signal MOT TORQ signal 01 05 Settings Diagnostics Parameter Additional information 76 01 76 02 Activates the monitoring 76 02 Fault delay time Other Parameters 42 01 should b...

Page 90: ...nd Additional information for Digital Inputs and Pointers PTR on page 63 If the Power ON Ack signal is not connected the drive is not ready for start After the Power ON Ack signal is closed digital input DIL is TRUE 1 the drive generates one internal fault reset after the time defined with parameter 16 12 POWER ON RESET TD The wiring diagram for the Power ON acknowledge signal is shown below Setti...

Page 91: ...lculated using the equation shown in section Calculating the linear rope speed on page 103 If the motor speed is 500 rpm which corresponds to linear speed of 13333 33 mm min then the POS SCALE would be 500 2048 13333 33 76 8 pulses mm The Shaft synchro function uses the actual position in the Master and Follower drives That is why you should use the same measurement unit for the scaling factor in ...

Page 92: ...you have to decide the direction according to the present position and the homing acknowledgement signal position 02 28 The homing sequence will be completed when the homing acknowledge signal gets activated and the drive stops automatically The message HOMING DONE will be displayed when the homing is completed The actual position will be initialized to the position set in parameter 78 10 HOME POS...

Page 93: ...6 M F STATUS WORD shows the different Master and Follower modes For more information see section 03 36 M F STATUS WORD on page 276 Parameter Additional information 10 15 Homing acknowledge selection 10 21 Homing signal selection 10 22 Homing acknowledge signal selection 11 14 Homing reference to be used in homing sequence 78 10 Homing position value for initializing the actual position on completi...

Page 94: ...r also sends the interlock bits to the slave using data set 43 The Master monitors if any of the Follower drives goes into the fault or limit state and the FLWRx LIM FLT message where x is the Follower drive number is displayed in such condition The detailed description of the fault or limit will be available in the Follower drive Note Even though the Master Follower interlock functions are checke...

Page 95: ...60 11 SLAVE MODE is SPEED and parameter 78 01 SYNCHRO CONTROL is ON then signal 03 37 FLW CMD WITH POS is transferred using data set word 41 1 Signal 03 38 POSITION REM is transferred using data set word 41 2 and signal 02 02 SPEED REF 3 is transferred using data set word 41 3 If the Master is in EXT2 and parameter 60 11 SLAVE MODE is SPEED and parameter 78 01 SYNCHRO CONTROL is OFF then signal 03...

Page 96: ...unication Master 6 ms DATA SET 41 Command Word Speed reference Torque reference Master position Command Word Speed reference1 Torque reference2 Master position Par 10 02 COMM Par 11 06 COMM Position error calculation 1 If Speed mode Shaft synchro Separate drums 2 If Torque mode Load sharing Common load Follower n ...

Page 97: ...ion of sync pos error from Follower drive to Master drive Data set 44 is updated on 100 ms The figure below illustrates the transmission of Master and Follower interlock words in both directions Follower n Master Interlock M OFF2 OK M Fault M torque prove OK M Slow Down M End limit M Fast stop EXT1 EXT2 control diff Brake open for torque controlled follower Interlock F OFF2 OK F Fault M torque pro...

Page 98: ...limit settings than the Master Example The Follower s speed buffer is 200 rpm more than the Master s Master using AI1 Joystick in EXT2 Follower using COMM REF in EXT2 Master minimum and maximum limit speed 1700 rpm Follower minimum and maximum limit speed 1700 rpm Master sends out 20000 20000 on COMM REF Follower receives 20000 20000 on COMM REF Master parameter 13 03 SCALE AI1 88 1500 rpm 1700 rp...

Page 99: ...SPEED TORQUE MIN MAX ADD 2 02 SPEED REF 3 ACTUAL SPEED 1 SYNCHRO 0 2 0 3 4 5 PID Inverter SPEED CONTROLLER TORQUE REFER ENCE SELECTOR TORQUE REFER ENCE CONTROL INVERTER CONTROL 2 09 TORQUE REF 2 2 10 TORQUE REF 3 SPEED TORQUE MIN MAX ADD 2 02 SPEED REF 3 ACTUAL SPEED 1 START STOP DIRECTION COMMAND SPEED REF TO FOLLOWER TO MASTER FROM DRIVE MASTER CH2 COMM MASTER DRIVE 2 13 TO FOLLOWER Drive TORQ U...

Page 100: ...YNCHRO CONTROL 02 21 POS ACT PPU MASTER POSITION 0 2 0 3 4 5 PID Inverter SPEED CONTROLLER TORQUE REFER ENCE SELECTOR TORQUE REFER ENCE CONTROL INVERTER CONTROL 2 09 TORQUE REF 2 2 10 TORQUE REF 3 SPEED TORQUE MIN MAX ADD 2 02 SPEED REF 3 ACTUAL SPEED 1 TO FOLLOWER TO MASTER FROM DRIVE MASTER CH2 COMM MASTER DRIVE START STOP DIRECTION COMMAND SPEED REF START STOP DIRECTION COMMAND Master SPD REF S...

Page 101: ...ro mode Follower 0 2 0 3 4 5 PID Inverter SPEED CONTROLLER TORQUE REFER ENCE SELECTOR TORQUE REFER ENCE CONTROL INVERTER CONTROL 2 09 TORQUE REF 2 2 10 TORQUE REF 3 SPEED TORQUE MIN MAX ADD 2 02 ACTUAL SPEED 1 SYNCHRO CONTROL 02 21 POS ACT PPU MASTER POSITION 0 2 0 3 4 5 PID Inverter SPEED CONTROLLER TORQUE REFER ENCE SELECTOR TORQUE REFER ENCE CONTROL INVERTER CONTROL 2 09 TORQUE REF 2 2 10 TORQU...

Page 102: ... When Synchro control is OFF in the Master or Master is in EXT1 the Follower Control Word signal 03 11 is transmitted using data set 41 1 Similarly when Synchro control is ON in the Master and the drive is in EXT2 the Master position remainder value is sent using data set 41 2 when Synchro control is OFF or the drive is in EXT1 the Speed reference signal 02 02 is sent to the Follower The parameter...

Page 103: ...ALE should be set to value 40 000 30 000 1 333 The Follower multiplies this factor with the speed reference of the Master drive Note that there may be a difference in the gear ratio which also needs to be considered Parameters 78 05 POS CORR MAX LIMIT and 78 06 POS CORR MIN LIMIT are used for limiting the speed correction in terms of mm If the error exceeds or falls below these parameters respecti...

Page 104: ... Follower when the Synchro command is activated is taken as a constant offset in this case If an offset is not required in the Follower set parameter 78 12 to DIRECT and activate the Synchro command in the Follower The difference in the position between the Master and Follower when the Synchro command is activated is taken as the position error in this case The position error will be calculated wi...

Page 105: ...Program features 105 Figure Control diagram for Shaft synchronisation executed in 20 ms ...

Page 106: ...ings of the Synchro error limit To be adjusted in the Follower drives Setting and selection of home position value in case of a homing sequence 10 14 10 15 Enables the Shaft synchro function To be adjusted in the Master and Follower drives Settings for resetting of actual position Actual signals Additional information 02 21 02 22 Actual Position value and Shaft Position value 02 23 02 24 02 25 02 ...

Page 107: ...he following example shows the parameter configuration for a Master Follower Synchro control application Master in speed mode Follower in speed synchro mode EXT1 stand alone mode EXT1 stand alone mode EXT2 MF synchro EXT2 MF synchro ...

Page 108: ...eed reference for example through analogue input AI3 connect it to be the source for the reference 97 16 SPD CORR PTR 09 03 00 09 03 AI3 SCALED The figure below illustrates the operation of the function Settings Parameter 97 16 Homing Position error calculation mm Synchron Enable Speed controller loop ADD Speed correction factor rpm Position error limiter mm Position error for correction mm Actual...

Page 109: ...YNC POS ERROR is bigger than the value of 97 19 SYNC ERR BLK LVL signal 03 35 SPEED CORR BUFF is blocked and no synchronisation correction is performed during that period in the following example figure 20 ms Settings Parameter 97 19 78 09 SYNC ERR LIM mm Change of 02 23 SYNC POS ERROR 97 19 SYNC ERR BLK LVL mm 02 23 SYNC POS ERROR Position hysteresis stop 78 13 POS HYSTERESIS mm Speed synch speed...

Page 110: ...ocks included in the drive application program The control panel is the programming tool You can document the program by drawing it on block diagram template sheets The maximum size of the Adaptive Program is 15 function blocks The program may consist of several separate functions For more information see the Application Guide for Adaptive Program 3AFE64527274 English For examples of Adaptive Prog...

Page 111: ...provides the ability to switch between the Master Follower or standby spare unit mode This means that the Master and Follower are no longer fixed but can be changed when needed Using the Adaptive Programming AP you can create a redundancy control logic For an example how to create the AP file see Redundancy in Master Follower crane control on page 304 Scaling actual encoder position signal mm to a...

Page 112: ... as a safety device mentioned in the European Machinery Directive and related harmonised standards Thus the personnel safety of the complete machinery must not be based on a specific frequency converter feature such as the brake control function but it has to be implemented as defined in the application specific regulations Motor M 230 V AC RMIO board Mechanical brake Brake control hardware Emerge...

Page 113: ...pervision delay ncs Brake close speed Parameter 42 05 Absolute brake close speed level tcd Brake close delay Parameter 42 04 Torque ON time during closing of mechani cal brake and brake ackn DI supervision time ttrqpv Torque proving time period Tpv Torque proving reference Fixed as 30 positive torque reference textmt Extended run time Parameter 42 09 Magnetising ON after brake close Start command ...

Page 114: ...eed reference internal to zero along a ramp NN X Y Z State change conditions Symbol 1 Brake control active 0 1 OR Inverter is modulating 0 2 Motor magnetised 1 AND Drive running 1 and Torque prove Ok 3 Brake Acknowledge 1 AND Brake open delay passed AND Start 1 4 Start 0 5 Start 0 6 Start 1 7 Actual motor speed Brake close speed AND Start 0 8 Start 1 9 Brake Acknowledge 0 AND Brake close delay pas...

Page 115: ...eps the motor magnetised for the extended time and thereby reduces the next start sequence time In the local control mode the extended run time can be stopped by pressing the CDP stop button twice The second stop request should be given when the drive is in the extended time period The 42 13 BRK LONG FLT DLY can be used for safety purposes if the brake is not closed properly in the stopping sequen...

Page 116: ...ue the run with reduced current 95 03 INT CONFIG USER For instructions on how to remove and reconnect an inverter module see the appropriate drive hardware manual Parameter Additional information 14 01 Relay output for the brake control set to BRAKE CTRL Group 42 BRAKE CONTROL Brake function settings Actual signal Additional information 03 01 Ramp in zero bit 03 13 bit 6 03 32 bit 9 The state of b...

Page 117: ...able for wiring slowdown limit switches to the drive Slowdown forward UP is wired to digital input 3 Slowdown reverse down to digital input 4 If input 3 is active DI 0 speed is limited to the slowdown reference level in the forward up speed direction but not limited in the reverse direction down And vice versa if input 4 is active DI 0 If both inputs 3 and 4 are not active DI 1 there is no slowdow...

Page 118: ...gives a FAST STOP warning message on the panel If the drives are in a Master Follower configuration and in EXT2 control all the drives will stop on a Fast stop command from any of the drives Settings Diagnostics Parameter Additional information 10 09 Selection for Slowdown 11 12 Speed limit during Slowdown Actual signal Additional information 03 32 bit 0 Slowdown enabled bit Warnings SLOW DOWN UP ...

Page 119: ...IME 22 07 The HIGHEND input should be inactive for the drive to release a new start sequence in the forward direction However the drive can be run in the reverse down direction when the HIGHEND input is active The drive generates a HIGHEND LIMIT warning on the activation of the HIGHEND command Similarly an Emergency command OFF3 is released if the LOWEND input gets activated while the drive is run...

Page 120: ...itional information 03 32 bit 2 03 32 bit 3 High end limit enabled Low end limit enabled Warnings HIGHEND LIMIT LOWEND LIMIT High end limit is activated in up direction Low end limit is activated in down direction Forward Up Reverse Down ROOF FLOOR HIGHEND INPUT Par 10 12 NC SLOW DOWN Par 10 09 NC SLOW DOWN Par 10 09 NC LOWEND INPUT Par 10 13 NC Speed Ref Drive speed ref Speed Ref Drive speed ref ...

Page 121: ...unction supervises the below mentioned fault and alarm conditions and generates a WATCH DOG BIT N bit which can be used for safety or emergency interlocks The drive is healthy when the bit is active value 1 When any of the fault or alarm conditions get activated the bit becomes inactive value 0 The fault and alarm conditions used to generate the WATCH DOG BIT N are listed below 1 CPU HEALTHY 2 EXT...

Page 122: ...eater than 5 of the maximum speed The limits checked are TORQUE INVERTER CURRENT LIMIT and IPP OVERLOAD ALARM If one of these limits is hit and a period of 200 ms elapses the drive trips on the INV LIMIT fault and the brake is closed 03 04 LIMIT WORD 1 bit 4 indicates the current limit of the torque inverter Diagnostics Actual signal Additional information 03 33 bit 5 INV LIMIT fault active bit Wa...

Page 123: ...er which the motor has crossed the base speed to check for the motor current This motor current after this time period delay is regarded by the function as the base speed current for the particular load used Parameters 77 04 77 19 plot the base speed versus current graph in both the forward and reverse direction and are further used to limit the speed according to the base speed current If paramet...

Page 124: ...o Par 77 20 BASE SPEED and the error bit signal 03 32 bit 10 is set to 1 Example This example describes the parameter configuration that can be used for having a two speed control This configuration enables you to run the motor at two speeds one being a high speed in the empty hook condition and the other a limited speed in the load condition Note The values defined below are considered only to de...

Page 125: ... speed or 20 02 Maximum speed or any other speed limits In the load condition if the actual motor current at the base speed is within the range of 20 25 A the Load speed control function will limit the speed to 1300 rpm Therefore the functionality of two speed control is achieved with these settings The figure below shows the speed reference chain in Load speed control 11 07 IN 0 11 08 SPEED LIMIT...

Page 126: ...Program features 126 The figures below show speed limits according to different load conditions ...

Page 127: ...ng the speed reference at base speed Setting of speed limits according to motor current at the base speed Actual signal Additional information 03 32 bit 10 Load speed control error bit 03 32 bit 5 03 32 bit 6 Speed is limited in the forward direction by the Load speed control function Speed is limited in the reverse direction by the Load speed control function Warnings LOAD SP UP LIM LOAD SP DW LI...

Page 128: ...Program features 128 ...

Page 129: ...os The table below contains a summary of the macros and describes the suitable applications Control locations EXT1 EXT2 Two control locations are used in the crane macro for fast switch over between different modes Control location EXT1 is used for the stand alone mode and control location EXT2 is used for the Master Follower and Synchro control mode Macro Suitable Applications Crane Crane control...

Page 130: ...rque or Synchro control mode Crane macro This section describes the default control interfaces and signals of the macro and shows the connection diagrams You can give all drive commands and reference settings from the control panel local control or an external device external control The LOC REM key of the panel selects between local and external control The drive is speed controlled as default EX...

Page 131: ...0 motor nom current RL 700 ohm 12 AO2 X22 1 DI1 Forward Start 2 2 DI2 Reverse Start 1 2 3 DI3 4 DI4 5 DI5 6 DI6 7 24 V 24 V DC max 100 mA 8 24 V 9 DGND1 Digital ground 10 DGND2 Digital ground 11 DI IL Start interlock 0 stop 3 X23 1 24 V Auxiliary voltage input output non isolated 24 V DC 250 mA4 2 GND X25 1 RO11 Relay output 1 Open Brake 2 RO12 3 RO13 X26 1 RO21 Relay output 2 Running 2 RO22 3 RO2...

Page 132: ...t the parameters Perform the motor identification if it has not been performed yet Save the parameter settings and the results of the motor identification by changing the parameter 99 02 APPLICATION MACRO to USER 1 SAVE press ENTER The storing takes 20 s to 1 min Note If the user macro save function is executed several times the drive memory fills up and file compression starts The file compressio...

Page 133: ...ATA and the results of the motor identification Check that the settings correspond to the motor used Example You can switch the drive between two motors without having to adjust the motor parameters and to repeat the motor identification every time the motor is changed You only need to adjust the settings and perform the motor identification once for both of the motors and then to save the data as...

Page 134: ...d limit Selecting the signal Low end limit 10 12 10 13 Referencing EXT1 Selecting the source for the speed reference 11 03 AI1 If AI1 is used Setting analogue input AI1 limits scale inversion 13 01 13 02 13 03 13 04 13 05 30 01 Setting the reference limits 11 04 11 05 Setting the speed frequency limits 20 02 20 01 20 08 20 07 Setting the Slowdown reference 11 12 Setting acceleration deceleration 2...

Page 135: ...0 motor nom current RL 700 ohm 12 AO2 X22 1 DI1 Forward Start 2 DI2 Reverse Start 3 DI3 Brake Acknowledge 1 brake open 4 DI4 Slowdown 0 Slowdown active 5 DI5 Fast Stop 0 Fast Stop active 2 6 DI6 7 24 V 24 V DC max 100 mA 8 24 V 9 DGND1 Digital ground 10 DGND2 Digital ground 11 DI IL Start interlock 0 stop 1 X23 1 24 V Auxiliary voltage output non isolated 24 V DC 250 mA 2 GND X25 1 RO11 Relay outp...

Page 136: ...osition 10 16 Referencing EXT1 Selecting the source for the speed reference If unipolar Selecting the source for the speed reference If Bipolar 11 03 11 03 AI1 JOYSTICK AI1 BIPOLAR If AI1 is used Setting analogue input AI1 limits scale inversion 13 01 13 02 13 03 13 04 13 05 30 01 Setting the reference limits 11 04 11 05 Setting the speed frequency limits 20 02 20 01 20 08 20 07 Setting the Slowdo...

Page 137: ...YSTICK AI1 BIPOLAR If AI1 is used Setting analogue input AI1 limits scale inversion 13 01 13 02 13 03 13 04 13 05 30 01 Setting the reference limits 11 07 11 08 Setting the speed frequency limits 20 02 20 01 20 08 20 07 Setting the Slowdown reference 11 12 Setting acceleration and deceleration times 22 02 22 03 22 10 Setting Joystick Warning delay 11 13 2 seconds Name Description Set parameters Pa...

Page 138: ...hm 12 AO2 X22 1 DI1 Start Stop 0 stop 1 start 2 DI2 3 DI3 Brake Acknowledge 1 brake open 4 DI4 Slowdown 0 Slowdown active 5 DI5 Fast Stop 0 Fast Stop active 2 6 DI6 Zero position 1 Zero position active 2 7 24 V 24 V DC max 100 mA 8 24 V 9 DGND1 Digital ground 10 DGND2 Digital ground 11 DI IL Start interlock 0 stop 1 X23 1 24 V Auxiliary voltage output non isolated 24 V DC 250 mA 2 GND X25 1 RO11 R...

Page 139: ...m 12 AO2 X22 1 DI1 Start Stop 0 stop 1 start 2 DI2 3 DI3 Brake Acknowledge 1 brake open 4 DI4 Slowdown 0 Slowdown active 5 DI5 Fast Stop 0 Fast Stop active 2 6 DI6 Zero position 1 Zero position active 2 7 24 V 24 V DC max 100 mA 8 24 V 9 DGND1 Digital ground 10 DGND2 Digital ground 11 DI IL Start interlock 0 stop 1 X23 1 24 V Auxiliary voltage output non isolated 24 V DC 250 mA 2 GND X25 1 RO11 Re...

Page 140: ...ernal and internal power supplies 24 230 V AC N X11 1 DI1A High end limit 0 Emergency stop 1 2 DI1B High end limit X12 1 DI2A Low end limit 0 Emergency stop 1 2 DI2B Low end limit 3 DI3A 4 DI3B 1 Considering the function pointer is configured with an inverted signal To be configured using respective pointer parameters ...

Page 141: ...ng the signal for the High end limit Selecting the signal for Low end limit 10 12 10 13 Referencing EXT1 Selecting the source for the speed reference 11 03 DI3U 4D Setting the reference limits 11 04 11 05 Setting the speed frequency limits 20 02 20 01 20 08 20 07 Setting the Slowdown reference 11 12 Setting acceleration and deceleration times 22 02 22 03 22 10 Referencing EXT2 Selecting the source...

Page 142: ... current 0 4 20 mA 0 motor nom current RL 700 ohm 12 AO2 X22 1 DI1 Forward Start 2 DI2 Reverse Start 3 DI3 Speed Increase 4 DI4 Speed Decrease 5 DI5 Slowdown 0 Slowdown active 6 DI6 Brake Acknowledge 1 brake open 7 24 V 24 V DC max 100 mA 8 24 V 9 DGND1 Digital ground 10 DGND2 Digital ground 11 DI IL Start interlock 0 stop 1 X23 1 24 V Auxiliary voltage output non isolated 24 V DC 250 mA 2 GND X25...

Page 143: ... 10 DI4 Selecting the signal for the High end limit Selecting the signal for Low end limit 10 12 10 13 Selecting the Step reference 12 01 DI9 DI10 DI11 Referencing Setting Step references 12 02 12 03 12 04 12 05 Setting the speed frequency limits 20 02 20 01 20 08 20 07 Setting the Slowdown reference 11 12 Setting acceleration and deceleration times 22 02 22 03 22 10 24 230 V AC N X11 1 DI1A High ...

Page 144: ... 700 ohm 12 AO2 X22 1 DI1 Forward Start 2 DI2 Reverse Start 3 DI3 Brake Acknowledge 1 brake open 4 DI4 Slowdown 0 Slowdown active 5 DI5 Fast Stop 0 Fast Stop active 2 6 DI6 7 24 V 24 V DC max 100 mA 8 24 V 9 DGND1 Digital ground 10 DGND2 Digital ground 11 DI IL Start interlock 0 stop 1 X23 1 24 V Auxiliary voltage output non isolated 24 V DC 250 mA 2 GND X25 1 RO11 Relay output 1 Open Brake 2 RO12...

Page 145: ...it 0 Emergency stop 1 2 DI1B High end limit X12 1 DI2A Low end limit 0 Emergency stop 1 2 DI2B Low end limit 3 DI3A Step reference DI 4 DI3B 1 Considering the function pointer is configured with an inverted signal To be configured using respective pointer parameters 24 230 V AC N X11 1 DI1A Step reference DI 2 DI1B X12 1 DI2A Step reference DI 2 DI2B 3 DI3A 4 DI3B ...

Page 146: ...rce for the speed reference 11 03 COMM REF Setting the reference limits 11 04 11 05 Setting the speed frequency limits 20 02 20 01 20 08 20 07 Setting the Slowdown reference 11 12 Setting acceleration and deceleration times 22 02 22 03 22 10 Referencing EXT2 Selecting the source for the speed torque reference 11 06 COMM REF Setting the reference limits 11 07 11 08 Setting the speed frequency limit...

Page 147: ...m current RL 700 ohm 12 AO2 X22 1 DI1 2 DI2 3 DI3 Brake Acknowledge 1 brake open 4 DI4 Slowdown 0 Slowdown active 5 DI5 Fast Stop 0 Fast Stop active 2 6 DI6 7 24 V 24 V DC max 100 mA 8 24 V 9 DGND1 Digital ground 10 DGND2 Digital ground 11 DI IL Start interlock 0 stop 1 X23 1 24 V Auxiliary voltage output non isolated 24 V DC 250 mA 2 GND X25 1 RO11 Relay output 1 Open Brake 2 RO12 3 RO13 X26 1 RO...

Page 148: ... 230 V AC N X11 1 DI1A High end limit 0 Emergency stop 2 2 DI1B High end limit X12 1 DI2A Low end limit 0 Emergency stop 2 2 DI2B Low end limit 3 DI3A 4 DI3B 2 Considering the function pointer is configured with an inverted signal To be configured using respective pointer parameters ...

Page 149: ...1 10 02 89 99 TABLE 90 01 90 03 90 05 CW REF1 REF2 10 01 DI1 COMM CW 10 02 11 06 11 03 COMM CW 03 01 DI1 11 02 COMM REF AI1 COMM REF AI1 01 11 01 12 MAIN CW EXT REF1 EXT REF2 90 02 90 04 90 06 AUXILLARY 1 DATA SET REFERENCE REF 3 REF 4 REF 5 AUXILLARY 2 DATA SET REFERENCE REF 6 REF 7 REF 8 Fieldbus Communication ...

Page 150: ...Application macros control location EXT1 EXT2 150 ...

Page 151: ...equency Value of 20 08 or 20 07 if the absolute value of the minimum limit is greater than the maximum limit Absolute Maximum Speed Value of parameter 20 02 or 20 01 if the absolute value of the minimum limit is higher than the maximum limit Actual signal Signal measured or calculated by the drive You can monitor the signal but no user settings are possible FbEq Fieldbus equivalent The scaling bet...

Page 152: ...l torque or maximum process reference 0 0 10000 100 1 01 13 CTRL LOCATION Active control location 1 2 LOCAL 3 EXT1 4 EXT2 See section Local control vs external control See descr 01 14 OP HOUR COUNTER Elapsed time counter Runs when the control board is powered 1 1 h 01 15 KILOWATT HOURS kWh counter Counts inverter output kWh during operation motor side generator side 1 100 kWh 01 17 DIL DI6 1 STATU...

Page 153: ...rcent of the Absolute Maximum Speed If parameter 99 04 MOTOR CTRL MODE is SCALAR the value is the relative actual output frequency 1 1 01 43 CRANE OPT TIME Crane operation time counter The counter runs when the inverter modulates Can be reset with parameter 79 02 RESET OPT TIME 1 10 h 01 44 FAN ON TIME Running time of the drive cooling fan Note Resetting of the counter is recommended when the fan ...

Page 154: ...ord 2 03 01 MAIN CTRL WORD A 16 bit data word See section 03 01 MAIN CONTROL WORD in chapter Fieldbus control 03 02 MAIN STATUS WORD A 16 bit data word See section 03 02 MAIN STATUS WORD in chapter Fieldbus control 03 03 AUX STATUS WORD A 16 bit data word See section 03 03 AUXILIARY STATUS WORD in chapter Fieldbus control 03 04 LIMIT WORD 1 A 16 bit data word See section 03 04 LIMIT WORD 1 in chap...

Page 155: ...s control 03 27 3 LATEST WARNING Fieldbus code of the 3rd latest warning See section 03 25 03 29 Warning codes in chapter Fieldbus control 03 28 4 LATEST WARNING Fieldbus code of the 4th latest warning See section 03 25 03 29 Warning codes in chapter Fieldbus control 03 29 5 LATEST WARNING Fieldbus code of the 5th latest warning See section 03 25 03 29 Warning codes in chapter Fieldbus control 03 ...

Page 156: ...35 Decimal 09 07 MASTER REF1 Reference 1 REF1 of the Main Reference data set received from the Master station through the fieldbus interface 32768 32767 09 08 MASTER REF2 Reference 2 REF2 of the Main Reference data set received from the Master station through the fieldbus interface 32768 32767 09 09 AUX DS VAL1 Auxiliary data set value 1 received from the Master station through the fieldbus interf...

Page 157: ... page 250 6 PARAM 10 04 Source selected with parameter 10 04 EXT1 STRT PTR This selection can be used for joystick controls when the joystick reference is used for deciding the direction 7 10 02 EXT2 STRT STP DIR Defines the connections and the source of the Start Stop and Direction commands for external control location 2 EXT2 Note In M F configuration EXT2 should be used for M F mode and EXT1 fo...

Page 158: ...election of parameter 11 03 EXT REF1 SELECT Fieldbus reference REF1 is enabled when EXT1 is selected as the active control location Note Only visible with the Generic Drive communication profile selected 98 07 Note The setting is not saved in the permanent memory will reset to zero when power is switched off 0 Inactive 0 1 Active 1 10 09 SLOW DOWN INPUT Defines the input for the Slowdown command f...

Page 159: ... according to the selection in the pointer value When the command is active emergency stop in reverse direction stop within time defined with Par 22 07 Note For safety it is better to use the bit selection as normally closed by inverting the bit in the pointer value 255 255 31 255 255 31 C 32768 C 32767 Parameter index or a constant value See parameter 10 04 for information on the difference 10 14...

Page 160: ...the selection in the pointer value When the command is active the drive speed reference is limited to the value defined in Par 20 22 MAX EXT LIM SPD or Par 20 23 MIN EXT LIM SPD depending on the motor direction Note For safety it is better to use the bit selection as normally closed by inverting the bit in the pointer value 255 255 31 255 255 31 C 32768 C 32767 Parameter index or a constant value ...

Page 161: ...ol signal sources are defined with parameter 10 01 and 11 03 1 EXT2 EXT2 active The control signal sources are defined with parameter 10 02 and 11 06 2 COMM CW Fieldbus Control Word See 03 01 MAIN CONTROL WORD bit 11 on page 250 3 DI7 Digital input DI7 is the signal source 4 DI8 Digital input DI8 is the signal source 5 DI9 Digital input DI9 is the signal source 6 DI10 Digital input DI10 is the sig...

Page 162: ...ference to zero Parameter 22 04 ACCEL TIME 2 defines the rate of the reference change 7 DI3U 4D Digital input 3 Reference increase Digital input DI4 Reference decrease The program stores the active speed reference not reset with a Stop command or power switch off Parameter 22 04 ACCEL TIME 2 defines the rate of the reference change 8 DI5U 6D See selection DI3U 4D 9 COMM REF Fieldbus reference REF1...

Page 163: ...art DI direction if used 10 01 or 10 02 overwrites the joystick direction 18 Index Name Selection Description FbEq Speed Reference minAI1 13 01 MINIMUM AI1 maxAI1 13 02 MAXIMUM AI1 scaled maxREF1 13 03 SCALE AI1 x 11 05 EXT REF1 MAXIMUM minREF1 11 04 EXT REF1 MINIMUM scaled minREF1 minAI1 minAI1 maxAI1 maxAI1 minREF1 scaled Analogue Input signal Operation Range maxREF1 maxREF1 10 03 REF DIRECTION ...

Page 164: ...EF2 is a speed reference in percent of the Absolute Maximum Speed if parameter 99 02 CRANE frequency reference in percent of the Absolute Maximum Frequency if parameter 99 04 SCALAR Note In M F configuration EXT2 should be used for M F mode and EXT1 for stand alone mode KEYPAD See parameter 11 03 EXT REF1 SELECT 1 AI1 See parameter 11 03 Note If the signal is bipolar 10 V DC use the selection AI1 ...

Page 165: ...7 Parameter index or a constant value See parameter 10 04 for information on the difference 11 10 EXT 1 REF PTR Defines the source or constant for value Par 11 10 of parameter 11 03 255 255 31 255 255 31 C 32768 C 32767 Parameter index or a constant value See parameter 10 04 for information on the difference 11 11 EXT 2 REF PTR Defines the source or constant for value Par 11 11 of parameter 11 06 ...

Page 166: ...DI9 DI10 and DI11 See DI3 4 5 selection 6 STEP POINTER Speed defined by pointer selections Par 12 06 Par 12 07 and Par 12 08 See DI3 4 5 selection 7 12 02 STEP REF 1 Defines speed 1 An absolute value Does not include the direction information 0 18000 rpm Setting range 0 18000 12 03 STEP REF 2 Defines speed 2 An absolute value Does not include the direction information 18000 18000 rpm Setting range...

Page 167: ... source for external reference REF1 this value corresponds to the value of parameter 11 04 0 V Zero volts Note The program cannot detect a loss of analogue input signal 1 2 V Two volts 2 TUNED VALUE The value measured by the tuning function See the selection TUNE 3 TUNE The value measurement triggering Procedure Connect the minimum signal to input Set the parameter to TUNE Note The readable range ...

Page 168: ...tant This cannot be changed with any parameter 0 00 10 00 s Filter time constant 0 1000 13 05 INVERT AI1 Activates deactivates the inversion of analogue input AI1 NO No inversion 0 YES Inversion active The maximum value of the analogue input signal corresponds to the minimum reference and vice versa 65535 13 06 MINIMUM AI2 See parameter 13 01 0 mA See parameter 13 01 1 4 mA See parameter 13 01 2 T...

Page 169: ...eter 13 02 3 13 13 SCALE AI3 See parameter 13 03 0 1000 See parameter 13 03 0 32767 13 14 FILTER AI3 See parameter 13 04 0 00 10 00 s See parameter 13 04 0 1000 13 15 INVERT AI3 See parameter 13 05 NO See parameter 13 05 0 YES See parameter 13 05 65535 13 16 MINIMUM AI5 See parameter 13 01 Note If RAIO 01 is used with voltage input signal 20 mA corresponds to 10 V 0 mA See parameter 13 01 1 4 mA S...

Page 170: ...operating delays See section Programmable relay outputs on page 64 14 01 RO PTR1 Defines the source or constant for value 255 255 31 255 255 31 C 32768 C 32767 Parameter index or a constant value See parameter 10 04 for information on the difference For example default value 003 013 06 Par 03 13 bit 6 is used for Open brake command 14 02 RO PTR2 Defines the source or constant for value 255 255 31 ...

Page 171: ...ctual signals to be indicated through the analogue outputs Output signal processing See section Programmable analogue outputs on page 61 15 01 AO1 PTR Defines the source or constant for value 255 255 31 255 255 31 C 32768 C 32767 Parameter index or a constant value See parameter 10 04 for information on the difference For example default value 001 002 signal 01 02 is used for actual speed 1000 1 m...

Page 172: ...parameter 10 04 EXT1 STRT PTR for information on the difference For example default value 001 005 signal 01 05 is used for actual torque 1000 1 mA 15 07 INVERT AO2 See parameter 15 02 NO See parameter 15 02 0 YES See parameter 15 02 65535 15 08 MINIMUM AO2 See parameter 15 03 0 mA See parameter 15 03 1 4 mA See parameter 15 03 2 15 09 FILTER AO2 See parameter 15 04 0 00 10 00 s See parameter 15 04...

Page 173: ... is the signal source 5 DI12 Digital input DI12 is the signal source 6 PARAM 16 11 Source selected with parameter 16 11 7 16 05 USER MACRO IO CHG Enables the change of the user macro through a digital input See parameter 99 02 The change is only allowed when the drive is stopped During the change the drive does not start Note Always save the user macro with parameter 99 02 after changing any param...

Page 174: ...r ackn signal 0 60 s Setting range in seconds 0 600 16 13 USER MACRO PTR Defines the source or constant for parameter 16 05 255 255 31 255 255 31 C 32768 C 32767 Parameter index or a constant value See parameter 10 04 EXT1 STRT PTR for information on the difference 16 14 FAN KWH CNT RESET Resets the cooling fan running time counter or kWh counter NOT SEL No selection 0 FAN CNT RST Resets the runni...

Page 175: ...systems with a high inertia such as a centrifuge or a fan OFF Undervoltage control deactivated 0 ON Undervoltage control activated 65535 20 07 MINIMUM FREQ Defines the minimum limit for the drive output frequency The limit can be set only if parameter 99 04 SCALAR 300 00 50 Hz Minimum frequency limit Note If the value is positive the motor cannot be run in the reverse direction 30000 5000 20 08 MA...

Page 176: ...analogue input AI1 has been set the source for a torque limit with parameter 20 13 or 20 14 0 0 600 0 value that corresponds to the minimum setting of the analogue input 100 1 20 21 MAX AI SCALE See parameter 20 20 0 0 600 0 value that corresponds to the maximum setting of the analogue input 100 1 20 22 MAX EXT SPD LIM Maximum external speed limit used for limiting the drive speed reference using ...

Page 177: ...although the motor magnetisation is not completed Ensure always in applications where a full break away torque is essential that the constant magnetising time is long enough to allow generation of full magnetisation and torque 3 21 02 CONST MAGN TIME Defines the magnetising time in the constant magnetising mode See parameter 21 01 After the Start command the drive automatically pre magnetises the ...

Page 178: ...Run Enable signal is put into use with parameter 16 01 Note In the Master Follower mode the settings must be the same in both the Master and the Follower drives Note The setting overrides the normal stop mode setting parameter 21 03 when Run Enable signal is switched off RAMP STOP The application program stops the drive along the deceleration ramp defined in group 22 ACCEL DECEL 1 COAST STOP The a...

Page 179: ...Y Defines the delay for the zero speed delay function The function is useful in applications where a smooth and quick restarting is essential During the delay the drive knows accurately the rotor position No Zero Speed Delay The drive receives a Stop command and decelerates along a ramp When the motor actual speed falls below an internal limit called Zero Speed the speed controller is switched off...

Page 180: ... and 22 09 4 22 02 ACCEL TIME 1 Defines the acceleration time 1 that is the time required for the speed to change from zero to the maximum speed If the speed reference increases faster than the set acceleration rate the motor speed will follow the acceleration rate If the speed reference increases slower than the set acceleration rate the motor speed will follow the reference signal If the acceler...

Page 181: ...0 00 s See parameter 22 03 0 18000 22 06 ACC DEC RAMP SHPE Selects the shape of the acceleration deceleration ramp 0 00 1000 00 s 0 00 s Linear ramp Suitable for steady acceleration or deceleration and for slow ramps 0 01 1000 00 s S curve ramp S curve ramps are ideal for conveyors carrying fragile loads or other applications where a smooth transition is required when changing from one speed to an...

Page 182: ...1800 00 s Deceleration time 0 18000 23 SPEED CTRL Speed controller variables The parameters are not visible if parameter 99 04 SCALAR See section Speed controller tuning on page 71 Note After the motor STANDARD ID run is successfully completed the speed controller parameters 23 01 GAIN and 23 02 INTEGRATION TIME are updated to optimized crane application settings parameter 23 01 to 15 and paramete...

Page 183: ...or value changes The longer the derivation time the more the speed controller output is boosted during the change If the derivation time is set to zero the controller works as a PI controller otherwise as a PID controller The derivation makes the control more responsive for disturbances Note Changing this parameter is recommended only if a pulse encoder is used The figure below shows the speed con...

Page 184: ... axis gives a speed value of 998 rpm The static speed error is 1000 rpm 998 rpm 2 rpm To compensate the error the slip gain should be increased At the 106 gain value no static speed error exists 0 0 400 0 Slip gain value 0 400 23 06 AUTOTUNE RUN Start automatic tuning of the speed controller Instructions Run the motor at a constant speed of 20 to 40 of the rated speed Change the auto tuning parame...

Page 185: ... 99 04 SCALAR See section Flux braking on page 67 NO Inactive 0 YES Active 65535 26 03 IR COMPENSATION Defines the relative output voltage boost at zero speed IR compensation The function is useful in applications with high break away torque but no DTC motor control cannot be applied The figure below illustrates the IR compensation Note The function can be used only if parameter 99 04 is SCALAR 0 ...

Page 186: ... losses at constant load Maximal instantaneous torque is not available in the field weakening range of the speed 0 ON Motor flux follows a circular pattern below the field weakening point typically 50 or 60 Hz and a hexagonal pattern in the field weakening range Optimal selection in the applications that require maximal instantaneous torque in the field weakening range of the speed The losses at c...

Page 187: ...0 10000 kW Power 1 1 27 06 BC CTRL MODE Selects the control mode of the braking chopper AS GENERATOR Chopper operation is allowed when the DC voltage exceeds the braking limit the inverter bridge modulates and the 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 time supply vol...

Page 188: ... on the motor is at the ambient temperature 30 C The motor temperature increases if it operates in the region above the load curve and decreases if it operates below the curve The motor thermal time constant is an approximate value for a standard self ventilated squirrel cage motor It is possible to finetune the model with parameter 30 07 Note The model cannot be used with high power motors parame...

Page 189: ...nals of the drive must be protected against contact or a thermistor relay must be used to isolate the thermistor from the digital input WARNING Digital input DI6 may be selected for another use Change these settings before selecting THERMISTOR In other words ensure that digital input DI6 is not selected with any other parameter The figure below shows the alternative thermistor connections At the m...

Page 190: ...0 0 Allowed continuous motor load in percent of the nominal motor current 50 150 30 08 ZERO SPEED LOAD Defines the load curve together with parameters 30 07 and 30 09 25 0 150 0 Allowed continuous motor load at zero speed in percent of the nominal motor current 25 150 30 09 BREAK POINT Defines the load curve together with parameters 30 07 and 30 08 1 0 300 0 Hz Drive output frequency at 100 load 1...

Page 191: ...Hz Stall frequency 50 5000 30 12 STALL TIME Defines the time for the stall function See parameter 30 10 STALL FUNCTION 10 00 400 00 s Stall time 10 400 30 13 UNDERLOAD FUNC Selects how the drive reacts to underload The protection wakes up if the motor torque falls below the curve selected with parameter 30 15 output frequency is higher than 10 of the nominal motor frequency and the above condition...

Page 192: ... is other than zero Note The supervision can be displayed by setting the value to 0 0 0 60 0 s Time delay 0 0 s The function is inactive 0 6000 30 22 IO CONFIG FUNC Selects how the drive reacts in case an optional input or output channel has been selected as a signal interface but the communication to the appropriate analogue or digital I O extension module has not been set up accordingly in param...

Page 193: ...orque 34 04 MOTOR SP FILT TIM Defines a filter time constant for actual signal 01 02 SPEED The time constant has an effect on all functions in which signal SPEED is used The actual speed value is used for example in analogue output value group 15 ANALOGUE OUTPUTS or as an actual signal shown on the control panel display or PC screen 0 20000 ms Filter time constant 0 20000 Index Name Selection Desc...

Page 194: ...04 MOT 2 TEMP AI2 SEL are set to 1xPT100 analogue extension module input signal range must be set to 0 2 V instead of 0 10 V with DIP switches NOT IN USE The function is inactive 1 1xPT100 The function is active The temperature is measured with one Pt 100 sensor Analogue output AO1 feeds constant current through the sensor The sensor resistance increases as the motor temperature rises as does the ...

Page 195: ... ohm C PTC Pt100 Limit in C or ohms C parameter 35 01 is 1xPT100 2XPT100 3XPT100 Ohm parameter 35 01 is 1 3 PTC 10 5000 35 04 MOT 2 TEMP AI2 SEL Activates the motor 2 temperature measurement function and selects the sensor type Two motors can be protected only by using an optional analogue extension module Parameter 98 12 needs to be activated Note If 98 12 is activated the analogue I O extension ...

Page 196: ...and and the release of the motor speed control The delay counter starts when the drive has magnetised the motor and risen the motor torque to the level required at the brake release parameters 42 07 and 42 08 Simultaneously with the counter start the brake function energises the relay output controlling the brake and the brake starts opening Note If DI is used for brake acknowledge the speed contr...

Page 197: ...parameter 42 07 START TORQ REF SEL has value PAR 42 08 10 300 Torque value in percent of the motor nominal torque 1000 30000 42 09 EXTEND RUN T Defines an extended run time for the brake control function at stop During the delay the motor is kept magnetised and ready for an immediate restart Note During operation in the local control mode the magnetisation delay can be interrupted by giving a seco...

Page 198: ...ke close speed The following figures explain the two different scenarios that can occur in the LOW REF BRK HOLD function 100 1 s Case 1 The absolute speed reference goes above the brake close speed before the Low Ref Brk Hold time has elapsed Case 2 The absolute speed reference goes above the brake close speed after the Low Ref Brk Hold time has elapsed The brake is opened only after the speed ref...

Page 199: ...keeps the torque ON to the motor for the time defined If the brake long fault delay time has elapsed and the DI is still active the drive trips on a brake fault A status bit 03 32 bit 9 is available when the drive is operating at the brake long fault delay period along with a CDP message BRK LONG TIME which can be used for safety interlock or generating alarms 0 60 s Time 0 6000 42 14 SAFETY CLOSE...

Page 200: ...the shaft may not move and no pulses are detected This means that at low torque current the missing pulse supervision is not possible Therefore there must be conditional torque or current limit in the pulse supervision Now the limit is the maximum torque current because then the shaft is expected to move at least a little bit and at least some encoder pulses are detected WARNING The drive generate...

Page 201: ...800 bit s 4 9600 9600 bit s 5 19200 19200 bit s 6 52 03 PARITY Defines the use of parity and stop bit s The same setting must be used in all on line stations NONE1STOPBIT No parity bit one stop bit 1 NONE2STOPBIT No parity bit two stop bits 2 ODD Odd parity indication bit one stop bit 3 EVEN Even parity indication bit one stop bit 4 60 MASTER FOLLOWER Master Follower application For more informati...

Page 202: ...ORQUE is selected the drive does not restrict the speed variation as long as the speed is within the limits defined with parameters 20 01 and 20 02 More definite speed supervision is often needed In those cases the selection ADD should be used instead of TORQUE Par 11 02 should be EXT2 3 MINIMUM The torque selector compares the direct torque reference and the speed controller output and the smalle...

Page 203: ...he 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 01 which the torque selector adds to the torque reference The result is used as the internal torque reference for the drive Example In a load loss condition the internal torque reference of the drive ...

Page 204: ...roop rate in percent of the motor nominal speed 0 1000 60 07 MASTER SIGNAL 2 Selects the signal that is sent by the Master to the Follower s as Reference 1 speed reference 0000 9999 Parameter index 0000 9999 60 08 MASTER SIGNAL 3 Selects the signal that is sent by the Master to the Follower s as Reference 2 torque reference for load sharing or speed reference for Shaft synchronisation Note This ha...

Page 205: ...f several drives and a PC with the DriveWindow program running 1 254 Address 1 254 70 03 CH1 BAUD RATE The communication speed of channel 1 Typically the setting needs to be changed only if the pulse encoder interface module is connected to channel 1 instead of channel 2 Then the speed must be changed to 4 Mbit s See also parameter 50 05 8 Mbit s 8 megabits per second 0 4 Mbit s 4 megabits per sec...

Page 206: ...is higher than the SP DEV LEV for more than the delay time defined 0 60 s Time Defines the Speed match fault delay time 0 600 75 04 SPD CHG PER SEC Defines the Speed matching deviation when the drive is accelerating or decelerating While accelerating decelerating if the absolute difference between the rate of ramped speed reference and the rate of change of actual speed is greater the defined valu...

Page 207: ... the base speed current for the particular load used 0 00 5 00 s The speed reference holding time 0 500 77 04 CURRENT X1 FWD Defines the current in amps expected at the base speed in forward direction for limiting the speed reference to the value in parameter 77 05 REF Y1 FWD This current can be the empty hook current at the base speed when running in the forward direction 0 0 3000 0 A Setting ran...

Page 208: ...rent in amps expected at the base speed in reverse direction for limiting the speed reference to the value in parameter 77 15 REF Y2 REV 0 0 3000 0 A Setting range in amps 0 30000 77 15 REF Y2 REV Defines the speed in rpm to be used as the speed limit in reverse direction if the current at the base speed in reverse direction is equal to the value in parameter 77 14 CURR X2 REV 0 0 18000 0 rpm Sett...

Page 209: ...lated as the ratio between the Master speed in m min or mm min at the maximum speed defined to that of the Follower drive This factor is multiplied with the speed reference in the Follower drive only when the Synchro control is on Used only in Follower drives See section Control location EXT1 EXT2 supervision mismatch on page 93 0 100 00 Setting range 0 100000 78 04 POS SCALE Defines the position ...

Page 210: ...ISIS Defines the position hysteresis for stopping sequence in synchronisation mode This parameter is applicable only for Follower drives in synchronisation mode The drive is stopped only when the absolute Synchro position error Par 02 23 SYNC POS ERROR is in this range When the brake control is active the drive issues a brake Closing command while in stopping sequence only when the Master drive br...

Page 211: ...s the block in location defined with parameter 83 03 and shifts the following blocks one step down 3 PROTECT Activation of the Adaptive Program protection Activate as follows Ensure the Adaptive Program operation mode is START or STOP parameter 83 01 Set the passcode parameter 83 05 Change parameter 83 02 to PROTECT When activated All parameters in group 84 excluding the block output parameters ar...

Page 212: ...lish 84 01 STATUS Shows the value of the Adaptive Program status word The table below shows the alternative bit states and the corresponding values on the panel display 84 02 FAULTED PAR Points out the faulted parameter in the Adaptive Program 84 05 BLOCK1 Selects the function block for Block Parameter Set 1 See the Adaptive Program Application Guide 3AFE64527274 English ABS 11 ADD 10 AND 2 BITWIS...

Page 213: ...67 See parameter 84 06 84 09 OUTPUT Stores and displays the output of Block Parameter Set 1 84 79 OUTPUT Stores the output of Block Parameter Set 15 85 USER CONSTANTS Storage of the Adaptive Program constants and messages For more information see the Adaptive Program Application Guide 3AFE64527274 English 85 01 CONSTANT1 Sets a constant for the Adaptive Program 8388608 to 8388607 Integer value 1 1...

Page 214: ...bus reference REF4 is written 0 8999 Parameter index 90 03 AUX1 DS REF5 Selects the address into which the value of fieldbus reference REF5 is written 0 8999 Parameter index 90 04 AUX2 DS REF6 Selects the address into which the value of fieldbus reference REF6 is written 0 8999 Parameter index 90 05 AUX2 DS REF7 Selects the address into which the value of fieldbus reference REF7 is written 0 8999 ...

Page 215: ...p index and bit fields The bit number is effective only for blocks handling boolean inputs Constant value Inversion and constant fields Inversion field must have value C to enable the constant setting 92 11 MSW B13 PTR Selects the address from which the 03 02 Main Status Word bit 13 is read from 255 255 31 255 255 31 C 32768 C 32767 Parameter index or a constant value Parameter pointer Inversion g...

Page 216: ... detects that the DC switch is opened or inverter charging is ongoing at power switch on The application program generates alarm INV DISABLED if the DC switch is opened when the inverter is stopped The inverter trips to fault INV DISABLED if the DC switch is opened when the inverter is running OFF Inactive 0 ON Active 1 95 03 INT CONFIG USER Number of parallel connected inverter modules Activates ...

Page 217: ...000 equals to 30 30 since the range is limited to 3000 3000 10000 10000 Reference value See par description 95 07 LCU DC REF Defines the intermediate circuit DC voltage reference for the line side converter This reference is written into line side converter parameter 23 01 DC VOLT REF For more information see IGBT Supply Control Program 7 x Firmware manual 3AFE68315735 English 0 1100 V Voltage 1 1...

Page 218: ... output AO1 of the analogue I O extension module Note Actually the setting 10 mA or 12 mA does not set the AO1 minimum but fixes 10 12 mA to actual signal value zero Example Motor speed is read through the analogue output The motor nominal speed is 1000 rpm parameter 99 08 96 02 is NO 96 05 is 100 The analogue output value as a function of the speed is shown below 0 mA 0 mA 1 4 mA 4 mA 2 10 mA 10 ...

Page 219: ...O module located on the RMIO board RDIO SLOT1 or RDIO SLOT2 or in the external I O Module Adapter AIMA RDIO DDCS RDIO digital input 1 DI1 OFF2 STOP RDIO digital input 2 DI2 OFF3 STOP The OFF3 deceleration time is defined by parameter 22 07 EM STOP RAMP TIME NO Emergency stop through the RDIO module is not in use 1 RDIO SLOT1 OFF2 STOP through DI1 and or OFF3 STOP through DI2 is taken from the RDIO...

Page 220: ...ive with the zero speed reference used with the Brake match function created by DriveAP 255 255 31 255 255 31 C 32768 C 32767 Parameter index or a constant value 98 OPTION MODULES Activation of the option modules The parameter settings will remain the same even though the application macro is changed parameter 98 02 98 01 ENCODER MODULE Activates the communication to the optional pulse encoder mod...

Page 221: ...1 optional and defines the type and connection interface of the module Module outputs See parameters 14 10 and 14 11 for selecting the drive states that are indicated through the relay outputs NO Inactive 1 RDIO SLOT1 Communication active Module type RDIO Connection interface Option slot 1 of the drive 2 RDIO SLOT2 Communication active Module type RDIO Connection interface Option slot 2 of the dri...

Page 222: ...e connected to module inputs 1 and 2 See parameters 98 13 and 98 14 for the signal type definitions Module outputs See parameters 96 01 and 96 06 for selecting the drive signals that are indicated through module outputs 1 and 2 NO Communication inactive 1 RAIO SLOT1 Communication active Module type RAIO Connection interface Option Slot 1 of the drive 2 RAIO SLOT2 Communication active Module type R...

Page 223: ...bove The node number is not required For directions see RAIO Module User s Manual 3AFE64484567 English 2 RAIO SLOT2 Communication active Module type RAIO Connection interface Option Slot 2 of the drive Note Make the module hardware settings as described above The node number is not required For directions see RAIO Module User s Manual 3AFE64484567 English 3 RAIO DDCS Communication active Module ty...

Page 224: ...lue is changed Note This parameter is used only in special applications NO Supervision disabled 1 RDIO SLOT1 Module type RDIO Connection interface Option slot 1 of the drive 2 RDIO SLOT2 Module type RDIO Connection interface Option slot 2 of the drive 3 RDIO DDCS Module type RDIO Connection interface Optional I O module adapter AIMA that communicates with the drive through a fibre optic DDCS link ...

Page 225: ...hat the saved parameter settings and the motor model are suitable for the application 4 USER 2 SAVE Save User 2 macro Stores the current parameter settings and the motor model Note There are parameters that are not included in the macros See parameter 99 03 5 99 03 APPLIC RESTORE Restores the original settings of the active application macro 99 02 If a CRANE macro is active the parameter values ar...

Page 226: ... NOM VOLTAGE Defines the nominal motor voltage Must be equal to the value on the motor rating plate 1 2 2 UN Voltage Allowed range is 1 2 2 UN of the drive Note The stress on the motor insulations is always dependent on the drive supply voltage This also applies to the case where the motor voltage rating is lower than the rating of the drive and the supply of the drive 1 1 V 99 06 MOTOR NOM CURREN...

Page 227: ...NDARD Standard ID run Guarantees the best possible control accuracy The ID run takes about one minute The brake is opened when STANDARD ID run is selected The brake gets closed once the STANDARD ID run is performed Note The motor must be de coupled from the driven equipment Note Check the direction of rotation of the motor before starting the ID run During the run the motor will rotate in the forw...

Page 228: ...Actual signals and parameters 228 ...

Page 229: ...ilable sources for example digital and analogue inputs The following diagram shows the control interfaces and I O connections of the drive Fieldbus Other devices Fieldbus controller Slot 1 or 2 References Data Flow Status Word SW Actual values Parameter R W requests responses ACS800 Slot 1 RDCO comm module RMIO board RMBA 01 adapter std Modbus link Fieldbus adapter Process I O cyclic Service messa...

Page 230: ...bus control interface on page 241 is activated by setting parameter 98 02 COMM MODULE LINK to FIELDBUS or STD MODBUS In case there is a communication problem with one fieldbus the control can be switched to the other fieldbus Switching between the buses can be controlled for example with Adaptive Programming Parameters and signals can be read by both fieldbuses but simultaneous cyclical writing to...

Page 231: ...FIELDBUS Initialises communication between drive and fieldbus adapter module Activates module set up parameters Group 51 98 07 ABB DRIVES GENERIC CSA 2 8 3 0 ABB DRIVES GENERIC or CSA 2 8 3 0 Selects the communication profile used by the drive See section Communication profiles on page 249 249 ADAPTER MODULE CONFIGURATION 51 01 MODULE TYPE Displays the type of the fieldbus adapter module 51 02 FIE...

Page 232: ...s the status of the adapter module IDLE Adapter not configured EXEC INIT Adapter initialising TIME OUT A timeout has occurred in the communication between the adapter and the drive CONFIG ERROR Adapter configuration error The major or minor revision code of the CPI program revision in the drive is not the revision required by the module refer to par 51 32 or configuration file upload has failed mo...

Page 233: ...ave been set the drive control parameters section Drive control parameters on page 237 must be checked and adjusted where necessary Parameter Alternative settings Setting for control through Standard Modbus Link Function Information COMMUNICATION INITIALISATION 98 02 NO FIELDBUS ADVANT STD MODBUS CUSTOMISED STD MODBUS Initialises communication between drive Standard Modbus Link and Modbus protocol...

Page 234: ...w modbus org website Data from fieldbus controller to drive Data from drive to fieldbus controller Address Contents Address Contents 40001 Control Word 40004 Status Word 40002 Reference 1 40005 Actual 1 40003 Reference 2 40006 Actual 2 40007 Reference 3 40010 Actual 3 40008 Reference 4 40011 Actual 4 40009 Reference 5 40012 Actual 5 40013 Reference 6 40016 Actual 6 40014 Reference 7 40017 Actual 7...

Page 235: ...rface required See section Optical ModuleBus connection below CI810A Fieldbus Communication Interface FCI Optical ModuleBus connection TB811 5 MBd or TB810 10 MBd Optical ModuleBus Port Interface required The TB811 Optical ModuleBus Port Interface is equipped with 5 MBd optical components and the TB810 is equipped with 10 MBd components All optical components on a fibre optic link must be of the s...

Page 236: ...e of POSITION to the result For example if the POSITION terminal of the DRISTD database element has the value of 110 the tenth drive on the Optical ModuleBus ring parameter 70 01 must be set to 16 1 10 26 Parameter Alternative settings Setting for control through CH0 Function Information COMMUNICATION INITIALISATION 98 02 NO FIELDBUS ADVANT STD MODBUS CUSTOMISED ADVANT Initialises communication be...

Page 237: ...with parameters 10 01 and 10 02 The direction control is explained in section Reference handling on page 242 10 07 0 or 1 Setting the value to 1 overrides the setting of par 10 01 so that the fieldbus Control Word except 03 01 Main Control Word bit 11 is enabled when EXT1 is selected as the active control location Note 1 Only visible with the Generic Drive communication profile selected see par 98...

Page 238: ...ween Main Reference data set loss detection and the action selected with parameter 30 18 30 21 0 0 60 0 s Defines the time between Auxiliary Reference data set loss detection and the action selected with parameter 30 18 Note This supervision function is disabled if this parameter or parameters 90 01 90 02 and 90 03 are set to 0 FIELDBUS REFERENCE TARGET SELECTION 90 01 0 8999 Defines the drive par...

Page 239: ...t Format see parameter 92 02 92 04 0 9999 Selects the actual signal or parameter value to be transmitted as the first word ACT3 of the Auxiliary1 Actual Signal data set Format see parameter 92 02 92 05 0 9999 Selects the actual signal or parameter value to be transmitted as the second word ACT4 of the Auxiliary1 Actual Signal data set Format see parameter 92 02 92 06 0 9999 Selects the actual sign...

Page 240: ...3 02 Main Status Word bit 14 is read from 92 13 2 Standard or 11 Multidrive This parameter selects the source to which the drive writes the Main Status data set comprising the Status Word Actual Signal1 Actual Signal2 and the Auxillary signals Parameter Setting for fieldbus control Function Information ...

Page 241: ... in group 51 This function is dependent on the type of the fieldbus adapter With the Generic Drive communication profile active Actual 1 is fixed to the actual signal 01 02 SPEED in DTC motor control mode or 01 03 FREQUENCY in scalar mode The update time for the Main Reference and the Main Actual Signal data sets is 6 milliseconds and for the Auxiliary Reference and the Auxiliary Actual Signal dat...

Page 242: ... Fieldbus reference called COMM REF in signal selection contexts is selected by setting a Reference selection parameter 11 03 or 11 06 to COMM REFx or FAST COMM With Generic Drive communication profile fieldbus reference is also selected when Par 10 08 is set to 1 COMM REF1 in 11 03 or COMM REF2 in 11 06 The fieldbus reference is forwarded FAST COMM The fieldbus reference is forwarded The referenc...

Page 243: ...e profile Direction determined by the sign of COMM REF Direction determined by digital command for example digital input control panel Par 10 03 REF DIRECTION FORWARD Par 10 03 REF DIRECTION REVERSE Par 10 03 REF DIRECTION REQUEST Fieldbus 163 Max Ref 100 100 Ref 1 2 Resultant REF1 2 163 Max Ref Fieldbus 163 Max Ref 100 100 Ref 1 2 Resultant REF1 2 163 Max Ref Fieldbus 163 Max Ref 100 100 Ref 1 2 ...

Page 244: ...ed are selected with the parameters in group 92 The scaling of the integers sent to the master as Actual Values depends on the selected function please refer to chapter Actual signals and parameters Direction is determined by the sign of COMM REF when Par 10 01 10 02 EXTx STRT STP DIR is set to COMM CW OR Par 11 03 11 06 EXT REFx SELECT is set to FAST COMM ...

Page 245: ... 3 n in format xxyy xx Address 00 yy word no in data set table 01 99 xx par group yy par index in parameter table PAR DS Depends on the selected motor control mode parameter 99 04 See the fieldbus adapter user s manual for more information Word 1 Control word Word 2 Speed freq ref Word 3 Words 1 Word n PAR DS 3 n 10 01 DI1 COMM CW 10 02 11 06 11 03 COMM CW 03 01 DI1 11 02 COMM REF AI1 COMM REF AI1...

Page 246: ... 01 03 FREQUENCY Scalar control when Generic communication profile is used See the fieldbus adapter user s manual for more information 1 2 3 4 5 6 7 8 9 10 11 12 97 98 99 Fieldbus specific selectors in Group 51 Addresses for words 3 n in format xxyy xx Address 00 yy word no in data set table 01 99 xx par group yy par index in parameter table Word 1 STATUS WORD Word 2 ACT1 Word 3 Words 1 n Word n P...

Page 247: ... 98 02 CW REF1 REF2 90 07 1 255 30 18 COMM FAULT FUNC 30 19 MAIN REF DS T OUT 90 07 1 255 RMBA Slot 1 2 3 words 6 bytes 3 words 6 bytes 3 words 6 bytes Fieldbus 10 01 DI1 COMM CW 10 02 11 06 AUXILIARY 1 REFERENCE REF3 REF4 REF5 DATA SET 11 03 COMM CW 03 01 DI1 11 02 COMM REF AI1 COMM REF AI1 01 11 01 12 MAIN CW EXT REF1 EXT REF2 Block diagram Control data input from fieldbus when a type Nxxx field...

Page 248: ... 40012 Modbus Controller Fieldbus Adapter CH0 3 words 3 words 6 bytes 3 words 6 bytes 3 words 6 bytes Fixed to 03 02 MAIN STATUS WORD bits 10 13 and 14 are programmable Fixed to 01 02 SPEED DTC motor control or 0103 FREQUENCY Scalar control when Generic communication profile is used 6 bytes Block Diagram Actual value selection for fieldbus when a type Nxxx fieldbus adapter is used ACT6 ACT7 ACT8 A...

Page 249: ...er modules only The CSA 2 8 3 0 communication profile can be selected for backward compatibility with Application Program versions 2 8 and 3 0 This eliminates the need for reprogramming the PLC when drives with the above mentioned program versions are replaced ABB Drives communication profile The ABB Drives communication profile is active when parameter 98 07 is set to ABB DRIVES The Control Word ...

Page 250: ...TION INHIBITED 4 RAMP_OUT_ ZERO 1 Normal operation Enter RAMP FUNCTION GENERATOR OUTPUT ENABLED 0 Force Ramp Function Generator output to zero Drive ramps to stop current and DC voltage limits in force 5 RAMP_HOLD 1 Enable ramp function Enter RAMP FUNCTION GENERATOR ACCELERATOR ENABLED 0 Halt ramping Ramp Function Generator output held 6 RAMP_IN_ ZERO 1 Normal operation Enter OPERATING 0 Force Ram...

Page 251: ...0 of the nominal motor speed 0 Actual value differs from reference value is outside tolerance limits 9 REMOTE 1 Drive control location REMOTE EXT1 or EXT2 0 Drive control location LOCAL 10 1 Bit is read from the address defined with parameter 92 10 MSW B10 PTR By default no address has been selected 0 Actual frequency or speed value is within supervision limit 11 EXT CTRL LOC 1 External Control Lo...

Page 252: ...it1 0 SW Bit0 1 CW Bit3 1 and SW Bit12 1 C D CW Bit5 0 OPERATION ENABLED SW Bit2 1 SW Bit5 0 from any state from any state Emergency Stop OFF3 CW Bit2 0 n f 0 I 0 OFF3 ACTIVE Emergency OFF OFF2 CW Bit1 0 SW Bit4 0 OFF2 ACTIVE RFG OUTPUT ENABLED RFG ACCELERATOR ENABLED OPERATING B B C D CW Bit4 0 CW xxxx x1xx xxx1 1111 CW xxxx x1xx xx11 1111 D CW Bit6 0 A C CW xxxx x1xx x111 1111 CW Control Word SW...

Page 253: ...Frequency with FAST COMM 20000 par 11 05 0 0 20000 par 11 05 Final reference limited with 20 01 20 02 speed or 20 07 20 08 frequency REF2 Crane macro with speed mode 32768 32767 Speed or Freq not with FAST COMM 20000 par 11 08 1 par 11 07 0 par 11 07 20000 par 11 08 Final reference limited with 20 01 20 02 speed or 20 07 20 08 frequency Speed or Freq with FAST COMM 20000 par 11 08 0 0 20000 par 11...

Page 254: ...equence and restarting You can stop and restart the drive through the controlling device by giving the following main command word bit sequence Disable Bit 3 Bit 3 1 0 to issue a stop command Brake control must be activated or else the drive will stop by coasting Enable Bit 3 Bit 3 0 1 to issue the start command OFF1 OFF2 OFF3 stopping sequence and restarting You can stop and restart the drive thr...

Page 255: ...are shown in decimal and hex values in brackets Disable Start Cmd Disable OFF1 Cmd Bit 3 0 Bit 0 0 MCW Value 1142 476 MSW 4608 1200 MSW 4624 1210 MSW 4608 1200 MSW 4659 1233 MSW 4657 1231 MSW 4919 1337 MSW 4659 1233 MSW 4659 1233 MSW 4640 1220 MSW 4657 1231 MSW 4832 12E0 Enable OFF2 Cmd Bit 1 1 MCW Value 1142 476 MSW 4657 1231 Disable OFF1 Cmd Disable Start Cmd Bit 3 0 Bit 0 0 MCW Value 1138 472 M...

Page 256: ...e speed reference Note For the fieldbus interface to work in follower drives in EXT1 Par 60 01 MASTER LINK MODE must be set to value NOT IN USE in the follower drives Ensure this either through the fieldbus parameter writing or DriveAP s Write block When Follower n is in control location EXT2 Master Follower either speed controlled or torque controlled depending on the selection of Par 60 02 TORQU...

Page 257: ...nd Actual value scaling The profiles also define Mandatory services which are transferred to the application interface of the drive in a standardised way The Generic Drive communication profile can be used through both EXT1 and EXT2 The proper functioning of the Generic Drive profile requires that Control Word commands are enabled by setting parameter 10 01 or 10 02 whichever control location is a...

Page 258: ... according to the set current limit Par 20 03 or torque limit 20 04 whichever is first reached The same procedure is valid in case of a Voltage Limit Stop VLS INCHING1 With this command active the drive accelerates the motor to Step reference 3 defined with Par 12 04 After the command is removed the drive decelerates the motor to zero speed Note The speed reference ramps are not effective The spee...

Page 259: ...00 par 11 08 1 par 11 07 0 par 11 07 20000 par 11 08 0 0 20000 par 99 08 DTC 99 07 scalar Final reference limited with 20 01 20 02 speed or 20 07 20 08 frequency Speed or Freq with FAST COMM 20000 par 11 08 0 0 20000 par 11 08 0 0 20000 par 99 08 DTC 99 07 scalar Final reference limited with 20 01 20 02 speed or 20 07 20 08 frequency Crane macro with M F in torque mode 32768 32767 Torque not with ...

Page 260: ...OP 0 1 Start 0 Stop according to parameter 21 03 STOP FUNCTION 4 Reserved 5 CNTRL_MODE 1 Select control mode 2 0 Select control mode 1 6 Reserved 7 Reserved 8 RESET_FAULT 0 1 Reset drive fault 9 15 Reserved Bit Name Value Description 0 READY 1 Ready to start 0 Initialising or initialising error 1 ENABLE 1 Enabled 0 Coast to stop 2 Reserved 3 RUNNING 1 Running with selected reference 0 Stopped 4 Re...

Page 261: ...d after changing the motor parameters in group 99 7 IDENTIF RUN DONE Motor ID run successfully completed 8 START INHIBITION Safe Torque Off active 9 LIMITING Control at a limit See actual signal 3 04 LIMIT WORD 1 below 10 TORQ CONTROL Torque reference is followed 11 ZERO SPEED Absolute value of motor actual speed is below zero speed limit 4 of synchronous speed 12 INTERNAL SPEED FB Internal speed ...

Page 262: ...rence max limit 9 FLUX_MIN_LIM Flux reference min limit 10 FREQ_MIN_LIMIT Speed frequency min limit 11 FREQ_MAX_LIMIT Speed frequency max limit 12 DC_UNDERVOLT DC undervoltage limit 13 DC_OVERVOLT DC overvoltage limit 14 TORQUE LIMIT Any torque limit 15 FREQ_LIMIT Any speed frequency limit Bit Name Description 0 SHORT CIRC For the possible causes and remedies see chapter Fault tracing 1 OVERCURREN...

Page 263: ... remedies see chapter Fault tracing 1 NO MOT DATA 2 DC UNDERVOLT 3 Reserved 4 Not Used For the possible causes and remedies see chapter Fault tracing 5 ENCODER ERR 6 I O COMM 7 CTRL B TEMP 8 EXTERNAL FLT 9 OVER SWFREQ 10 AI MIN FUNC 11 PPCC LINK 12 COMM MODULE 13 PANEL LOSS 14 MOTOR STALL 15 MOTOR PHASE ...

Page 264: ...n program execution error 10 FLT F2_18 Application program execution error 11 FLT F2_19 Illegal instruction 12 FLT F2_3 Register stack overflow 13 FLT F2_1 System stack overflow 14 FLT F2_0 System stack underflow 15 Reserved Bit Name Description 0 START INHIBIT For the possible causes and remedies see chapter Fault tracing 1 Reserved 2 THERMISTOR For the possible causes and remedies see chapter Fa...

Page 265: ...served Bit Name Description 0 OFF1 Not in use Internally forced to 1 1 OFF2 Not in use Internally forced to 1 2 OFF3 Not in use Internally forced to 1 3 RUNNING Master drive running bit This bit is used to issue the start command in the Follower drive based on the Master drive running status 1 Start Master running 0 Stop Master stopped The start command is issued in the Follower drive only when th...

Page 266: ... brake close speed limit Used for the low reference brake hold function in the Follower drive in the Master Follower configuration 0 Speed reference not under the brake close speed 1 Speed reference under the brake close speed 13 RMP REF LIMIT Master ramped speed reference is under the brake close speed limit Used for low reference brake hold function in the Follower drive in the Master Follower c...

Page 267: ...e reference has been lost 8 STOP DI STATUS The state of the interlock input on the RMIO board 9 READY Ready to function Run enable signal on no fault 10 DATASET STATUS Data set has not been updated 11 MACRO CHG Macro is changing or is being saved 12 15 Reserved Bit Name Description 0 6 Unused 7 9 Reserved 10 EXT SPD MAX LIMIT Speed is limited in the forward direction according to the value set in ...

Page 268: ...KE ACKN 4 15 Reserved Bit Name Description 0 BR BROKEN For the possible causes and remedies see chapter Fault tracing 1 BR WIRING 2 BC SHORT CIR 3 BR OVERHEAT 4 BC OVERHEAT 5 IN CHOKE TEMP 6 PP OVERLOAD 7 INV DISABLED 8 TEMP DIF 9 POWERF INV xx POWERFAIL 10 INT CONFIG 11 USER L CURVE 12 Reserved 13 INV OVERTEMP For the possible causes and remedies see chapter Fault tracing 14 15 Reserved ...

Page 269: ...5 BATT FAILURE For the possible causes and remedies see chapter Fault tracing Bit Name Description 0 AINT FAULT Wrong EPLD version 1 AINT FAULT Wrong AINT board revision 2 AINT FAULT Du dt limitation hardware failure 3 AINT FAULT Current measurement scaling error 4 AINT FAULT Voltage measurement scaling error 5 15 Reserved This signal is active with AINT board Code Description Application Fault Wo...

Page 270: ...NFO FF80 DC HIGH RUSH 3210 DC OVERVOLT 03 05 FAULT WORD 1 bit 2 3220 DC UNDERVOLT 03 06 FAULT WORD 2 bit 2 2330 EARTH FAULT 03 05 FAULT WORD 1 bit 4 7302 ENCODER A B 7301 ENCODER ERR 03 06 FAULT WORD 2 bit 5 9000 EXTERNAL FLT 03 06 FAULT WORD 2 bit 8 FF83 FAN OVERTEMP FF8F FORCED TRIP FFBA FLWR1 COM FLT FFBB FLWR2 COM FLT FFBC FLWR3 COM FLT FFBD FLWR4 COM FLT GD DISABLED X FF84 ID RUN FAIL FF81 IN...

Page 271: ... FAULTED INT INFO 5210 PPCC LINK 03 06 FAULT WORD 2 bit 11 5210 PPCC LINK xx 03 06 FAULT WORD 2 bit 11 and 04 01 FAULTED INT INFO 5482 PP OVERLOAD 03 17 FAULT WORD 5 bit 6 FF54 RUN DISABLED FF7D SAFETYCLS FLT FFF1 SPD MATCH FLT 03 33 CRANE FAULT WORD bit 1 2340 SC INV xx y 03 05 FAULT WORD 1 bit 0 04 01 FAULTED INT INFO and 04 02 INT SC INFO 2340 SHORT CIRC 03 05 FAULT WORD 1 bit 0 and 04 01 FAULT...

Page 272: ... 9 7112 BR OVERHEAT 03 18 ALARM WORD 5 bit 2 FF37 CALIBRA DONE FF36 CALIBRA REQ 7510 COMM MODULE 03 08 ALARM WORD 1 bit 12 2330 CUR UNBAL xx 03 08 ALARM WORD 1 bit 14 and 04 01 FAULTED INT INFO 3211 DC BUS LIM 03 18 ALARM WORD 5 bit 9 2330 EARTH FAULT 03 08 ALARM WORD 1 bit 14 7302 ENCODER A B 03 09 ALARM WORD 2 bit 4 7301 ENCODER ERR 03 08 ALARM WORD 1 bit 5 FFF8 FAST STOP FFFD FLWR1 LIM FLT FFFE...

Page 273: ...ORD 2 bit 9 FF34 MOTOR STARTS 4310 MOTOR TEMP 03 08 ALARM WORD 1 bit 3 4312 MOTOR 1 TEMP 03 16 ALARM WORD 4 bit 1 4313 MOTOR 2 TEMP 03 16 ALARM WORD 4 bit 2 FF86 MOT POW LIM 03 18 ALARM WORD 5 bit 12 FF85 MOT TORQ LIM 03 18 ALARM WORD 5 bit 11 5300 PANEL LOSS 03 09 ALARM WORD 2 bit 13 FFD0 POINTER ERROR FF39 POWEROFF 5482 PP OVERLOAD 03 18 ALARM WORD 5 bit 5 4280 REPLACE FAN 03 18 ALARM WORD 5 bit...

Page 274: ...REQ Current limit at high IGBT temperature with low output frequency 10 Hz Temperature model is not active 3 INTG PP TEMP Current limit at high IGBT temperature Temperature model is not active 4 PP OVER TEMP Current limit at high IGBT temperature Temperature model is active 5 PP OVERLOAD Current limit at high IGBT junction to case temperature Temperature model is active If the IGBT junction to cas...

Page 275: ...he speed is limited in the reverse direction by the Load speed control function See chapter Fault tracing for more details 7 SYNC ENABLED Synchro control active See Par 78 01 8 POWER ON ACK SIGNAL Start Interlock DI active 9 BRK LONG TIME Brake long time sequence active See Par 42 13 10 LOAD SPEED CTRL ERR The Load speed control function is activated but not able to calculate the speed limit accor...

Page 276: ... Fault tracing 7 15 Reserved Bit Name Description 0 SYNC ENABLE Used when selection of Par 10 14 is COMM MODULE Bit 1 Synchro command is active Bit 0 Synchro command is inactive See Par 10 14 1 HOMING ACK Used when selection of Par 10 15 is COMM MODULE Bit 1 Homing Ackn command is active Bit 0 Homing Ackn command is inactive A pulse signal is required for initializing the position value See Par 10...

Page 277: ...ee section Control location EXT1 EXT2 supervision mismatch 7 RESET Follower drive Reset command from Master 8 POS BIT 3 Position multiplying factor bit 3 For more details see section Control location EXT1 EXT2 supervision mismatch 9 POS BIT 4 Position multiplying factor bit 4 For more details see section Control location EXT1 EXT2 supervision mismatch 10 POS BIT 5 Position multiplying factor bit 5...

Page 278: ...leg IGBT s short circuit 2 V PH SC U Phase V upper leg IGBT s short circuit 3 V PH SC L Phase V lower leg IGBT s short circuit 4 W PH SC U Phase W upper leg IGBT s short circuit 5 W PH SC L Phase W lower leg IGBT s short circuit 6 15 Reserved Bit Name Description U V W INT Upper leg IGBTs Lower leg IGBTs Inverter Block Diagram U V W INT U V W INT U V W INT PBU 1 2 3 Inverter Unit Block Diagram 2 t...

Page 279: ... control panel detached the red LED in the panel mounting platform indicates the fault condition Note Some drive types are not fitted with the LEDs as standard The four digit code number in brackets after the message is for the fieldbus communication See chapter Fieldbus control How to reset The drive can be reset either by pressing the keypad RESET key by digital input or fieldbus or switching th...

Page 280: ...ery voltage With parallel connected inverters enable backup battery by setting actuator 6 of switch S3 to ON Replace backup battery BC OVERHEAT 7114 3 18 AW 5 bit 3 Brake chopper overload Stop drive Let chopper cool down Check parameter settings of resistor overload protection function see parameter group 27 BRAKE CHOPPER Check that braking cycle meets allowed limits Check that drive supply AC vol...

Page 281: ...odule number Check that there are no power factor correction capacitors or surge absorbers in motor cable Check that there is no earth fault in motor or motor cables measure insulation resistances of motor and motor cable If no earth fault can be detected contact your local ABB representative DC BUS LIM 3211 3 18 AW5 bit 9 programmable Fault Function 30 23 Drive limits torque due to too high or to...

Page 282: ... HOMING ACTIVE FFB1 Homing activation signal 10 21 activated in EXT 1 control Homing sequence is activated Start the drive and complete the homing sequence After homing sequence is done deactivate the homing active signal HOMING DONE FFB0 Homing sequence is completed in EXT 1 control The position is initialized to the value define in par 78 10 Homing sequence is completed Deactivate the homing act...

Page 283: ...ent does not exceed derated load capacity of drive See appropriate hardware manual Check that ambient temperature setting is correct parameter 95 10 Check converter module cooling air flow and fan operation Cabinet installation Check cabinet air inlet filters Change when necessary See appropriate hardware manual Modules installed in cabinet by user Check that cooling air circulation in cabinet has...

Page 284: ...or load and drive ratings Check Fault Function parameters MOTOR STARTS FF34 Motor identification run starts This warning belongs to ID run procedure Wait until drive indicates that motor identification is completed MOTOR TEMP 4310 3 08 AW 1 bit 3 programmable Fault Function 30 04 30 09 Motor temperature is too high or appears to be too high due to excessive load insufficient motor power inadequate...

Page 285: ...nction parameters POINTER ERROR FFD0 Source selection pointer parameter points to non existing parameter index Check source selection pointer parameter settings POWEROFF FF39 Inverter type for example sr0025_3 has been changed Inverter type is usually changed at factory or during drive implementation Switch control board power off to validate inverter type change PP OVERLOAD 5482 3 18 AW 5 bit 5 E...

Page 286: ...se U V W Alarm is indicated when temperature difference is 15 C Fault is indicated when temperature difference is 20 C Excessive temperature can be caused for example by unequal current sharing between parallel connected inverters Check cooling fan Replace fan Check air filters THERMISTOR 4311 3 08 AW 1 bit 2 programmable Fault Function 30 04 30 05 Motor temperature is excessive Motor thermal prot...

Page 287: ...nel type and drive application program version Panel type is printed on panel cover Application program version is stored in parameter 33 02 NO FREE ID NUMBERS ID NUMBER SETTING NOT POSSIBLE Panel Link already includes 31 stations Disconnect another station from link to free ID number NOT UPLOADED DOWNLOADING NOT POSSIBLE No upload function has been performed Perform upload function before downloa...

Page 288: ... documentation or author of the Adaptive Program BACKUP ERROR FFA2 Failure when restoring PC stored backup of drive parameters Retry Check connections Check that parameters are compatible with drive BC OVERHEAT 7114 3 17 FW 5 bit 4 Brake chopper overload Let chopper cool down Check parameter settings of resistor overload protection function see parameter group 27 BRAKE CHOPPER Check that braking c...

Page 289: ...tions Check if master can communicate CTRL B TEMP 4110 3 06 FW 2 bit 7 Control board temperature is above 88 C Check ambient conditions Check air flow Check main and additional cooling fans CURR MEAS 2211 Current transformer failure in output current measurement circuit Check current transformer connections to Main Circuit Interface Board INT CUR UNBAL xx 2330 3 05 FW 1 bit 4 and 4 01 programmable...

Page 290: ... Fault Function 30 17 Drive has detected load unbalance typically due to earth fault in motor or motor cable Check there are no power factor correction capacitors or surge absorbers in motor cable Check that there is no earth fault in motor or motor cables measure insulation resistances of motor and motor cable If no earth fault can be detected contact your local ABB representative ENCODER A B 730...

Page 291: ...ient temperature Check that fan rotates in correct direction and air flows freely INT CONFIG 5410 03 17 FW 5 bit 10 Number of inverter modules is not equal to original number of inverters Check status of inverters See signal 03 34 APPL CONTROL WORD Check fibre optic cables between APBU and inverter modules If Reduced run function is used remove faulted inverter module from main circuit and write n...

Page 292: ...bles on channel CH1 Check all I O modules if present connected to channel CH1 Check for proper earthing of equipment Check for highly emissive components nearby LINE CONV FF51 Fault on line side converter Shift panel from motor side converter control board to line side converter control board See line side converter manual for fault description MOTOROVER SPD FFF0 3 33 CRANE FW bit 0 The speed exce...

Page 293: ...orrect Check that there are no power factor correction or surge absorbers in motor cable OVERCURRENT 2310 3 05 FW 1 bit 1 Output current exceeds trip limit Check motor load Check acceleration time Check motor and motor cable including phasing Check that there are no power factor correction capacitors or surge absorbers in motor cable Check encoder cable including phasing OVERFREQ 7123 3 05 FW 1 bi...

Page 294: ...y Check fibre optic cables or galvanic link With frame sizes R2 R6 link is galvanic If RMIO is powered from external supply ensure that supply is on See parameter 16 09 CTRL BOARD SUPPLY Check signal 03 19 Contact ABB representative if any of faults in signal 3 19 are active PPCC LINK xx 5210 3 06 FW 2 bit 11 and 4 01 INT board fibre optic connection fault in inverter unit of several parallel conn...

Page 295: ...e selections in group 98 OPTION MODULES START INHIBI FF7A 3 03 bit 8 Optional start inhibit hardware logic is activated Check start inhibit circuit AGPS board SUPPLY PHASE 3130 3 06 FW 2 bit 0 Intermediate circuit DC voltage is oscillating due to missing mains phase blown fuse or rectifier bridge internal fault Trip occurs when DC voltage ripple is 13 of DC voltage Check mains fuses Check for main...

Page 296: ...est level within the time TORQ PROV FLT TD Par 76 02 the drive will trip Normally only used if active load for example hoist drive with pulse encoder feedback Check motor and motor cables Check if setting of parameter 21 2 Control Magnetising time is to low UNDERLOAD FF6A 3 05 FW 1 bit 8 programmable Fault Function 30 13 30 15 Motor load is too low due to for example release mechanism in driven eq...

Page 297: ...ble for the software and the application Main contactor control logic Using the Adaptive Programming AP you can create a main contactor control logic for the 3 phase power supply of the ACS800 drive With the help of the main contactor control logic the power supply of the drive is disabled when the crane is not used the standby energy efficiency mode For this you must have the 24 V DC external aux...

Page 298: ...Adaptive Programming examples for crane control 298 The following figures show the main circuit and control circuit diagrams for the main contactor control logic ...

Page 299: ...Adaptive Programming examples for crane control 299 ...

Page 300: ...page 90 Parameter 85 01 defines the delay time in milliseconds for automatic opening of the main contactor after the drive has stopped running and the extended run time has elapsed The default time is set to 10000 ms 10 s The main contactor opening and closing command relay output par 84 19 bit 0 is by default linked to par 14 02 RO PTR2 bit value 1 Main contactor closing command and bit value 0 M...

Page 301: ...tended run time and also when the drive is in the standby spare unit mode If the position differs between the two successive samples more than set with parameter 85 01 CONSTANT1 and the motor torque is less than the preset value Brake match is activated By means of pointer parameter 97 21 ZERO SPEED PTR the drive will start with a zero speed reference and a brake match warning is shown on the cont...

Page 302: ... control 302 POS_ACT n 1 POS_ACT n TQ_REF_USED Forward lift eg DI1 Reverse lower eg DI2 POS_ACTnow POS_ACT previous motor rotates TORQUE 1 Start command pulse BRAKE MATCH BrakeOpenCommand RO_PTR2 OpenBrake ZERO SPEED PTR Brake match warning ...

Page 303: ...2 S TR T S TP DIR 10 02 E XT 2 S TR T P TR 10 05 F AS T S TOP P TR 10 10 HIG HE ND P TR 10 12 LOW E ND P TR 10 13 ZE R O P OS P TR 10 16 S YNC S E L 10 14 S YNC P TR 10 17 HOMING AC K S E L 10 15 HOMING AC K P TR 10 22 S LOW DOW N INP UT 10 09 S LOW DOW N P TR 10 19 E XT S P D LIM P TR 10 20 HOMING S E L P TR 10 21 E XT1 E XT2 S E LE C T 11 02 E XT 1 2 S E L P TR 11 09 E XT R E F 1 S E LE C T 11 0...

Page 304: ...40998 English When you use a spare unit the ACS800 motor output must be provided with an interlock power switch The spare unit must be connected to the Master Follower optical fibre ring network communication channel 2 All RMIO control boards of the drives must be powered on with the external power supply see External 24 V supply of RMIO board on page 117 The spare unit is normally in the standby ...

Page 305: ...Adaptive Programming examples for crane control 305 ...

Page 306: ...le digital inputs In the following example Actual signal 01 17 3 digital input DI4 Actual signal 01 17 4 digital input DI5 When the Master or Follower mode is switched parameters 10 02 EXT2 STRT STP DIR and 11 06 EXT REF2 SELECT must be updated according to the correct sources Parameter 03 36 M F STATUS WORD indicates the drive mode DI4 DI5 Master link mode 60 1 0 0 Standby value 7 0 1 Follower 1 ...

Page 307: ...Adaptive Programming examples for crane control 307 60 02 TORQUE SELECTOR 11 06 EXT REF2 SELECT 03 36 M F STATUS WORD bit 3 60 01 MASTER LINK MODE 10 02 EXT2 STRT STP DIR ...

Page 308: ...rting the crane In the following example Drive 01 0 1 is the Master and it is running Drive 02 0 2 is a Follower and it is running Drive 03 0 3 is in the standby mode and ready In the following example Drive 01 0 1 is the Master and it is running Drive 02 0 2 is in the standby mode and ready Drive 03 0 3 is a Follower and it is running ...

Page 309: ...tive Programming examples for crane control 309 In the following example Drive 01 0 1 in the standby mode and ready Drive 02 0 2 is the Master and it is running Drive 03 0 3 is a Follower and it is running ...

Page 310: ...logue outputs and sent to other systems as an mA signal for example for supervision or protection purposes For more information on the Position function see section Position on page 91 Create an AP file for scaling the actual encoder position signal to an analogue output according to the following example In the example 4 mA is the negative position 12 mA is the zero position 20 mA is the positive...

Page 311: ...the Slack rope detection bit input that is used to activate the Slack rope detection function The Slack rope detection bit is by default set to digital input DI6 Actual signal 01 17 bit 5 Parameter settings User par 85 01 defines the lack rope detection torque level as of the motor nominal torque When the actual motor torque is lower than the value defined in this parameter a slack rope is detecte...

Page 312: ...Adaptive Programming examples for crane control 312 The following figures show the previous example enlarged ...

Page 313: ...cation Guide for Adaptive Program 3AFE64527274 English and DriveAP User s Manual 3AFE64540998 English The brake control of conical rotor motors is done by using a high flux level during start and a lower flux level during stopping The figure on the following pages is an example of the conical rotor motor function using DriveAP for the crane control application SWITCH AND COMPARE RAMP Stop Flux Lev...

Page 314: ...Adaptive Programming examples for crane control 314 The following figures show the previous example enlarged ...

Page 315: ...he drive is activated with parameter 98 06 AI O EXT MODULE Basic checks Ensure the drive is installed and commissioned and the external start and stop signals are connected Ensure the extension module settings are adjusted See below is installed and reference signal is connected to AI1 is connected to the drive Settings of the analogue extension module and the drive Set the module node address to ...

Page 316: ...g 98 06 AI O EXT MODULE RAIO SLOT1 98 13 AI O EXT AI1 FUNC BIPOLAR AI5 10 03 REF DIRECTION FORWARD REVERSE REQUEST 1 11 02 EXT1 EXT2 SELECT EXT1 11 03 EXT REF1 SELECT AI5 11 04 EXT REF1 MINIMUM minREF1 11 05 EXT REF1 MAXIMUM maxREF1 13 16 MINIMUM AI5 minAI5 13 17 MAXIMUM AI5 maxAI5 13 18 SCALE AI5 100 13 20 INVERT AI5 NO 30 01 AI MIN FUNCTION 2 Speed Reference scaled minREF1 minAI5 minAI5 maxAI5 m...

Page 317: ... 98 06 AI O EXT MODULE RAIO SLOT1 98 13 AI O EXT AI1 FUNC BIPOLAR AI5 10 03 REF DIRECTION FORWARD REVERSE REQUEST 1 11 02 EXT1 EXT2 SELECT EXT1 11 03 EXT REF1 SELECT AI5 JOYST 11 04 EXT REF1 MINIMUM minREF1 11 05 EXT REF1 MAXIMUM maxREF1 13 16 MINIMUM AI5 minAI5 13 17 MAXIMUM AI5 maxAI5 13 18 SCALE AI5 100 13 20 INVERT AI5 NO 30 01 AI MIN FUNCTION 2 Speed Reference minAI5 13 16 MINIMUM AI5 maxAI5 ...

Page 318: ...Analogue Extension Module 318 ...

Page 319: ...to hexadecimal where xxyy drive parameter number Example The index number for drive parameter 13 09 is 1309 12288 13597 dec 351D hex NMBP 01 ModbusPlus Adapter and NMBA 01 Modbus Adapter 4xxyy where xxyy drive parameter number Term Definition PB Profibus equivalent for drive parameters communicating through the NPBA 12 Profibus Adapter FbEq Fieldbus equivalent The scaling between the value shown o...

Page 320: ...1 V 1 0 001 V V 18 01 19 AI2 mA AI2 mA 1 0 001 mA mA 19 01 20 AI3 mA AI3 mA 1 0 001 mA mA 20 01 21 RO3 1 STATUS RO3 1 1 1 21 01 22 AO1 mA AO1 mA 1 0 001 mA mA 22 01 23 AO2 mA AO2 mA 1 0 001 mA mA 23 01 27 APPLICATION MACRO MACRO 1 5 According to parameter 99 02 27 01 28 EXT AO1 mA EXT AO1 1 0 001 mA mA 28 01 29 EXT AO2 mA EXT AO2 1 0 001 mA mA 29 01 30 PP 1 TEMP PP 1 TEM 1 1 C C 30 01 31 PP 2 TEMP...

Page 321: ... WORD MAIN CW 0 65535 Decimal 76 03 02 MAIN STATUS WORD MAIN SW 0 65535 Decimal 77 03 03 AUX STATUS WORD AUX SW 0 65535 Decimal 78 03 04 LIMIT WORD 1 LIMIT W1 0 65535 Decimal 79 03 05 FAULT WORD 1 FAULT W1 0 65535 Decimal 80 03 06 FAULT WORD 2 FAULT W2 0 65535 Decimal 81 03 07 SYSTEM FAULT SYS FLT 0 65535 Decimal 82 03 08 ALARM WORD 1 ALARM W1 0 65535 Decimal 83 03 09 ALARM WORD 2 ALARM W2 0 65535...

Page 322: ... POS 0 65535 Decimal 03 38 POSITION REM POS R 0 65535 Decimal 04 ACTUAL SIGNALS 04 01 FAULTED INT INFO FLTD INT 0 65535 Decimal 04 02 INT SC INFO INT SC 0 65535 Decimal 09 ACTUAL SIGNALS 09 01 AI1 SCALED AI1 SCAL 20000 10 V 0 20000 09 02 AI2 SCALED AI2 SCAL 20000 20 mA 0 20000 09 03 AI3 SCALED AI3 SCAL 20000 20 mA 0 20000 09 04 AI5 SCALED AI5 SCAL 20000 20 mA 0 20000 09 05 AI6 SCALED AI6 SCAL 2000...

Page 323: ...or max speed nominal torque max process reference depending on the ACS800 macro selected 2 The contents of these data words are detailed in chapter Fieldbus control For the contents of Actual Signal 03 11 see the Master Follower Application Guide 3AFE64590430 English ...

Page 324: ...SELECT EXT1 127 11 03 EXT REF1 SELECT AI1 JOYST 128 11 04 EXT REF 1 MINIMUM 0 rpm 129 11 05 EXT REF 1 MAXIMUM 1500 rpm 130 11 06 EXT REF2 SELECT Keypad 131 11 07 EXT REF 2 MINIMUM 0 132 11 08 EXT REF 2 MAXIMUM 100 133 11 09 EXT 1 2 SEL PTR 0 134 11 10 EXT 1 REF PTR 0 135 11 11 EXT 2 REF PTR 0 136 11 12 SLOW DOWN REF 0 137 11 13 JOYSTICK WARN TD 2 s 138 11 14 HOMING REF 0 rpm 139 12 STEP REFERENCIN...

Page 325: ...3 MINIMUM AO1 0 mA 228 15 04 FILTER AO1 0 10 s 229 15 05 SCALE AO1 100 230 15 06 AO2 PTR 001 005 00 231 15 07 INVERT AO2 NO 232 15 08 MINIMUM AO2 0 mA 233 15 09 FILTER AO2 2 00 s 234 15 10 SCALE AO2 100 235 16 SYST CTRL INPUTS 16 01 RUN ENABLE YES 251 16 02 PARAMETER LOCK OPEN 252 16 03 PASS CODE 0 253 16 04 FAULT RESET SEL NOT SEL 254 16 05 USER MACRO IO CHG NOT SEL 255 16 06 LOCAL LOCK OFF 256 1...

Page 326: ... 0 5 s 385 22 ACCEL DECEL 22 01 ACC DEC SEL ACC DEC DIR 401 22 02 ACCEL TIME 1 3 00 s 402 22 03 DECEL TIME 1 3 00 s 403 22 04 ACCEL TIME 2 3 00 s 404 22 05 DECEL TIME 2 3 00 s 405 22 06 ACC DEC RAMP SHPE 0 00 s 406 22 07 EM STOP RAMP TIME 3 00 s 407 22 08 ACC PTR 0 408 22 09 DEC PTR 0 409 22 10 FST STP DCCL TIME 3 00 s 410 23 SPEED CTRL 23 01 GAIN 10 426 23 02 INTEGRATION TIME 2 50 s 427 23 03 DER...

Page 327: ...22 IO CONFIG FUNC WARNING 622 30 23 LIMIT WARNING 0 623 30 24 EXT FAULT PTR 0 624 33 INFORMATION 33 01 SOFTWARE VERSION Version 676 33 02 APPL SW VERSION Version 677 33 03 TEST DATE Date 678 34 PROCESS VARIABLE 34 04 MOTOR SP FILT TIM 100 ms 704 34 05 TORQ ACT FILT TIM 100 ms 705 35 MOT TEMP MEAS 35 01 MOT 1 TEMP AI1 SEL NOT IN USE 726 35 02 MOT 1 TEMP ALM L 110 727 35 03 MOT 1 TEMP FLT L 130 728 ...

Page 328: ...02 60 09 LOAD SHARE 100 1203 60 10 NO OF SLAVES 1 1204 60 11 SLAVE MODE SPEED 1205 70 DDCS CONTROL 70 01 CHANNEL 0 ADDR 1 1375 70 02 CHANNEL 3 ADDR 1 1376 70 03 CH1 BAUDRATE 4 Mbit s 1377 70 04 CH0 DDCS HW CONN RING 1378 70 05 CH2 HW CONNECTION RING 1379 74 SPEED MONITOR 74 01 MOT OVERSPEED LEV 110 1447 75 SPEED MATCHING 75 01 SPEED MATCH SEL TRUE 1465 75 02 SP DEV LEV 10 1466 75 03 SPD MATCH FLT ...

Page 329: ...TIME NO 1538 83 ADAPT PROG CTRL 83 01 ADAPT PROG CMD EDIT 1609 83 02 EDIT COMMAND NO 1610 83 03 EDIT BLOCK 0 1611 83 04 TIMELEVEL SEL 100 ms 1612 83 05 PASSCODE 0 1613 84 ADAPTIVE PROGRAM 84 01 STATUS 8h 1628 84 02 FAULTED PAR 000 000 00 1629 84 05 BLOCK1 NO 1630 84 06 INPUT1 0 1631 84 07 INPUT2 0 1632 84 08 INPUT3 0 1633 84 09 OUTPUT 0 1634 1644 84 79 OUTPUT 0 85 USER CONSTANTS 85 01 CONSTANT1 0 ...

Page 330: ...Q PW REF 0 1830 95 07 LCU DC REF 0 1831 95 08 LCU PAR1 SEL 106 1832 95 09 LCU PAR2 SEL 110 1833 95 10 TEMP INV AMBIENT 40 C 1834 96 EXTERNAL AO 96 01 EXT AO1 PTR SPEED 1843 96 02 INVERT EXT AO1 NO 1844 96 03 MINIMUM EXT AO1 0 mA 1845 96 04 FILTER EXT AO1 0 01 s 1846 96 05 SCALE EXT AO1 100 1847 96 06 EXT AO2 PTR CURRENT 1848 96 07 INVERT EXT AO2 NO 1849 96 08 MINIMUM EXT AO2 0 mA 1850 96 09 FILTER...

Page 331: ...RT UP DATA 99 01 LANGUAGE ENGLISH 1926 99 02 APPLICATION MACRO CRANE 1927 99 03 APPLIC RESTORE NO 1928 99 04 MOTOR CTRL MODE DTC 1929 99 05 MOTOR NOM VOLTAGE 0 V 1930 99 06 MOTOR NOM CURRENT 0 0 A 1931 99 07 MOTOR NOM FREQ 50 0 Hz 1932 99 08 MOTOR NOM SPEED 2900 rpm 1933 99 09 MOTOR NOM POWER 0 0 kW 1934 99 10 MOTOR ID RUN MODE ID MAGN 1935 99 11 DEVICE NAME ACS800 CRANE CONTROL 1936 99 12 OEM SIG...

Page 332: ...Additional data actual signals and parameters 332 ...

Page 333: ...DriveWindow 333 DriveWindow DriveWindow connected to the ACS800 RMIO RDCO board and channel CH3 ...

Page 334: ...DriveWindow 334 ...

Page 335: ...Control block diagrams 335 Control block diagrams ...

Page 336: ...Control block diagrams 336 ...

Page 337: ...Control block diagrams 337 ...

Page 338: ...Control block diagrams 338 ...

Page 339: ...uct training For information on ABB product training navigate to www abb com drives and select Training courses Providing feedback on ABB Drives manuals Your comments on our manuals are welcome Go to www abb com drives and select Document Library Manuals feedback form LV AC drives Document library on the Internet You can find manuals and other product documents in PDF format on the Internet Go to ...

Page 340: ...www abb com drives www abb com drivespartners Contact us 3AFE68775230 Rev E EN 2012 09 25 ...

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