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ACS800 CraneDrive Control Firmware Manual ACC800 Crane

1. 6 38 6 2 18 Group 62 Torque 6 39 6 2 19 Group 63 Faststop eec erede etn ees 6 40 06 2 20 Group 64 Crane Rin ERR RR FEE REX EIS EUR edu M deo 6 41 6 2 21 Group 65 Logic hand eoe een erre eiie pb um inus 6 44 6 2 22 Group 66 Torque proving 6 45 6 2 23 Group 67 Mechanical brake contr essen 6 46 6 2 24 Group 68 Power optimisation 6 48 6 2 25 Group 69 Reference Handler eese 6 51 6 2 26 Group 70 Position measurement seessssssssssssssssess eene 6 52 ACC 800 Firmware Manual 6 2 27 Group 7 T Fieldb s COMM 6 53 6 2 28 Group 72 Master Follower 9 6 55 6 2 29 Group 73 Electric 6 61 6 2 30 Group 74 Crane 6 63 6 2 31 Group 90 Dataset Addr 441 00 000000600000 6 64 6 2 32 Group 92 Dataset 9 00 6 65 6 2 33 Group 98 Option 6 66 6 2 34 Group 99 Start up
2. 0 0 0001 6 69 7 Chapter 7 Fault Tracing and Maintenance 1222 21 1 011 412 4 1 1 1 1 2 7 1 REeTTITEM 7 1 yid 7 2 FEST IUe 7 5 rcs thio E TTD LS 7 5 LA MAIO MAN Ce isd T 7 12 GAA HeatslnK iet tette ree t ese tec be et ER EU Rl ERE 7 12 EAD Fani cce Ri Rete fete seca e 7 13 24 3 EE PEE 7 13 Note Instructions for Electrical and Mechanical installation are not included in this manual They can be found from the ACS800 01 U1 Hardware Manual ACS800 02 U2 Hardware Manual ACS800 04 U4 Hardware Manual or ACS 600 Multidrive Hardware Manual ACC 800 Firmware Manual V This page is intentionally left blank vi ACC 800 Firmware Manual Chapter 1 Introduction to this Manual 1 1 Overview 1 2 Before You Start This chapter describes the purpose contents and the intended audience of this manual It also explains the conventions used in this manual and lists related publications This ACS 800 CraneDrive Control Fimware Manual is compatible with 800 Application Software version 7 1 signal 5 2 ACART xx The purpose of this manual is to provide you with the information necessary to control and program your AC
3. if mechanical losses are higher than 20 i e the motor cannot be de coupled from the driven equipment e if flux reduction is not allowed while the motor is running i e there are auxiliary devices connected in parallel with the motor NOTE Check the rotation direction of the motor before starting the Motor ID Run During the run the motor will rotate in the forward direction WARNING The motor will run at up to approximately 50 80 of the nominal speed during the Motor ID Run BE SURE THAT IT IS SAFE TO RUN THE MOTOR BEFORE PERFORMING THE MOTOR ID RUN To perform the Motor ID Run Drive must be in LOCAL mode Note If parameter values Group 10 to 98 are changed before the ID Run check that the new settings meet the following conditions 20 1 MINIMUM SPEED 0 20 2 MAXIMUM SPEED gt 80 of motor rated speed 20 3 MAXIMUM CURRENT gt 100 Ing Amp 20 4 MAXIMUM TORQUE gt 50 7 Change the selection to STANDARD or REDUCED 1L gt 00 0 99 START UP DATA 10 MOTOR ID RUN STANDARD 71 Press ENTER to verify selection The following message will be displayed 1L 00 0 ACS 800 75 kW WARNING ID RUN SEL 3 To start the ID Run press the key The Power On Ackn input e g DI2 see parameter 10 5 must be active if used Warning during the ID Run Warning after a succesfully completed ID Run 11 gt 11 3 1 ACS 800 75 kW WARNING
4. 6 1 6 2 1 Group 10 Digital InpUts 5 Foto Pe ect ede 6 2 6 2 2 13 1 6 6 6 2 3 Group 14 Relay Outputs sss seen 6 8 6 2 4 Group 15 Analogue Outputs sse nne 6 10 6 2 5 Group 16 System Ctr 6 13 06 2 6 Group 20 DIMMS PR e egere eh de qua qd 6 15 06 2 7 Gro p 21 Start Stop ic nere id rea eode Ch DU eo 6 18 6 2 8 Group 23 Speed enne nnnm ennemis 6 19 6 2 9 Group 24 Torque nennen nnns 6 24 6 2 10 Group 26 Motor Control visible only in SCALAR mode 6 25 6 2 11 Group 27 Brake Chopper 2 1 1 12 02 0 00220 0000 0 100000000000 6 26 6 2 12 Group 28 Motor 6 28 6 2 13 Group 30 Fault 6 29 6 2 14 Group 50 Pulse enne 6 35 6 2 15 Group 51 Comm 6 36 6 2 16 Group 60 Local 6 37 6 2 17 Group 61 Speed
5. RR RR DAR UTR RN ER XR DXX R de E x RINGS 2 4 PA Tee EE 2 4 2 4 2 Operational 2 14 3 Chapter 3 Start Up M 3 1 3 1 OVEMIOW E 3 1 3 2 Start up PROCCCUIC i iii en t trees ee A ees See en 3 1 3 3 5 e 3 7 3 3 1 Start up Data Parameters 1020 0000060000 00000000000 3 7 4 Chapter 4 Control Operation 4 4 4 4 nn nn nnn 4 1 LMNe UIDI 4 1 4 2 Actual Signals et Eos tene hates 4 1 4 3 Signal Selection Description of the Actual Signals Groups 1 and 2 4 4 EI ed cadena ada de Bete eee ld De etal Madan 4 10 4 5 Local Control vs External 4 10 4 5 1 Keypad 4 10 4 5 2 External Control ic olo rte preter eate rex ERR SEEN E 4 11 4 6 Control Signals Connection Stand Alone 4 12 4 7 Control Signals Connection in Fieldbus mode senes 4 13 4 8 External 24V supply of RMIO 0 2 0 0 0000 Rm nnnns 4 14 4 8 1 Power Acknowledge input signal 4 14 5 Chapter 5 Cra
6. 11 5 12 5 6 Function Module 5 14 5 6 1 Locakoperation t OD ucc st sentio a D ciao os 5 14 5 6 2 Speed monitor O1 ur he vinden silenti ne i 5 15 5 6 3 Torque monitor 62 icc rdiet ele 5 15 5 6 4 Fast stop 063 Jii eo D de ete usa 5 16 Grane OF 2M 5 17 56 0 Logic handler 65 5 26 5 6 7 TORQUE proving aunt rt tut aus etr EAE A Foo dL huesos ade ccce dora orte 5 29 5 6 6 Mechanical brake control 67 iniecit ee roe yess Deu cose aos 5 30 5 6 9 Power optimisation 68 eie Dato coe ehe ete MU o b vie LM ta ib tectus 5 33 5 6 10 Reference handler 69 etr itm entr ell i FRE RM EHE RE 5 37 5 6 11 Position measurement TO 5 doses iet cire tani SIRO least exp bea lain 5 39 5 6 12 Field bus communication 5 40 5 6 13Master EO IDWOE 72 m a i edis 5 48 5 6414 Electric shaft 7 ettet 5 54 5 6 15 Crane lifetime monitor T4 erre rere khen t eme ERR RR EXER 5 56 Deh Re RR RA HIE 5 57 6 Chapter Parameters ri iita tete saen Seaia eaaa eaan SEEE Eo Eh 6 1 MBA UD C 6 1 6 2 Parameter Groups pd der e s ee ee ee pee va
7. Enable Comm module if required Parameter 98 2 Stand Alone Sel Parameter 64 1 to False Master Follower Mode Parameter 72 1 to Follower Torque Selector Parameter 72 2 to Torque Brake Int Ackn Parameter 67 3 to True 7 Setallapplication parameters in both drives 8 Switch the CraneDrive units to external control with key on the Control Panel there should be no L on the first row of the display Reset both drives 9 Perform the test run with the motors still de coupled from the driven machinery For this test temporary set the Follower in speed control mode Parameter 72 2 Torque Selector Speed Give the control signals both through the Master analogue digital or through fieldbus inputs and from the master Control Panel Check the correct operation of the Master and Follower drives visually motor amp Control Panel display Start and Stop signals to the Master are received by the drives e The Master follows the speed reference given e The Follower follows the master speed reference 10 The Control Panel on the Follower is not active and can not control the drive 11 Change Follower back to Torque mode set Parameter 72 2 Torque Switch off the power supplies 13 Couple the motor shafts to the driven machinery and switch on the power supplies ACC 800 Firmware Manul Chapter 5 Crane Program Description Stand Alone mode The external control signals are connected to th
8. ID DONE 11 gt 11 3 1 ACS 800 75 kW WARNING MOTOR STARTS Chapter 3 Start Up 3 12 AN 11 DEVICE NAME After completing the ID Run the Actual Signal Display mode is entered by pressing the RESET key The Motor ID Run can be stopped at any time by pressing the Control Panel 9 key Pressing any other key than ACT FUNC or DRIVE while the previous warning messages are displayed will clear the display and return the panel to Parameter Mode Parameter 99 10 Either STANDARD REDUCED or ID MAGN will be displayed according to whether the ID Run is in progress or not If no keys are pressed within 60 seconds and the ID Run is still in progress the warning message is restored Actual signal no 1 16 IDENTIF RUN DONE will be set True when the ID Run has been completed OK NOTE Any change of the motor data parameters 99 5 99 9 after a completed ID Run will delete the ID Run performed A new ID Run or First start has to be performed without load before being able to operate the drive again This parameter can be used to set a name e g Main Hoist on the drive The parameter can only be set using DriveWindow PC tool it is not possible to enter text from the CDP312R panel The name will appear on the DriveWindow configuration picture and also on the CDP312R panel if pressing DRIVE key ACC 800 Firmware Manual Chapter 4 Control Operation 4 1 Overview 4 2 Actual Signals ACC
9. Chapter 6 Parameters 6 2 11 Group 27 Brake Chopper The Range Unit column in Table 6 10 below shows the allowable parameter values The text following the table explains the parameters in detail Table 6 11 Group 27 Range Unit 1 BRAKE CHOPPER OFF ON Brake chopper control 2 BR OVERLOAD NO WARNING Brake resistor overload function FUNC FAULT 3 BR RESISTANCE 0 00 100 00 Brake resistor resistance value ohm 10000 000 s POWER kW resistor power 6 BC CTRL MODE AS GENERATOR Brake chopper control mode COMMON DC 1 BRAKE CHOPPER Activates the brake chopper control 2 BR OVERLOAD FUNC 3 BR RESISTANCE 6 26 OFF Brake chopper control is inactive ON Brake chopper control is active NOTE Ensure that the brake chopper and resistor are installed and the overvoltage control is switched off parameter 20 6 Activates the overload protection of the brake resistor The user adjustable variables are parameters 27 03 27 04 and 27 05 NO Overload protection is inactive WARNING Overload protection is active If the drive detects an overload it generates a warning FAULT Overload protection is active If the drive detects an overload it trips on a fault Defines the resistance value of the brake resistor The value is used in the overload protection See parameter 27 02 ACC 800 Firmware Manual 4 BR THERM TCONST 5 MAX CONT BR POWER 6 BC CTRL MODE ACC 800 Firmware Manual Chapter 6
10. Communication active Module type NDIO module Connection interface Fiber optic DDCS link connect to Ch1 on RDCO option module Set the module node address to 3 for directions see module manual Signals available are EXT 012 1 EXT 012 2 EXT2 001 EXT2 002 NO Inactive RDIO SLOT1 Communication active Module type RDIO Connection interface Option slot 1 of the drive control unit RMIO board Signals available are EXT DI2 1 EXT DI2 2 EXT DI2 3 EXT2 DO1 2 DO2 ACC 800 Firmware Manual Chapter 6 Parameters RDIO SLOT2 Communication active Module type RDIO Connection interface Option slot 2 of the drive control unit RMIO board Signals available are EXT DI2 1 EXT DI2 2 EXT DI2 3 EXT2 DO1 EXT2 DO2 RDIO DDCS Communication active Module type RDIO Connection interface Optional I O module adapter AIMA that communicates with the drive through a fiber optic DDCS link via Ch1 on RDCO option module Note Node ID selector S1 on RDIO must be set to 3 Signals available are EXT DI2 1 EXT DI2 2 EXT DI2 3 EXT2 DO1 EXT2 DO2 EXT MODULE Activates the communication to the optional analog I O extension module and defines the type and connection interface of the module Used when connecting analogue 10V Speed correction reference signal to Ext available in both Stand alone and Fieldbus mode and when connecting an analogue 0 10V Load measure reference to Ext AI2 see also
11. Start if motor already magnetized SPEEDREF TD 4 Motor magnetizing time Par 21 2 0 1 1 5 sec 7 lt BRAKE FALL TIME RO SPEED LEV 67 1 Figure 5 12 Start and stop sequence time diagram 5 27 ACC 800 Firmware Manual Chapter 5 Crane Program Description 5 28 OFF TD Running Contin on Ready for run 5 sec O Power on ackn fie Zero speed gt 1 Fault RET On FieldBus R On Start Panel TRIG 1H s Start I O El amp Start 2 Start Fieldbus 2 Logic handler 65 Figure 5 13 Logic Handler logic ACC 800 Firmware Manual Chapter 5 Crane Program Description 5 6 7 Torque proving 66 Torque proving is a function module included in the drive control to ensure before releasing the brake and starting the crane operation that the drive is able to produce torque and that brakes are not slipping signal Zero 1 The function module is mainly intended for hoist drives but can also be used with other motions using encoder feedback Torque proving is performed by giving a positive torque reference with the brake applied If torque proving is successful that means torque reaches the correct level the brake is lifted and the next step in the starting sequence is initiated The time to execute the torque proving sequence is so short approximately 100 ms that the operator does not experience any time d
12. 10096 30 7 MOTOR LOAD CURVE 50 30 8 ZERO SPEED LOAD 30 9 BREAK POINT Speed Figure 6 10 Motor Load Curve 8 ZERO SPEED This parameter defines the maximum allowable current at zero speed LOAD to define the Motor Load Curve 9 BREAK POINT This parameter defines the point at which the motor load curve begins to decrease from the maximum value set by Parameter 30 7 MOTOR LOAD CURVE to the ZERO SPEED LOAD Parameter 30 8 Refer to Figure 6 10 for an example of motor load curve 10 MOTOR PHASE This parameter defines the operation when or more motor LOSS phases are lost FAULT Fault indication is displayed and the CraneDrive stops active when motor speed higher than 40 rpm NO No protection provided 800 Firmware Manual Chapter 6 Parameters 11 EARTH FAULT This parameter defines the operation when an earth fault is detected in the motor or the motor cable FAULT Fault indication is displayed and the CraneDrive stops NO No protection provided 12MASTER FAULT This parameter defines the operation when a fault is detected in the FUNC communication between the drive and the Fieldbus comm module FAULT Fault indication COMM MODULE is displayed and the CraneDrive trips NO No activity wanted WARNING Warning indication COMM MODULE is displayed 13 COMMFLT This parameter defines the delay time before activating the fault TIME OUT see par 30 12 6 34 ACC 800 Firmware Manual Chapt
13. 14096 visible only if par 67 11 selected to CONICAL 100 96 67 14 START FLUX TIME 0 0 10 0s visible only if par 67 11 selected to CONICAL 68 POWER OPTIMIZE 68 1 POWOP SELECT True False False 0 False 65535 68 2 BASE SPEED 1 0 96 100 0 100 0 10 1 96 68 3 POWOP AUTOTUNE SEL True False False 0 False 65535 True 00 _ 2000 00 2000 107 0 100 0 2000 00 SEXZLOADCORRFACTUP 000 30000 99715 ACC 800FirmwareManual BT Appendix A Complete Parameter and Default Settings Parameter Alternative Settings Default Fieldbus scaling setting ssmAwPTG S 17200000 eed poe 70 POS MEASURE 70 1 POS SCALE 1 00 32767 00 PPU 100 00 PPU 100 1 ppu 70 2 SYNC COND Pos Neg 0 Pos 65535 Neg 71 1 COMTEST FLT TD O ms 32767 ms 71 2 RESET POWER ON TD 0 ms 32767 ms 2000 ms 71 3 CHOPP EXT MON TD 0 ms 4000 ms 1000 ms 71 4 ADVANT COMM TYPE ENG DRIVE STD DRIVE ENG DRIVE 0 ENG DRIVE 65535 STD DRIVE 0 1 65535 10 71 5 DSET BASE ADDRESS 1 10 1 71 6 FIELDBUS R TYPE NO RPBA 01 121 1 2 72 MASTER FOLLOWER 72 1 MAST FOLL MODE OFF MASTER FOLLOWER visible only if M F CTRL macro selected 1 1 1 3 72 2 TORQUE SELECTOR ZERO SPEED TORQUE MINIMUM MAXIMUM ADD ZERO 1 1 6 72 3 LOAD SHARE 0 0 400 0 visible only if M F CTRL macro selected 100 0 107 176
14. The text next to this symbol describes ways to avoid the danger General Warning warns of situations that can cause physical injury and or can damage equipment by means other than electrical The text next to this symbol describes ways to avoid the danger Electrostatic Discharge Warning warns of situations in which an electrostatic discharge can damage equipment The text next to this symbol describes ways to avoid the danger Readers are notified of the need for special attention or additional information available on the subject with the following symbols CAUTION Caution aims to draw special attention to a particular issue Note Note gives additional information or points out more information available on the subject ACC 800 Firmware Manual General Safety Instructions These safety instructions are intended for all work on the ACS 800 In addition to the instruction given below there are more safety instructions on the first pages of the Hardware Manual WARNING All electrical installation and maintenance work on the ACS 800 should be carried out by qualified electricians The ACS 800 and adjoining equipment must be properly earthen Do not attempt any work on a powered ACS 800 After switching off the mains always allow the intermediate circuit capacitors 5 minutes to discharge before working on the frequency converter the motor or the motor cable It is good practice to check with a voltage indicating ins
15. nominal torque nominal torque nominal torque 9 cox LM REF1 ur c reference input to drive torque ramp output 10000 100 of motor torque TORQUE REF2 controller total output acceleration compensation 10000 100 of motor reference nominal torque Limited with parameters 20 4 amp 20 5 11 toca st i REF3 po guest of Torque Selector see parameter 72 2 10000 100 of motor nga epe torque 12 REF4 ref 3 Load compensation 10000 100 of motor nominal torque 13 TORQUE REF Torque ref 4 Torque step 10000 100 96 of motor nominal torque with limits nominal torque nominal torque 16 FLUX ACT 2 motor flux 1000 100 rene ETT mese Start order Local or External 20 RUNNING True False 65535 True 0 False a 2 CORR 1 SPEED CORR pm _ 2 il correction reference 1 1 rpm m ao ERES TT Power optimisation calculated speed reference enabled with 1000 100 96 High speed signal 26 ELSHAFT POS Electric Shaft control position error in Slave drive Slave Posact 1 1 ERROR Master Posact Scaling according to parameter 70 1 POS SCALE setting PREMO id LIMIT WORD 1 0 Packed Limit word indicating if drive is running in any limitation For bit 121 0 65535 FERMO Hex details see section 4 3 28 FAULTED INT INFO 0 FFFF Packed INT board fault info For bit details see section 4 3 12
16. programmable input 5 programmable input see Groupt0 6 De programmabeinputseeGrup 24 24 VDC max 100 mA 24 VDC DGND Digital ground 7 10 DGND Digital ground 11 DI IL DI7 programmable input see Group10 Terminal Block X23 1 24V DC Aux voltage output 24V 250 mA 2 Terminal Block X25 Digital Outputs RO11 Relay Output 1 RO12 Brake Lift default erminal Block X26 Ro Relay Output 2 6 R022 Watchdog N default erminal Block X27 RO Relay Output 3 6 Fault N default B 5 Appendix B User I O Interface diagrams This page is intentionally left blank ACC 800 Firmware Manual ED ED FADED ABB Automation Technologies AB Crane Systems 721 67 Vasteras SWEDEN Telephone 46 21 34 00 00 Telefax 46 21 34 02 90 3BSE 011179 R0925 EN 3AFE64310461 EFFECTIVE 26 10 2004
17. 0 1 Operational commands cannot be given from this panel when in Remote Control Only monitoring actual signals setting parameters uploading and changing ID numbers is possible The control is changed between Keypad and External control locations by pressing the LOC REM key Changing control location only possible while motor is stopped Only one of the Local Control devices CDP 312R or Drives Window can be used as the local control location at a time Refer to Chapter 4 Control Operation for the explanation of Keypad and External control Direction of actual rotation is indicated by an arrow 1 50 0 1 1 lt 50 0 1 Forward Reverse Start Stop Direction and Reference Start Stop and Direction commands are given from the panel by pressing the keys es Forward Reverse d Start Stop Table 2 10 explains how to set the Reference from the panel ACC 800 Firmware Manual Table 2 10 How to set the reference Chapter 2 Overview of ACC 800 Programming and the CDP 312 Control Panel Step Function Press key Display after key is pressed 1 To display enter a Keypad Mode displaying the status row 1L 50 0 1 SPEED 470 rpm TORQUE 50 CURRENT 40A To enter the Reference Setting Mode 1L gt 50 0 1 SPEED 470 rpm TORQUE S0 CURRENT 40A To change the reference slow change fast change 1L gt 56 0 1 SPEED 526 rpm TORQUE
18. 01 13 CTRL LOCATION CTRL LOC LOCAL I O CTRL FIELDBUS M F CTRL 1 4 14 OP HOUR COUNTER OP HOUR h 121h 15 KILOWATT HOURS KW HOURS kWh 1 100 kWh 16 IDENTIF RUN DONE ID RUN True False 65535 True 0 False 17 DI7 1 STATUS DI7 1 121 0 127 18 AI1 V Alt V V 10 1 19 AI2 mA AI2 mA mA 10 1 mA 20 EXT AM V EXT AI V 10 1 21 1 STATUS RO3 1 121 0 7 22 AO1 mA AO1 mA mA 102 1 23 AO2 mA 2 mA mA 10 1 mA 24 TOTAL INERTIA INERTIA kgm 10 1 kgm2 25 EXT DI6 1 STATUS EXT DI6 1 121 0 63 26 EXT RO4 1 STATUS EXT RO4 1 121 0 15 27 MOTOR RUN TIME RUN TIME h Hours 1 10h 28 MOTOR TEMP EST MOT TEMP C deg Celcius 1 1degC 29 CTRL BOARD TEMP CTRL BT C deg Celcius 1 1degC 30 FAN ON TIME FAN TIME h 1 10h 31 AI3 mA AI3 mA mA 102 1 32 TOTAL OPER TIME OPERTIME hrs 10 1h 33 LOAD TORQUE ton LOAD ton ton 100 1 ton 34 LOAD SPEC FACT Km FACT Km 100 1 35 LIFETIME LEFT 96 LIFETIME 151 ACC 800 Firmware Manual Appendix A Complete Parameter and Default Settings INT SIGNALS Group 2 Eoo 1 SPEED REF 2 a Ramp input reference limited by speed limits parameters 20 1 20000 par 69 01 amp 20 2 2 SPEED REF 3 Ramp output reference 20000 par 69 01 3 SPEED REF 4 Total speed reference ramp output reference speed 20000 par 69 01 correction reference 4 SPEED ERROR NEG Actual speed total speed reference 20000 par 69 01 nominal torque
19. 1 amp 20 2 must be set 5 96 higher than the setting of Master parameter 69 1 SPEED SCALING Checklist for a Quick Start up The installation and start up procedure of the CraneDrive is explained in ACS 800 Hardware manual An additional checklist for the Master Follower application is given below 1 Switch off the power supplies to the CraneDrive units Wait for five minutes to ensure that the intermediate circuits are discharged 2 Build the M F link Master Ch2 to Follower Ch2 See Figure 5 17 Master Follower configuration in Stand Alone mode NOTE Optical fibers for Master Follower bus to be ordered separately 3 Connect the external control signals to the Master 4 Switch on the power supplies 5 Activate M F control Macro in both CraneDrives Parameter 99 2 Application Macro CTRL 6A Stand Alone Mode In the Master set parameter Stand Alone Sel Parameter 64 1 to True Master Follower Mode Parameter 72 1 to Master In the Follower set parameter Stand Alone Sel Parameter 64 1 to True Master Follower Mode Parameter 72 1 to Follower Torque Selector Parameter 72 2 to Torque Brake Int Ackn Parameter 67 3 to True ACC 800 Firmware Manual Chapter 5 Crane Program Description 6B Fieldbus mode In the Master set parameter Enable Comm module Parameter 98 2 Stand Alone Sel Parameter 64 1 to False Master Follower Mode Parameter 72 1 to Master In the Follower set parameter
20. 1 MAST FOLL MODE OFF It is possible to connect more than one Follower drive in Master Follower configuration by activating the Broadcast mode parameter 72 11 YES in all drives See also section 6 2 27 Master drive is on the Ch2 M F bus sending the Torque and Speed references to any Follower connected But in this mode there is no start order sent from Master to Followers Neither is there any check of Followers status done by the Master drive Start order and status check e g any faulty Follower must be done externally via I O or fieldbus to all Master Follower drives ACC 800 Firmware Manual Chapter 5 Crane Program Description Master Follower link Specification Size of the Link One Master and one Follower station can be connected Transmission medium Fiber Optic Cable Construction Plastic core diameter 1 mm shielded with plastic jacket Attenuation 0 31 dB m e e e Maximum length between Stations 10 m Other Parameter Minimum Unit Short Term Tensile Force Short Term Bend Radius Long Term Bend Radius Long Term tensile Load Various lengths of fiber optic cables are available as optional add on kit for the CraneDrive Connectors on the RDCO 0x board Blue receiver hp 9534 T 1521 grey transmitter hp 9534 R 2521 Serial Communication Type Synchronous full duplex Transmission Rate 4 Mbit s Transmission Interval 4 ms Protocol Distributed Drives Comm
21. 163 84 Speed correction CORR 163 84 signal 20000 100 DS3 3 DS12 3 FB POS 32767 Preset value to position PRECOUNT 32767 counter sync value 171 DS5 1 DS14 1 FB AUX COMM Auxiliary Command Word WORD see Table 5 6 below for details 055 2 0514 2 FB LOAD MEAS 327 67 Load measure reference REF 327 67 10000 100 055 3 05143 notuse DWsignal3 9 DS7 1 DS16 1 PAR VALUE 1 32767 Parameter value for 32767 parameter selected with parameter 90 1 DS7 2 DS16 2 PAR VALUE 2 32767 Parameter value for 32767 parameter selected with parameter 90 2 DS7 3 DS16 3 PAR VALUE 3 32767 Parameter value for 32767 parameter selected with parameter 90 3 SPEED signals have scaling 20 000 corresponds to 100 TORQUE signals have scaling 10 000 corresponds to 100 96 The communication is supervised continuously using a toggle bit received in FB STATUS WORD 051 1 bit 0 COMTEST REC If next edge is not received within certain time COMTEST FLT TD 71 1 the MAS OSC FLT fault occurs and the drive trips The drive is inverting the bit received from the superior controller PLC COMTEST REC and sending it back in FB COMMAND WORD DS2 1 Bit 14 COMTEST TRA NOTE In the superior controller the received bit should be sent to the drive again without inverting ACC 800 Firmware Manuals BAM Chapter 5 Crane Program Description Table 5 6 Receive Dataset 5 alt 0
22. 1L 50 0 1 SPEED 470 rpm lt TORQUE 50 e CURRENT 40A i us Parameter Mode 11 gt 50 0 1 13 ANALOGUE INPUTS par 1 SCALE 1 000 1L gt 50 0 1 Function Mode UPLOAD lt lt DOWNLOAD gt gt 4 rune CONTRAST 4 ACS 800 0050 3SR Drive Selection Mode Main hoist 4 one ACXR7100 040930 ID NUMBER 1 Figure 2 2 Control Panel Display indications and function of the Control Panel keys Fault Reset Keypad Forward Start External Control Reference Setting Function Figure 2 3 Operational commands of the Control Panel keys 800 Firmware Manual Chapter 2 Overview of ACC 800 Programming and the CDP 312 Control Panel 2 4 Panel Operation 2 4 1 Keypad Modes The following is a description of the operation of the CDP 312R Control Panel The Control Panel Keys and Displays are explained in Figures 2 1 2 2 and 2 3 The CDP 312R Control Panel has four different keypad modes Actual Signal Display Mode Parameter Mode Function Mode and Drive Selection Mode In addition to this there is a special Identification Display which is displayed after connecting the panel to the link The Identification Display and the keypad modes are described briefly below Identification Display When the panel is connected for the first time or the power is applied to the drive the Identification Display appears showing the panel ID number and the number of drives
23. 2 times Master drive Pos scale If electric shaft position error signal 2 26 ELSHAFT POS ERROR exceeds the level set in parameter 73 5 POS ERROR LIMIT both drives will trip and the Slave indicates ELECTR SHAFT fault Master will then also indicate FOLL FAULT Follower fault Configuring the Electric shaft control Both drives designated Master and Slave are to be set up with Ch2 Master Follower communication This is done by selecting parameter 99 2 APPLICATION MACRO M F CTRL Also fiber optic connection is required between Ch 2 in both drives To define communication master and slave Set parameter 72 1 MAST FOLL MODE MASTER in the Master drive Set parameter 72 1 MAST FOLL MODE FOLLOWER and set 72 2 TORQUE SELECTOR SPEED in the Slave drive Set parameter 73 1 ELSHAFT MODE SEL MASTER in Master drive and to SLAVE in Slave drive If using drives in Stand alone mode i e parameter 64 1 STANDALONE SEL 7 True select what digital input is used for enabling the Electric shaft control Set with parameter 10 15 ELSHAFT ON SEL Example Selecting parameter 10 15 EXT refers to extended NDIO module 2 digital input 1 To be set in both Master and Slave drive If using Fieldbus mode i e parameter 64 1 False or Stand alone FB Joystick mode the enabling of Electric shaft control can also be done with bit number 4 bit numbering 0 15 in dataset no 5 word 1 Other related parame
24. 3 ACC TIME REV 1 Deceleration times 1L 0 0 0 69 REFERENCE HANDLER 4 DEC TIME FORW 1 1L gt 0 0 0 69 REFERENCE HANDLER 5 DEC TIME REV For other parameters see Chapter 5 Parameter setting tables 5 1 and 5 2 3 6 ACC 800 Firmware Manual 3 3 Start up Data Chapter 3 Start Up 3 3 1 Start up Data Parameters ACC 800 Firmware Manual To access the Start up Data Parameters you must enter the Parameter Mode The Start up Data Parameters appear on the display Parameter Group 99 After the Start up parameters for the motor are set the display shows the last edited Parameter Group when entering Parameter Mode and no longer returns to the Parameter Group 99 In the Start up Data group there are parameters for selecting the Application Macro and the Motor Information Parameters containing the basic settings required to match the CraneDrive with your motor When changing the value of the Start up Data Parameters follow the procedure described in Chapter 2 Overview of CraneDrive Programming Table 2 6 page 2 8 Table 3 1 page 3 8 lists the Start up Data Parameters The Range Unit column in Table 3 1 shows the parameter values which are explained in detail below the table NOTE The drive will not start if the Start up Data Parameters have not been changed from the factory settings or the nominal current of the motor is too small compared to the nominal cur
25. 3 DERIVATION TIME above As a general rule set this parameter to a value from 50 to 100 of the sum of the mechanical time constants of the motor and the driven machine No Acceleration Compensation Acceleration Compensation 96 96 Speed Reference Speed Reference 6 22 ACC 800 Firmware Manual Chapter 6 Parameters 5 SLIP GAIN Defines the gain for the slip 100 means full slip compensation 0 96 means no slip compensation The default value is 100 96 Other values can be used if static speed error is detected despite of the full slip compensation Example 1000 rpm constant speed reference is given to the drive Despite of the full slip compensation SLIP GAIN 100 96 a manual tachometer measurement from the motor axis gives speed value 998 rpm The static speed error is 1000 rpm 998 rpm 2 rpm To compensate the error the slip gain should be increased At 106 gain value no static speed error exists 6 AUTOTUNERUN The speed controller of the ACS 800 can be tuned automatically by performing the Autotune Run The mechanical inertia of the load is taken into consideration in GAIN INTEGRATION DERIVATION and ACC COMPENSATION parameters The system is tuned to be undercompensated rather than overcompensated To perform the Autotune Run Run the motor at a constant speed of 20 to 70 96 of the rated speed Change Parameter 23 6 AUTOTUNE RUN to YES After the Autotune Run is performed this parameter value automatical
26. 3 SLOWDOWN N SEL DI5 DI6 separate inputs are available for wiring of slowdown limit switches to the drive Slowdown direction A is wired to digital input 5 and slowdown direction B is wired to digital input 6 If input 5 is open speed is limited to slowdown reference level in positive A speed direction e g upwards but no limitation for negative speed e g downwards operation And vice versa if input 6 is open If both inputs 5 and 6 are closed 1 there is no slowdown speed limitation active full speed allowed ACC 800 Firmware Manual Chapter 5 Crane Program Description Slowdown selection DI5 DI6 is also possible to use when operating in Fieldbus mode ACC 800 Firmware Manul QT Chapter 5 Crane Program Description 5 20 FAST STOP When the FAST STOP N input e g DI6 changes to 0 activates on a negative edge while running the drive is fast stopped active in both speed and torque control Three alternatives Fast Stop 1 Torque limit braking Fast Stop 2 Torque limit and mechanical braking or Fast stop 3 Mechanical braking can be selected from by parameter FAST STOP TYPE 12 63 2 After reaching zero speed and the ZEROPOS input has been set to 1 with a positive edge required for reset of fast stop condition for a time longer than parameter ZERO POS OK TD start of the drive is allowed That is the joystick must be returned to the neutral position for a minimum of 0 3 seconds def
27. 5 4 Stand alone mode operation Operation Diagram Input Power Ext Controls 5 4 1 ACC 800 Firmware Manual v Torque standstill drive commands and reference settings can be given from the Control Panel keypad or selectively from an external control location The active control location is selected with the LOC REM key on the Control Panel keypad The drive is speed controlled In External Control the control location is the basic I O The reference signal is connected to analogue input Al1 and On Start and Direction signals are generated from digital inputs DI2 DI4 on terminal block X21 DI5 is used for connecting slowdown limit switches in series and DI6 for Fast Stop order from mechanical overload and slack rope indications The mechanical brake is controlled from DO1 and the acknowledgement is connected to DI1 Two analogue and three relay output signals are available on terminal blocks Default signals for the Actual Signal Display Mode of the Control Panel are SPEED TORQUE and CURRENT The feedback data through Fieldbus communication drive gt PLC is available also in stand alone mode by enabling Comm module parameter 98 2 1L 50 0 1 SPEED 470 rpm TORQUE S0 CURRENT 40A Reference and Start Stop and Direction commands are given from the Control Panel To change to External ctrl press LOC REM key at Speed Relay 1 50 0 1 Outputs SPEED 470 rpm TORQUE 50 CU
28. 72 4 WINDOW SEL ON OFF ON OFF 0 OFF 65535 ON 72 11 BROADCAST MODE NO YES TELECTRCSHART E OFF MASTER SLAVE 1 32000 only used in Slave 0 1000 only used in Slave e ae 2 0 74 1 NOMINAL LOAD 0 00 32767 00 ton 0 00 ton 74 2 CRANE LIFETIME 0 12500 hrs 100 hrs 74 3 START LIFETIMEMON OFF ON OFF 65535 ON 800 Firmware Manual Appendix A Complete Parameter and Default Settings Parameter Alternative Settings Default Fieldbus scaling setting SUDATASETTWORD T 0 9989 19 7 90 2 DATASET 7 WORD 2 Qs 0 SOSDATASETTWORD3 Huet etre e 92 DATASET TR ADDR pe ee 0 9999 E O o 98 7 ENCODER MODULE NTAGINOHRTACSLOTERTACSLOTARTACUDOS No 00 98 2 COMM MODULE NO FIELDBUS ADVANT NO 22 665 DVOEXTMODULET NDIO NO RDIOSLOTERDIOSLOTAROIODDGS No 586 DIOEXT MODULE NDIO NO RDIO SLOTI RDIOSLOTZ RDC DDCS No 1716 9 ACC 800 Firmware Manual QT Appendix A Complete Parameter and Default Settings This page is intentionally left blank ACC 800 Firmware Manual Appendix B User I O Interface diagrams The Figures in this appendix shows typical signal connections at the RMIO board for the differ
29. BUS BUS HIGH SPEED OK 18 _EMERGSTOP RESET OVR GONTE EEAKSTIPE RDYFORRUN cou LOADMEASSEL 2C 5D FAULT LING 66 5D _ZERO SPEED RUNNING COMM POSPRECOUNT 3D LOCAL START2 BRAKEFLT 5D FOLLOW RESETOVR 4A SD LOCALSTART 2 LIMITING MAS OSCELT_ 5D LOCAL STOP 67 SPEED REF 3 Cl TOROREF 4B _RDYFOR RUN SPEED ACT SPEED CORR J 2 50 FAULT 1 EAST STOP 1 11 f FASTSTOP 1 FAST FASTZEROSET 3C Transmit Receive FASTSTOP11_ SPEEDOFF 2D FASTSTOP12 FASTSTOP DRIVE SPEED REF ej DRIVE SPEED REF STARTOVR or BASIC BRAKE ACKN_ 3A gt Digital 012 POWER ON EMERG STOP N HIGHSPEED Os m inputs SYNC 3D HIGHSPEED OK __ 10 14 CHOPPER FLT N_ 50 TOROREF came TORO REF 5 an REF ZERO SET READY BASIC SPEED CORR m DRIVE SPEED REF s RDY FOR RUN BRAKE LIFT Dieial SPEED CORR 5 START 2 RUNNING Deton DOI Ott i RAMP RATE SPEED REF FOLLOW S STAND ALONE MODE Par 64 1 Stand alone select LOAD MEAS SEL LING LIMITING ID SPEED REF LOCAL SPEED REF 3 4 Analog AII SPEED REF CRANE LOCAL SPEED ACT Digital inputs TORO REF SPEED REF POWOP TORQ REE MOT TOR Out SPEED CORR STAND 2B 14 Ext TORQ PROV REF SPEED CORR ALONE Y SPEED REF 3 69 ioci MOT TORO BASIC AOI BRAKE Basic P Analog DI2 ZERO POS RER Digital pis START DIR A open nee Qut inputs DI4 START DIR B POWER ux MOT TORQ DD SLOWDONPUN oct ACT
30. Brake falling time 0 0 2 BRAKE FLT TD 0 0 60 0 s Brake fault time dela 0 0 0 4 BRAKE REOPEN TD Brake reopen time delay 5 BRAKE LONG FT TD 0 60 0 s Brake long falling time dela 6 ZERO SPEED LEV 0 100 Zero speed level 7 ZERO SPEED TIME 0 10000 ms Zero speed time 8 SPEED REF TD 0 05 10 00 s Speed reference time delay 9 START TORQ SEL NOT USED Starting torque AUTO TQ MEM selector LOAD MEAS PAR 67 10 10 START TORQ REF 0 300 96 Start torque reference 11 MOTOR TYPE STANDARD Conical motor CONICAL function selector 12 RED FLUX LEVEL 25 100 96 Reduced flux level 13 START FLUX LEVEL 100 140 Start flux level 14 START FLUX TIME 0 0 10 0s Start flux duration 1 BRAKE FALL TIME 2 BRAKE FLT TD BRAKE REOPEN TD 5 BRAKE LONG FT TD 6 46 6 ZERO SPEED LEV Falling time for the mechanical brake Time for brake to set and give full braking torque after brake close order brake electrical supply disconnected Time delay for BRAKE FAULT signal Minimum time between two brake lift orders That is BRAKE LIFT must be False for at least this time before next start is giving a new BRAKE LIFT order issued Used if mechanical brake is equipped with a reduced holding voltage circuit Time delay for monitoring signal brake long falltime Parameter for setting the speed level for ZERO SPEED indication Warning Do not set 0 level Result would be that brake would never clo
31. Complete Parameter and Default Settings Parameter Alternative Settings Default Fieldbus scaling setting 64 CRANE _ 42 True False True 0 False 65535 True 64 1 STAND ALONE SEL 64 2 CONTIN GEAR True False False 0 False 65535 True 643 HIGHSPEEDLEVELT 00 000 ox 10 1 S44 DEADZONER 006 100 0 pon 1051 645 DEADZONEB 00 1000 003 1951 64 6 REF SHAPE 0 100 20 151 0 100 008 6008 549 TORQUE REF SCALE 0 64 10 CONTROL TYPE JOYSTICK RADIO CTRL MOTOR POT STEP JOYST STEP RADIO JOYSTICK 1 1 0 6 FB JOYSTICK SHTWINMUMREF 0 0 1000 nux 10 1 4 13 STEPREFLEVELT 00 100 0 0715 64 14 STEP REF LEVEL 2 0 0 100 0 10 7 1 96 e415 STEP REF LEVEL 3 0036 10 0 50035 1051 64 16 STEFREFLEVEL4 00 1000 1051 Exe ee el 65 1 CONTIN ON True False False 0 False 65535 True 65 2 OFF TD 0 0s 10000 0s 180 0s 10 15 SETORQUEPROWNG 66 1 TORQ PROV SEL True False False 0 False 65535 True 662 TORGPROVFLT TD 00510005 66 3 TORQ PROV REF 0 0 200 0 20 0 10 1 SWECHERAKECONT pex ie 1 67 5 BRAKE LONG FT TD 0 0 lt 60 0 s 00 1000 107 10515 67 11 STANDARD CONICAL STANDARD 0 STANDARD 65535 CONICAL 67 12 RED FLUX LEVEL 25 100 visible only if par 67 11 selected to CONICAL 67 13 START FLUX LEVEL 100
32. DI1 DI6 CRANE EXT DII 4 SPEED REF MAX EXTERNAL E MODULE SELECTOR D SPEED Power REF Otimiza tion KEYPAD TORQUE REF TORQUE REF SPEED CORR EXT All CDP 312R PANEL o REF WITH SIGN i KEYPAD EXTERNAL ON START SPEED CONTROLER MINIMUM SPEED 20 1 MAXIMUM SPEED 20 2 SPEED CTRL Group 23 TORQUE CONTROLLER MAXIMUM TORQUE 20 4 20 5 TORQUE CTRL Group 24 Figure 5 4 Control Signals Connection Stand Alone mode ACC 800 Firmware Manual Chapter 5 Crane Program Description Parameter Settings for the Stand alone mode Table 5 1 Listing of parameters typically requiring changes during start up Stand alone mode 99 START UP DATA 99 2 APPLICATION MACRO CRANE 62 TORQUE MONITOR 99 3 APPLIC RESTORE NO 62 1 TORQ MON SEL TRUE 99 4 MOTOR CTRL MODE 62 2 SP DEV LEV 10 99 5 MOT NOM VOLTAGE gt 0 62 3 TORQ FLT TD 600 ms 99 6 MOTOR NOM CURRENT gt 00A 62 4 SP DER BLK LEV gt 13 s 99 7 MOTOR NOM FREQ gt 50 0Hz 99 8 MOTOR NOM SPEED gt rpm 63 FAST STOP 99 9 MOTOR NOM POWER gt 0 0kW 63 1 FAST STOP TYPE 11 NOT USED 99 10 MOTOR ID RUN gt IDMAGN 63 2 FAST STOP TYPE 12 NOT USED 99 11 DEVICE NAME 5 64 CRANE 10 DIGITAL INPUTS 64 1 STAND ALONE SEL TRUE 10 1 BRAKE ACKN SEL 64 2 CONTIN GEAR FALSE 10 2 ZERO POS SEL gt 02 64 3 HIGH SPEED LEVEL 1 98 96 10 3 SLOWDOWN N SEL gt DI5 64 4 DEADZONE
33. DI4 015 016 DI IL ee aa BRAKE LIFT WATCHDOG N USER 1 OR 2 REVERSE OVERSPEED BRAKE LIFT 1 1 1 RDY FOR RUN SPEED LIM 1 LIFETIME gt 90 2 14 See 14 1 WATCHDOGN 171 1 14 See 14 1 FAULT N 121 1 14 10 12 SNAG LOAD N SEL 10 13 ACCELERATE SEL NOT SEL 121 1 8 NOT SEL 121 1 10 NOT SEL NOT SEL 121 1 4 121 1 12 NOT SEL 1721 1 8 10 16 FAULT RESET SEL 10 17 USER MACRO CH SRC 10 18 EXTERNAL FAULT 13 ANALOGUE INPUTS 13 1 SCALE AI1 13 2 FILTER AI1 13 3 SCALE AI2 13 4 FILTER AI2 13 5 SCALE EXT AI1 13 6 FILTER EXT AI1 13 7 AI1 096 REF LEV 14 RELAY OUTPUTS 14 1 RELAY RO1 OUTPUT NOT USED READY RUNNING FAULT FAULT N CONTROL LOC 14 2 RELAY RO2 OUTPUT 14 3 RELAY RO3 OUTPUT 14 4 EXT1 DO1 OUTPUT 14 5 EXT1 DO2 OUTPUT 14 6 EXT2 DO1 OUTPUT 14 7 EXT2 DO2 OUTPUT ACC 800 Firmware Manual Appendix A Complete Parameter and Default Settings Alternative Settings Default Fieldbus scaling setting NOT USED MEAS SPEED SPEED FREQUENCY CURRENT SIGN TORQUE POWER DC BUS VOLT OUTPUT VOLT SIGN POSACT SIGN SP REF 65535 YES 2 4mA 15 4 FILTER ON AO1 0 00 s 10 00 s 100 15 15 5 SCALE AO1 10 1000 96 10096 15 6 ANALOGUE OUTPUT2 NOT USED SIGN SPEED SPEED FREQUENCY CURRENT TORQUE TORQUE POWER DC BUS VOLT OUTPUT VOLT TORQUE REF SIGN SP REF 15 7 INVERT AO2 NO YES NO 0 NO 65535 YES 0 mA 15 8 MINIMUM AO2 0 mA 4 Ma 1 0 mA 2
34. Digital input DI IL programmable Terminal Block X23 24 VD Auxiliary voltage output 24 VDC GND Terminal Block X25 E Relay output 1 ROI Brake lift ROI3 Terminal Block X26 RO21 P Relay output 2 RO22 Watch dog N RO23 Terminal Block X27 EZ Relay output 3 RO32 Fault N Figure 5 2 External connections to RMIO board Stand Alone mode Joystick control 5 4 ACC 800 Firmware Manual 230 Vac 24Vdc OV Chapter 5 Crane Program Description RDIO 01 DI O Ext module no 1 Terminal block Function example 24 250 V X11 1 Stop Lim A N 2 DI1B X12 1 DI2A Stop Lim N 2 DI2B 3 DI3A Fast stop 4 DI3B RDIO 01 DI O Ext module no 2 Terminal block Function example 24 250 V X11 1 DI1A Step Ref 2 2 DI1B X12 1 DI2A Step Ref 3 2 DI2B 3 DI3A Step ref 4 4 DI3B RAIO 01 Al O Ext module Electric shaft control 10V Terminal block X1 Function 1 1 Speed Correction 2 Al1 3 Al2 not used 4 Al2 5 SHLD 6 SHLD Figure 5 3 External connections to extended I O modules RDIO 01 and RAIO 01 in Stand Alone mode Step joystick control ACC 800 Firmware Manual Chapter 5 Crane Program Description 5 4 3 Control Signals Connection Stand Alone mode
35. Follower broadcast mode if multiple Follower drives are 6 60 required Set YES in both broadcast Master and Followers If broadcast mode is selected Master drive will send only Speed and Torque reference to all drives set as Followers par 72 1 Master and Followers to have channel 2 connected together in a closed optical ring On and Start orders must be connected via I O or Fieldbus Standalone or Fieldbus mode used par 64 1 directly to each drive in Master as well as Followers Also monitoring of e g Running signal from all drives must be done externally NO Master Follower Broadcast mode disabled Normal point to point Master Follower communication with only one Follower is possible YES Master Follower Broadcast mode is enabled ACC 800 Firmware Manual Chapter 6 Parameters 6 2 29 Group 73 Electric Shaft 1 ELSHAFT MODE SEL 2 ELSHAFT GAIN 3 GEAR NUMERATOR ACC 800 Firmware Manual The Range Unit column in Table 6 26 shows the allowable parameter values The text following the table explains the parameters in detail Table 6 26 Group 73 Parameter SLAVE mode selection 0 0 100 0 Electric shaft control gain numerator denominator 1 5 POS ERROR LIMIT 0 1000 pos units Position error fault limit 6 ELSH CTRL MIN SPD 0 100 96 Electric shaft control minimum speed Electric shaft drive mode selection OFF Master or Slave drive not activated for Electric Shaft control MASTER Driv
36. ID MAGN D NOT USED NOT USED NOT USED NOT USED NOT USED NOT USED NOT USED NOT USED NOT USED NOT USED NOT USED NOT USED NOT USED NOT USED calculated calculated 2714 A 200 96 200 96 OFF ON 10096 CONST DC MAGN 500 ms 15 0 0 50s 0 0 ms 0 00s 100 0 96 NO 4ms 0 0 rpm 1024 A B FAULT 1000 ms TRUE 62 TORQUE MONITOR 62 1 TORQ MON SEL 62 2 SP DEV LEV 62 3 TORQ FLT TD 62 4 SP DER BLK LEV 63 FAST STOP 63 1 FAST STOP TYPE 11 63 2 FAST STOP TYPE 12 64 CRANE 64 1 STAND ALONE SEL 64 2 CONTIN GEAR 64 3 HIGH SPEED LEVEL 1 64 4 DEADZONE A 64 5 DEADZONE B 64 6 REF SHAPE 64 7 SLOWDOWN SPEEDREF 64 8 ZERO POS OK TD 64 9 TORQUE REF SCALE 64 10 CONTROL TYPE 64 11 MINIMUM REF 64 12 JOYSTICK WARN TD 64 13 STEP REF LEVEL 1 64 14 STEP REF LEVEL 2 64 15 STEP REF LEVEL 3 64 16 STEP REF LEVEL 4 66 TORQUE PROVING 66 1 TORQ PROV SEL 66 2 TORQ PROV FLT TD 66 3 TORQ PROV REF 68 POWER OPTIMIZATION 68 1 POWOP SELECT 68 2 BASE SPEED 68 3 POWOP AUTOTUNE SEL 68 4 INERTIA TOTAL UP 68 5 INERTIA TOTAL DWN 68 6 TQLIM UP 68 7 TQLIM DWN 68 8 POWOP RESET LEV 68 9 T MAX 69 REFERENCE HANDLER 69 1 SPEED SCALING RPM 69 2 ACC TIME FORW 69 3 ACC TIME REV 69 4 DEC TIME FORW 69 5 DEC TIME REV 69 6 S RAMP TC 69 7 RAMP SCALE LOCAL 69 10 RAMP RATE 1 98 OPTION MODULES 98 1 ENCODER MODULE 98 2 COMM MODULE 98 3 CH3 NODE ADDR 98 4 CHO NODE ADDR 98 5 DI O EXT MODULE 1 98 6 DI O EXT MODULE
37. If the input is connected to 24 VDC the display will indicate 1 If the input is not connected the display will be 0 Example 1000010 DI IL is 016 to is off DI2 is on and 011 is off Value of RMIO analogue input 1 displayed in volts Value of RMIO analogue input 2 displayed in milliamperes ACC 800 Firmware Manual 20 EXT Alt V 21 RO3 1 STATUS 22 AO1 mA 23 AO2 mA 24 INERTIA 25 EXT DI6 1 STATUS 26 EXT RO4 1 STATUS 27 MOTOR RUN TIME 28 MOTOR TEMP EST 29 CTRL BOARD TEMP 30 FAN ON TIME 31 AI3 mA 32 TOTAL OPER TIME 33 LOAD TORQUE ton 34 LOAD SPEC FACT Km 35 LIFETIME LEFT ACC 800 Firmware Manual Chapter 4 Control Operation Value of RAIO 01 analogue input 1 displayed in volts Status of the RMIO three relay outputs 1 indicates that the relay is energised and 0 indicates that the relay is de energised Value of RMIO analogue output 1 signal in milliamperes Value of RMIO analogue output 2 signal in milliamperes This actual signal is giving the calculated inertia value from running the Power Optimisation Autotune and has to be set in parameter 68 4 INERTIA TOTAL UP and 68 5 INERTIA TOTAL DWN Status of the six 3 3 RDIO digital inputs If the input is connected to voltage the display will indicate 1 If the input is not connected the display will be O Status of the four 2 2 RDIO relay outputs 1 indicates that the relay is energised and 0 indicates that th
38. JOYSTICK control mode where joystick signals are sent via fieldbus to CRANE function module see end of section 5 6 5 for details The CRANE function module is producing the references and commands like ON OFF START and so on When the CraneDrive is in Fieldbus mode 64 1 Stand Alone Sel False the commands are given from the supervisory system and received over the fieldbus communication link see section 5 6 Chapter 4 Control Operation 4 6 Control Signals Connection Stand Alone mode SPEED DII DI6 Gunn CONTROLER EXT DII 4 SPEED REF EXTERNAL MINIMUM SPEED 20 1 MAX pr MAXIMUM SPEED 20 2 MODULE SELECTOR SPEED Power REF Otimiza SPEED CTRL tion Group 23 KEYPAD TORQUE CONTROLLER TORQUE REF TORQUE REF MAXIMUM TORQUE 20 4 20 5 EA SPEED CORR TORQUE CTRL Group 24 CDP 312R PANEL 2 8 Q O REF WITH SIGN KEYPAD EXTERNAL ON START Figure 4 3 Selecting control location and control source ARE 800 Firmware Manual Chapter 4 Control Operation 4 7 Control Signals Connection in Fieldbus mode FIELD BUS DataSetl ON START Bit 2 and 4 SPEED CONTROLLER EXTERNAL MINIMUM SPEED 20 1 MAX O p MAXIMUM SPEED 20 2 SELECTOR DataSet SPEED REF Word2 Power Optimization SPEED CTRL Group 23 SELECT KEYPAD TORQ CTRL DS1 1 Bit 7 TORQUE CONTROLLER TORQUE REF DataSet Word3 of MAXIMUM TORQUE 20 4 20 5 TORQUE CTRL SPEED CORR Group 24
39. Manual Chapter 6 Parameters Selects the thermal protection mode The motor protection is made by means of the thermal model or thermistor measurement The CraneDrive calculates the temperature rise of the motor using the following assumptions motor is in ambient temperature 30 C when power is applied to the CraneDrive Motor heating is calculated assuming a load curve Figure 6 9 The motor will heat above nominal temperature if it operates in the region above the curve and cool if it operates below the curve The rate of heating and cooling is set MOTOR THERM TIME Because of the simple thermal model used for calculating temperature rise this technique of thermal protection may cause undesirable trips if the motor is run continuously at low speeds If your application requires continuous running at speeds lower than BREAK POINT you may need to provide external cooling CAUTION Motor thermal protection will not protect the motor if the cooling of the motor is reduced due to dust and dirt DTC The DTC Direct Torque Control load curve is used for calculating heating of the motor Motor thermal time is approximated for standard self ventilated squirrel cage motors as a function of the current of the motor and the number of pole pairs It is possible to scale the DTC load curve with Parameter 30 7 MOTOR LOAD CURVE if the motor is used in conditions other than described above Parameters 30 6 MOTOR THERM
40. Parameters Defines the thermal time constant of the brake resistor The value is used in the overload protection See parameter 27 02 Defines the maximum continuous braking power which will raise the resistor temperature to the maximum allowed value The value is used in the overload protection See parameter 27 02 Brake chopper control mode AS GENERATOR Chopper operation is allowed when the DC voltage exceeds the braking limit the inverter bridge modulates and motor generates power to the drive The selection prevents the operation in case the intermediate circuit DC voltage rises due to abnormally high supply voltage level Long term supply voltage rise would damage the chopper COMMON DC Chopper operation is allowed always when the DC voltage exceeds the braking limit The selection is to be used in applications where several inverters are connected to the same intermediate circuit DC bus 6 27 Chapter 6 Parameters 6 2 12 Group 28 Motor Model The Range Unit column in Table 6 10 below shows the allowable parameter values The text following the table explains the parameters in detail Table 6 12 Group 28 Range Uni 1 LONG DISTANCE OFF ON Long distance mode MODE 2 TR TUNE 60 200 96 Rotor time constant tuning 1 LONG DISTANCE MODE This function is used to reduce the maximum voltage peaks in the motor circuit and to reduce the switching frequency of the inverter This parameter is active as stand
41. RISE T LIM Torque risetime limit 1 MINIMUM SPEED Limitation of the minimum speed reference to speed controller The default value depends on the selected motor and it is either 750 1000 1500 or 3000 rpm WARNING If this value is set positive the motor can not decelerate to zero speed and stop when removing start order This limit cannot be set in the SCALAR control mode ACC 800 Firmware Manual BAB Chapter 6 Parameters 2 MAXIMUM SPEED 4 MAXIMUM TORQUE 5 MINIMUM TORQUE 6 16 6 OVERVOLTAGE CTRL 7 UNDERVOLTAGE CTRL 8 MINIMUM FREQ 9 MAXIMUM FREQ Limitation of the maximum speed reference to speed controller The default value depends on the selected motor and it is either 750 1000 1500 or 3000 rpm WARNING If this value is set negative the motor can not decelerate to zero speed and stop when removing start order This limit cannot be set in the SCALAR control mode MAXIMUM CURRENT A The maximum output current in Amps that the CraneDrive will supply to the motor The default value is the current rating of the 5800 CraneDrive For ACS600 Multidrive inverters the default value is two times the catalogue value 20096 Cycle load base rating lac 50 608 This setting defines the momentarily allowed maximum positive torque of the motor The motor control software of the CraneDrive limits the setting range of the maximum torque according to the inverter and motor data The default
42. S0 CURRENT 40A To escape the Reference Setting Mode The selected Keypad Mode is entered 1L 56 0 1 SPEED 526 rpm TORQUE 50 CURRENT 40A ACC 800 Firmware Manual 2 15 Chapter 3 Start up 3 1 Overview This chapter lists and explains the Start up Procedure and the Start up Data Parameters The Start up Data Parameters are a special set of parameters that allow you to set up the CraneDrive and motor information Start up Data Parameters should only need to be set during start up and should not need to be changed afterwards 3 2 Start up Procedure The start up procedure of CraneDrive frequency converters equipped with Standard or CraneDrive Application Program is described in this chapter in this chapter should only be undertaken by a qualified electrician The Safety Instructions on the first pages of this manual and appropriate hardware manual must be followed WARNING All electrical installation and maintenance work described Refer to Chapter 7 Fault Tracing in case of trouble START UP FLOWCHART A The start up procedure should only be carried out by a qualified electrician J Follow the safety instructions on the first pages of this manual during the start up procedure Check the installation before the start up procedure Refer to Installation Checklist hardware manual Check that starting the motor does not cause any dange
43. SEL 121 1 12 NOT SEL 121 1 12 NOT SEL 121 1 10 10 3 SLOWDOWN N SEL NOT SEL 011 012 015 DI6 EXT 011 1 EXT 011 2 EXT 012 1 EXT DI2 2 DIS DI6 DI1 1 DI1 2 IL NOT SEL DI1 DI2 015 016 EXT 011 1 EXT 011 2 EXT 012 1 EXT DI2 2 DI IL 10 4 FAST STOP N SEL 10 5 POWER ON ACKN SEL NOT SEL 011 012 015 DI6 EXT 011 1 EXT 011 2 EXT 012 1 EXT DI2 2 EXT 011 3 EXT 012 3 DI IL 10 6 SYNC SEL NOT SEL 011 DI2 013 014 015 016 EXT 011 1 EXT 011 2 EXT DI2 1 EXT DI2 2 DI IL NOT SEL 012 013 DI4 DI5 DI6 EXT DI1 1 EXT DI1 2 EXT 012 1 EXT DI2 2 DI IL NOT SEL 012 015 DI6 EXT DI1 1 EXT 011 2 EXT 012 1 EXT 012 2 011 3 012 3 DI IL NOT SEL 012 015 016 EXT 011 1 EXT 011 2 EXT 012 1 EXT 012 2 011 3 012 3 DI IL NOT SEL 011 012 015 016 EXT 011 1 EXT 011 2 EXT 012 1 EXT 012 2 011 3 012 3 DI IL 10 11 HIGH SPEED SEL NOT SEL 011 DI2 DI5 DI6 EXT 011 1 EXT 011 2 EXT 012 1 EXT DI2 2 DI IL NOT SEL DI1 DI2 014 015 016 DI IL NOT SEL 011 012 015 016 EXT 011 1 EXT 011 2 EXT 012 1 EXT 012 2 DI IL 10 14 FB STOPLIM SEL NOT SEL 013 014 DI5 DI6 DI1 1 DI1 2 10 15 ELSHAFT ON SEL NOT SEL 011 012 EXT 011 1 EXT 011 2 EXT 012 1 EXT DI2 2 EXT 011 3 EXT DI2 3 015 016 DI IL NOT SEL 011 DI2 013 014 015 016 DI IL NOT SEL D11 012 013 DI4 015 016 COMM MODULE DI IL NOT SEL 012 013
44. SPEED 5 DI6 FAST STOP N ZATION am 68 Monitor ZERO SPEED 2D 4A 64 FASTSTOPI2 3B 1 DIL2 61 digital DD 1 inputs DI2 2 _ 10 MOT OVER SPEED FAULT TORQUE TORQ FLT CON ON LOCAL POS PRECOUNT PPU SPEED REF 4 Q PANEL START PANEL LOCAL LOCALSTART 2A RESET SYNC RDY TON POS ACT PPU Monitor 4A BRAKEFLT Handling STOP PANEL Operation LOCAL STOP SYNC INHIBIT SURING SYNC RDY 5 TORQ PROV FLT ___ SPEED REF LOCAL 3C 5D ZERO SPEED PGM SYNC 62 _MAS OSC FLT PANEL RESET 5D IB _SYNC a IB _CHOPPERFIT 60 1A RESET Figure 5 2 Functional block diagram 1D PANEL RESET Figure 5 8 Function Block Diagram 5 13 ACC 800 Firmware Manual Chapter 5 Crane Program Description 5 6 Function Module Description 5 6 1 5 14 Local operation 60 AN This function module contains the necessary logic for Local mode operation by the operator s panel on the front of the frequency converter Normally used only for commissioning and maintenance The unit is receives commands Start stop Speed ref local Local remote and Reset from the panel All crane drive functions such as mechanical brake control are active also in Local control mode except power optimisation Please note that inputs for Slowdown limits Stop limits and Fast stop are NOT active when running in Local control mode Speed correctio
45. Speed eS On O lt BRAKE FALL TIME gt RUN p Brake ackn BRAKE FLT TD Brake fault Q lt BRAKE LONG FT TD gt 1 Brake long fall time Mechanical Brake Control 67 Figure 5 15 Mechanical Brake Control logic 800 Firmware Manual Chapter 5 Crane Program Description 5 32 Conical motor function This section describes how to handle the use of a conical motor rotor displacement motor with built in brake instead of standard motor plus external mechanical brake In a conical motor the rotor will move along it s length thereby separating the brake disc mounted on the shaft from the counterpart mounted on the stator as soon as magnetizing current is applied to the motor winding When current is switched off at stop rotor is pushed back closing the brake by spring force By setting parameter 67 11 MOTOR TYPE CONICAL the conical motor function is activated Following parameters will than automatically get the new default values below suitable for use with conical motors parameters are reset to normal defaults if par 67 11 is set to STANDARD 10 1 BRAKE ACKN SEL INTERNAL ACK 21 2 CONST MAGN TIME 30 ms 65 2 OFF TD 0 0 s 67 1 BRAKE FALL TIME 0 0 s 67 6 ZERO SPEED LEV 3 0 67 7 ZERO SPEED TIME 1000 ms To minimize the roll back load dip of a hoist conical motor when stopping the flux is reduced during stop to a level set in parameter 67 12 RED FLU
46. Stand Alone Select 2 CONTIN GEAR 3 HIGH SPEED LEVEL 1 0 0 100 0 96 High speed level 1 4 DEADZONE A 0 100 5 DEADZONE Deadzone SPEEDREF reference dela 9 TORQUE REF SCALE 0 4 00 Torque reference scaling 10 CONTROL TYPE JOYSTICK RADIO Control type selection CTRL MOTOR POT STEP JOYST STEP RADIO FB JOYSTICK 11 MINIMUM REF 0 0 100 0 96 Joystick warning time delay 12 JOYSTICK WARN TD 0 5000 ms 13 STEP REF LEVEL1 10 0 100 0 14 STEP REF LEVEL2 0 0 100 0 15 STEP REF LEVEL3 0 0 100 0 16 STEP REF LEVEL4 0 0 100 0 1STAND ALONE SEL True Stand alone mode is selected False Fieldbus mode is selected ACC 800 Firmware Manual Chapter 6 Parameters 2 CONTIN GEAR 3 HIGH SPEED LEVEL 1 4 DEADZONE A 5 DEADZONE B 6 REF SHAPE This parameter is not used in ACC sw version 5 2 and later Joystick output e g Al1 speed reference signal level to give HIGH SPEED signal for power optimisation Deadzone on the joystick before it starts to give reference in direction A positive e g hoisting direction Deadzone on the joystick before it starts to give reference in direction B negative e g lowering direction Parameter for making a parabolic curve for the reference 0 7 straight line 20 X curve 100 X curve 7 SLOWDOWN SPEEDREF Reduced speed reference if running in same direction when slowdown 8 ZERO POS OK TD 9 TORQUE R
47. TEMP Fault Function parameters see chapter 6 group 30 Check start up data Check thermistor connections for digital input DI6 7 3 ACC 800 Firmware Manual Chapter 7 Fault Tracing and Maintenance USER MACRO User Macro is being saved The drive is stopped and prevented from joystick and wiring to digital start inputs 2 4 and analogue inputs 1 or If Stand Alone Sel Parameter 64 1 is 2 True and Control Type Par 64 10 is Check setting of parameter 64 1 JOYSTICK Stand Alone Sel if using fieldbus Conditions control START DIR A 1 and START DIR 1 simultaneously SPEED REF is gt 1V or TORQUE REF is gt 2Ma and ZERO POS 1 Or if Stand Alone Sel Parameter 64 1 is Change selection of FB Stoplim Sel True Control Type Par 64 10 is not FB parameter 10 14 JOYSTICK and FB Stoplim Sel Par 10 14 is set to DIS DI4 That is amp 014 is incorrectly used for both Direction orders A amp B as well as Stoplimits A amp B ACC 800 Firmware Manual 7 3 Faults 7 3 1 Fault History ACC 800 Firmware Manual Chapter 7 Fault Tracing and Maintenance The Control Panel enters the Fault Display when a Fault condition is detected Motor operation is terminated The Fault Display shows the cause for the Fault The programmable Fault messages are displayed when the value of the Parameter is FAULT The default setting of the Programmable Fault Functions are
48. TIME 30 8 ZERO SPEED LOAD and 30 9 BREAK POINT cannot be set Note Automatically calculated model DTC cannot be applied when 99 6 MOTOR NOM CURRENT gt 800 Amp Instead use USER MODE USER MODE In this mode the user can define the operation of thermal protection by setting Parameters 30 6 MOTOR THERM TIME 30 7 MOTOR LOAD CURVE 30 8 ZERO SPEED LOAD and 30 9 BREAK POINT THERMISTOR Motor thermal protection is activated with an I O signal based on a motor thermistor This mode requires a motor thermistor or break contact of a thermistor relay connected between digital input DIG and 24 V d c If direct thermistor connection is used digital input DI6 activates when resistance rises higher than 4 kO The drive stops if the Parameter 30 4 is preset as FAULT DI6 is reset to zero when the resistance of the thermistor is between 0 and 1 5 Chapter 6 Parameters the digital input 6 och ACS 800 requires double or reinforced insulation between motor live parts and the thermistor Reinforced insulation entails a clearance and creepage of 8 mm 400 500 VAC equipment If the thermistor assembly does not fulfil the requirement the other I O terminals of ACS 800 must be protected against contact or a thermistor relay must be used to isolate the thermistor from the digital input WARNING According to 664 the connection of the thermistor to WARNING As the default in CraneDrive digital input 6 is selected as the
49. all information in the language you select The 13 alternatives are English American English German Italian Spanish Portugese Dutch French Danish Finnish Swedish Czech and Polish Please note that for ACC 800 sw version 7 1 only following languages are available English German French Spanish and Finnish 2 APPLICATION This parameter is used to select between the CRANE macro for crane MACRO drive functions but not including Master Follower bus communication and the M F CTRL macro with the crane drive functions plus Master Follower bus communication Refer to Chapter 5 Crane Program Description for a description of the two available Macros There is also a selection for saving the current parameter settings as a User Macro USER 1 SAVE or USER 2 5 and recalling these settings USER 1 LOAD or USER 2 LOAD Parameter group 99 is not included in CRANE and M F CTRL macros The parameter settings will remain the same even though the macro is changed 3 8 ACC 800 Firmware Manual 3 APPLIC RESTORE 4 MOTOR CTRL MODE 5 MOTOR NOM VOLTAGE ACC 800 Firmware Manual Chapter 3 Start Up NOTE User Macro load restores also the motor settings of the Start up Data group and the results of the Motor ID Run Check that the settings correspond to the motor used Selection Yes restores the original settings of an application macro as follows f application macro CRANE or M F CTRL is selected the parameter va
50. alone mode NOT SEL 011 012 015 016 EXT DI1 1 EXT 012 2 DI IL Selection of digital input for signal POWER ON ACKN used if separate 24Vdc supply to control unit Connected to aux contact NO on Main contactor NOT SEL DI1 012 015 016 EXT DI1 1 EXT 012 2 EXT 011 3 EXT 012 3 DI IL Selection of digital input for signal SYNC used to make Hw synchronisation of position counter NOT SEL DM DI6 EXT DI1 1 EXT DI2 2 DI IL Selection of digital input for signal CHOPPER FLT N used to indicate fault in chopper unit Wired from chopper fault contact NO NOT SEL DM DI6 EXT DI1 1 EXT 012 2 DI IL Selection of digital input for signal STEP REF 2 used in Stand alone mode with Step Joystick or Step Radio control NOT SEL DI1 012 015 DI6 EXT 011 1 EXT 012 2 EXT 011 3 EXT DI2 3 DI IL Selection of digital input for signal STEP REF 3 used in Stand alone mode with Step Joystick or Step Radio control NOT SEL DI1 012 015 DI6 EXT DI1 1 EXT 012 2 EXT 011 3 EXT 012 3 DI IL 6 3 Chapter 6 Parameters 10 STEP REF 4 SEL 11 HIGH SPEED SEL 12 SNAG LOAD N SEL 13 ACCELERATE SEL 14 FB STOPLIM SEL 15 ELSHAFT ON SEL 16 FAULT RESET SEL 6 4 Selection of digital input for signal STEP REF 4 used in Stand alone mode with Step Joystick or Step Radio control NOT SEL 011 012 015 DI6 EXT 011 1 EXT 012 2 EXT 011 3 EXT DI2 3 DI IL Selection of digital
51. are likely to operate considerably longer The need for renewal of these components depends directly on the frequency of charging cycles Relay and contactor replacements are available from ABB Do not attempt operation with other than ABB specified spare parts ACC 800 Firmware Manual FAT Chapter 7 Fault Tracing and Maintenance This page is intentionally left blank 7 14 ACC 800 Firmware Manual Appendix A Complete Parameter and Default Settings The tables in this appendix list all the actual signals parameters and alternative settings for the CraneDrive Use these tables as reference when you are customizing macros for your CraneDrive application Table A 1 Actual Signals Signal name Short name Range Unit Fieldbus scaling ACTUAL SIGNALS Group 1 1 SPEED ESTIMATED SP ESTIM rpm 20000 par 69 01 2 MOTOR SPEED FILT SPEED rpm 20000 par 69 01 3 FREQUENCY FREQ Hz 100 1 Hz 4 MOTOR CURRENT CURRENT A 10 1A 5 MOTOR TORQUE FILT TORQUE 10000 100 of motor nominal torque 6 POWER POWER 1000 100 of motor nominal power par 99 09 7 DC BUS VOLTAGE V DC BUS V 1 1V 8 MAINS VOLTAGE MAINS V 1 1V 9 OUTPUT VOLTAGE OUT VOLT 1 1V 10 ACS 800 TEMP ACS TEMP 10 1 11 APPLICATION MACRO MACRO CRANE M F CTRL USER 1 LOAD USER 2 LOAD 1 1 1 6 acc par 99 02 12 SPEED REF SPEEDREF rpm 20000 par 69
52. available in both Fieldbus and Standalone mode ACC 800 Firmware Manual If using an external braking chopper the braking chopper fault contact use the normally open contact closed contact when DC voltage is on and no fault can be monitored by the drive if connected to a digital input Parameter 10 7 Chopper FIt N Sel If open contact 0 to the digital input the drive will trip and indicate CHOPPER FAULT to panel faultlogger and Fieldbus faultword Also the Watchdog signal DO2 will indicate WARNING If a braking chopper fault occurs the incoming AC voltage to the drive must be disconnected This is the only way to stop the current in the braking resistor if the fault is a short circuit in the braking chopper This is done by connecting the Watchdog N output DO2 to the drive emergency stop circuit During power on of drive Power On Ackn e g DI2 changing from 0 to 4 the Chopper fault monitoring is blocked during the time Chopper Monit Td parameter 71 3 to avoid false indications Parameter value must be kept as low as possible approx 1000 ms This is to avoid burning out the charging resistor in the drive if switching on power to the drive when there is a short circuit in the braking chopper Chapter 5 Crane Program Description 5 5 6 Parameter Settings for the Fieldbus mode Table 5 2 Listing of parameters typically requiring changes during start up 99 START UP DATA 99 2 APPLICATION M
53. command can be DOWNLOAD given during the uploading process By default Parameter Download will copy existing parameter Groups 10 to 97 stored in the panel to the drive Note Parameters in Groups 98 and 99 concerning options macro and motor data and also ID Run data are not copied Table 2 7 page 2 10 describes how to select and perform Parameter Upload and Parameter Download functions Uploading has to be done before downloading If downloading is attempted before uploading the following warning will be displayed WARNING NOT UPLOADED DOWNLOADING NOT POSSIBLE The parameters can be uploaded and downloaded only if the software package version and application software version see signal 5 01 SW PACKAGE VERSION and 5 02 APPL SW VERSION of the destination drive are the same as the software version of the source drive Otherwise the following warning will be displayed WARNING DRIVE INCOMPATIBLE DOWNLOADING NOT POSSIBLE The drive must be stopped during the downloading process If the drive is running and downloading is selected the following warning is displayed WARNING DRIVE IS RUNNING DOWNLOADING NOT POSSIBLE ACC 800 Firmware Manual Chapter 2 Overview of ACC 800 Programming and the CDP 312 Control Panel 2 10 Table 2 7 How to select and perform a function Step Function Press key Display after key is
54. connected to the link Note The panel can be connected to the drive while power is applied to the drive ACS 800 0050 3SR ID NUMBER 1 After two seconds the display will clear and the Actual Signals of the selected drive will appear Actual Signal Display Mode This mode includes two displays the Actual Signal Display and the Fault History Display The Actual Signal Display is displayed first when the Actual Signal Display mode is entered If the drive is in a fault condition the Fault Display will be shown first The panel will automatically return to Actual Signal Display Mode from other modes if no keys are pressed within one minute exceptions Status Display in Drive Selection Mode and Fault Display Mode In the Actual Signal Display Mode you can monitor three Actual Signals at a time For more information of actual signals refer to Chapter 4 Control Operation How to select the three Actual Signals to the display is explained in Table 2 3 page 2 6 The Fault History logger includes information on the 64 most recent events like faults warnings and resets that have occurred in your ACS 800 The 18 last events are backed up during RMIO power off The name of the event and the total time since last RMIO power on is displayed If the AC800M or AC80 AC4x0 overriding system has been connected to the drive DDCS channel 0 this time can be seen in the date format instead of power on time The procedure
55. cycle meets allowed limits Go to Drive Selection Mode by pressing DRIVE Press ENTER Set the change is not shown on the display ID number to 1 Press ENTER the ID number is not changed back to 1 during the session the panel will not be able to communicate with the drive after the next power up The drive has performed the motor identification of magnetisation and is ready for operation This warning belongs to the normal start up procedure Motor identification of magnetisation is ongoing This warning belongs to the normal start up procedure The Motor ID Run is not completed successfully Calculated mechanical lifetime in Crane Lifetime Monitor function of hoist has If the panel does not communicate with the drive set the ID number of the drive to 1 as explained in chapter 2 Continue drive operation Wait until the drive indicates that Check the maximum speed Parameter 20 2 It should be at least 80 96 of the nominal speed of the motor Parameter 99 8 Crane is in need of mechanical overhaul reconditioning Please exceeded 90 of the setting of parameter contact crane builder 74 3 CRANE LIFETIME Motor temperature is too high or appears Check motor ratings load and cooling to be too high This can be caused by excessive load insufficient motor power inadequate cooling or incorrect start up THERMISTOR and the temperature is excessive Check start up data Check MOTOR
56. description for parameter 67 9 START TORQ SEL NAIO Communication active Module type NAIO 02 module Connection interface Fiber optic DDCS link connect to Ch1 on RDCO option module Set the module node address to 5 for directions see module manual NO Inactive RAIO SLOT1 Communication active Module type RAIO Connection interface Option slot 1 of the drive control unit RMIO board RAIO SLOT2 Communication active Module type RAIO Connection interface Option slot 2 of the drive control unit RMIO board RAIO DDCS Communication active Module type RAIO Connection interface Optional I O module adapter AIMA that communicates with the drive through a fiber optic DDCS link via Ch1 on RDCO option module Note Node ID selector S1 on RAIO must be set to 5 6 2 34 Group 99 Start up Data See Chapter 3 Start up Data for information on these parameters ACC 800 Firmware Manul Chapter 6 Parameters This page is intentionally left blank 6 370 ACC 800 Firmware Manual Chapter 7 Fault Tracing and Maintenance 7 1 Overview ACC 800 Firmware Manual The CraneDrive is equipped with advanced protection features that continuously guard the unit against damage and down time due to incorrect operating conditions and electrical and mechanical malfunctions This chapter explains the CraneDrive fault tracing procedure with the CDP 312R Control Panel All Warning and Fault messages including
57. display and reset an active fault Step Function Press key Display after key is pressed 1 To enter the Actual Signal Display Mode 1L gt 50 0 1 ACS 800 75kW FAULT ACS 800 TEMP 2 To reset the fault Reset button functions also in the REMOTE 1L gt 0 0 1 mode reser SPEED 0 rpm TORQUE 0 CURRENT 0A ACC 800 Firmware Manual BT Chapter 2 Overview of ACC 800 Programming and the CDP 312 Control Panel 2 8 Parameter Mode The Parameter Mode is used to make changes to the CraneDrive parameters When this mode is entered for the first time after power up the display will show the first parameter of the first group Next time the Parameter Mode is entered the previously selected parameter is shown NOTE If you try to write to a write protected parameter the following warning will be displayed WARNING WRITE ACCESS DENIED PARAMETER SETTING NOT POSSIBLE Table 2 6 How to select a parameter and change the value Step Function Press key Display after key is pressed 1 To enter the Parameter Mode Selection 1L 50 0 1 13 ANALOGUE INPUTS 1 SCALE 1 000 To select another parameter group While holding the arrow down only the group name and number are displayed When the key is released name number and value of the first parameter in the group are displayed 1L 50 0 1 13 A
58. e g no load speed results in wrong operation of the drive 1L gt 0 0 0 oO Nominal power 99 9 99 START UP DATA Range 0 9000 kW 9 MOTOR NOM POWER 11 When the motor data has been entered a warning 1L 00 0 appears It indicates that the motor parameters have been STANDARD DRIVE set and the CraneDrive is ready to start the motor WARNING indentification ID magnetisation or ID Run Press PAR to ID MAGN REQ go to the next parameter 99 10 Motor ID Run Motor ID Run 99 10 Selection ID MAGN is sufficient for less demanding travel 1L 00 0 drives The next step of this flowchart is performed with 99 START UP DATA Motor ID Run selection ID MAGN Motor identification 10 MOTOR ID RUN magnetisation is performed instead of Motor ID Run ID MAGN Motor ID Run is recommended for hoist drives Motor Identification Run ID Run can be performed to enhance the mathematical model of the motor This is required e g in demanding motor control applications when no pulse encoder feedback is used as 100 motor control accuracy is usually only achieved with the ID Run Refer to Section 3 Start up Data for performance procedure of the ID Run 3 4 ACC 800 Firmware Manual Chapter 3 Start Up START UP FLOWCHART TA Press the gt key The motor is magnetised at zero speed Duration approximately 10 to 60 s Increase the speed reference from zero to a small value Press ACT PAR or FUNC key to enter Ke
59. for clearing the Fault History is described in Table 2 4 page 2 7 ACC 800 Firmware Manual Chapter 2 Overview of ACC 800 Programming and the CDP 312 Control Panel The following table shows the events that are stored in the Fault History For each event it is described what information is included Table 2 1 Events stored in the Fault History Event A fault is detected by ACS 800 A fault is reset by user A warning is activated by ACS 800 A warning is deactivated by ACS 800 Information Sequential number of the event Name of the fault and a sign in front of the name Total power on time or date and time updated by overriding system Sequential number of the event RESET FAULT text Total power on time or date and time updated by overriding system Sequential number of the event Name of the fault and a sign in front of the name Total power on time or date and time updated by overriding system Sequential number of the event Name of the warning and a sign in front of the name Total power on time or date and time updated by overriding system Display 1L 0 0 0 2 LAST FAULT OVERVOLTAGE 1121 H 1 MIN 23 S 1L gt 0 0 0 1 LAST FAULT RESET FAULT 1121 H 1 MIN 23 S 1L 0 0 0 1 LAST WARNING TJOYSTICK 1121 H 1 MIN 23 S 1L 0 0 0 1 LAST WARNING JOYSTICK 1121 H 1 MIN 23 S When a fault or warning occurs in
60. for signals SPEED ACT and POS ACT PPU that are updated every 8 ms Updating interval for datasets 6 amp 8 is 56 ms Note If parameter 71 5 DSET BASE ADDRESS is set to 10 instead of the default value 1 than add 9 to all dataset numbers below e g DS2 gt DS11 DS4 gt DS13 aso Table 5 7 Transmit DataSet 2 alt 0511 Word 1 FB STATUS WORD DataSet 2 Word 1 signal 4 1 Bit number Signal Range Description 0 Bit 0 LSB RDY FOR ON 1 0 Ready for on 1 POWER ON 70 Power on ACKN acknowledgement e g DI IL 2 RDY FOR RUN 1 Q Ready for run magnetized 3 RUNNING 1 0 Running producing torque 4 ZERO SPEED 1 0 At zero speed 5 REM LOC 1 0 Remote Local 1 Remote 6 TORQ PROV OK 1 0 Torque proving OK 7 USER 1 OR2 170 User macro 1 2 active 8 FAULT 1 0 Fault active 9 WARNING 1 0 Warning active 10 LIMIT 1 0 Drive in torque limit 11 SYNC 1 0 Sync input e g DI3 status 12 SYNC RDY 1 0 Synchronisation ready 13 BRAKE LONG 1770 Brake long falling FTIME time indication 14 COMTEST TRA 1 Communication test transmit bit 15 Bit 15 SNAGLOAD 170 Snag load indication ACC 800 Firmware Manual 5 43 Chapter 5 Crane Program Description Table 5 8 Transmit DataSets 2 4 6 8 amp 12 alt 11 13 15 17 amp 21 Example DS2 2 DataSet 2 Word 2 corresp to 32
61. from PLC in 1 active Fieldbus mode 4 RAMP HOLD 90 Speedramp hold signal 1 active 5 SEPARATE 1 0 Separate control select 1 active signal only in M F ctrl 6 TORQ CTRL 17 0 Torque control selected SEL 1 active Torque ref DS1 3 7 LOAD MEAS 0 Load measurement select SEL 1 active enable LOAD MEAS REF 8 RESET OVR 02 1 Reset fault from overriding edge control PLC 9 FAST STOP 1 1 0 Fast stop type 1 torque 1 active limit stop 10 FAST STOP 11 1 0 Fast stop 11 type select 1 active see par 63 1 11 PGM SYNC 02 1 Program synchronisation of edge position measurement 12 HW SYNC 1 0 Hardware 01 sync of pos INHIBIT 1 active measurement blocked 13 RESET SYNC 17 0 Reset synchronisation READY 1 active ready 14 USER MACRO 1 Q User macro 1 or 2 CHANGE 0 User1 change request 15 Bit 15 ENABLE FB 1 0 Enable fieldbus control in MSB CTRL 1 active Stand alone Joystick mode used by SwayControl ACC 800 Firmware Manual Chapter 5 Crane Program Description Table 5 5 Receive DataSets 1 3 5 and 7 alt 10 12 14 and 16 Example DS1 2 DataSet 1 Word 2 corresp to 32767 163 84 20000 10096 327 67 10000 100 DS3 1 DS12 1 FB RAMP RATE 0 00 32 767 Ramp rate multiplying Integer factor for the speed ramp 1000 equals times set in drive arate 1 0 normally 1 0 DS3 2 DS12 2 FB SPEED
62. input 3 AI3 as Ramp rate signal in Fieldbus or Standalone modes True The RAMP RATE signal available from Fieldbus communication is not active set fixed to 1 0 False The RAMP RATE signal from Fieldbus communication DS3 1 is active RAMP RATE multiplying factor signal is connected from analog input 3 Signal level at or below 4mA 0 4 mA corresponds to a multiplying factor of 1 0 Signal levels between 4mA and 20 mA ACC 800 Firmware Manul sss 651 Chapter 6 Parameters corresponds to a multiplying factor between 1 0 and 10 0 Relation is linear giving e g 12 mA 5 5 6 2 26 Group 70 Position measurement The Range Unit column in Table 6 23 shows the allowable parameter values The text following the table explains the parameters in detail Table 6 23 Group 70 Range unit 1 POS SCALE 1 00 32767 00 scaling 2 SYNC COND Synchronisation condition 1POS SCALE Set position counter scaling factor POS SCALE as number of Pulses Per Unit e g pulses mm Position measurement value POSACT Pulse counter POS SCALE Example how to calculate POS SCALE Hoist operating speed 40 m min 40 000 mm min corresponding to motor speed of 980 rpm Pulse encoder with 1024 ppr parameter 50 1 Speed measuring set to use all 4 edges parameter 50 2 default This gives us POS SCALE 980 1024 4 40 000 100 35 pulses mm 2 SYNC COND Pos The HW synchronisation acts on pos
63. input for signal HIGH SPEED used in Stand alone mode to enable Power optimising speed ref NOT SEL 011 012 015 DI6 EXT DI1 1 EXT 012 2 DI IL Selection of digital input for signal SNAG LOAD N used in Fieldbus mode to activate Fast stop 2 during hoisting only NOT SEL DM DI6 DI IL Selection of digital input for signal ACCELERATE used in Stand alone mode with Motor Pot control NOT SEL 011 012 015 DI6 EXT DI1 1 EXT 012 2 DI IL Selection of digital inputs for STOPLIM A and STOPLIM B signals Used in Fieldbus mode and Stand alone FB Joystick mode NOT SEL 013 014 015 016 011 1 011 2 Selection of digital input for ELSHAFT ON signal used Electric shaft control NOT SEL 011 012 EXT 011 1 EXT 012 2 EXT DI1 3 EXT 012 3 015 016 DI IL NOT SEL DM 016 DI IL If you select NOT SEL fault reset can only be executed from the Control Panel keypad If a digital input is selected fault reset is executed from an external switch if in External control mode or from the Control Panel Reset from a digital input is activated by opening a normally closed contact negative edge on digital input Note Reset from Fieldbus Command word is always available when in External control Reset from Fieldbus Command word RESET OVR is activated on positive edge of signal ACC 800 Firmware Manual 17 USER MACRO CH SRCE 18 EXTERNAL FAULT ACC 800 Firmware Manual Chapter 6 Parameters NOT
64. is blocked when drive is not running 2 20 RUNNING 0 Acknowledgement of synchronisation is done with the signal SYNC RDY to the supervisory controller Reset of the acknowledgement is done with signal RESET SYNC RDY from the supervisory controller Hardware synchronisation through e g DI 3 can be blocked if HW SYNC INHIBIT from supervisory controller 1 Synchronising edge of DI 3 is selected with parameter SYNC COND 70 2 Measurement value POS ACT PPU sent to the supervisory controller is the number of pulses counted divided with the value of parameter POS SCALE 70 1 The number of pulses counted depends upon the settings of parameters 50 1 Pulse Nr and 50 2 Speed Meas Mode Default setting of Speed Meas Mode parameter is that both positive and negative edges from both A and B signals are counted Example If 50 1 is set to 1024 ppr and 50 2 is set to default A B then a total of 4 1024 4096 pulses are added per revolution of the pulse encoder Position measurement can be used also if the pulse encoder is not mounted directly on the motor shaft e g pulse encoder mounted on a separate measurement wheel Parameter 50 5 SPEED FEEDB USED should than be set to False thereby not using speed measurement signal from pulse encoder drive will then use the calculated speed signal instead Pulse encoder signals are now used only for position measurement ACC 800 Firmware Manual 539 Chapter 5 Crane Program Desc
65. ramp to zero speed Reference handler When the input signal ZERO SPEED 1 then BRAKE LIFT is set to zero When receiving acknowledgement BRAKE ACKN 0 the RUN order is reset to 0 after delay time BRAKE FALL TIME 67 1 Except at emergency stop EMERG STOP 1 when Power On Ackn 0 in Fieldbus mode and fast stop FAST STOP 1 the brake module maintains the BRAKE LIFT and RUN order as long as ZERO SPEED is not detected With parameter 67 4 BRAKE REOPEN TD a minimum time delay between a stop and next start i e a close brake order BRAKE LIFT 0 and next brake lifting order BRAKE LIFT 1 can be set A brake fault i e Brake Ackn DI1 7 0 during start or normal running with a duration longer than setting of BRAKE FLT TD 67 2 activates an output signal BRAKE FLT that will trip the drive and indicate ACC 800 Firmware Manual Chapter 5 Crane Program Description A long falling time at stop Brake Ackn 1 with a duration longer than setting of BRAKE LONG FT TD 67 5 keeps torque on the motor and provides indication with an output signal BRAKE LONG FTIME to panel Fieldbus statusword and activates the Watchdog output contact DO2 to make an emergency stop of the drive brake and drive power off See also logic diagram on this page and timing diagram in chap 5 6 6 Torque prov OK Power On Ackn r 1 gt 1 BRAKE REOPEN TD Running Brake lift Fast stop J Speed off T 1 Zero
66. selected by parameter 10 10 STEP REF4 SEL is activated plus step ref3 conditions still active 6 43 Chapter 6 Parameters 6 2 21 Group 65 Logic handler The Range Unit column in Table 6 18 shows the allowable parameter values The text following the table explains the parameters in detail Table 6 18 Group 65 Rangelunit 2 OFF TD 0 0 10000 0 s Off time delay 1CONTIN ON Magnetization of the motor will remain on without time limit after the motor is stopped if parameter CONTIN ON True 2 TD The time for how long the Magnetization current shall remain on after the motor is stopped CACC 800 Firmware Manual Chapter 6 Parameters 6 2 22 Group 66 Torque proving The Range Unit column in Table 6 19 shows the allowable parameter values The text following the table explains the parameters in detail Table 6 19 Group 66 Rangel 1 TORQ PROV SEL Torque proving select time delay reference 1 TORQ PROV SEL True Torque proving active requires pulse encoder False Torque proving not active 2 TORQ PROV FLT TD Time delay for fault signal TORQ PROV FLT 3 TORQ PROV REF Torque proving reference level ACC 800 Firmware Manual 645 Chapter 6 Parameters 6 2 23 4 Group 67 Mechanical brake contr The Range Unit column in Table 6 20 shows the allowable parameter values The text following the table explains the parameters in detail Table 6 20 Group 67 Range uni 1 BRAKE FALL TIME
67. the drive the message will be displayed immediately except in Drive Selection Mode Table 2 5 page 2 7 shows how to reset a fault Refer to chapter 7 for information on fault tracing From the fault display it is possible to change to other displays without resetting the fault If no keys are pressed the fault or warning text is displayed as long as the fault exists ACC 800 Firmware Manual Chapter 2 Overview of ACC 800 Programming and the CDP 312 Control Panel Table 2 2 How to display the full name of the three Actual Signals To display the full name of 1IL 500 1 the three actual MOTOR SPEED FILT signals MOTOR TORQUE FILT MOTOR CURRENT To return to the Actual Signal Release Display Mode 1L 50 0 1 SPEED 470 rpm TORQUE S0 CURRENT 40A Table 2 3 How to select Actual Signals to the display Step Function Press key Display after key is pressed To enter the Actual Signal Display Mode i 1L gt 50 0 1 acr SPEED 470 rpm TORQUE 50 CURRENT 40 A 2 To select the desired row ILS 500 1 SPEED 470 TORQUE 50 CURRENT 40 A To enter the Actual Signal Selection Mode 1L gt 50 0 1 ENTER 1 ACTUAL SIGNALS 5 TORQUE 50 4 To select a different group ILS 500 1 2 INT SIGNALS 1SP REF 2 470 rpm 5 To select a index iL gt 500 1 2 INT SIGNALS 3 SP REF 4 470 rpm To accept the selection and to 8 r
68. up respectively down until you find the first value where speed starts to be limited below 100 in either up or down direction Than slightly increase TMAX 68 9 to still reach 100 speed both in hoisting and lowering direction ACC 800 Firmware Manual 5 85 Chapter 5 Crane Program Description 5 36 An alternative to points 4 8 above for finding the Inertia values is Monitor signal 2 31 LOAD TORQUE with DrivesWindow while making start and stop test runs acceleration constant speed for a couple of seconds and deceleration with different settings on Inertia parameter Any load 20 10096 is possible to use Do not run faster than base speed First run in hoisting direction When you have found the correct value for parameter 68 4 INERTIA TOTAL UP than signal 2 31 LOAD TORQUE will show the same level during acceleration and deceleration as during constant speed If the Load torque signal is showing a higher value during acceleration than during constant speed the INERTIA TOTAL UP parameter should be increased If lower value during accel than during constant speed than Inertia should be lowered Next make similar test runs in lowering direction to find correct value for parameter 68 5 INERTIA TOTAL DWN If Load torque signal is now showing a higher value during acceleration than during constant speed the INERTIA TOTAL DWN parameter should instead be decreased and increased if showing lower value during accel ACC 800 F
69. value is 200 96 of the nominal torque of the motor This limit has no function in the Scalar control mode This setting defines the momentarily allowed maximum negative torque of the motor The motor control software of the CraneDrive limits the setting range of the maximum torque according to the inverter and motor data The default value is 200 96 of the nominal torque of the motor This limit has no function in the Scalar control mode This parameter deactivates the DC over voltage controller The DC over voltage controller increases if pos speed the torque if the DC bus voltage exceeds the limit typically due to motor working in generator mode to prevent an over voltage trip Note Controller should be deactivated if using braking chopper This parameter allows you to deactivate the undervoltage controller If the DC bus voltage drops due to loss of input power the undervoltage controller will decrease the motor speed in order to keep the DC bus voltage above the lower limit By decreasing the motor speed the inertia of the load will cause regeneration back into the CraneDrive keeping the DC bus charged and preventing an undervoltage trip This will increase power loss ride through on systems with a high inertia such as a centrifuge or fan Limitation of the minimum frequency reference used Warning If this value is set positive the motor can not decelerate to zero speed and stop when removing start order This limit c
70. x 1 5 s where RT longest ramp time in seconds 6 39 Chapter 6 Parameters 6 2 19 Group 63 Fast stop The Range Unit column in Table 6 16 shows the allowable parameter values The text following the table explains the parameters in detail Table 6 16 Group 63 Parameter Range unit 1 FAST STOP TYPE 11 USED FAST STOP 1 stop type 11 FAST STOP 2 FAST STOP 3 2 FAST STOP 12 USED FAST STOP 1 stop type 12 FAST STOP 2 FAST STOP 3 1 FAST STOP TYPE 11 Parameter for selecting type of fast stop action from PLC Activated if signal FAST STOP 11 in Fieldbus communication Command word is set true NOT USED No activity wanted FAST STOP 1 Fast stop by braking on torque limit FAST STOP 2 Fast stop by braking with both mechanical brake and on torque limit FAST STOP 3 Fast stop by braking with mechanical brake only 2 FAST STOP TYPE 12 Parameter for selecting type of fast stop action in Stand alone mode Activated by e g input DI6 Refer to Parameter 63 1 for settings 640 Firmware Manual Chapter 6 Parameters 6 2 20 Group 64 Crane The Range Unit column in Table 6 17 shows the allowable parameter values The text following the table explains the parameters in detail Note Parameters 64 3 64 6 and 64 8 64 16 are only active in Stand alone mode i e when 64 1 True Table 6 17 Group 64 Parameter Range unit 1 STAND ALONE SEL
71. 0 300 00 96 Torque step input for 300 00 96 DrivesWindow step gen 1 TORQ RAMP UP Defines the time required for the reference to increase from zero to the rated torque 2 TORQ RAMP DOWN Defines the time required for the reference to decrease from the rated torque to zero Note These parameters do not effect the torque reference sent from master to follower drive in Master Follower control mode using Master Follower bus 3 TORQ STEP Torque reference step input without ramp Only to be used with DrivesWindow step test generator 604 ACC 800 Firmware Manual Chapter 6 Parameters 6 2 10 Group 26 Motor Control visible only in SCALAR mode The Range Unit column in Table 6 10 below shows the allowable parameter values The text following the table explains the parameters in detail Table 6 10 Group 26 Parameter Rangni 3 IR His cS 0 30 96 Compensation voltage level Visible only in SCALAR mode COMPENSATION This parameter is adjustable in the SCALAR control mode only This parameter sets the extra relative voltage level that is given to the motor at zero frequency The range is O 30 96 of motor nominal voltage U 96 Un IR compensation voltage Field weakening point f Hz Figure 6 8 IR Compensation is implemented by applying extra voltage to the motor a percentage of motor voltage Umax maximum output voltage of the CraneDrive ACC 800 Firmware Manul 6 25
72. 0 9 Scalar control active PANEL DW COM programmable Fault Function The Control Panel or DriveWindow selected as active Local control location for the CraneDrive has ceased communicating par 30 2 PPCC LINK INT board current measurement or communication fault between the RMIO and INT boards This fault is masked when drive is off no motor current This masking can be disabled by setting parameter 97 7 False passcode 5600 to open group 97 Check CDP312R Control Panel or DriveWindow PC connection Replace Control Panel in the mounting platform Restart DriveWindow tool Check PANEL LOSS Fault Function parameter see chapter 6 parameter 30 2 Check the fibre optic cables connected between RMIO and INT boards In parallel connected inverters check also cabling for RPBU board signal 2 28 Check for short circuit in the power stage This can cause overload of the INT auxiliary power and result in PPCC communication failure Check the motor and motor cable Check there are no power factor correction capacitors or surge absorbers in the motor cable SHORT CIRCUIT is a short circuit in the motor cable s or motor The output bridge of the converter unit is Check output semiconductors and current faulty transducers If detecting a faulty IGBT replace also INT board SUPPLY PHASE Intermediate circuit DC voltage is oscillating This can be caused by a missing mains phase a blown fuse or a rectif
73. 00 96 Speed limit 1 level 3 MOT OVERSPEED LEV If the motor speed exceeds the level determined by MOT OVERSPEED LEV the drive trips indicating MOT OVERSP 100 96 setting corresponds to the motor speed set in parameter 69 1 SPEED SCALING RPM 4 SPEED LIM 1 Relay output indication signal SPEED LIM 1 selectable in group14 is activated if absolute value of motor speed is above this level 6 38 ACC 800 Firmware Manual Chapter 6 Parameters 6 2 18 Group 62 Torque monitor The Range Unit column in Table 6 15 shows the allowable parameter values The text following the table explains the parameters in detail Table 6 15 Group 62 Parameter Rangefunit 1 TORQ MON SEL Torque monitor select 2 SP DEV LEV 0 100 Speed deviation level 3 TORQ FLT TD 0 60000 ms Torque fault time delay 1 TORQ MON SEL 2 SP DEV LEV 3 TORQ FLT TD 4 SP DER BLK LEV ACC 800 Firmware Manual 4 SP DER BLK LEV 0 100 s Speed derivative blocking level True Torque monitor is activated False Torque monitor is blocked A level above SP DEV LEV means that the speed error is too high If a speed error higher than SP DEV LEV occurs and if it last longer than the time TORQ FLT TD the drive will trip indicating TORQ FLT message The protection is blocked during acceleration and deceleration if the sign of the speed error is OK and if the derivative of the actual speed is higher than the setting of SP DER BLK LEV Calculate as 100 RT
74. 1 0 65535 boolean Hex 29 TORQUE SELECTOR ZERO SPEED Torque reference 2 11 selector setting used TORQUE MIN 0 Zero control Ms in CraneDrive MAX ADD 1 Speed control Torq ref 2 2 Torque control Torq ref 1 3 Minimum control min of Torq ref 1 and 2 4 Maximum control max of Torq ref 1 and 2 5 Add control sum of Torq ref 1 and 2 ds Tn Integer Calculated load torque in of motor nominal torque filtered 1000 100 96 scaling 102196 with par 68 10 Limit word indicating details if bit 4 in TORQ INV CUR LIM of pesi arr Hex 2 27 Limit Word 1 is set For bit details see section 4 3 boolean Hex see section 4 3 2 800 Firmware Manual Appendix A Complete Parameter and Default Settings FB REC WORDS Group 3 2 FB SPEED REF Fie 1 FB COMMAND WORD O FFFF Packed Fieldbus Command Word Dataset 1 Word 1 For bit details 1 1 0 65535 boolean Hex see section 5 6 12 dbus Speed Reference Dataset 1 Word 2 10000 100 96 3 FB TORQ REF Fieldbus Torque Reference Dataset 1 Word 3 10000 100 5 FB SPEED CORR 96 Fiel details Fieldbus Speed Correction reference Dataset 3 Word 2 dbus Ramp rate Dataset 3 Word 1 see table 5 5 for 1000 1 10000 100 96 6 FB POS PRECOUNT Fieldbus Position Precount value Dataset 3 Word 3 7 FB AUX COMM WORD 0 FFFF Packed Fieldbus Aux Command Word Dataset 5 Word 1 For bit 151 0 65535 boolean Hex details s
75. 1 selection RAIO SLOT2 RAIO DDCS The parameters for the option module group are set if an option module is installed For more information on option module parameters refer to the option module manuals 1 ENCODER MODULE Activates the communication to the optional pulse encoder module The drive will than use the measured speed signal instead of the calculated speed Parameters in group 50 ENCODER MODULE must be set before operation NTAC Communication active Module type NTAC 02 module Connection interface Fiber optic DDCS link connect to Ch1 on RDCO option module Node address in NTAC 02 to be 16 NO Inactive RTAC SLOT1 Communication active Module type RTAC Connection interface Option slot 1 of the drive control unit RMIO board 66 800 Firmware Manual 2 COMM MODULE 3 CH3 NODE ADDR 4 CH 0 NODE ADDR 5 DI O EXT MODULE 1 ACC 800 Firmware Manual Chapter 6 Parameters RTAC SLOT2 Communication active Module type RTAC Connection interface Option slot 2 of the drive control unit RMIO board RTAC DDCS Communication active Module type RTAC Connection interface Optional I O module adapter AIMA that communicates with the drive through a fiber optic DDCS link via Ch1 on RDCO option module Note Node ID selector 51 on RTAC must be set to 0 default Set to FIELDBUS if a communication option module e g 01 is connected to channel 0 of CraneDrive Parameters i
76. 2 98 7 AI O EXT MODULE Fieldbus mode 114 ve ZEE z TRUE 10 600 ms 13 s NOT USED NOT USED FALSE FALSE 98 96 0 0 20 25 0 35 1 00 JOYSTICK 0 0 96 400 ms 10 96 25 50 100 FALSE 0 55 20 FALSE 100 FALSE 3 30 KGM 100 75 12 500 1500 rpm 5 05 5 05 5 05 5 05 0 05 2 0 TRUE NO NO 1 1 NO NO NO Calculate as 100 RT x 1 5 s where RT longest ramptime in sec If required alter the values to meet the needs of your application A complete ACC 800 Firmware Manual Chapter 5 Crane Program Description FUNCTION BLOCK DIAGRAM FIELD BUS MODE DRIVE ON DRIVE ON ON 4B RUNNING LIOROPROV OK POSACIPPU Q MECH FIELD LSIARTOVR START LOGIC 4 MOT TORO TORQPROVREF 3C IB EMERGSTOP SYNC RDY 4 PROVING TORQ PROV FLT BRAKE ACKN DRIVE SPEED REE FAST ZERO SET p TORQPROVFLT 50 1B BRAKEACKN BRAKE 59 ace LONG FTIME READY
77. 4mA 15 9 FILTER ON AO2 0 00 s 10 00 s 100 165 15 10 SCALE 2 10 1000 96 100 16 2 PARAMETER LOCK OPEN LOCKED OPEN 0 OPEN 65535 LOCKED 16 3 PASS CODE 30 000 121 16 8 FAN SPD CTRL MODE CONST 50HZ RUN STOP CONTROLLED CONST 50HZ 121 0 2 16 9 FUSE SWITCH CNTR OFF ON OFF 0 OFF 65535 ON 16 10 INT CONFIG USER 0 Int config number of R8i modules configured in drive Int config 121 0 12 20 LIMITS 20 1 MINIMUM SPEED 18 000 number of pole pairs rpm MAXIMUM SPEED value of par 20 2 calculated 20000 p 69 1 20 2 MAXIMUM SPEED MINIMUM SPEED value of par 20 1 18 000 number of pole pairs rpm calculated 20000 p 69 1 20 3 MAXIMUM CURRENT A 0 00 Amp Imax Amp 10 1A 20 4 MAXIMUM TORQUE 0 0 600 0 200 0 100 7 1 96 20 5 MINIMUM TORQUE 600 0 0 0 200 0 100 7 1 96 65535 ON 65535 ON 300 00 Hz MAXIMUM FREQ Hz value of par 20 9 Visible if Scalar mode MINIMUM FREQ Hz value of par 20 8 300 00 Hz Visible if Scalar mode 10 1800 DERE 0092780009 057 600 0 96 0 0 300 0 96 100 2 1 96 0 0 96 max depends on inverter amp motor size combination max 96 100 1 96 21 1 START FUNCTION CNST DC MAGN CNST DC 3 CONST DC MAGN MAGN 21 2 CONST MAGN TIME 30 0 ms 10000 0 ms 500 0 ms 23 1 GAIN 0 0 200 0 100 1 0 23 2 INTEGRATION TIME 0 01 5 1000 00 s 1000 15 23 3 DERIVATION TIME 0 0 ms 9
78. 500 23 1 GAIN gt 10 0 23 2 INTEGRATION TIME gt 250s 69 REFERENCE HANDLER 23 3 DERIVATION TIME 0 0 ms 69 1 SPEED SCALING RPM gt 1500 rpm 23 4 ACC COMPENSATION 0 00 s 69 2 ACC TIME FORW gt 50s 23 5 SLIP GAIN 100 0 69 3 ACC TIME REV gt 50s 23 6 AUTOTUNE RUN NO 69 4 DEC TIME FORW gt 50s 23 7 FEEDB FILTER TIME 4ms 69 5 DEC TIME REV gt 50s 23 8 SPEED STEP 0 0 rpm 69 6 S RAMP TC 0 0s 69 7 RAMP SCALE LOCAL 2 0 27 BRAKE CHOPPER 69 10 RAMP RATE 1 TRUE 27 1 BRAKE CHOPPER CTL gt OFF R2 amp R3 ON 27 2 BR OVERLOAD FUNC gt NO 98 OPTION MODULES 27 3 BR RESISTANCE gt 100 00 ohm 98 1 ENCODER MODULE gt NO 27 4 BR THERM TCONST gt 0 000s 98 2 COMM MODULE NO 27 5 MAX CONT BR POWER gt 0 00kW 98 3 CH3 NODE ADDR 1 27 6 BC CTRL MODE AS GENERATOR 98 4 CHO NODE ADDR 1 98 5 DI O EXT MODULE 1 NO 50 PULSE ENCODER visible when 98 1 is activated 98 5 DI O EXT MODULE 1 5 NO 50 1 ENCODER PULSE NR gt 1024 98 7 EXT MODULE 1 NO 50 2 SPEED MEAS MODE A B 50 3 ENCODER ALM FLT FAULT 50 4 ENCODER DELAY 1000 ms Calculate as 100 RT x 1 5 s where RT longest ramp time in seconds gt Typical parameter values to check during start up If required alter the values to meet the needs of your application A complete parameter list is provided in Appendix A ACC 800 Firmware Manudl BT Chapter 5 Crane Program Description 5 5 Fieldbus mode operation All drive commands
79. 514 Word 1 az AUX COMM WORD DS5 1 signal 3 7 e n Ciim 2 na LSB 1 active signal from joystick if par 64 10 FB JOYSTICK FB START DIR A FieldBus transmitted Start Dir A dece signal from joystick if par 64 10 FB JOYSTICK FB START DIR B FieldBus transmitted Start Dir B NUNT signal from joystick if par 64 10 FB JOYSTICK FB JOYST FieldBus 5242 JOYSTICK FB ELSHAFT ON FieldBus Electric Shaft control On enabled for Master or Slave drive RESTART DLOG 05 1 Restart the drive DataLoggers TRIGG LOGGER 0 gt 1 Forced trigg stop of the drive edge DataLoggers 7 DISABLE 1 0 Disable that Slack rope makes a SLACKROPE 1 active Fast stop stop on torque limit 5 42 ACC 800 Firmware Manual Transmit Chapter 5 Crane Program Description This part is used to transmit signals from the drive to a supervisory controller via high speed serial bus in the form of a Field Bus e g Advant link CS31 max 8 words Profibus 10 words Modbus Interbus S Devicenet Please check the respective fieldbus adapter manual for limitations on the number of words possible for sending and receiving The ACC transmit signal interface is standardised as a block of 14 words where each signal has its specific position The module also includes elements for packing 16 Boolean signals to word signals Updating interval for datasets 2 4 amp 12 is 32 ms except
80. 7 Word 3 1 DATASET 7 WORD 1 2 DATASET 7 WORD 2 3 DATASET 7 WORD 3 6 64 Group 90 is used to define the drive parameters into which the values of Dataset 7 Words 1 3 are written Drive parameter group and index to get value from fieldbus dataset 7 word 1 integer value Integer scaling for decimal parameters given by number of decimals e g parameter 69 2 5 0 sec equals integer value of 50 Format xxyy where xx Parameter Group 10 to 99 yy Parameter Index always using 2 digits i e 1 01 Example Setting 2001 Parameter 20 1 MINIMUM SPEED receives it s value from fieldbus dataset 7 word 1 Refer to Parameter 90 1 DATASET 7 WORD 1 Refer to Parameter 90 1 DATASET 7 WORD 1 ACC 800 Firmware Manual Chapter 6 Parameters 6 2 32 Group 92 Dataset TR Addr The Range Unit column in Table 6 29 shows the allowable parameter values The text following the table explains the parameters in detail Table 6 289 Group 92 Parameter Range Unit 1 DATASET 4 WORD 1 9999 Address of Dataset 4 Word 1 2 DATASET 4 WORD 2 9999 Address of Dataset 4 Word 2 3 DATASET 4 WORD 3 9999 Address of Dataset 4 Word 3 4 DATASET 6 WORD 1 9999 Address of Dataset 6 Word 1 6 DATASET 6 WORD 3 9999 Address of Dataset 6 Word 3 7 DATASET 8 WORD 1 9999 Address of Dataset 8 Word 1 8 DATASET 8 WORD 2 9999 Address of Dataset 8 Word 2 0 0 0 0 Group 92 is used as a signal switchbox to connect signa
81. 767 fixed 163 84 20000710096 DS2 3 0511 3 MOTOR 327 67 Torque actual 96 TORQUE FILT 327 67 10000 10096 fixed 1 f DS4 1 DS13 1 SPEED REF 3 163 84 Speed reference 3 p92 1 to select 163 84 ramp output 96 20000 10096 92 2 32767 1 1 92 3 3276 7 10 1 DS6 1 0515 1 FB FAULT Application faults WORD 1 92 4 DS6 2 DS15 2 FB FAULT 92 5 DS6 3 DS15 3 FB ALARM WORD 92 6 90167 92 7 32767 121V 92 8 32767 121V 3276 7 Motor shaft power 92 9 3276 7 102194 Aux status word 0512 1 0521 1 FB AUX STATUSWORD fixed 0512 2 0521 2 Al1 REF 163 84 Standard analog fixed input 1 speed reference value 96 200007100946 5 44 ACC 800 Firmware Manual Chapter 5 Crane Program Description Table 5 9 Transmit Dataset 12 alt DS21 Word 1 FB AUX STATUSWORD 0512 1 signal 4 5 Bitnumber Signal 7 Range Description order order order DIR A A ACKN acknowledge 6 40 acknowledge LOGG DATA Drive datalogger data READY e ready gue Analog input 3 speed limit LEEREN ACTIVE is active AI3 10mA 0 COMTEST MF Master Follower comtest FAST STOP Fast stop is active Table 5 10 FB Fault Word 1 Dataset 6 alt 0515 Word 1 FB FAULT WORD 1 Dataset 6 Word 1 signal 4 2 1 TORQFLT 9 Torqefaut 1 01 1 10 0 2 BRAKE FLT Mechanical brake fault 3 ELECTR SHAF
82. 800 Firmware Manual This chapter describes the Actual Signals the Fault History and explains Keypad and External control Note The 5800 is a speed controlled device If you need to change frequency to speed use the following formula FREQUENCY Hz SPEED rpm 120 NUMBER OF POLES Pole pairs 1 2 3 Number of poles 2 4 6 Actual Signals monitor CraneDrive functions They do not affect the performance of the CraneDrive Actual Signal values are measured or calculated by the drive and they cannot be set by the user The Actual Signal Display Mode of the Control Panel continuously displays three actual signals When the ACT key is pressed the full name of the three Actual Signals will be displayed When the key is released the short name 8 characters and the value are displayed 1L 50 0 1 SPEED 470 rpm TORQUE S0 CURRENT 40A Figure 4 1 Actual Signal Display Mode Table 4 1 on the next page lists the Actual Signals selected or monitored values and functions To select the actual values to be displayed follow the procedure described in Chapter 2 Overview of CraneDrive Programming Table 2 3 page 2 6 4 1 Chapter 4 Control Operation Table 4 1 Group 1 Actual Signal rpm motor nominal torque rating 6 POWER POWER 96 Motor power 100 is the nominal power rating 7 DC BUS VOLTAGEV DCBUSV Intermediate circuit voltage dis
83. 999 8 ms 23 4 ACC COMPENSATION 0 00 s 1000 00 s 0 00s 10 16 23 5 SLIP GAIN 0 0 400 0 100 0 23 6 AUTOTUNE RUN NO YES NO 0 65535 5 0 0 23 7 FEEDB FILTER TIME 0 999 9 ms 23 8 SPEED STEP only for 1500 00 1500 00 rpm 0 00 rpm 20000 p 69 1 DW BTORQUECTRL notvisble Fpar72TWASTFOLLMODE FOLLOWERY J 1 O ATTORGRAMPUP 1000510063 S 242 DOWN oos 120005 O o os TOOTS 300 00 300 00 96 100 1 96 26 MOTOR CONTROL visible only when the SCALAR motor control mode is selected Eae AH 26 3 IR COMPENSATION 0 30 visible only when the SCALAR motor control mode is selected 100 1 96 ACC 800 Firmware Manual 5 Appendix A Complete Parameter and Default Settings Parameter Alternative Settings Default Fieldbus scaling setting 27 BRAKE CHOPPER 27 1 BRAKE CHOPPER OFF ON OFF 0 OFF R2 amp R3 ON 65535 27 2 BR OVERLOAD FUNC NO WARNING FAULT 121 0 2 27 3 BR RESISTANCE 0 01 100 00 ohm 100 00 ohm 27 4 BR THERM TCONST 0 000 10000 000 s 0 000 s 27 5 MAX CONT BR POWER 0 00 10000 00 kW 0 00 kW 27 6 BC CTRL MODE AS GENERATOR COMMON DC AS 0 AS GENERATOR GENERATOR 65535 COMMON DC 28 1 LONG DISTANCE MOD OFF ON OFF 0 OFF 65535 ON ZBZTRTUNE 509352803 65535 FAULT 65535 FAULT 30 12 MASTER FAULT FAULT NO WARNING visibl
84. A gt 0 10 4 FAST STOP N SEL gt 06 64 5 DEADZONE B gt 0 10 5 POWER ACKN SEL gt NOT USED 64 6 REF SHAPE 20 10 6 SYNC SEL NOT USED 64 7 SLOWDOWN SPEEDREF gt 25 10 7 CHOPPER FLT N SEL 5 NOT USED 64 8 ZERO POS OK TD 03s 10 8 STEP REF2 SEL NOT USED 64 9 TORQUE REF SCALE 1 00 10 9 STEP REF3 SEL NOT USED 64 10 CONTROL TYPE JOYSTICK 10 10 STEP REF4 SEL NOT USED 64 11 MINIMUM REF 0 0 10 11 HIGH SPEED SEL NOT USED 64 12 JOYSTICK WARN TD 400 ms 10 12 SNAG LOAD N SEL NOT USED 64 13 STEP REF LEVEL 1 10 10 13 ACCELERATE SEL NOT USED 64 14 STEP REF LEVEL 2 25 10 14 FB STOPLIM SEL NOT USED 64 15 STEP REF LEVEL 3 50 96 10 15 ELSHAFT ON SEL NOT USED 64 16 STEP REF LEVEL 4 100 96 20 LIMITS 66 TORQUE PROVING 20 1 MINIMUM SPEED gt calculated 66 1 TORQ PROV SEL gt FALSE 20 2 MAXIMUM SPEED gt calculated 66 2 TORQ PROV FLT TD 05s 20 3 MAXIMUM CURRENT A gt 200 Ing 66 3 TORQ PROV REF 20 20 4 MAXIMUM TORQUE 200 20 5 MINIMUM TORQUE gt 200 68 POWER OPTIMIZATION 20 6 OVERVOLTAGE CTRL OFF 68 1 POWOP SELECT gt FALSE 20 7 UNDERVOLTAGE CTRL ON 68 2 BASE SPEED gt 100 20 10 SPEED LIMIT AI3 10096 68 3 POWOP AUTOTUNE SEL FALSE 68 4 INERTIA TOTAL UP gt 3KGM 21 START STOP 68 5 INERTIA TOTAL DWN gt 30 21 1 START FUNCTION CONST DC MAGN 68 6 TQLIM UP 100 21 2 CONST MAGN TIME gt 500ms 68 7 TQLIM DWN 75 68 8 POWOP RESET LEV 12 96 23 SPEED CTRL 68 9 T MAX gt
85. ACC 800 Firmware Manual Chapter 5 Crane Program Description 5 6 5 Crane 64 NOTE Stand Alone mode is active if parameter 64 1 STAND ALONE SEL is set True Table 5 3 Stand Alone default I O signal interface and functions Input Function Group10 Brake acknowledge from aux contact on brake contactor and from brake START DIR A DI3 Direction A pos up from joystick to fixed be connected in series with Stop Lim A and contact from mechanical overload protection equipment START DIR B 014 Direction neg down from joystick fixed to be connected in series with Stop Lim B and contact from slack rope protection equipment SLOWDOWN N DI5 Slow down lim A and B Direction from START DIR inputs After a power down main contactor off only slow speed is possible until this input is 1 Di6 FAST STOP N Fast stop signal to the converter SPEED REF Al1 Speed reference signal from joystick fixed 0 10 V or par 13 7 10V for 0 100 TORQ REF Al2 Torque reference signal from joystick fixed 0 20 mA for 0 to maximum torque reference maximum set with Parameter 64 9 TORQ REF SCALE SPEED CORR Ext Al1 Speed Correction signal from e g fixed electric shaft control unit 0 10V for O 100 speed correction signal BRAKE LIFT Output to brake contactor WATCHDOG N DO2 Closed contact indicates healthy drive Open contact makes hardwired emergency stop main contactor s off and brake
86. ACRO 99 3 APPLIC RESTORE 99 4 MOTOR CTRL MODE 99 5 MOT NOM VOLTAGE 99 6 MOTOR NOM CURRENT 99 7 MOTOR NOM FREQ 99 8 MOTOR NOM SPEED 99 9 MOTOR NOM POWER 99 10 MOTOR ID RUN 99 11 DEVICE NAME 10 DIGITAL INPUTS 10 1 BRAKE ACKN SEL 10 2 ZERO POS SEL 10 3 SLOWDOWN N SEL 10 4 FAST STOP N SEL 10 5 POWER ON ACKN SEL 10 6 SYNC SEL 10 7 CHOPPER FLT N SEL 10 8 STEP REF2 SEL 10 9 STEP REF3 SEL 10 10 STEP REF4 SEL 10 11 HIGH SPEED SEL 10 12 SNAG LOAD N SEL 10 13 ACCELERATE SEL 10 14 FB STOPLIM SEL 10 15 ELSHAFT ON SEL 20 LIMITS 20 1 MINIMUM SPEED 20 2 MAXIMUM SPEED 20 3 MAXIMUM CURRENT A 20 4 MAXIMUM TORQUE 20 5 MINIMUM TORQUE 20 6 OVERVOLTAGE CTRL 20 7 UNDERVOLTAGE CTRL 20 10 SPEED LIMIT AI3 21 START STOP 21 1 START FUNCTION 21 2 CONST MAGN TIME 23 SPEED CTRL 23 1 GAIN 23 2 INTEGRATION TIME 23 3 DERIVATION TIME 23 4 ACC COMPENSATION 23 5 SLIP GAIN 23 6 AUTOTUNE RUN 23 7 FEEDB FILTER TIME 23 8 SPEED STEP 50 PULSE ENCODER visible when 98 1 yes 50 1 ENCODER PULSE NR 50 2 SPEED MEAS MODE 50 3 ENCODER ALM FLT 50 4 ENCODER DELAY 50 5 SPEED FEEDB USED 51 COMM MODULE visible when 98 2 yes 51 1 MODULE TYPE 51 2 51 15 See manual for fieldbus module used Typical parameter values to check during start up parameter list is provided in Appendix A EE TE V Y Parameter value different from default setting 5 12 CRANE NO DTC ov 0 0 A 50 0 Hz 1 rpm 0 0 kw
87. ACS800 CraneDrive Control Firmware Manual 800 Crane Application Program 7 1 for ACS 800 Frequency Converters 800 Crane Application Program 7 1 for ACS 800 Frequency Converters Firmware Manual 3BSE 011179 R1025 EN EFFECTIVE 2004 10 26 SUPERSEDES 2004 10 01 2004 ABB Automation Technologies AB Crane Systems All Rights Reserved Safety Instructions Overview Warnings and Notes Warnings PPP Notes These are safety instructions which must be followed when installing operating and servicing the ACS 800 If neglected physical injury and death may follow or damage may occur to the frequency converter the motor and driven equipment The material in this chapter must be studied before attempting any work on or with the unit This manual distinguishes between two sorts of safety instructions Warnings are used to inform of conditions that can if proper steps are not taken lead to a serious fault condition physical injury and death Notes are used when the reader is required to pay special attention or when there is additional information available on the subject Notes are less crucial than Warnings but should not be disregarded Readers are informed of situations that can result in serious physical injury and or serious damage to equipment with the following symbols Dangerous Voltage Warning warns of situations in which a high voltage can cause physical injury and or can damage equipment
88. CDP 312R PANEL REF WITH SIGN ON START EXTERNAL OO Figure 4 4 Selecting control location and control source ACC 800 Firmware Manual AT Chapter 4 Control Operation 4 8 External 24V supply of RMIO board 4 8 1 To keep the control panel and the RMIO board active when the mains supply is switched off a separate 24 Vdc supply can be connected See ACS 800 Hardware manual for details Power On Acknowledge input signal If the CraneDrive is equipped with an external 24 V supply to RMIO board it is recommended to connect a NO Normally Open auxiliary contact of AC power contactor to digital input for signal Power On e g DI2 Input is selected with parameter 10 5 Drive is automatically reset at power on using the Power On Ackn input signal Also a proper masking of Chopper fault and PPCC Link fault during power off is achieved using the Power On Ackn signal A 0 on Power On Ackn input will generate an command of the CraneDrive that is coast stop plus closing of mechanical brake No operation of CraneDrive is possible if Power On Ackn input is 07 NOTE If using ACS 800 Multidrive parameter 10 5 POWER ON ACKN SEL should be set DI2 ACC 800 Firmware Manual Chapter 5 Crane Program Description 5 1 Overview This chapter describes the functionality of the Crane program with its two Application Macros CRANE and M F CTRL and the two external control modes Fiel
89. CHOPPER START UP DATA PROTECTIONS 72Master Follower 23 SPEED CTRL 21 START STOP 20 LIMITS DRIVE 60 LOCAL OPERATION 16 SYSTEM CTR INPUTS 15 ANALOG OUTPUTS 14 RELAY OUTPUTS 10 DIGITAL INPUTS CRANE module GROUPS 50 PULSE ENCODER CONTROL CONNECTIONS OPTION MODULES Figure 6 1 Parameter Groups ACC 800 Firmware Manual 6 Chapter 6 Parameters 6 2 1 Group 10 Digital Inputs These parameter values can be altered with the CraneDrive running The Range Unit column in Table 6 1 below shows the allowable parameter values The text following the table explains the parameters in detail Table 6 1 Group 10 Parameter Range Unit 1 BRAKE ACKN SEL INTERNAL ACK DI1 Brake acknowledge digital DI2 DI5 DI6 DI IL input 2 ZERO POS SEL NOT SEL DI1 DI2 Zero position digital input 015 016 DI IL Stand alone 3 SLOWDOWN N SEL SEL 011 012 Slowdown digital input DI5 DI6 EXT DI1 1 EXT DI2 2 DI5 DI6 011 1 011 2 DI IL 4 FAST STOP N SEL NOT SEL 011 012 Fast stop digital input 015 DI6 EXT DI1 1 Stand alone EXT 012 2 DI IL 5 POWER ON ACKN NOT SEL DI1 DI2 Power On acknowledge SEL 015 DI6 EXT DI1 1 digital input EXT DI2 2 EXT DI1 3 EXT DI2 3 DI IL 6 SYNC SEL NOT SEL DI1 DI6 Synchronisation digital EXT DI1 1 EXT input DI2 2 DI IL SEL input Stand alone input Stand alone input Stand alone Stand alon
90. EF SCALE 10 CONTROL TYPE 6 42 function is activated e g DI5 0 Time delay for the joystick to stay in zero position before a new start order can be given after a stop from trip fast stop or joystick warning Scaling of torque reference from joystick 1 2 E g with TORQUE REF SCALE set to 2 0 100 joystick reference will give 200 96 torque reference to the torque controller JOYSTICK External control of drive in Stand alone mode is done by using a joystick controller with Zero Pos e g 012 Dir 013 and Dir 014 contacts connected to digital inputs and analogue reference connected to AI1 speed control or AI2 torque control Joystick supervision is active RADIO CONTROL External control of drive in Stand alone mode is done by connecting signals from a radio controller or PLC to drive Dir A and Dir B orders connected to DI3 and 014 Zero Pos not required Reference connected to AI1 speed control or AI2 torque control ACC 800 Firmware Manual 11 MINIMUM REF 12 JOYSTICK WARN TD 13 STEP REF LEVEL 1 14 STEP REF LEVEL2 15 STEP REF LEVEL3 16 STEP REF LEVEL4 ACC 800 Firmware Manual Chapter 6 Parameters MOTOR POT External control of drive in Stand alone mode is done by using e g a pendant controller giving direction and increase orders Increase orders connected to DI2 Dir A and Dir B connected to DI3 and DIA STEP JOYST External control of drive in Stand alone
91. Firmware Manual 5 21 Chapter 5 Crane Program Description Radio control mode 64 102 RADIO CTRL If the joystick is connected to and monitored by an external unit such as a Radio controller or PLC then Control type Radio Control parameter 64 10 can be used The differences from Joystick control are The Zero Pos input signal e g DI2 is not used required If receiving both direction orders Start Dir A and Start Dir B at the same time the start order and reference are interlocked while the error occurs but no indication is given to the panel nor any requirement for both signals to be zero before releasing the interlock No check of reference level is made before responding to the start order Reference inputs for speed torque and speed correction reference 1 Ext AI1 have the same scaling and functions as in Joystick control mode Fast stop N 016 199 D S Faststop 12 Speedref 5 R Zero speed at Dir A D 014 1 Speed ref Al 1 MAX Drive speed ref ME RN Minimum ref Speed ref s reduced 0 Slowdown N DI 5 NV CRANE stand alone logic using Radio Control Figure 5 10 Crane Stand Alone logic in Radio Control mode 5 22 ACC 800 Firmware Manual Chapter 5 Crane Program Description Motorised Potentiometer control mode 64 10 MOTOR If using for example a pendant controller with push buttons for start and increase speed then Con
92. NALOGUE INPUTS 1 SCALE 1 000 1L gt 50 0 1 14 RELAY OUPUTS 1 RELAY RO1 OUTPUT BRAKE LIFT To select a index While holding the arrow down only the parameter name and number are displayed When the key is released the value of the parameter is also displayed 1L gt 50 0 1 14 RELAY OUPUTS 3 RELAY RO3 OUTPUT FAULT N To enter the Parameter Setting Mode 1L gt 50 0 1 14 RELAY OUPUTS 3 RELAY RO3 OUTPUT FAULT N To change the parameter value slow change fast change 1L 50 0 1 14 RELAY OUPUTS 3 RELAY RO3 OUTPUT CONTROL LOC 6a or 6b To send a new value to the drive To cancel the new setting and keep the original value The selected Keypad Mode is entered 1L 50 0 1 14 RELAY OUPUTS 3 RELAY RO3 OUTPUT CONTROL LOC 1L 50 0 1 13 ANALOGUE INPUTS 1 SCALE 1 000 ACC 800 Firmware Manual Chapter 2 Overview of ACC 800 Programming and the CDP 312 Control Panel Function Mode The Function Mode is used to select special functions These functions include Parameter Upload Parameter Download and setting the contrast of the CDP 312R Control Panel display Parameter Upload will copy all parameters and the results of motor UPLOAD ACS 800 identification from the drive to the panel The upload function can be EM q Drive performed while the drive is running Only the STOP
93. Parameter Upload and Parameter Download functions in the Function Mode Typically this kind of function can be used if the processes and the motor types are same This procedure is permitted only if the sw versions are same Follow the procedure below 1 Select the correct options Group 98 and macro Group 99 for each drive 2 Set the rating plate values for the motors Group 99 and perform the identification run for each motor if required see page Error Reference source not found Error Bookmark not defined 3 Set the parameters in Groups 10 to 97 as preferred in one ACC 800 drive 4 Upload the parameters from the CraneDrive to the panel see Table 2 7 5 Disconnect the panel and reconnect it to the next CraneDrive unit 6 Ensure the target CraneDrive is in Local control L shown on the first row of the display If necessary change the control location by pressing 7 Download the parameters from the panel to the CraneDrive unit see Table 2 7 8 Repeat steps 5 and 6 for the rest of the units Note Parameters in Groups 98 and 99 concerning options macro and motor data are not copied Setting the contrast If the Control Panel Display is not clear enough set the contrast according to the procedure explained in Table 2 8 7 The restriction prevents downloading of incorrect motor data Group 99 In special cases it is also possible to upload and download Groups 98 ACC 800 Firm
94. RMISTOR 6 MOTOR THERM LU 5 9999 8 Time for 63 96 temperature TIME 7 MOTOR LOAD 3 0 96 150 0 speed Hz curve LOSS is lost earth fault 12 MASTER FAULT Operates when there is FUNC Fieldbus communication fault 13 COMM FLT TIME 0 1065 60 00 s Communication fault time OUT dela 6 29 Chapter 6 Parameters 6 30 2 PANEL LOSS 4 MOTOR THERM PROT Defines the operation of the CraneDrive if the Control Panel selected as the control location for the CraneDrive stops communicating CAUTION If you select NO make sure that it is safe to continue operation in case communication with the Control Panel fails FAULT Fault indication is displayed if there are any Control Panels communicating on the link and the CraneDrive stops coast stop set brake NO No protection provided This parameter defines the operation of the motor thermal protection function which protects the motor from overheating FAULT Displays a warning indication at the warning level Displays a fault indication and stops the CraneDrive when the motor temperature reaches the 100 level WARNING Warning indication is displayed when the motor temperature reaches the warning level 95 96 of the nominal value NO No protection provided Note Make an init to drive control board if changing parameter to NO after a Fault or Warning is indicated ACC 800 Firmware Manual 5 MOT THERM P MODE ACC 800 Firmware
95. RRENT 40A Speed reference is read from analogue input Al1 Terminal Block X21 On Start and Direction commands are generated from digital inputs 012 and 014 Figure 5 1 Operation Diagram for Stand Alone Mode Input and Output I O Signals Input and Output I O Signals as default Joystick control type assigned by the Crane program For more details see Crane module 64 description in section 5 6 5 Brake Ackn DI1 Analogue Output AO1 Speed Zero Pos DI2 Analogue Output AO2 Torque Start Dir A DI3 Relay Output RO1 Brake lift Start Dir B 014 Relay Output RO2 Watch dog N Relay Output RO3 Fault N Slow Down N DI5 Fast Stop N DI6 Speed Ref Al1 Torque Ref AI2 Speed Corr Ext AI1 5 3 Chapter 5 Crane Program Description 5 4 2 External Connections The following connection example is applicable when the Crane program with Stand Alone control mode and Joystick control is used Terminal Block X20 3 Function Reference voltage 10 V max 10 mA Function Reference voltage 10 V max 10 mA Speed reference 0 10V Torque reference 0 20 mA Not used 0 20 mA Speed actual 0 20mA lt gt 0 100 Torque actual 0 20mA lt gt 0 Ty DI3 START DIR A DI4 START DIR B SLOWDOWN N FAST STOP 2 3 4 5 6 27 24DVDC 24 VDC max 100 mA 24DVDC Not connected DGNDI Digital ground 1 DGND2 Digital ground 2 prim
96. S 800 CraneDrive Control from now on mentioned as the CraneDrive The audience for this manual is expected to have Knowledge of standard electrical wiring practices electronic components and electrical schematic symbols Minimal knowledge of ABB product names and terminology 1 3 What This Manual Contains Safety Instructions can be found on pages and ii of this manual Safety Instructions describe the formats for various warnings and notations used in this manual This chapter also states the general safety instructions which must be followed Chapter 1 Introduction the chapter you are reading now introduces you to the CraneDrive Firmware Manual and conventions used throughout the manual Chapter 2 Overview of CraneDrive Programming and CDP 312R Control Panel provides an overview of programming your CraneDrive This chapter describes the operation of the CDP 312R Control Panel used for controlling and programming Chapter 3 Start up gives a Start up procedure and also lists and explains the Start up Data parameters Chapter 4 Control Operation describes actual signals keypad and external controls and external 24V power supply Chapter 5 Crane Program Description defines the Crane program by describing the included crane specific functions and presenting them in a block diagram This chapter also describes the User Macro function Chapter 6 Parameters lists the CRANEDRIVE parameters and ex
97. SEL DM DI6 COMM MODULE DI IL This parameter enables the selection of the desired User Macro via a digital input or Fieldbus communication in the following way When the state of the specified digital input or Fieldbus signal changes from high to low on negative edge User Macro 1 is restored When the state of the specified digital input or Fieldbus signal changes from low to high on positive edge User Macro 2 is restored If the required User Macro does not exist a fault indication is displayed FAULT USER MACRO The User Macro used can be changed via a digital input or Fieldbus communication edge triggered only after the drive is off magnetising is off i e Rdy For Run 0 During the change the drive will not start The acknowledgement signal USER 1 OR 2 digital output or Fieldbus indicates when the change is completed and the drive can be started again NOT SEL No input for External fault trip amp indication selected DI1 DI6 DI IL This selection defines the digital input used for an external fault signal If an external fault occurs i e digital input drops to 0 VDC the CraneDrive stops 6 5 Chapter 6 Parameters 6 2 2 Group 13 Analogue Inputs These parameter values can be altered with the CraneDrive running The Range Unit column in Table 6 2 below shows the allowable parameter values The text following the table explains the parameters in detail NOTE Updating interval fo
98. T Electrical shaft control fault 4 TORQPRFLT Torque provingfaut 5 MAS OSC FLT Fieldbus oscillator toggle bitfault 6 jBrakingchopperfauts 7 INVOVERLO X Invereroverload 8 7 EXTERNALFLT Extemalfaut 9 MF COMM ERR Master Follower bus communication fault 10 055 Panelcommunicationfautt 11 OCOMM X Jl Oboardcommunicationfault 12 AMBIENT TEMP ACS800 ambient over temperature 13 THERMISTOR Thermistor fault D16 147 MFRUNFLT X MasterfFollowerrunningfauit 0 1 2 3 4 5 7 10 11 12 13 14 ACC 800 Firmware Manual se Chapter 5 Crane Program Description Table 5 11 FB Fault Word 2 DataSet 6 alt 0515 Word 2 FB FAULT WORD 2 Dataset 6 Word 2 signal 4 3 Fault text 6 ACS800TEMP Overtemperature in IGBT Power plate 8 OVERFREO Over frequency fault Start inhibit fault Prevention of unexpected start active PPCC LINK Power Plate communication link fault INT board Supply phase missing DC ripple 5 46 ACC 800 Firmware Manual Chapter 5 Crane Program Description Table 5 12 FB Alarm Word DataSet 6 alt 0515 Word 3 FB ALARM WORD Dataset 6 Word 3 signal 4 4 Warning text 0 Bit 0 LSB MOTOR TEMP Motor high 9596 temperature calculated Comm module communication alarm ID Run failed High temperature in IGBT Powe
99. UP and 68 13 LOADCORR FACT DWN should be adjusted These parameters are also used for scaling the motor utilization i e the motor torque level in per unit torque 100 when hoisting rated load The signal 1 33 LOAD TORQUE ton must to be scaled using parameter 74 1 NOMINAL LOAD The mechanical lifetime is set with parameter 74 3 CRANE LIFETIME When all settings are done the Crane lifetime calculation is started by setting parameter 74 3 START LIFETIMEMON ON Note This parameter cannot be reset with user parameters When the signal LIFETIME LEFT has reached a level below 10 the drive will give a warning LIFETIME gt 90 NOTE To transfer the latest TOTAL OPER TIME and LOAD SPEC FACT Km signals values from an existing RMIO control board to a spare board in case of service repair please contact ABB Service 5 56 ACC 800 Firmware Manual 5 7 User Macros ACC 800 Firmware Manual Chapter 5 Crane Program Description User Macros allow the current parameter settings to be stored in memory Two User Macros can be created This can be used for Shared motion operation i e two different motors using same converter via contactors To store your customised parameters 1 Access the Start up Data group as described in Table 2 6 in Chapter 2 Overview of CraneDrive Programming 2 Change Parameter 99 2 APPLICATION MACRO to USER1 SAVE or USER2 SAVE Note It s recommended to keep parameter 10 17 User macro
100. W lower leg IGBT s short circuit Inverter Block Diagram 84 6 9 L RMIO iNT I 93 63 U v w Upper leg IGBTs Lower leg IGBTs IRMIO Motor Control and Board Main Circuit Interface Board PPCS Link Branching Unit Inverter Unit Block Diagram two to four parallel Inverters PBU CH3 CH1 CH2 6 dal 163 INT Note For information on Group 3 FB REC WORDS and Group 4 FB TRA WORDS signals see Appendix A ACC 800 Firmware Manual 4 9 Chapter 4 Control Operation 4 4 Fault History The Fault History includes information on the fifteen most recent faults and warnings that occurred in the CraneDrive The description of the fault and the total power on time are available The power on time is calculated always when the RMIO board of the CraneDrive is powered Chapter 2 Overview of CraneDrive Programming Table 2 4 page 2 7 describes how to display and clear the Fault History from the Control Panel 4 5 Local Control vs External Control 4 5 1 The CraneDrive can be controlled i e reference ON OFF and Start commands can be given from an external control location or from Local control Control Panel Keypad or a DrivesWindow PC tool Figure 4 2 below shows the CraneDrive control locations The select
101. X LEVEL Default value 75 is sufficient for most conical motors but for larger motors 30 40 kW there can be a need to lower this value further to minimize the roll back Note that during stopping when reducing the flux the motor current will increase proportional Due to this there can be a need to check converter sizing to have enough current margin Normally one size bigger converter is selected This flux reduction is only active if conical motor function is activated with parameter 67 11 CONICAL To minimize the roll back load dip of a hoist conical motor at start the flux level at start can be increased to a level set in parameter 67 13 START FLUX LEVEL 100 140 96 during a time set with parameter 67 14 START FLUX TIME With parameter 67 7 ZERO SPEED TIME it s possible to delay the closing of conical motor brake at stop For example to get faster response to a new start order within this time NOTE When making ID Run with a conical motor the REDUCED type of ID Run must be selected in parameter 99 10 The STANDARD type of ID Run cannot be used as it is making measurements with low flux levels making conical motor stop Conical motors used on hoist applications must have an encoder speed feedback ACC 800 Firmware Manual Chapter 5 Crane Program Description 5 6 9 Power optimisation 68 ACC 800 Firmware Manual The power optimisation function module can only be used in drives with an active pullin
102. acknowledgement is not received within 5 seconds the ON order signal is reset to zero Off order is given by the panel LOCAL STOP at zero speed stop push button on panel or in external control when signal DRIVE ON is set to 0 field bus mode If parameter CONTIN ON 65 1 false and running becomes 0 the ON signal will be reset to 0 after expired time OFF TD 65 2 This is a magnetising shut off function if the drive is not operated within the last OFF TD seconds Start order is issued when START 2 1 In remote mode the signal START OVR Fieldbus mode or START DIR A START DIR B stand alone mode is giving this the start order In local mode the start order is given with signal LOCAL START start push button on panel No start order can be given unless the converter is On magnetised acknowledged by the signal Ready For Run Signal REF ZERO SET will hold the speed reference to 0 when Fast Stop is ordered See also timing and logic diagrams on the next 2 pages 5 26 ACC 800 Firmware Manual Chapter 5 Crane Program Description START amp STOP SEQUENCE TIME DIAGRAM Example showing Stand alone mode where first Start order is giving On order Input START order Reference ON signal RDY FOR RUN signal RUN signal RUNNING signal TORQ PROV OK signal BRAKE LIFT signal BRAKE ACKN signal SPEED REF to ramp SPEED ACT signal ZERO SPEED signal
103. active in Slave drive ACC 800 Firmware Manual Chapter 6 Parameters 6 2 30 Group 74 Crane Lifetime The Range Unit column in Table 6 27 shows the allowable parameter values The text following the table explains the parameters in detail Table 6 27 Group 74 Range unit Description 1 NOMINAL LOAD 0 00 32767 00 ton Nominal hoist load 2 CRANE LIFETIME 0 12500 hrs Crane lifetime 3 START LIFETIMEMON OFF ON Start crane lifetime monitor 1 NOMINAL LOAD Nominal full load for crane hoist in tons corresponding to 10096 Load torque signal 2 31 2 CRANE LIFETIME The designed mechanical lifetime of crane hoist in hours When the calculated LIFETIME LEFT signal 1 35 is below 10 the drive will give warning LIFETIME gt 90 3 START LIFETIMEMON Crane Lifetime monitor calculation of the Load spectrum factor Km signal 1 34 is started by setting parameter START LIFETIMEMON ON Note parameter cannot be reset with user parameters once set to ON during drive commissioning ACC 800FirmwareManual sss 6 63 Chapter 6 Parameters 6 2 31 Group 90 Dataset REC Addr The Range Unit column in Table 6 28 shows the allowable parameter values The text following the table explains the parameters in detail Table 6 278 Group 90 Range Unit 1 DATASET 7 WORD 1 9999 Address for Dataset 7 Word 1 0 2 DATASET 7 WORD 2 0 9999 Address for Dataset 7 Word 2 DATASET 7 WORD 0 9999 Address for Dataset
104. al speed of the motor as calculated or measured by the CraneDrive The speed is displayed in rpm Displays the CraneDrive frequency Hz applied to the motor as calculated by the CraneDrive Displays the motor current as measured by the CraneDrive Displays the motor torque in per cent of the rated motor torque as calculated by the CraneDrive Displays the motor power in per cent of the rated motor power Displays the DC bus voltage as measured in the CraneDrive The voltage is displayed in Volts DC Displays the mains voltage as calculated by the CraneDrive The voltage is displayed in Volts NOTE Calculation only done at power on Displays the motor voltage as calculated by the CraneDrive Displays the temperature of the heatsink in degrees centigrade Indicates application or user macro selected parameter 99 2 Displays the value of the total speed reference before ramp in 100 corresponds to SPEED SCALING RPM parameter 69 1 Displays the active control location Alternatives are LOCAL I O CTRL FIELDBUS and M F CTRL Refer to Keypad vs External Control in this chapter This Actual Signal is an elapsed time indicator It counts the time that the RMIO board has been powered The counted time cannot be reset This Actual Signal counts the kilowatt hours of CraneDrive in operation This signal indicates if the motor ID Run is completed OK Status of the RMIO digital inputs 011 6 DI IL DI IL here called DI7
105. alculated power optimisation reference will be reset to be prepared for a new calculation during the next acceleration Motor maximum relative torque capacity also called Pull out torque or Breakdown torque level per motor catalogue Often given as e g Tmax Tn 2 5 725095 Note Enter motor Tmax value as normally given in catalogues for sinusoidal supply direct on line data without subtracting the 30 frequency converter supply reduction factor If instead having a Tmax Tn value given as a part of Inverter parameter settings values in a motor data sheet than value must be divided with 0 7 and multiplied with 100 to get 96 before set to parameter 68 9 6 49 Chapter 6 Parameters 10 LOAD TORQ FILT TC Filter time constant for calculated signal 2 31 LOAD TORQUE see also page 5 32 11 SLACK ROPE TQLEV Detection level for slack rope see page 5 33 for more details on Slack rope function Load torque signal 2 31 dropping below this level is considered a slack rope making a Fast stop type 1 to the drive Setting of 400 default will disable the Fast stop 12 LOADCORR FACT UP Load correction factor in hoisting direction for LOAD TORQUE signal 2 31 To include the mechanical efficiency of hoist machinery driven by hoist motor as well as motor utilization when hoisting nominal load i e motor torque in p u at full load E g Eff 0 9 Util 1 0 2 0 90 13 LOADCORR FACT DWN Load cor
106. an be set in the SCALAR control mode only Limitation of the maximum frequency reference used Warning If this value is set negative the motor can not decelerate to zero speed and stop when removing start order This limit can be set in the SCALAR control mode only ACC 800 Firmware Manual 10 SPEED LIMIT 11 P MOTORING LIM 12 P GENERATING LIM 13 TORQ RISE T LIM ACC 800 Firmware Manual Chapter 6 Parameters The speed reference to the drive is limited to the set value if analog input 3 input current is below 10 mA If AI3 input current is above 10 mA there is no speed limitation active 100 allowed 100 is equal to the rpm set in parameter 69 1 SPEED SCALING RPM The function is available in both Stand alone and Fieldbus mode This parameter defines the momentarily allowed maximum power fed by the inverter to the motor The value is in percent of the motor nominal power This parameter defines the momentarily allowed maximum power fed by the motor to the inverter The value is in percent of the motor nominal power This parameter is used to limit the maximum allowed torque reference change per millisecond Output of the limitation is 2 14 TORQ USED REF Default maximum value depends on the inverter and motor size combination NOTE Motor data in group99 must be set before accessing this parameter 6 17 Chapter 6 Parameters 6 2 7 Group 21 Start Stop The Range Unit column in Table 6 7 below sho
107. and reference settings can be given from the Control Panel keypad or selectively from an external control location The active control location is selected with the LOC REM key on the Control Panel keypad The drive is normally speed controlled In External Control the control location is from the Fieldbus communication The reference signal On Start a s o are connected to corresponding datasets see Fieldbus Receive description for details The mechanical brake is controlled from DO1 and the acknowledgement is connected to DI1 as a default Example of digital input connections 012 Power On Ackn is connected to an auxiliary contact of the incoming power breaker Sync is position measurement synchronisation 014 Chopper Fault N is connected to the braking chopper fault contact Two analogue and three relay output signals are available on terminal blocks Default signals for the Actual Signal Display Mode of the Control Panel are SPEED TORQUE and CURRENT Operation Diagram Fieldbus comm 1L 50 0 1 SPEED 470 rpm TORQUE S0 CURRENT 40 A Reference and Start Stop and Direction commands are given from the Control Panel To change to External ctrl press LOC REM key 27 Speed at standstill im Torque 1 50 0 1 Rel Outputs SPEED 470 rpm TORQUE S0 CURRENT 40 A Start Stop commands and References are received through the Fieldbus communication Figure 5 5 Operation Diagram for Fi
108. ange Uni 1 GAIN 0 0 100 0 Gain for speed controller Typical value for cranes 7 15 2 INTEGRATION 0 01 s Integration time for speed TIME 999 98 s controller Typical value for cranes 7 0 2 0 5 sec 3 DERIVATION TIME 0 0 ms Derivation time for speed 9999 8 ms controller 4 ACC 0 00 s Derivation time used in COMPENSATION 100 00 s compensation of acceleration Note Set to zero after ID Run 5 SLIP GAIN 0 096 400 0 Gain for the slip of the motor 6 AUTOTUNE RUN NO YES Autotuning of the speed controller 7 FEEDB FILTER TIME 0 100 ms Filter time for actual speed 8 SPEED STEP 1500 00 rpm Speed step input for 1500 00 rpm DrivesWindow step gen It is possible to tune the PID algorithm based speed controller of the CraneDrive by setting Parameters 1 to 5 in this group or by selecting the Autotune run by Parameter 6 The values of these parameters define how the output of the Speed Controller changes when there is a difference error value between the actual speed and the reference Figure 6 3 displays typical step responses of the Speed Controller Step responses can be seen by monitoring Actual Signal 1 1 SPEED ESTIMATED NOTE The Standard Motor ID Run refer to Chapter 3 Start up data updates the values of Parameters 23 1 23 2 and 23 4 Parameter 23 1 is set 15 23 2 is set 0 5 sec 23 4 is reset to 0 0 sec after ID Run by ACC application sw The dynamic performance
109. ange is completed and the drive can be started again 5 57 Chapter 5 Crane Program Description NOTE User Macro load restores also the motor settings of Start up Data group and the results of the Motor ID Run Check that the settings correspond to the motor used 5 58 ACC 800 Firmware Manual Chapter 5 Crane Program Description This page is intentionally left blank ACC 800 Firmware Manul 559 Chapter 6 Parameters 6 1 Overview This chapter explains the function of and valid selections for each CraneDrive parameter 6 2 Parameter Groups The CraneDrive parameters are arranged into groups by their function Figure 6 1 illustrates the organisation of the parameter groups Chapter 2 Overview of CraneDrive Programming explains how to select and set the parameters Refer to Chapter 3 Start up Data and Chapter 4 Control Operations for more information on the Start up Data and Actual Signals Some parameters that are not in use in the current application are hidden to simplify programming CAUTION Exercise caution when configuring 1 connections as it is possible to use one connection to control several operations If an I O is programmed for some purpose the setting remains even if you select the for another purpose with another parameter ACC 800 PARAMETER GROUPS 90 DATASET REC ADDR 92 DATASET TR ADDR 98 OPTION MODULES 99 START UP DATA 30 FAULT FUNCTIONS 27 BRAKE
110. ant parameter lists The motor identification run torque control and motor phase loss check Parameter 30 10 are disabled in the SCALAR control mode This parameter matches the CraneDrive with the nominal voltage of the motor as indicated on the motor rating plate It is not possible to start the CraneDrive without setting this parameter Note It is not allowed to connect a motor with nominal voltage less than 1 Uy or more than 2 U where is either 415 V 500 V or 690 V depending on the voltage rating of the ACS 800 used 3 9 Chapter 3 Start Up 3 10 6 MOTOR NOM CURRENT 7 MOTOR NOM FREQUENCY 8 MOTOR NOM SPEED 9 MOTOR NOM POWER 10 MOTOR ID RUN A This parameter matches the ACS 800 to the rated motor current The allowed range 1 6 Ina of ACS 800 2 Ina of ACS 800 is valid for DTC motor control mode In SCALAR mode the allowed range is O Ina of ACS 800 Iha of ACS 800 Correct motor run requires that the magnetising current of the motor does not exceed 90 per cent of the nominal current of the inverter This parameter matches the ACS 800 to the rated motor frequency adjustable from 8 Hz to 300 Hz This parameter matches the ACS 800 to the nominal speed as indicated on the motor rating plate NOTE It is very important to set this parameter in order to achieve the best possible accuracy in speed control This parameter matches the ACS 800 to the rated power of the motor ad
111. ard in 690V inverter units It can also be used when the total motor cables are long OFF Long distance mode is disabled ON Long distance mode is enabled 2TRTUNE This coefficient affects the calculated rotor time constant according to the motor rating plate values It is used if the nominal speed value of the motor rating plate does not correspond to the real full load speed For example if the real slip is 1096 higher than the slip calculated from motor rating plate speed a coefficient value of 10 is set into this parameter e g if full load speed should be 989 rpm instead of rating plates 990 rpm for a motor with 1000 rpm no load speed Meaning 11 rpm instead of 10 rpm slip Note This parameter is effective only if a pulse encoder is used 6228 ACC 800 Firmware Manual Chapter 6 Parameters 6 2 13 Group 30 Fault Functions ACC 800 Firmware Manual These parameter values can be altered with the CraneDrive running The Range Unit column in Table 6 11 shows the allowable parameter values The text following the table explains the parameters in detail Table 6 11 Group 30 Parameter Rangsrini 2 PANEL NM FAULT NO Operates when the Control Panel is selected as the active control location for the CraneDrive and the panel stops communicating 4 MOTOR THERM FAULT Operates when the motor is PROT WARNING NO thermally overloaded 5 MOT THERM P DTC USER Motor thermal protection MODE MODE mode selection THE
112. ault value before starting in other direction is possible To avoid running in the same direction hoisting after overload indication or lowering after slack rope indication the appropriate direction input must be wired in series with an additional contact from the protection equipment These contacts must be of NO type and are closed when the protection equipment is energised and opens when a fault occurs TORQUE CONTROL is activated when the current level of input 2 TORQ REF the first time after each power on passes the level 2 mA and if the speed reference to AI1 is below 1 Speed reference is activated the first time Al1 passes the level 1V and after each power on default If both inputs are above limit than speed control is active Updating time for speed and torque references are 32 ms If a slowdown limit switch is activated drive will change to speed control and limit speed to slowdown speed reference level set SPEED CORRECTION The additional speed reference input Speed Correction Ext Al1 RAIO input AI1 is a reference without any ramp that is added to the output of the normal speed reference ramp generator Can be used as a correction input from a electric shaft control unit Updating time is 8 ms for the speed correction input 0 V signal is 0 reference level and the 0 10 V range corresponds to 0 100 speed 0 10 V range corresponds to 0 100 speed Additionally the fieldbus Sp
113. ault settings of Group51 fieldbus parameters if Anybus module R type used Settings are done to configure fieldbus signals as described in manual section 5 6 12 RPBA 01 Default settings for Profibus parameters in group 51 changed to 51 0523 51 0676 51 0777 51 08 10 51 0928 51 107211 51 11 9 51 127212 51 13 13 51 147216 51 157214 51 167217 51 177215 51 187218 51 19 19 51 20 22 ACC 800 Firmware Manual Chapter 6 Parameters 6 2 28 Group 72 Master Follower 1 MAST FOLL MODE The Range Unit column in Table 6 25 shows the allowable parameter values The text following the table explains the parameters in detail Table 6 25 Group 72 Parameter Range uni 1 MAST FOLL MODE OFF MASTER Master Follower FOLLOWER mode selection visible only if M F CTRL macro selected 2 TORQUE SELECTOR ZERO SPEED Torque selector MAXIMUM ADD 3 LOAD SHARE 0 0 400 0 96 Load sharing visible only if M F CTRL macro selected 4 WINDOW SEL OFF ON Window selection on 5 WINDOW WIDTH POS 10 0 rpm 1500 0 rpm Window width positive 6 WINDOW WIDTH NEG 0 0 rpm 1500 0 rpm Window width negative 7 DROOP RATE 0 0 100 0 96 8 TORQ REF A FTC 0 ms 32767 ms Torque reference CTRL macro selected constant 9 M F FAULT TD 0 ms 32767 ms Master Follower visible only if M F fault time delay CTRL macro selected 10 M F COMM ERR TD 0 ms 32767 ms Master Follower visible only if M F communi
114. calculated maximum speed reference The quality of the calculation depends on the measurements done before reaching 9096 of base speed The speed must have a linear acceleration and without excessive ripple The power optimisation output speed reference SPEED REF POWOP is set to zero if the input signal HIGH SPEED is set to 0 The calculated maximum reference is reset to zero when the actual speed SPEED ACT has decreased to a speed corresponding to the parameter POWOP RESET LEV parameter 68 8 The calculated reference value before the HIGH SPEED switch can be seen in signal 2 25 POWOP SPEEDREF The TORQUE HOLD value mentioned above is continuously calculated by the power optimisation module It s available as signal LOAD TORQUE 2 31 in 9o of the motor nominal torque This signal is filtered with a filter time constant set in parameter 68 10 LOAD TORQ FILT TC This LOAD TORQUE signal is used to detect a Slack rope situation that is load torque dropping below the level set in par 68 11 SLACK ROPE TQLEV SLACK is indicated in signal 4 05 FB AUX STATUSWORD 0512 1 bit 10 A detected slack rope will make a Fast stop1 of the drive This Fast stop can be disabled via signal DISABLE SLACKROPE in fieldbus Dataset 5 Word 1 FB AUX COMMAND WORD signal 3 07 Bit 7 Also setting of parameter 68 11 400 default will disable the Fast stop NOTE When dimensioning the hoist motor it must be ensured that the available motor break
115. cated longer than time ZERO POS TD 64 8 if any of following conditions joystick or wiring problems occur for a duration longer than JOYSTICK WARN TD 64 12 START DIR A 1 and START DIR 1 at the same time SPEED REF is gt 1V or TORQUE REF is gt 2mA when joystick is in the neutral position ZERO POS 1 DIR A 0 and DIR B 0 Indicates possible loose ground connection Panel also indicates this with an alarm text WARNING JOYSTICK START The drive is started when one of the signals START DIR A or START DIR B is 1 and ZERO POS is 0 unless any of the above listed fault conditions occur The sequence starts with a magnetising phase ON unless already magnetised which is immediately followed by the reference ramp up At a normal stop the switching off of the magnetising current is off delayed by an adjustable time parameter 65 2 OFF TD Power up Start order is not accepted after READY signal is active until joystick is first in zero position SLOWDOWN The speed is limited by a preset level parameter SLOWDOWN SPEEDREF 64 7 if the SLOWDOWN N input e g DI5 is zero set The converter remembers the direction of movement and allows full speed in the opposite direction as long as the supply voltage AMC board supply is not switched off If the voltage has been switched off and the input SLOWDOWN N 0 than only slow speed is allowed in both directions By setting parameter 10
116. cation CTRL macro selected error time delay MODE broadcast mode Master and follower drive operating mode OFF Master or Follower drive not activated only separate control or Local available MASTER Drive selected to be the Master drive in M F control FOLLOWER Drive selected to be the Follower drive in M F control 6 55 ACC 800 Firmware Manual Chapter 6 Parameters 2 TORQUE SELECTOR 6 56 Mode selection for Follower drive ZERO Torque selector parameter is not active Speed or torque control selection is done with I O or Fieldbus in normal way default is speed control SPEED Drive is speed controlled Receiving speed reference Speed ref3 ramp output from Master drive if M F ctrl macro active i e using M F bus communication Note Follower speed ramp times should be set equal or lower than Master ramp time settings TORQUE Drive is torque controlled Receiving torque reference from Master drive if M F ctrl macro active Torq ref A i e load sharing between Master and Follower MINIMUM Torque selector compares the torque reference and the output of the speed controller The lower value is used as the reference for motor torque control Receiving speed and torque references from Master drive if M F ctrl macro active This mode should normally not be used with a crane drive MAXIMUM Torque selector compares the torque reference and the output of the speed controller The higher value is us
117. ch output signal is connected to analogue output AO1 current signal The following list shows the full scale value with Parameter 15 5 SCALE 1 set to 100 NOT USED MEAS SPEED Measured RTAC module speed of the motor 100 96 motor maximum speed Parameters 20 1 amp 20 2 10 mA 0 96 speed 20 mA 100 96 motor maximum speed SPEED Motor speed 20 mA 100 96 of motor nominal speed absolute value ACC 800 Firmware Manual 2 INVERT AO1 3 MINIMUM AO1 4 FILTER ON AO1 5 SCALE AO1 ACC 800 Firmware Manual Chapter 6 Parameters FREQUENCY Output frequency 20 mA motor nominal frequency CURRENT Output current 20 mA motor nominal current SIGN TORQUE Motor torque with sign 0 TORQUE REF SCALE Par 64 9 100 of motor nominal rating 10 mA 0 96 torque 20 mA TORQUE REF SCALE 100 of motor nominal rating POWER Motor power 20 mA 100 of motor nominal rating absolute value DC BUS VOLT DC bus voltage 20 mA 100 96 of maximal nominal DC bus voltage Max nominal DC 675V if 500V unit and 560V if 400V unit OUTPUT VOLT Motor voltage 20 mA motor rated voltage SIGN POSACT Position counter RTAC measurement value see signal 2 18 with sign 32767 units scaling with parameter 70 1 10 mA 0 units 20 mA 32767 units SIGN SP REF Speed reference Speed ref3 output from ramp with sign 100 of motor maximum speed par 20 1 a
118. ch srce NOT SEL until User macro saving is completed 10 17 is not saved in User macros 3 Press ENTER to save The current settings are now stored in the User Macro The storing will take a few minutes please wait The Parameter settings can be changed thereafter without loosing the settings saved to the User Macro After power switch off when you turn on the power again the original User Macro settings are valid With other Application Macros the parameter setting will be permanently saved when you press ENTER after changing the parameter value and during power up default values of the parameters are not restored To recall the last saved parameters User Macro 1 Access the Start up Data group as described in Table 2 6 in Chapter 2 Overview of CraneDrive Programming 2 Change Parameter 99 2 APPLICATION MACRO to USER1 LOAD or USER2 LOAD 3 Press ENTER to load If there exists no User Macro is saved and you try to load one a fault indication is displayed FAULT USER MACRO The User Macros can also be switched via digital inputs or Fieldbus selectable with Parameter 10 17 as described in chapter 6 The User Macro used can be changed via a digital input or Fieldbus communication edge triggered only after the drive is off magnetising is off i e Rdy For Run 0 During the change the drive will not start The acknowledgement signal USER 1 OR 2 digital output or Fieldbus indi cates when the ch
119. ching zero speed the START signal must be reset before accepting a new start order There are two input signals from the Fieldbus Command Word 051 1 FAST STOP 1 and FAST STOP 11 to order fast stop active in both Fieldbus and Stand alone mode FAST STOP 1 1 gives fast stop 1 FAST STOP 11 1 gives a fast stop per selection parameter 63 1 FAST STOP TYPE 11 Please note that drive cannot be started from External control place if any of FAST STOP 1 or FAST STOP 11 if activated in 63 1 control bits are active 1 Local start from e g panel is possible To use FAST STOP 11 for Fast stop 1 set FAST STOP TYPE 11 63 1 FAST STOP 1 Fast stop 2 set FAST STOP TYPE 11 63 1 FAST STOP2 Fast stop 3 set FAST STOP TYPE 11 63 1 FAST STOP 3 When using Stand alone modes there is also a signal FAST STOP 12 activated by digital input e g DIG FAST STOP N 0 see function module CRANE 64 for more details which can be programmed to give anyone of the three types of fast stop This is done with parameter 63 2 FAST STOP TYPE 12 For settings of FAST STOP TYPE 12 see FAST STOP TYPE 11 above Note If in Stand alone mode selecting the Control type parameter 64 10 FB JOYSTICK than both FAST STOP 12 through digital input as well as FAST STOP 1 and FAST STOP 11 through the Fieldbus Command Word are available to use Any active Fast stop is indicated in signal 4 5 FB AUX STATUSWORD bit 11
120. ctive type used Note Fieldbus Command Word and Status word mapping is still as specified in section 5 6 12 of this manual Only Vendor specific mode is supported by CraneDrive sw Generic mode is not supported for AnyBus modules e g RPBA 01 ACC 800 Firmware Manual Chapter 6 Parameters 6 2 16 Group 60 Local operation The Range Unit column in Table 6 13 shows the allowable parameter values The text following the table explains the parameters in detail Table 6 13 Group 60 Parameter Range unit 1 LOC OPER INH True False Local operation inhibit maximum time dela 1 LOC OPER INH True Only possible to run in External control Note Panel will show 1 indication even though drive is in External control False Possible to run in LOCAL panel control and External control 2 LOC SPEED MAX maximum speed reference when running LOCAL 3LOC ZERO SPEED TD After making a local START the ZERO SPEED signal has to become O that is motor start running before the time LOC ZERO SPEED TD has expired otherwise the start order is removed and drive is switched off ACC 800 Firmware Manual 637 Chapter 6 Parameters 6 2 17 Group 61 Speed monitor The Range Unit column in Table 6 14 shows the allowable parameter values The text following the table explains the parameters in detail Table 6 14 Group 61 Rangeuni 3 MOT OVERSPEED LEV 0 200 96 Motor overspeed level 4 SPEED LIM 1 0 2
121. d bus mode and Stand Alone mode The chapter also describes how to use the two User Macros The chapter contains the following information Application Macro information Operation Fieldbus and Stand alone mode External I O Connections Parameter Settings Functional Block diagram of program Function module descriptions The Parameter Settings tables in this chapter indicate parameters you may have to modify These parameters are indicated in the tables with an arrow gt symbol Refer to Appendix A Complete Parameter Settings for the alternative settings for each parameter 5 2 Application Macros There are two application macros CRANE and M F CTRL Selection is done with parameter 99 2 Application macro Default setting is CRANE macro CRANE macro includes all the crane software functions except the Master Follower bus functionality M F CTRL macro includes all functions of the CRANE macro plus Master Follower bus functionality see description of function module Master Follower 72 NOTE A change of application macro will reset all parameter settings to default except for parameter group 99 and motor ID Run data stored Therefore macro selection should be done before making the application parameter settings ACC 800 Firmware Manual 5 1 Chapter 5 Crane Program Description 5 3 Speed Reference chain Material to be issued later 5 2 ACC 800 Firmware Manual Chapter 5 Crane Program Description
122. d in a critical part of a process fan replacement is recommended once these symptoms start appearing Fan failure will be self evident due to the overtemperature Warnings and Faults After the heatsink has cooled it is possible to reset the Warning Fault and briefly operate the motor in a critical application A replacement fan is available from ABB Do not attempt operation with other than ABB specified spare parts The fan can be withdrawn by removing the bottom of the frame 7 4 3 Capacitors The ACS 800 intermediate circuit employs several electrolytic capacitors The minimum lifetime of these capacitors is calculated at about 100 000 hours but in an average installation the capacitors are likely to operate considerably longer The actual lifetime depends on the frequency converter loading and the ambient temperature Capacitor life can be prolonged by lowering the ambient temperature It is not possible to predict capacitor failure Capacitor failure is usually followed by a mains fuse failure or a Fault trip Contact ABB if capacitor failure is suspected Replacements are available from ABB Do not attempt operation with other than ABB specified spare parts Relays and Contactors Frames R2 and R3 are fitted with a relay and frame R4 employs a contactor as a part of the charging circuit The minimum estimated life spans for the relays and contactors are 100 000 and 1 000 000 operations respectively but in average applications they
123. down torque Tmax in the frequency converter duty is sufficient for the total torque required during acceleration hoisting and deceleration lowering in the field weakening area The breakdown torque decreases proportionally to 1 n in the field weakening area Power optimising will during acceleration using total torque measured load accel calculate the maximum speed possible in field weakening without exceeding the motors stated breakdown torque TMAX parameter 68 9 This value is used to limit the SPEED REF POWOP reference 5 34 ACC 800 Firmware Manual Chapter 5 Crane Program Description Commissioning instructions for the power optimisation This is an instruction how to adjust the parameters INERTIA TOTAL UP 68 4 INERTIA TOTAL DWN 68 5 TQLIM 68 6 TQLIM DWN 68 7 and TMAX 68 9 1 Set the parameter POWOP SELECT 68 1 to True Also temporarily set 68 9 to maximum 500 2 Set the parameter TQLIM UP 68 6 to the rated torque of the motor 100 3 Temporarily set the parameter TQLIM DWN 68 7 to 75 of rated torque of the motor The reason to set TQLIM DWN lower than TQLIM FLD WEAK UP is to get about same speed in positive and negative directions with a certain load on the hoist 4 The parameters INERTIA TOTAL UP and INERTIA TOTAL DWN are acceleration constants in positive and negative direction Use a load that is 75 100 of full load 5 Set parameter POWOP AUTOTUNE SEL 68 3 to tr
124. e message from Master within 100 ms timeout can be due to Ch2 configuration change MF RUN FLT Both Master and Follower drive Check Setting of parameter 72 9 receiving start order but only one of M F FAULT TD the drives are in Running state Check M F bus connections and fibres MOTOR PHASE of the motor phases is lost This Check motor and motor cable programmable be caused by a fault in the Check thermal relay if used Fault Function motor the motor cable a thermal Check MOTOR PHASE Fault Function 30 10 relay if used or an internal fault parameters see chapter 6 Passivate this protection MOT OVERSP __ If the speed exceeds the level Check Torque and Current limit settings determined by MOT OVERSPEED Check motor and motor cables LEV Check pulse encoder connections A and B to 61 3 then the drive is tripped RTAC module if used momentarily MOTOR TEMP temperature is too high or Check motor ratings and load programmable to be too high This can be Check start up data Fault Function caused by excessive load Check MOTOR TEMP Fault Function Press Reset Check 24V supply quality Check from the Drive Selection Mode if there is a Bus Administrator connected If not see Or there is no Bus Administrator chapter 2 for further advice connected to the CDP panel link Check the cabling The selected drive is not present Go to Drive Selection Mode by pressing th
125. e DI IL Stand alone NOT SEL DI3 014 Fieldbus stop limit digital 015 016 011 1 011 2 inputs 15 ELSHAFT ON SEL NOT SEL DI1 DI2 Electric shaft control on EXT DI1 1 EXT DI digital input 2 2 EXT DI1 3 EXT 012 3 015 016 DI IL 16 FAULT RESET SEL NOT SEL 011 016 Fault reset digital input DI IL 17 USER MACRO CH NOT SEL DI1 DIG Restores parameters to SRCE COMM MOD DI IL user macro setting values 18 EXTERNAL FAULT SEL 011 016 External fault input DI IL 62 800 Firmware Manual 1 BRAKE ACKN SEL 2 ZERO POS SEL 3 SLOWDOWN N SEL 4 FAST STOP N SEL 5 POWER ON ACKN SEL 6 SYNC SEL 7 CHOPPER FLT N SEL 8 STEP REF 2 SEL 9 STEP REF 3 SEL ACC 800 Firmware Manual Chapter 6 Parameters Selection of digital input for signal BRAKE ACKN INTERNAL ACK DI1 DI2 DI5 DI6 DI IL INTERNAL ACK internal acknowledge setting is used if no brake acknowledge signal is available Selection of digital input for signal ZERO POS used in Stand alone mode NOT SEL 011 DI2 015 016 DI IL Selection of digital input for signal SLOWDOWN N used in Stand alone mode DI5 DI6 or DI1 1 D11 2 selected gives SLOWDOWN DIR A N SLOWDOWN DIR B N signals 015 DI6 and DI1 1 DI1 2 also work in Fieldbus mode NOT SEL 011 012 015 016 EXT 011 1 EXT 011 2 EXT 012 1 EXT DI2 2 DIS 016 011 1 011 2 DI IL Selection of digital input for signal FAST STOP N used in Stand
126. e or from PLC DS1 2 if FB JOYSTICK control mode selected parameter 64 10 CONTROL TYPE used for Stand alone control mode selection Speed reference is given as 0 100 96 of parameter 69 1 SPEED SCALING RPM The minimum of this requested reference and the reference calculated by power optimisation is than used as input to ramp unit Note that parameter 64 3 HIGH SPEED LEVEL 1 should be set equal to the Base speed level set in parameter 68 2 to get the HIGH SPEED signal correctly this signal is created internally in Stand alone mode To be active the parameter POWOP SELECT 68 1 must be set True Parameters TQLIM UP 68 6 TQLIM DWN 68 7 are maximum load torque power limits in positive negative running directions When the speed during acceleration towards base speed has reached 90 of base speed the module makes a calculation using speed and torque measurements during 250 ms before reaching 9096 of base speed of the maximum allowed speed by the formula _ BASE SPEED TQLIM maximum speed T6oRQHOLD 5 33 Chapter 5 Crane Program Description TORQ HOLD is the torque needed to hold the load this level is equal to the motor torque value you can see when reaching steady state constant speed and is calculated by the module during acceleration If the module receives the order HIGH SPEED 1 commonly given when the master switch is in its outermost position output SPEED REF POWOP is set to the
127. e convertor can not be operated from the panel ACC 800 Firmware Manual Chapter 5 Crane Program Description Redundancy operation Separate operation Panel separate operation Multiple Followers 5 52 If one motion is driven by two mechanically coupled motors with separate drives in Master Follower mode than separate operation of Master or Follower drive can be used for redundancy operation if one drive fails The drives can be run separately by User Macro 1 for normal Master Follower operation Parameter 99 2 M F CTRL and User Macro 2 for redundancy operation Parameter 99 2 CRANE For changeover from User Macro 1 to User Macro 2 a digital input or bit 14 in fieldbus Command word can be used see parameter 16 5 Brakes needs to be controlled by both drives if motors mechanically connected The signal SEPARATE in the fieldbus Command word DS1 1 bit 5 can also be used for changing M F drives from Master Follower operation to normal non Master Follower operation This is available in both Stand alone and Fieldbus modes For Follower drive there is a separate change acknowledge signal available in fieldbus Aux status word DS12 1 Bit 7 see also section 5 5 12 NOTE Changing of signal SEPARATE 0 to 1 or 1 to 0 can only be done if status signal RUNNING 0 The Master and Follower drives can be operated separately from the Control Panel or DriveWindow e g during maintenance by setting parameter 72
128. e drive concerned The Master controls the Follower via a fiber optic serial communication link NOTE For hoist applications pulse encoder and RTAC 01 or NTAC 02 is compulsory on both drives ACC 800 Master Drive Speed ref All Brake ack DI 1 Zero Pos DI2 Dir A DI3 Dir B DI 4 Slowdown N DI 5 Fast Stop N DI 6 CH2 RTAC 01 Pulse encoder module ACC 800 ROI Follower Drive ROIJ Brake lift RO2 Watch dog N RO3 Fault N RO2 Watch dog N RO3 Fault N RTAC 01 Pulse encoder module Tx Used with hoist drive Figure 5 17 Master Follower wiring information for Stand Alone application 5 50 ACC 800 Firmware Manual Chapter 5 Crane Program Description Fieldbus Mode The Master which is controlled from the Fieldbus controls the Follower via a fiber optic serial communication link The external control signals are connected to the drive concerned DI1 014 ACC 800 L Brake lift ACC 800 Master Drive RO2 L Watch dog N Follower Drive Watch dog N RO3 Eault N RxxA RxxA Fieldbus Fieldbus adapter adapter modul modul Figure 5 18 Master Follower wiring information for Fieldbus application Operation Master and Follower Stations The default settings of the Master Follower Control macro parameters does not define the station as Master or Follower The selection is done with parameter 72 1 MAST FOLL MODE If Follower operation is selected th
129. e only when COMM MODULE is selected FAULT 171 1 3 30 13 COMM FLT TIME OUT 0 10 60 00 s visible only when COMM MODULE is selected 100 1s 50 PULSE ENCODER Only visible when ENCODER MODULE is selected par 98 1 i Le 4 50 1 ENCODER PULSE NR 1000 4096 50 2 SPEED MEAS MODE A BDIR A A BDIR A 50 3 ENCODER ALM FLT WARNING FAULT FAULT 0 WARNING 65535 FAULT 50 4 ENCODER DELAY 5 ms 50000 ms 1000 ms 50 5 SPEED FEEDB USED True False True 0 False 65535 True 51 COMM MODULE Only visible when par 98 2 selected to COMM MODULE 51 1 MODULE TYPE Fieldbus module type connected module type See module manual 51 2 51 15 Fieldbus module parameters per connected type of module fs See module manual 60 1 LOC OPER INH True False False 0 False 65535 True 60 2 LOC SPEED MAX 0 0 100 0 10 0 10 1 60 3 LOC ZERO SPEED TD 0 05 300 0 s 120 0 s 61 3 MOT OVERSPEED LEV 0 200 110 61 4 SPEED LIM 1 0 0 200 0 96 20 0 96 102 196 62 TORQUE MONITOR 62 1 TORQ MON SEL True False True 0 False 65535 6225P DEV LEV 010 62 3 TORQ FLT TD 0 60000 ms 1 1ms 62 4 SP DER BLK LEV 0 100 s 13 s 1 1 s 63 FAST STOP _ 63 1 FAST STOP TYPE 11 NOT USED FAST STOP 1 FAST STOP 2 FAST STOP 3 NOT USED 1 1 0 4 63 2 FAST STOP TYPE 12 NOT USED FAST STOP 1 FAST STOP 2 FAST STOP 3 NOT USED 1 1 0 4 AG Firmware Manual Appendix A
130. e panel link The panel link does DRIVE Press ENTER Set the ID number to 1 not work because of hardware Press ENTER malfunction or problem in cabling If the panel does not communicate with the drive set the ID number of the drive to 1 as explained in chapter 2 If the above remedies do not help write down the code from the fault message and contact ABB Service ACC 800 Firmware Manul FQ Chapter 7 Fault Tracing and Maintenance Check acceleration time Check the motor and motor cable Check there are no power factor correction capacitors or surge absorbers in the motor OVERCURRENT Output current is excessive The software Check motor load overcurrent trip limit is 3 5 Ing cable Check the minimum maximum speed torque Check the applicability of torque control Braking Resistor Parameter 20 1 must be set to a value not greater than 3000 number of pole pairs rpm OVERFREQ Motor is turning faster than the highest allowed speed This can be caused by an settings incorrectly set minimum maximum speed Check the adequacy of motor braking insufficient braking torque or changes in the load when using torque reference The trip level is 40 Hz over the operating Check the need for a Braking Chopper and range absolute maximum speed limit Direct Torque Control mode active or frequency limit Scalar Control active The operating range limits are set by Parameters 20 1 and 20 2 DTC mode active or 20 8 and 2
131. e relay is de energised This signal is an elapsed motor run time meter It counts the time in hours that the motor has been running with current The counted time can be reset with parameter 97 10 RESET MOTOR RUNTIME This signal is displaying the estimated motor temperature in degrees Centigrade Note The estimated motor temperature calculation starts at 30 deg C after a RMIO power on init This signal is displaying the measured temperature on the RMIO board in degrees Centigrade This signal is displaying the accumulated operating hours for the cooling fan NOTE Using DriveWindow tool this signals value can be reset to zero if replacing fan unit If replacing the RMIO board please restore copy the value for this signal from old to new board read value before replacing board Value of RMIO analogue input 3 displayed in milliamperes See description of parameter 20 10 for details Total operating time of drive in hours with brake open Backed up in non volatile memory Load torque signal scaled in ton using parameters 68 12 13 amp 74 1 Load spectrum factor Km value between 0 0 and 1 0 is the degree of utilization over the lifetime for the hoist mechanics Calculated by the Crane lifetime monitor function par group 74 The calculated mechanical lifetime left of hoist In percent of lifetime set in parameter 74 2 4 5 Chapter 4 Control Operation Table 4 2 Group 2 Internal Signals INT SIGNALS Grou
132. e selected to be the Master drive in Electric shaft control Required also to set parameter 99 2 Application macro M F CTRL and to set 72 1 Mast Foll mode MASTER SLAVE Drive selected to be the Slave drive in Electric shaft control Required also to set parameter 99 2 Application macro M F CTRL parameter 72 1 Mast Foll mode FOLLOWER and 72 2 Torque selector SPEED Electric shaft controller P controller gain Only active in Slave drive With Elshaft Gain 0 1 there is a 0 196 speed correction used for Slave drive if the position error Slave signal 2 26 between Master and Slave is 1 unit See also section 5 5 14 for the description of Electric shaft control This parameter is together with parameter 73 4 Gear Denominator used for giving the mechanical speed ratio between Master and Slave Speed ratio Master Slave Gear Numerator Gear Denominator This ratio factor is multiplied with the speed reference and position value in Slave drive only when Electric shaft control is active On Chapter 6 Parameters 4 GEAR DENOMINATOR 5 POS ERROR LIMIT 6 ELSH CTRL MIN SPD 6 62 Example Hoist with Master and Slave drive having equal setting for the maximum operating speed 10096 parameter 69 1 Speed scaling rpm Gear boxes are selected with different ratio so that full speed of Master drive corresponds to a rope speed of 3 6 m min and full speed of Slave drive corresponds to a rope speed of 6 4 m min meaning we ha
133. e wired to the drive digital input s selections per parameter 10 3 SLOWDOWN N SEL End limit switches can be wired to drive digital inputs 014 see parameter 10 14 FB STOPLIM SEL when FB JOYSTICK mode is used also available in Fieldbus mode When using FB JOYSTICK mode the fieldbus Command word dataset 1 word 1 see section 5 5 12 can be used except for the following bits that are not active START OVR and TORQ CTRL Please note that the fieldbus communication supervision is active Comtest toggle bit in Command word Status word must be connected in the PLC program see section 5 5 12 to avoid communication fault in drive 5 25 Chapter 5 Crane Program Description 5 6 6 Logic handler 65 Contains logic for on off and start order On is the motor magnetising command and start command releases speed and torque controllers To get an On order to the converter the signal ON must become 1 This can only be obtained if no off order is issued which means if Power Ackn e g DI2 1 Converter is not tripped FAULT 0 The button 0 at the panel is not pushed LOCAL STOP 0 When an On signal is given either in local mode with the panel LOCAL START or in remote mode with the signal DRIVE ON field bus mode or START DIR A START DIR B stand alone mode to get the signal ON then a signal Ready For Run is awaited acknowledging that the motor is magnetised If this
134. ed as the reference for motor torque control Receiving speed and torque references from Master drive if M F ctrl macro active This mode should normally not be used with a crane drive ACC 800 Firmware Manual G Speed controller gain e Value connected to speed controller ACC 800 Firmware Manual Chapter 6 Parameters ADD Torque selector adds the speed controller output to torque reference The drive is torque controlled in normal operating range The selection ADD together with the window control form a speed supervision function for a torque controlled Follower drive In normal operating range the Follower follows the torque reference TORQ REF A Window control keeps the speed controller input and output to zero as long as the speed error speed reference actual speed remains within a certain window If the speed error goes out of the window window control connects the error to the speed controller The speed controller output increases or decreases the internal torque reference stopping the rise or fall of the actual speed Window Control WIDTH NEG E LLL 72 5 WINDOW i 72 6 WINDOW e ac A eg Acme AD MER WIDTH POS Actual Speed Torque Reference Internal Torque Reference Torque Reference Speed Controller Output Speed Controller Output Time 6 57 Chapter 6 Parameters 3 LOAD SHARE 4 WINDOW SEL 5 WINDOW WIDTH POS 6 WINDOW WIDTH NEG 6 58 Follower dri
135. ed limit of the CraneDrive was reached Parameters 20 1 MINIMUM SPEED and 20 2 MAXIMUM SPEED set the speed limits This parameter value is considered only if the window control is on The allowed setting range is from 0 to 1500 rpm The speed controller input is kept to zero until the positive speed error exceeds the value WINDOW WIDTH POS This parameter value is considered only if the window control is on The allowed setting range is from 0 to 1500 rpm The speed controller input is kept to zero until the absolute value of the negative speed error exceeds WINDOW WIDTH NEG ACC 800 Firmware Manual Chapter 6 Parameters 7 DROOP RATE This parameter value needs to be changed only if both the Master and 8 TORQ REF AFTC 9 M F FAULT TD 10 M F COMM ERR TD ACC 800 Firmware Manual the Follower are speed controlled CAUTION Follower speed control or drooping should not be used if the motor shafts of the Master and the Follower are solidly coupled together e g gearbox or common rail Drooping slightly decreases the drive speed as the drive load increases in order to provide better load sharing between the Master and Follower drives The correct droop rate for each installation needs to be determined case by case If drooping is used it is recommended to set some droop rate both for the Follower and Master drives The droop rate is set as of the drive maximum speed The actual speed decrease in a certain operating point d
136. ee section 5 6 12 8 FB LOAD MEAS REF 10 057 WORD1 Integer 32767 11 FB 057 WORD2 Integer 32767 12 057 WORD3 Integer 32767 Fie dbus Load Measure Reference Dataset 5 Word 2 or 10000 100 PLC signal to DW 9 FB DS5 WORD3 0 FFFF Packed Fieldbus Dataset 5 Word 3 For boolean PLC signals to 1 1 0 65535 boolean Hex DriveWindow 8 ms updating time Fiel or Fiel or Fiel dbus Dataset 7 Word 1 see section 6 2 29 for details PLC signal to DW dbus Dataset 7 Word 2 see section 6 2 29 for details PLC signal to DW dbus Dataset 7 Word 3 see section 6 2 29 for details or PLC signal to DW 1 1 32768 32767 1 1 32768 32767 1 1 32768 32767 FB TRA WORDS Group 4 1 FB STATUS WORD O FFFF Packed Fieldbus Status Word Dataset 2 Word 1 For bit details 121 0 65535 Co eoe 0177 0 80 2 FB FAULT WORD 1 0 FFFF Packed Fieldbus Fault Word 1 Dataset 6 Word 1 For bit details 1 1 0 65535 E TES boolean Hex see section 5 6 12 i i i boolean Hex section 5 6 12 boolean Hex details see section 5 6 12 INFORMATION Group 5 1 SW PACKAGE VER e g 7100 Version of the complete ACC 800 software package 2 APPLIC SW VERSION e g ACAR7100 Version of the ACC 800 application software 3 TEST DATE ddmmyy Day Month Year Converter factory test date 4 INVERTER TYPE e g SRO040 3 5800 Converter ty
137. eed correction signal DS3 2 can also be used added to Ext signal in Stand alone mode The speed correction reference is limited so that the sum of the normal ramped speed reference and the speed correction reference cannot exceed Maximum Minimum Speed setting parameters 20 1 amp 20 2 WATCHDOG The signal WATCHDOG N digital output 2 as default is used to indicate a healthy drive This output is zero set if the software detects any of the following faults Fieldbus communications fault MAS OSC FLT Master Follower bus Ch2 communication fault Brake long falling time Chopper fault e g short circuit or overload External fault CPU stalls out If this relay output contact opens the supply contactor to the converter must immediately be opened and mechanical the brakes applied by removing power from the brake contactor emergency stop of the crane drive ACC 800 Firmware Manual Chapter 5 Crane Program Description Fast stop N DI 6 1 1799 Speedref lt 5 K Fast stop 12 R lt Zero Pos OK TD gt t 0 S Zero speed Running Coo 7 Ps Zero pos DI 2 Dir A DI 3 Dir B DI 4 m Speed ref Al1 MAX Drive speed ref lt Deadzone gt m d Ref shape Minimum ref lt Speed ref reduced Slowdown N DI 5 lt gt Parameter CRANE stand alone logic using Joystick Control t Figure 5 9 Crane Stand Alone logic in Joystick mode ACC 800
138. eed into the field weakening range DRIVE SPEED REF should then normally be rescaled to follow the maximum speed reached to have a smooth behaviour when decreasing the reference from the joystick continuous gear When running in Stand alone mode 64 17 True the drive is instead using the lower value of driver reference given via Al1 or the DRIVE SPEED REF from PLC if FB Joystick mode and the SPEED REF POWOP Speed reference when running in local control mode is SPEED REF LOCAL and the direction is chosen with the direction push buttons on the panel Speed reference output to speed controller can be delayed if having a slow acting brake long lifting time using the time SPEED REF TD 67 8 The ramp unit is equipped with an S curve function for smoothing both the beginning and the end of the ramp S curve time constant is set with parameter 69 6 S RAMP TC Parameter START TORQ SEL 67 9 is used for selecting type of torque memory function to avoid roll back at start on a hoist drive NOT USED No extra starting torque AUTO TQ MEM Automatic torque memory will store the load torque needed when stopping and apply the same torque reference when 5 37 Chapter 5 Crane Program Description Brake lift Start 2 Local Speed ref local Drive speed ref Speed ref powop 0 Ref zero set Ramp hold Fast zero set starting again The value of parameter 67 10 START TORQ REF is used as a minimum value for the torq
139. eference voltage 10V max 10 mA 2 Al2 not used Al2 Speed Limit par 20 10 current 0 4 20 mA not used 0 20 mA 0 100 Motor speed programmable input see Group10 DI2 3 DG Sart Direction A Up or Forward 4 D Start Direction Down or Backward s 5 Sowdownn deu amp De 24 VDC max 100 mA 5 Digital ground 10 Digital ground 1 1 DI IL DI7 programmable input see Group10 Terminal Block X23 1 24 V DC Aux voltage output 24V 250 mA z Terminal Block X25 Digital Outputs RO11 E Relay Output 1 RO12 Brake Lift default erminal Block X26 Relay Output 2 6 R022 Watchdog N default erminal Block X27 Rost Relay Output 3 6 Fault N default W NM Radio Control ACC 800 Firmware Manual Use external power supply if the total current consumption exceeds 250 mA Figure B 4 Connections at the RMIO board in Fieldbus mode ACC 800 Firmware Manual 7 0 20 mA 0 Motor Nominal Torque Appendix B User I O Interface diagrams Terminal Block X416 RMIO board i 202 Negative reference voltage 10V max 10 mA Terminal Block X21 Analogue signals Speed Limit par 20 10 current 0 4 20 mA 0 20 mA 0 100 Motor speed Terminal Block X22 Digital Inputs DI2 Power On Ackn programmable input 3 Sync
140. eglecting these instructions can result in permanent damage to the ACS 800 ACC 800 Firmware Manual Table of Contents OVEIVIOW tp MEM Warningsand Notes ie b b t ttc WarnihgS EE oc General Safety ii 1 Chapter 1 Introduction to this Manual eese ene nnne 1 1 11 OVOrVIOW cos uei dette etit tete eee te Ds 1 1 1 2 Betore Y OU SLAM ey itecto ner pesi eben 1 1 1 3 What This Manual 1 1 1 4 Related P blicatigns 1 oo erre e efe ee a dea 1 2 2 Chapter 2 Overview of CraneDrive Programming and the CDP 312R Control Panel 2 1 PANG VU EE 2 1 2 2 GraneDrive Programrimrg 25 cree td re RR UN RE CREER a ERI NRI ETE REX ERR 2 1 2 2 1 Application 21 1 000 0000000 0 0000000000 0 22 2 aiaa 2 1 2 2 2 Parameter 2 1 2 3 Control Panels dant ep Tbe cet eee etr vna ve e oae 2 1 CX PARIGI ME Emm 2 2 2535 bates testa nue Rane hes ct 2 2 2 4 Panel Operation
141. elay in the starting sequence The torque proving is activated by setting TORQ PROV SEL 66 1 True The torque proving reference TORQ PROV REF 66 4 sets output signal TORQ PROV REF The actual torque is read from signal MOT TORQ When the torque proving is activated but not yet performed the output signal TORQ PROV OK is 0 The torque proving sequence starts when the input signal RUNNING is 1 i e when the converter is started When the torque proving sequence is completed the output signal TORQ PROV OK is set to 1 If any fault is detected during the proving sequence signal TORQ PROV OK does not go to 1 but output signal TORQ PROV FLT is set to 1 and the drive trips A message is displayed on the drive panel and an indication given to the supervisory control NOTE Torque proving is not active even if selected with parameter 66 1 if the drive is in torque control mode lt PROV SEL Motor torque Tord BIOVIONS Zero Speed Torq prov flt TORQ PROV REF Torq prov ref Torque proving 66 Figure 5 14 Torque Proving logic ACC 800 Firmware Manul Chapter 5 Crane Program Description 5 6 8 5 30 Mechanical brake control 67 The program supports electrical and mechanical braking to stop the motor Electrical braking gives a controlled and smooth braking which is the most common way to bring a motor to stop Mechanical braking should only be used i
142. eldbus Mode 5 5 1 5 8 Input and Output I O Signals Example of Input and Output I O Signals selected when Fieldbus mode is selected i e supervisory controller PLC is used Input Signals Output Signals Brake Ackn DI1 Analogue Output AO1 Speed Power On Ackn DI2 Analogue Output AO2 Torque Sync Relay Output RO1 Brake lift Chopper FIt N DI4 Relay Output RO2 Watchdog N Relay Output RO3 Fault N ACC 800 Firmware Manual Chapter 5 Crane Program Description 5 5 2 External Connections The following connection example is applicable when the Crane program is used in Fieldbus mode Terminal Block X20 Function Reference voltage 10 V max 10 mA Terminal Block X21 Function Reference voltage 10 V max 10 mA Not used in this mode Not used in this mode Not used 0 20 mA Speed actual 0 20mA lt gt 0 100 Torque actual 12 AO2 0 20mA lt gt 0 Ty TE Terminal Block X22 gee BRAKE ACKN POWER ON example DB SYNC example 4 DI4 os pis 24DVDC 24 VDC max 100 mA os 24DVDC Not connected o DGNDI Digital ground 1 to DGND2 Digital ground 2 ou DI IL Digital input DI IL programmable Terminal Block X23 24 VDC Auxiliary voltage output 24 VDC ND Terminal Block X25 a ROU Relay output 1 Brake litt REI ROI Brake lift vul ROI3 Terminal Block X26 RO21 7 Relay
143. elow 10 percent of parameter 74 2 CRANE LIFETIME Refer to Parameter 14 1 RELAY RO1 OUTPUT Refer to Parameter 14 1 RELAY RO1 OUTPUT Refer to Parameter 14 1 RELAY RO1 OUTPUT Refer to Parameter 14 1 RELAY RO1 OUTPUT Refer to Parameter 14 1 RELAY RO1 OUTPUT Refer to Parameter 14 1 RELAY RO1 OUTPUT 6 9 Chapter 6 Parameters 6 2 4 6 10 Group 15 Analogue Outputs 1 ANALOGUE OUTPUT 1 These parameter values can be altered with the CraneDrive running The Range Unit column in Table 6 4 below shows the allowable parameter values The text following the table explains the parameters in detail NOTE Updating interval for Analogue outputs is 32 ms Table 6 4 Group 15 1 ANALOGUE OUTPUT 1 Refer to the text Analogue output 1 below for the content available selections 2 INVERT AO1 Analogue output signal 1 inversion 3 MINIMUM AO1 0 mA 4 mA Analogue output signal 1 minimum 4 FILTER AO1 0 00s 10 00s Filter time constant for AO1 5 SCALE AO1 10 1000 Analogue output signal 1 scaling factor 6 ANALOGUE OUTPUT 2 Refer to the text Analogue output 2 below for the content available selections 7 INVERT AO2 Analogue output signal 2 inversion 8 MINIMUM AO2 0 mA 4 mA Analogue output signal 2 minimum 9 FILTER AO2 0 00 s 10 00 s Filter time constant for 2 10 SCALE 2 10 1000 output signal 2 scaling factor This parameter allows you to select whi
144. ent control modes ACC 800 Firmware Manual B 1 Appendix B User I O Interface diagrams Terminal Block X16 RMIO board Negative reference voltage 10V max 10 mA Terminal Block X21 Analogue signals Positive reference voltage 10V max 10 mA Speed Reference voltage 0 2 10V Torque Reference current 0 20 mA 6 m Speed Limit par 20 10 current 0 4 20 mA 1 Motor Speed 9 ag Ae 0 20 mA 0 100 Motor speed BOJAN quis 12 0 20 mA 0 Motor Nominal Torque Terminal Block X22 Digital Inputs Zero Position default Start Direction A Up or Forward Start Direction Down or Backward Slowdown N default Fast Stop N default 24 24 VDC max 100 mA 9 Digital ground Use external power supply 24 V Aux voltage output 24V 250 mA if the total current consumption exceeds 250 mA Terminal Block X25 Digital Outputs RO11 Relay Output 1 RO12 Brake Lift default Terminal Block X26 Relay Output 2 6 RO2 Watchdog N default Terminal Block X27 RO31 LL Relay Output 3 6 Fault N default Figure B 1 Connections at the RMIO board in Stand Alone mode Joystick control 2 ACC 800 Firmware Manual Appendix B User I O Interface diagrams Terminal Block X16 RMIO board Negative reference voltage 10V max 10 mA Terminal Block X21 Analogue signals Posi
145. epends on the droop rate setting and the internal torque reference of the drive speed controller output Speed Decrease Drooping Speed Controller Output Max Speed Calculation Example DROOP RATE is 1 Speed Controller Output is 50 and Motor maximum speed of the drive is 1500 rpm Ds Speed decrease 0 01 0 50 1500 rpm 7 5 rpm No Drooping VENE NONE Par 72 7 DROOP RATE Drooping Speed Controller 100 Output At 100 speed controller output drooping is at its maximum level i e equal to the value of the DROOP RATE The drooping effect decreases linearly to zero along with the decreasing load Filtering time constant for torque reference TORQ REF A in Follower drive received from Master drive When the Follower drive have received start order from Master drive both drives check that they have signal RUNNING 1 within the time M F FAULT TD If not the drive will trip indicating MF RUN FLT NOTE Master drive will trip as a result of a Follower drive tripping As soon as the Master and the Follower are activated Parameter 72 1 MAST FOLL MODE they start to monitor a bus communication toggle bit that is sent between the two drives If the toggle bit stops longer than the time M F COMM ERR TD the drive trips indicating MF COMM ERR NOTE This delay for MF COMM ERR is not active if using Master Follower Broadcast mode 6 59 Chapter 6 Parameters 11 MF BROADCAST MODE Enable Master
146. er 6 Parameters 6 2 14 Group 50 Pulse Encoder These parameters are visible and need to be adjusted only when a pulse encoder module RTAC or NTAC optional is installed and activated with Parameter 98 01 ENCODER MODULE The parameters in Group 50 define the encoder signal decoding and the operation of the ACS 800 in encoder or RTAC NTAC module fault conditions Table 6 12 Group 50 Parameter Range Unit 1 PULSE NR 1 29999 Number of encoder pulses per Revolution 2 SPEED MEAS BDIR A Calculation of encoder pulses MODE A BDIR A B 3 ENCODER WARNING FAULT Operation of the CraneDrive if an FAULT Encoder failure or encoder Communication failure is Detected 4 ENCODER 5 50000 ms Delay for the encoder DELAY Supervision function See Parameter 50 03 ENCODER FAULT 5 SPEED True False Speed feedback used FEEDB USED 1 PULSE NR This parameter states the number of the encoder pulses per one revolution 2 SPEED MEAS MODE This parameter defines how the encoder pulses are calculated A DIR Ch A positive edges used for calculation of speed and position Ch B direction _ _ Ch A positive and negative edges used for calculation of speed and position Ch B not used A BDIR Ch A positive and negative edges used for calculation of speed and position Ch B direction A B All edges of the signals A and B are used for calculation of speed and position 800 Firmware Ma
147. er of inputs and outputs See parameter groups 10 and 14 for possible connections NDIO Communication active Module type NDIO module Connection interface Fiber optic DDCS link connect to Ch1 on RDCO option 6 67 Chapter 6 Parameters 6 DI O EXT MODULE 2 6 68 module Set the module node address to 2 for directions see module manual Signals available are EXT DI1 1 EXT DI1 2 EXT1 DO1 EXT1 DO2 NO Inactive RDIO SLOT1 Communication active Module type RDIO Connection interface Option slot 1 of the drive control unit RMIO board Signals available are EXT 011 1 EXT 011 2 EXT 011 3 EXT1 DO1 EXT1 DO2 RDIO SLOT2 Communication active Module type RDIO Connection interface Option slot 2 of the drive control unit RMIO board Signals available are EXT 011 1 EXT 011 2 EXT 011 3 EXT1 DO1 EXT1 002 RDIO DDCS Communication active Module type RDIO Connection interface Optional I O module adapter AIMA that communicates with the drive through a fiber optic DDCS link via Ch1 on RDCO option module Note Node ID selector S1 on RDIO must be set to 2 default Signals available are EXT 011 1 EXT 011 2 EXT 011 3 EXT1 DO1 EXT1 DO2 Activates the communication to the optional digital 1 extension module 2 and defines the type and connection interface of the module This is used to extend the number of inputs and outputs See parameter groups 10 and 14 for possible connections NDIO
148. eturn ine Actual Signal 11 gt 50 0 1 Display Mode ENTER SPEED 470 rpm or SP REF4 470 rpm CURRENT 40 A 6b To cancel the selection and keep the original selection 11 gt 50 0 1 press any of the Mode keys SPEED 470 rpm The selected Keypad Mode is TORQUE 50 entered rune ove CURRENT 40A ACC 800 Firmware Manual Chapter 2 Overview of ACC 800 Programming and the CDP 312 Control Panel Table 2 4 How to display a fault and reset the Fault History Step Function Press key Display after key is pressed 1 To enter the Actual Signal Display Mode 1L gt 50 0 1 SPEED 470 rpm TORQUE 50 CURRENT 40A T ter the Fault Hist IL gt 500 1 Logging time can be seen either 1 LAST FAULT total power on time or in the TOVERCURRENT date format if overriding system 6451 21 MIN 23S ex AC80 has been connected to control the drive 3 2 or next 1L gt 500 1 2 LAST FAULT OVERVOLTAGE 1121 H 1 MIN 23 To clear the Fault History 1L gt 50 0 1 2 LAST FAULT After the fault text there is letter r or s indicating the status of the H MIN S fault S set reset The Fault History is empty Note An active fault does not clear a fault in the logger 4 To return to the Actual Signal Display Mode 1L 50 0 1 SPEED 470rpm TORQUE 50 CURRENT 40 A Table 2 5 How to
149. for Master drive Master sends orders and reference to Slave drive via channel 2 Master Follower bus Ramp times in Slave must be set equal to or shorter than Master When Electric shaft control is switched off both drives work as two individual normal drives similar to activating Separate with M F drives If switching Electric shaft control on or off while motors are running drives will make a ramp stop New start is possible after returning joystick to zero position When any of the Master or Slave drive receives a Slowdown limit switch indication both drives will be limited to this slowdown speed if Electric shaft control is active Power optimisation can be utilised on Electric shaft hoist drives Both drives should have power optimisation enabled The lower reference value calculated by Master or Slave will be used by both drives When using different gear box ratios for Master and Slave drive a speed ratio between Master and Slave can be set using parameters 73 3 GEAR NUMERATOR and 73 4 GEAR DENOMINATOR see section 6 2 28 for details If Master and Slave drive are set to have different 100 speed i e different setting of parameter 69 1 SPEED SCALING RPM than parameter 70 1 POS SCALE must be adjusted accordingly in one of the drives e g Slave ACC 800 Firmware Manual Chapter 5 Crane Program Description Example If Slave speed scaling is 2 times Master speed scaling than Slave Pos scale should be set
150. g Note The reduced flux at stop will increase the motor current during stopping Therefor it s normally needed to use one size bigger converter 13 START FLUX LEVEL Increased flux level used when starting if Conical motor function is activated in parameter 67 11 Increased flux level active during time set in parameter 67 14 14 START FLUX TIME The increased flux level at start with level set in parameter 67 13 is active during a time set with START FLUX TIME ACC 800 Firmware 4T Chapter 6 Parameters 6 2 24 6 48 Group 68 Power optimisation 1 POWOP SELECT 2 BASE SPEED The Range Unit column in Table 6 21 shows the allowable parameter values The text following the table explains the parameters in detail Table 6 21 Group 68 Parameter si 1 Ecl SELECT Power optimisation select 2 BASE SPEED 100 0 96 Base speed 3 POWOP AUTOTUNE SEL Powop autotune select KGM2 a downwards upwards downwards _ reset level torque capacity 10 LOAD TORQ FILT TC 32000 ms Load torque signal filter time constant indication level upwards downwards True Power optimisation is active only used on hoist drive False Power optimisation not active Breakpoint for Power optimisation calculation Set in percent of parameter 69 1 SPEED SCALING RPM Above this speed constant power corresponding to level set in parameters 68 6 amp 68 7 is obtained Normally the speed where field weake
151. g load i e in general only on hoist drives Speed reference in hoisting direction must be positive value Dir A When increasing the motor speed above motor nominal speed base speed field weakening is used Field weakening however reduces the maximum available torque of the motor To ensure that the motor will always be able to produce sufficient torque for controlling the load in the field weakening range a maximum allowed speed is calculated This function is called power optimisation This means that for a heavy load the maximum allowed speed is less than that of a light load Fieldbus mode Speed reference from PLC DS1 2 when accelerating hoist drive must be limited to Base speed level set in parameter 68 2 e g 50 If the power optimisation receives a logical 1 on the signal HIGH SPEED from fieldbus Command word DS1 1 bit 2 telling that maximum speed is requested by the driver the maximum speed reference in field weakening area above base speed calculated by power optimisation is than used as input to the ramp unit and the motor will accelerate up to the corresponding speed When driver is reducing reference from maximum the HIGH SPEED signal should be set 0 The speed will now be below base speed unless PLC reference has been rescaled to be proportional to maximum reference SPEED REF3 054 1 reached during acceleration Stand alone mode Speed reference is received through I O e g AI1 if JOYSTICK control mod
152. given in Appendix A Complete Parameter and Default Settings If the frequency converter is operated with the Control Panel detached the red LED in the Control Panel mounting platform indicates Fault condition Table 7 2 contains the Fault messages their most likely causes and possi ble remedies An example of a Fault message is displayed in Figure 7 2 1L 60 0 1 ACS800 01 75 kW FAULT DC OVERVOLT Figure 7 2 A Fault message The Fault message is acknowledged by pressing the RESET key or one of the Mode keys After this the Control Panel operates in the normal way operational commands on a tripped unit are disabled until the Fault is reset The last 64 Faults can be viewed in the Fault History in the Actual Signal Display Mode Parameter values can be changed if the Fault is caused by incorrect parameter settings Normal operation can be resumed after the Fault is reset with the RESET key if not already reset or from an external control location After this the motor can be started with Start key If a Fault persists despite the actions indicated in the remedy column contact an ABB service representative When a Fault is detected it is stored in the Fault History for viewing at a later time The last 16 Faults are stored in order of appearance along with the time the Fault was detected The list is automatically updated at each Fault The Fault History stores the information on all Preprogrammed Pro
153. grammable and automatically resetting Faults The Fault History does store the DC undervoltage Fault that would be encountered if mains power is shut off during running e g E stop if separate supply 24 V is used for RMIO board without using Power On Ackn signal feedback The Fault History can be checked for trends that may be useful in preventing future Faults For example if there are several overvoltage Faults in the Fault History there might be an overvoltage problem in the mains system The Fault History is entered from the Actual Signal Display Mode by pressing or The Faults can then be scrolled with and exit the Fault History press or The Fault History can be cleared by pressing the RESET key The Fault History is cleared before shipment from factory All Faults therein have occurred since shipment 7 5 Chapter 7 Fault Tracing and Maintenance Table 7 2 The CraneDrive Fault messages ACS 800 TEMP The ACS 800 internal temperature is Check ambient conditions excessive The trip level of inverter module air flow and fan operation temperature is 140 C Check heatsink fins for dust pick up Check motor power against unit power BC OVERHEAT chopper internal overload Stop drive Allow chopper to cool down Check parameter settings of resistor overload protection function see parameter group 27 BRAKE CHOPPER Check that braking cycle meets the allowed limits Check that t
154. he supply AC voltage of the drive is not excessive BC SHORT CIR Short circuit in brake chopper internal Replace brake chopper Ensure brake IGBT s resistor is connected and not damaged BRAKE FLT A brake fault missing acknowledgement Check brake contactor operation during brake release or at normal running wiring of digital output Brake Lift longer than time delay BRAKE FLT TD DO1 default to contactor Parameter 67 2 will trip the drive Check wiring of brake acknowledgement to digital input 1 BR BROKEN Brake resistor is not connected or it is Check the resistor and the resistor damaged connection The resistance rating of the brake resistor is Check that the resistance rating meets too high the specification See the drive hardware manual BR OVERHEAT Overload of the brake resistor Stop drive Allow chopper to cool down Check parameter settings of resistor overload protection function see parameter group 27 BRAKE CHOPPER Check that braking cycle meets the allowed limits Check that the supply AC voltage of the drive is not excessive BR WIRING Wrong connection of brake resistor or too low Check resistor connection and resistance resistance value used value Ensure brake resistor is not CHOPPER FLT External chopper NBRA fault should always Check external braking chopper NBRA disconnect power to the convertor i A digital input e g 014 1 2OK can be Check wiring from chopper NO fault con
155. i e running with reduced power function and the number must correspond to the active inverter configuration number of connected modules when there are R8i inverter modules removed e g for service If active inverter configuration is the same as original factory setup than this parameter has no meaning ACC 800 Firmware Manual Chapter 6 Parameters 6 2 6 Group 20 Limits These parameter values can be altered with the CraneDrive running The Range Unit column in Table 6 6 below shows the allowable parameter values The text following the table explains the parameters in detail Table 6 6 Group 20 1 MINIMUM SPEED 18 000 number of Operating range pole pairs rpm minimum speed Cannot MAXIMUM SPEED be used in the SCALAR value of par 20 2 mode see page 3 9 2 MAXIMUM SPEED MINIMUM SPEED Operating range value of par 20 1 maximum speed Cannot be used in the 18 000 number of SCALAR mode pole pairs rpm 3 MAXIMUM CURRENT A 0 00 Amp Imax Maximum output Amp current 4 MAXIMUM TORQUE 0 0 96 600 0 96 Maximum positive output torque output torque controller controller 8 MINIMUM FREQ 300 00 Hz Operating range MAXIMUM FREQ minimum frequency value of par 20 9 Visible in the SCALAR mode only 9 MAXIMUM FREQ MINIMUM FREQ Operating range value of par 20 8 maximum frequency 300 00 Hz Visible in the SCALAR mode only activated output power output power 13 TORQ
156. ied and de energized upon a fault trip CONTROL LOC Control location Indication if External or Local control mode is selected from panel CONTROL LOC False indicates Local control mode panel control BRAKE LIFT Signal for controlling the mechanical brake ACC 800 Firmware Manual 2 RELAY RO2 OUTPUT 3 RELAY OUTPUT 4 EXT1 DO1 OUTPUT 5 EXT1 DO2 OUTPUT 6 EXT2 DO1 OUTPUT 7 EXT2 DO2 OUTPUT ACC 800 Firmware Manual Chapter 6 Parameters WATCHDOG N Indicates Communication supervision MAS OSC FLT or MF COMM ERR Braking chopper faults CHOPPER FLT BC OVERHEAT BC SHORT CIR or BR External fault EXT FAULT and Brake long falltime BRAKE LONG FTIME of the brake Also indicating if CPU Stalls out This signal should be used to give Emergency Stop to crane drive NOTE Fieldbus communication supervision MAS OSC FLT only available in Fieldbus mode or Standalone FB Joystick mode USER 1 OR2 Indicates if User Macro 1 is loaded 70 or if User Macro 2 is loaded 71 REVERSE Indicates if motor speed is negative OVERSPEED Fault signal indication for motor overspeed trip level set with parameter 61 3 RDY FOR RUN Indicates that motor is magnetized ON and ready for a start order SPEED LIM 1 Activated if absolute value of motor speed is above level set in parameter 61 4 SPEED LIM 1 LIFETIME gt 90 Activated if the Crane lifetime monitor signal 1 35 LIFETIME LEFT is b
157. ier bridge internal fault A trip occurs when the DC voltage ripple is 17 per cent of the DC voltage 7 10 Check mains supply unbalance and fuses ACC 800 Firmware Manual Chapter 7 Fault Tracing and Maintenance THERMAL MODE The motor thermal protection mode is Change parameter 30 5 MOT THERM incorrectly set to DTC for a high power P MODE from DTC to USER MODE motor 800 A also adjust parameter 30 6 THERMISTOR Motor thermal protection mode selected as Check motor ratings and load programmable and the temperature is Check start up data Fault Function excessive Check thermistor connections for digital 30 4 30 5 input DI6 Check thermistor cabling TORQ FLT If SPEED ERROR during constant speed ramp times is higher than SP DEV LEV 62 2 fora Torque and Current limit time longer than TORQ FLT TD 62 3 the settings drive will trip for TORQ FLT Check Torque monitoring Group parameter settings Check motor and motor cables Check pulse encoder connections A and B to RTAC module if used TORQ PRFLT Iftorque proving is not successful that Check motor and motor cables means torque does not reach the test level Check if setting of parameter 21 2 within the time TORQ PROV FLT TD Control Magnetising time is to low 66 2 the drive will trip Normally only used if active load e g hoist drive with pulse encoder feedback USER MACRO There is no User Macr
158. in 2 27 LIMIT WORD 1 is active indicating that output current limit of the drive is exceeded The current limitation protects the drive in various cases e g integrator overload high IGBT temperature etc INTEGRAT 150 Current limit at 15096 integrator overload Temperature model is not active INT LOW FREQ Current limit at high IGBT temperature with low output frequency 10 Hz Temperature model is not active ee RN Temperature model is not active oe eee Vu Temperature model is active PP OVERLOAD Current limit at high IGBT junction to case temperature Temperature model is active If the IGBT junction to case temperature continues to rise in spite of the current limitation PP OVERLOAD alarm or fault occurs INTEGRAT 200 Current limit at 200 integrator overload Temperature model is not active Bit 1 2 3 4 10 Only active with 5600 type inverters with NINT board INV POW LIM Current limit at inverter output power limit at chopper power limit if during braking with chopper 460 800 Firmware Manual Table 4 6 Signal 2 33 INT SC INFO This word includes info on the location of the SHORT CIRCUIT fault Chapter 4 Control Operation Bit Name Description 2 0 U PHSCU Phase U upper leg IGBT s short circuit Phase U lower leg IGBT s short circuit Phase V upper leg IGBT s short circuit Phase V lower leg IGBT s short circuit Phase W upper leg IGBT s short circuit Phase
159. input giving a 2 10V signal Parameter is than set equal to 2 0 V Input signal range of 2 10 V than gives the 0 100 speed reference with a linear relation e g 6V 50 Any voltage on input Al1 below the level set in parameter gives 0 speed reference 6 7 Chapter 6 Parameters 6 2 3 Group 14 Relay Outputs The text following Table 6 3 below explains the parameters in detail NOTE Updating interval for Relay outputs is 32 ms Table 6 3 Group 14 Parameter Range Uni 1 RELAY RO1 OUTPUT Refer to the text below Relay output 1 content 2 RELAY RO2 OUTPUT for the available Relay output 2 content 3 RELAY OUTPUT selections Relay output 3 content 4 EXT1 DO1 OUTPUT 1 RDIO DO1 content 5 EXT1 DO2 OUTPUT 1 RDIO DO2 content 6 EXT2 DO1 OUTPUT 2 RDIO DO1 content 7 EXT2 DO2 OUTPUT 2 RDIO DO2 content 1 RELAY RO1 OUTPUT This parameter allows you to select which information is indicated with 6 8 relay output 1 NOT USED READY The CraneDrive is ready for ON order The relay is not energized if the Power On Ackn signal e g 012 is not present or DC bus voltage is not OK or Prevention of unexpected start circuit is open Multidrive or a fault exists RUNNING The CraneDrive has been started with speed and torque controllers active FAULT A fault has occurred Refer to Chapter 7 Fault Tracing for more details FAULT N Relay energized when power is appl
160. ion between Keypad control and External control can be done with the LOC REM key on the Control Panel keypad keypad reference 26 Stand alone Fieldbus communication ON START Speed ref ON START Speed ref Figure 4 2 Control Locations If the device controlling the CraneDrive stops communicating the operation defined by Parameter 30 12 MASTER FAULT FUNC or 30 2 PANEL LOSS is executed Keypad Control The control commands are given from the Control Panel keypad when CraneDrive is in Keypad Control This is indicated by L Local on the Control Panel display 0 L 52 3 If operational commands reference cannot be given from this Control Panel it displays a blank character as shown below 52 3 Note All references are always given in of SPEED SCALING RPM Parameter 69 1 ACC 800 Firmware Manual Chapter 4 Control Operation 4 5 2 External Control Stand alone Fieldbus ACC 800 Firmware Manual When the CraneDrive is in External Control the commands are given either from Fieldbus or I O Stand Alone mode Selection is done with parameter 64 1 Stand Alone Sel If par Stand Alone Sel parameter 64 1 is set True default value the Stand Alone mode is selected In external control the digital inputs DI 1 DI 6 and Ext DI1 014 as well as analog inputs Al1 amp AI2 wired directly from joystick and limit switches are connected to a CRANE function module except in FB
161. irmware Manual Chapter 5 Crane Program Description 5 6 10 Reference handler 69 ACC 800 Firmware Manual The function module includes Setting of ramp times Handling of speed references Torque memory function Setting of ramp times can be made for both acceleration and deceleration and can be set differently for forward and backward or upwards and downwards with parameters 69 2 ACC TIME FORW 69 3 ACC TIME REV 69 4 DEC TIME FORW and 69 5 DEC TIME REV The possibility to use a scaling factor for the set ramp times is available in external only in Fieldbus mode and local control mode In external control mode the scaling is done with signal RAMP RATE 053 1 from supervisory control if parameter 69 10 RAMP RATE 1 is set False Parameter RAMP SCALE LOCAL 69 7 is used when running in local Default setting is 2 0 except for the Master drive in Master Follower macro operation then the setting is fixed at 1 0 meaning that the actual ramp times when running in local control mode are double the settings of the ramp time parameters 69 2 69 5 Speed reference when running in external Fieldbus control mode 64 1 False The drive is using the higher value from DRIVE SPEED REF or SPEED REF POWOP The DRIVE SPEED REF is a reference up to base speed at start Then if the power optimisation has calculated for the actual load that it is possible to run above base speed it will use SPEED REF POWOP which brings the sp
162. itive edge 0 gt 1 of e g Neg The HW synchronisation acts on negative edge 1 gt 0 of e g 6 52 ACC 800 Firmware Manual Chapter 6 Parameters 6 2 27 Group 71 Fieldbus Comm The Range Unit column in Table 6 24 shows the allowable parameter values The text following the table explains the parameters in detail Table 6 24 Group 71 Parameter Range unit 1 COMTEST FLT TD 0 32767 ms Communication fault time dela 2 RESET POWER ON TD 0 32767 ms Reset at power on time delay 3 CHOPP EXT MON TD 0 4000 ms Chopper amp Ext fault monitoring time delay STD DRIVE communication type 5 DSET BASE ADDRESS 1 10 Dataset number of the first dataset used for fieldbus communication with PLC 6 FIELDBUS R TYPE NO RPBA 01 Fieldbus Anybus module selection 1 COMTEST FLT TD If the Fieldbus communication toggle bit being sent between the drive and supervisory controller and back is not changing within the time set in COMTEST FLT TD the drive trips indicating MAS OSC FLT 2 RESET POWER ON TD After power on acknowledgement signal POWER ON ACKN e g DI2 1 is received a reset of the drive is done after the time RESET POWER ON TD 3 CHOPP EXT MON TD Monitoring of external Chopper fault selected with parameter 10 7 e g input DI4 0 and External fault selected with parameter 30 3 is disabled at power on POWER ON ACKN 1 during the time CHOPP EXT MON TD 4 ADVANT COMM TYPE Selection of Ad
163. justable between 0 5 kW and 9000 kW This parameter is used to initiate the Motor Identification Run During the run the ACS 800 will identify the characteristics of the motor for optimum motor control The ID Run takes about one minute NOTE Torque monitor and Torque proving is automatically disabled during ID Magn first start and ID Run Other optional crane functions like Power optimisation and Torque memory should also be disabled during ID Run Any change of limitations Parameter Group 20 should be done after performing the Motor ID Run Use default values These limits may affect the result of the ID Run ID MAGN The Motor ID Run is not performed This can be selected in most applications The motor model is calculated at first start by magnetising the motor for 10 to 60 s at zero speed Note The ID Run Standard or Reduced should be selected if e operation point is near zero speed operation at torque range above the motor nominal torque within wide speed range and without any pulse encoder i e without any measured speed feedback is required STANDARD Performing the Standard Motor ID Run guarantees that the best possible control accuracy is achieved The motor must be decoupled from the driven equipment before performing the Standard Motor ID Run ACC 800 Firmware Manual ACC 800 Firmware Manual Chapter 3 Start Up REDUCED The Reduced Motor ID Run should be selected instead of the Standard ID Run
164. leaning to ensure heat dissipation The ACS 800 can run into overtemperature Warnings and Faults if the heatsink is not cleaned regularly In normal environment the heatsink should be checked and cleaned annually Frequency converters operating in extreme conditions will need to be cleaned more often The best cleaning frequency must be tried out experimentally The dust should be removed gently with a soft brush if the cleaning is carried out in the same room where the unit is normally operated Compressed air should not be used for cleaning unless the installation can be taken apart and the cleaning is carried out in another room or outdoors Fan rotation should be prevented in order to prevent bearing wear when using compressed air for heatsink cleaning ACC 800 Firmware Manual Chapter 7 Fault Tracing and Maintenance 7 4 2 The cooling fan minimum lifetime is calculated at about 60 000 hours but in an average installation the fan is likely to operate considerably longer The actual lifetime depends on the frequency converter usage and ambient temperature The fan is completely sealed and its lifetime cannot be prolonged with cleaning or lubrication Fan rotation must be prevented when compressed air is used for cleaning heatsink fins Fan failure can be predicted by the increasing noise from fan bearings and the gradual rise in the heatsink temperature in spite of heatsink cleaning If the frequency converter is operate
165. long as the actual rate of change derivative of the motor speed during acceleration or deceleration is higher than the setting of parameter SP DER BLK LEV the torque fault protection is blocked Example Acceleration ramp times set to e g 5 seconds With SP DER BLK LEV set to 8 5 the drive will not trip for torque fault if reaching torque limit during acceleration as long as the actual acceleration time 0 100 is below 12 5 seconds 100 8 s 12 5 s 5 15 Chapter 5 Crane Program Description 5 6 4 5 16 Fast stop 63 The module contains logic for fast stopping the drive Three different types of fast stop can be obtained with this module They are With torque limit only 7 fast stop 1 With torque limit and mechanical braking fast stop 2 With mechanical braking only fast stop 3 Note that fast stop is not to be mixed up with emergency stop NOTE Fast stop functions are not active when in Local control The module has three output signals to achieve the different fast stops FAST ZERO SET is set to 1 when fast stop 1 is ordered i e fast stop with torque limit only brake is applied at zero speed All three signals FAST ZERO SET SPEED OFF and FAST STOP are set to 1 when fast stop 2 is ordered i e stop with both current limit and mechanical breaking FAST STOP is set to 1 when fast stop 3 is ordered i e fast stop with mechanical braking only To run the drive again after rea
166. ls from Groups 1 5to Fieldbus datasets 4 6 amp 8 words 1 3 1 DATASET4 WORD 1 Address selection Group and Index for Fieldbus dataset 4 word 1 Example To connect signal SPEED REF3 for transmission in Dataset 4 Word 1 set parameter 92 1 202 That is 202 Group 2 Index 02 DATASET 4 WORD 2 DATASET 4 WORD 3 DATASET 6 WORD 1 DATASET 6 WORD 2 DATASET 6 WORD 3 DATASET 8 WORD 1 DATASET 8 WORD 2 DATASET 8 WORD 3 Refer to Parameter 92 1 Refer to Parameter 92 1 Refer to Parameter 92 1 Refer to Parameter 92 1 Refer to Parameter 92 1 Refer to Parameter 92 1 Refer to Parameter 92 1 Refer to Parameter 92 1 DATASET 4 WORD 1 DATASET 4 WORD 1 DATASET 4 WORD 1 DATASET 4 WORD 1 DATASET 4 WORD 1 DATASET 4 WORD 1 DATASET 4 WORD 1 DATASET 4 WORD 1 6 65 ACC 800 Firmware Manual Chapter 6 Parameters 6 2 33 Group 98 Option modules The Range Unit column in Table 6 30 shows the allowable parameter values The text following the table explains the parameters in detail Table 6 30 Group 98 Parameter RangelUnit 1 ENCODER MODULE NTAC NO Pulse encoder option RTAC SLOT1 module selection RTAC SLOT2 RTAC DDCS ADVANT module selection 5 DI O EXT MODULE 1 NDIO NO Digital extension RDIO SLOT1 module 1 selection RDIO SLOT2 RDIO DDCS 6 DI O EXT MODULE2 NDIO NO Digital extension RDIO SLOT1 module 2 selection RDIO SLOT2 RDIO DDCS 7 Al O EXT MODULE NAIO NO Analogue I O module RAIO SLOT
167. lues are restored to the settings loaded at the factory Exceptions Parameter setting in groups 50 51 98 and 99 remain unchanged If User Macro 1 or 2 is selected the parameter values are restored to the last saved values In addition the results of the motor identification run are restored see Chapter 5 Exceptions Parameter setting in groups 50 51 and 98 remain unchanged This parameter sets the motor control mode DTC The DTC Direct Torque Control mode is suitable for most applications The CraneDrive performs precise speed and torque control of standard squirrel cage motors Pulse encoder feedback is required on all Crane Hoist Drives In multi motor applications the nominal voltage of each motor has to be equal to the nominal voltage of the inverter and the nominal frequency of each motor must be the same The sum of the motor nominal currents has to fall within the limits specified at Parameter 99 6 MOTOR NOMINAL CURRENT SCALAR The SCALAR control mode is recommended for multi motor drives when number of motors connected to the CraneDrive is variable The SCALAR control is also recommended when the nominal current of the motor is less than 1 6 of the nominal current of the inverter or the inverter is used for test purposes with no motor connected With SCALAR control the drive is not as effective as with DTC control The differences between the SCALAR and DTC control modes are discussed further in this manual in relev
168. ly reverts to NO NOTE Autotune Run can be performed only while the CraneDrive is running The motor load must be connected to the motor The best result is achieved when the motor is run up to 20 40 96 of the rated speed before starting the autotune run CAUTION The motor will be accelerated by 10 96 of the rated speed with 10 20 torque step without any ramp during this procedure BE SURE THAT IT IS SAFE TO RUN THE MOTOR BEFORE PERFORMING THE AUTOTUNING 7 FEEDB FILTER TIME Filter time constant for the actual speed signal used That is normally the estimated speed signal or if Encoder module RTAC or NTAC 02 is enabled the measured speed signal from pulse encoder If not using encoder measured speed using estimated speed typical filter time settings to use are 0 2 ms parameter default 4 ms 8 SPEED STEP Speed reference step input without ramp Only to be used with DrivesWindow step test generator ACC 800 Firmware Manul Chapter 6 Parameters 6 2 9 Group 24 Torque Ctrl These parameter values can be altered with the CraneDrive running The Range Unit column in Table 6 9 below shows the allowable parameter values The text following the table explains the parameters in detail These parameters are not visible in Follower drive with M F CTRL macro Table 6 9 Group 24 Parameter Range Unit 1 TORQ RAMP UP 0 00 s Time for reference from to the 120 00 s rated torque 120 00 s torque to
169. mode is done by using a joystick controller with Zero Pos e g 012 Dir 013 and Dir B 014 contacts connected to digital inputs and Step type of speed reference connected to digital inputs selected with parameters 10 8 10 10 Joystick supervision is active STEP RADIO External control of drive in Stand alone mode is done by connecting signals from a radio controller or PLC to drive Dir A and Dir B orders connected to and 014 Step type of speed reference connected to digital inputs selected with parameters 10 8 10 10 FB JOYSTICK Fieldbus JOYSTICK External control of drive in Stand alone mode is done by using a joystick controller connected to a PLC s I O Drive receives control signals for Dir A Dir B Zero Pos and Reference through fieldbus communication datasets see end of section 5 6 5 for details Minimum speed reference in stand alone mode Normally used with MOTOR POT control type Time delay for joystick supervision First speed reference level applied with startorder i e DirA or DirB when using STEP JOYST or STEP RADIO control types Second speed reference level applied when digital input selected by parameter 10 8 STEP REF2 SEL is activated plus start order active Third speed reference level applied when digital input selected by parameter 10 9 STEP REF3 SEL is activated plus step ref2 conditions still active Fourth speed reference level applied when digital input
170. mp 20 2 10 mA 0 speed 20 mA 100 96 of motor maximum speed If you select YES the analogue output AO1 signal is inverted The minimum value of the analogue output signal can be set to either 0 mA or 4 mA Filter time constant for analogue output 1 As the analogue output value changes 63 96 of the change takes place within the time period specified by this parameter If you select the minimum value 0 s the signal is not filtered See Figure 6 2 page 6 6 This parameter is the scaling factor for the analogue output 1 signal If the selected value is 100 96 the nominal value of the output signal corresponds to 20 mA If the maximum is less than full scale increase the value of this parameter Chapter 6 Parameters 6 12 6 ANALOGUE OUTPUT 2 7 INVERT AC2 8 MINIMUM AO2 9 FILTER ON AC2 10 SCALE AO2 This parameter allows you to select which output signal is connected to analogue output 2 current signal The following list shows the full scale value with Parameters 15 10 SCALE 2 set to 100 96 NOT USED SIGN SPEED Motor speed with sign OmA 100 96 motor maximum speed par 20 1 amp 20 2 10 mA 0 96 speed 20 mA 100 motor maximum speed SPEED Motor speed 20 mA 100 96 of motor nominal speed absolute value FREQUENCY Output frequency 20 mA motor nominal frequency CURRENT Output current 20 mA motor nominal current TORQUE Motor torque 20 mA 100 of moto
171. mware Manual This mode is used if the joystick I O is wired to a PLC which has fieldbus communication to the CraneDrive drive and we still want to use the Stand alone mode CRANE module When FB Joystick mode is selected the drive is reading signals START DIR A START DIR B ZERO POS and the Reference from fieldbus datasets instead of the digital inputs 012 014 and analog input 11 Dataset 5 word 1 from PLC is used with the following bit mapping Dataset 5 Word 1 Aux Command word Bit number Signal Range Description 0 Bit 0 LSB FB ZERO POS 1 0 Joystick Zero Position signal 1 FB START DIRA 1 0 Joystick direction A signal pos up 2 FB START DIR B 1 0 Joystick direction B signal neg down 3 FB JOYST TQ 1 0 Joystick torque control CTRL enable 4 FB ELSHAFT 1 0 Electric shaft control on ON Bits 0 2 are used for sending the joystick signals from PLC Dataset 1 word 2 DRIVE SPEED REF see section 5 5 12 for scaling information is used for sending the joystick analog reference without sign in FB JOYSTICK mode If using torque control bit 3 in dataset 5 word 1 should be set to 1 The torque reference without sign is then sent with dataset 1 word 3 TORQ REF see section 5 5 12 for scaling information Bit 4 FB ELSHAFT ON is only used with Electric shaft control see section 5 5 14 for details Slowdown limit switches can still b
172. n critical situations and if so there are two possibilities Emergency stop category 0 stop Fast stop The function module contains logic for controlling the mechanical brake Output signal BRAKE LIFT 2 21 is the brake lift order Brake lift acknowledgement is received as input e g DI1 BRAKE ACKN In the starting sequence it is possible to set a rampstart time delay related to the brake actual lifting time with parameter 67 8 SPEED REF TD After the motor has come to zero speed during a stop by electrical braking the mechanical brake should be applied without unnecessary delay Detection of the motors zero speed rotation at stop While running the motor the output signal ZERO SPEED signal 4 1 4 is 0 When the speed is below the level ZERO SPEED LEV 67 6 and the time ZERO SPEED TIME 67 7 has elapsed the signal ZERO SPEED becomes 1 indicating zero speed on the motor and the mechanical brake will be set if no start order exist Start sequence A brake lift is initiated by a start order i e brake control input signal START 2 1 This will set output signal RUN 1 releasing speed amp torque controllers After receiving TORQ PROV 1 and no stop orders are active the BRAKE LIFT is set 1 With a slow brake start of the speed ref ramp can be delayed with par 67 8 SPEED REF TD Normal stop sequence Removing the start order will set the reference to zero and the drive will if speed controlled
173. n group 51 must be set before operation Set to ADVANT if optical Modulebus of ABB ADVANT controllers AC70 80 410 810 AC450 810 AC800M or if AC80 Drivebus is connected to RDCO 01 channel 0 of CraneDrive NOTE If changing parameter 98 2 from ADVANT to FIELDBUS parameter 98 4 must be set 1 Set a different node address for DDCS channel 3 in each drive if connecting multiple drives together to DriveWindow PC tool communication ring or star connection Set node address for RDCO channel 0 if connected to Advant controller optical Modulebus or 80 Drivebus 98 2 NOTE If changing parameter 98 2 from ADVANT to FIELDBUS parameter 98 4 must be set 1 The ch 0 node address is set according to the Module bus POSITION value used for this drive by using the following conversion If POSITION yzw than calculate drive ch 0 node address 98 4 as y 16 zw Example If POSITION 101 than Par 98 4 1 16 01 17 101 gt 17 102 gt 18 112 gt 28 201 33 202 gt 34 2125 44 701 gt 113 702 gt 114 712 124 If using 80 Drivebus ch 0 node address is set equal to Drive Number setting on ACSRX function block in AC80 If connecting to AC800M Module bus see also parameter 71 5 DSET BASE ADDRESS Activates the communication to the optional digital 1 extension module 1 and defines the type and connection interface of the module This is used to extend the numb
174. n references are active when running in Local mode Parameter 60 1 LOC OPER INH true will force the drive to external control mode LOCAL 0 The drive is then only controlled from the Field Bus communication or in Stand alone mode from I O signals To be able to change the mode from External control to Local control or reverse the motor has to be stopped with brakes set that is ZERO SPEED 1 and RUNNING 0 Local running is performed from the operators panel which contains push buttons for START PANEL STOP PANEL of the converter and for controlling the speed of the motor up and down with the REF plus Up and Down Arrow push buttons for Fast and Slow reference change respectively Ramp times par 69 2 5 are in Local multiplied with a scaling factor RAMP SCALE LOCAL parameter 69 7 default 2 0 The direction of the drive is changed with the push buttons Forward and Reverse Pressing Start push button will give both ON Magnetising and Start order ramping up per given speed reference If pressing Start on panel but no reference higher than ZERO SPEED LEV 67 6 given within the time LOC ZERO SPEED TD 60 3 than the drive will switch off again Pressing Stop push button while running will ramp motor to zero speed and switch motor magnetising off after the time OFF TD 65 2 if CONTIN ON 65 1 False If pressing Stop push button a second time when at zero speed the magnetising will be switched
175. ne Program Description nennen nennen nnne nnne nnn 5 1 Mae 5 1 5 2 Application MaCrOS 5 1 tenen a ue rye NER Rr dedu d rr 5 1 5 3 Speed Reference 5 2 5 4 Stand alone mode eee 5 3 5 4 1 Input and Output I O 5 5 3 ACC 800 Firmware Manual iii 5 4 2 External Gonriectloris echt has etre recs eee tatu ette mi ta ete 5 4 5 4 3 Control Signals Connection Stand Alone mode 5 6 5 4 4 Parameter Settings for the Stand alone 0 2 5 7 5 5 Fieldbus mode 5 8 5 5 1 Input and Output I O 5 8 55 2 External Connections uec gts Pass Lo de RERO Mug 5 9 5 5 3 Control Signals Connection in Field Bus 5 10 5 5 4 Speed correction in Fieldbus enne 5 11 5 5 5 External Chopper monitoring available in both Fieldbus and Standalone mode 5 11 5 5 6 Parameter Settings for the Fieldbus
176. nected to monitor the external braking contact to e g digital input 4 chopper fault contact Check inhibit input on braking chopper Faulty chopper will trip the drive display fault on panel and give indication to the supervisory system The chopper fault will also activate the Watchdog output signal to be used for Emergency stop of crane 1 ACC 800 Firmware Manual 800 Firmware Manual Chapter 7 Fault Tracing and Maintenance Communication between drive and Fieldbus Fieldbus adapter and it s adapter module not working properly longer connection fibers to RDCO 0x than time delay COMM FLT TIME OUT channel 0 Parameter 30 13 CTRL B TEMP RMlO control board temperature is lower than Check air flow and fan operation 5 0 C or exceeds 73 82 C DC OVERVOLT Intermediate circuit DC voltage is excessive Check Braking Chopper and Resistor DC overvoltage trip limit is 1 3 Umax where Check deceleration time parameters is the maximum value of the mains Check mains for static or transient voltage range For 400 V units Uimax is 415 jovervoltages V For 500 V units Utmax is 500 V The actual voltage in the intermediate circuit corresponding to the mains voltage trip level is 728 Vdc for 400 V units and 877 Vdc for 500 V units DC Intermediate circuit DC voltage is not Check mains supply and fuses UNDERVOLT Jjsufficient This can be caused by a missing Check DC capacit
177. nel keys are pressed The Warning will reappear in one minute if conditions remain unchanged In the most critical applications it might be practical to terminate the process in a controlled manner rather than run the risk of a Fault trip If a Warning persists despite the actions indicated in the remedy column contact an ABB service representative ACC 800 Firmware Manual Chapter 7 Fault Tracing and Maintenance Table 7 1 The ACC Warning Messages ACS 800 TEMP BRAKE L FT BR OVERHEAT DRV ID CHG ID DONE ID RUN FAIL LIFETIME gt 90 MOTOR TEMP programmable Fault Function programmable Fault Function The ACS 800 internal temperature is excessive A warning is given if inverter module temperature exceeds 125 C Check ambient conditions Check air flow and fan operation Check heatsink fins for dust pick up Check motor power against unit power Brake Falling Time at stop longer than time Check brake contactor delay BRAKE LONG FT TD Parameter 67 5 gives a warning signal that will not trip the drive but activate Watchdog output signal to be used for Emergency stop of crane Brake resistor overheated The ID number of the drive has been changed from 1 in Drive Selection Mode Check wiring of brake acknowledgement to digital input 1 Stop drive Let resistor cool down Check parameter settings of resistor overload protection function see parameter group 27 BRAKE CHOPPER Check that braking
178. ng reference contacts instead of an analogue potentiometer the control mode STEP JOYST parameter 64 10 should be used Up to 4 different speed levels are supported direction order giving first speed level 3 more contacts for different speed levels Contacts can be connected to selectable digital inputs including extended I O modules see parameters 10 8 STEP REF2 SEL 10 9 STEP REF3 SEL and 10 10 STEP REF4 SEL The corresponding speed reference levels are set with parameters 64 13 SPEED REF LEVEL 1 upto 64 16 SPEED REF LEVEL 4 All lower step reference contacts must remain closed for next level to be active Example when closing contact corresponding to Step reference level 4 contacts for level 2 and level 3 must still be closed Note that Zero Pos signal from joystick is required in this mode similar to control mode JOYSTICK Joystick monitoring function is active Step radio reference mode 64 10 STEP RADIO 5 24 When using a radio controller or PLC having step reference output contacts the control mode STEP RADIO parameter 64 10 can be used Maximum 4 different speed levels available Digital inputs and speed reference levels are selected as described above with Step Joystick mode Zero Pos input signal is not required in this control mode Joystick monitoring is not active ACC 800 Firmware Manual Chapter 5 Crane Program Description FB JOYSTICK control mode 64 10 FB JOYSTICK amp 64 1 True ACC 800 Fir
179. ning starts and the available RMS power of the motor is constant Full load torque possible for mechanics up to this speed ACC 800 Firmware Manual 3 POWOP AUTOTUNE SEL 4 INERTIA TOTAL UP 5 INERTIA TOTAL DWN 6 TQLIM UP 7 TQLIM DWN 8 POWOP RESET LEV 9 TMAX ACC 800 Firmware Manual Chapter 6 Parameters True Activates the tuning Note Parameter is reset to False after each calculated Total inertia value The value of the inertia can be read in actual signal no 1 24 TOTAL INERTIA An average value after running 2 3 times in each direction should than be entered to parameters INERTIA TOTAL UP and INERTIA TOTAL DWN respectively False Autotune mode not active Total inertia measured in upwards direction NOTE Calculation of Inertia parameters has changed compared to previous sw versions crane application sw version ACAA7020 and earlier For upgrading a drive with earlier sw versions use the following rescaling formula for Inertia parameters 68 4 and 68 5 Inertia new 7 8363 Pnom nmax nnom Inertia old Where Pnom is the value of parameter 99 9 MOTOR NOM POWER is the value of parameter 69 1 SPEED SCALING RPM nnom is the value of parameter 99 8 MOTOR NOM SPEED Total inertia measured in downwards direction Maximum load torque allowed upwards field weakening power limit Maximum load torque allowed downwards field weakening power limit Speed level where the c
180. nual ses 635 Chapter 6 Parameters 3 ENCODER FAULT This parameter defines the operation of the CraneDrive if a failure is 4 ENCODER DELAY 5 SPEED FEEDB USED detected in communication between the pulse encoder and the Pulse Encoder Interface Module RTAC or NTAC or in between the RTAC NTAC module and the RMIO board Encoder supervision function activates if either of the following conditions is valid 1 There is a 20 difference filtered between the estimated speed and the measured speed received from the encoder 2 No pulses are received from the encoder at start within defined time see Parameter 50 04 ENCODER DELAY while the motor torque is at the limit value WARNING Warning indication is generated Drive will switch over to calculated speed FAULT Fault indication is generated and the CraneDrive stops the motor This is the time delay for the encoder supervision function at start See Parameter 50 03 ENCODER FAULT If set 0 ms this start supervision is disabled True The actual speed feedback value from connected encoder module is used in speed amp torque control False The actual speed feedback value from connected encoder module is not used in speed amp torque control RTAC or NTAC module only used for position measurement 6 2 15 Group 51 Comm module 6 36 For information on these parameters see manual ACS800 Fieldbus adapter RxxA 01 Installation amp Start up Guide for the respe
181. o gt ER ES i validate its new ID number setting la 2 3 Ud 50 the new value is not displayed until the power is switched off and on The Status Display of all devices Drive stopped direction forward connected to the Panel Link is shown after the last individual station If all stations do not fit on N Drive running direction reverse F prive has tripped on a fault the display at once press to view rest of them 3 To connect to the last displayed drive and enter another mode press acr 1L gt 50 0 1 one of the Mode keys SPEED 470 rpm TORQUE 50 The selected Keypad Mode is rune CURRENT 40A entered ACC 800 Firmware Manual Chapter 2 Overview of ACC 800 Programming and the CDP 312 Control Panel 2 4 2 Operational Commands Operational commands control the operation of the CraneDrive They include starting and stopping the drive changing the direction of rotation and adjusting the reference The reference value is used for controlling the motor speed Changing control Location Operational commands can be given from the CDP 312R Control Panel always when the status row is displayed and the control location is the panel This is indicated by L Local Control on the display See the following figure 1L gt 50 0 1 Remote Control control from the overriding system or I O is indicated by empty field See the following figure 1 gt 50
182. o saved or the file is Create the User Macro again defective ACC 800FirmwareManual TT Chapter 7 Fault Tracing and Maintenance 7 4 Maintenance 7 4 1 7 12 A 4 Heatsink The ACS 800 requires minimum maintenance It is recommended that the unit be kept under more close monitoring after the start up There is only need for the routine check up once operations have stabilised The following safety instructions should be followed in the maintenance work WARNING The maintenance work should only be undertaken by a qualified electrician No measurements parts replacements or other service procedures not described in this manual should be attempted Disconnect mains power if fault tracing involves work inside the frame the motor or the motor cable Wait 5 minutes for the intermediate circuit capacitors to discharge The ACS 800 can contain dangerous voltages from external control circuits Exercise appropriate care when working on the unit Neglecting these instructions can cause physical injury and death WARNING The printed circuit boards contain integrated circuits that are extremely sensitive to electrostatic discharge Exercise propitiate care when working on the unit to avoid permanent damage to the circuits The heatsink fins pick up dust from the cooling air The rate of pick up depends on the frequency converter usage and the amount and type of contamination in the ambient air The heatsink needs regular c
183. of the speed control at low speeds can be improved by increasing the relative gain and decreasing the integration time Speed controller output is the reference for the torque controller The torque reference is limited by Parameters 20 4 MAXIMUM TORQUE and 20 5 MINIMUM TORQUE 6 19 Chapter 6 Parameters t A Undercompensated 23 2 INTEGRATION TIME too short and 23 1 GAIN too low B Normally tuned autotuning C Normally tuned manual tuning Better dynamic performance than with B EGRATION TIME too short and 23 1 GAIN too high Figure 6 3 Step responses of the Speed Controller with different settings 1 to 10 reference step is used Derivative Calculated Figure 6 4 Speed controller a simplified block diagram 620 Firmware Manual Chapter 6 Parameters 1GAIN Relative gain for the speed controller If you select 1 a 10 change error value e g reference actual value causes the speed controller output to change by 10 96 of the nominal torque Note Too high gain causes speed oscillation Gain K 1 T Integration time 0 Tp Derivation time 0 Error Value Controller Output Error value t Figure 6 5 Speed Controller output after an error step when the error remains constant 2 INTEGRATION TIME Integration time defines the rate at which the controller output changes when the error value is constant The shorter the integration time the faster the contin
184. off converter switched off NOTE If using input signal Power On Ackn parameter 10 5 the drive cannot be started in Local or External mode unless input selected for POWER ON ACKN 1 ACC 800 Firmware Manual Chapter 5 Crane Program Description 5 6 2 Speed monitor 61 The function module is used to supervise overspeed of the motor to give tripping signal at motor overspeed If the motor speed exceeds the level determined by MOT OVERSPEED LEV 61 3 then the drive is tripped instantanuously converter brakes set via the signal MOT OVER SPEED indicating fault on panel to Fieldbus and faultlogger 5 6 3 Torque monitor 62 ACC 800 Firmware Manual The function module is used to supervise the torque of the motor by checking that the motor is following the speed reference in terms of direction of change during accel deceleration and without excessive speed error during accel deceleration and normal running For the supervision to be active TORQ MON SEL 62 1 has to be set True If the absolute value of the speed error SPEED REF4 SPEED ACT is higher than SP DEV LEV Parameter 62 2 for a time longer than TORQ FLT TD Parameter 62 3 the drive trips for torque fault TORQ FLT indicating fault to panel Fieldbus and faultlogger Parameter SP DER BLK LEV 62 4 rate of actual speed change in per second can be set so that it blocks the protection during acceleration and deceleration As
185. operation COMM ERR Communication error on the control board channel CH1 Electromagnetic interference 7 8 Check connections of fiber optic cables on RDCO board channel CH1 Check all I O modules if present connected to channel 1 e g their node ID selector switch S1 setting See Extension Manuals ACC 800 Firmware Manual Chapter 7 Fault Tracing and Maintenance 2 LINE CONV Fault in the line side converter only Change the CDP panels monitored device in ACC811 type drive from motor side converter to line side converter by using DRIVE key on panel see Table 2 9 Read line side converter fault message See line side converter manual for fault description MAS OSC FLT If hext edge of the communication Check fieldbus adapter and its connection to test bit is not received within a RDCO 0x channel 0 certain time COMTEST FLT TD Check that PLC program connection comm Parameter 71 1 the drive will trip Test bit from input to output Check fieldbus wiring ault MF COMM ERR Master Follower bus communication Check M F bus connections and fibres not active Communication test bit between the Master drive channel 2 and the not received within time M F COMM Follower drive channel 2 ERR TD Check setting of parameter 72 1 MAST FOLL Parameter 72 10 MODE Or in Broadcast mode Should be set to MASTER in Master drive Follower has not received any and set to FOLLOWER in Follower driv
186. ors for leakage mains phase a blown fuse or a rectifier bridge internal fault DC undervoltage trip limit is 0 65 U 1min where Ui is the minimum value of the mains voltage range For 400 V and 500 V units U 1min is 380 V The actual voltage in the intermediate circuit corresponding to the mains voltage trip level is 334 ACC 800FirmwareManual PT Chapter 7 Fault Tracing and Maintenance EARTH FAULT The load on the incoming mains system is programmable Fault Function 30 11 ELECTR SHAFT Slave drive in Electrical shaft control has detected a Master Slave position counter difference above limit set in parameter 73 5 POS ERROR LIMIT E NCODER ERR Speed measurement fault detected This can be caused by Loose cable connection Communication timeout to RTAC or NTAC module Faulty pulse encoder Diffference filtered between internal calculated and measured actual speed is greater than 2096 of motor nominal speed No encoder pulses received e g motor not rotating at start within time set in par 50 4 ENCODER DELAY while drive is in current or torque limit out of balance This can be caused by a fault in the motor motor cable or an internal malfunction EXTERNAL FLT There is a fault in one of the external programmable _ devices This information is configured Fault Function through one of the programmable digital 30 3 inputs FOLL FLT Follower drive is in faulty state trip
187. output 2 RO22 Watch dog N RO23 i Terminal Block X27 RO31 7 Relay output 3 2 RO32 Fault N 3 RO33 Figure 5 6 External connections in Fieldbus mode ACC 800FirmwareManual Chapter 5 Crane Program Description 5 5 3 Control Signals Connection in Field Bus mode FIELD BUS DataSet1 Wordl DN START Bit 2 and 4 SPEED CONTROLLER EXTERNAL MINIMUM SPEED 20 1 MAX Oan MAXIMUM SPEED 20 2 SELECTOR DataSetl SPEED REF T SELECT KEYPAD Word2 Power SPEED CTRL Group 23 TORQ CTRL 81 1 Bit 7 TORQUE REF TORQUE CONTROLLER DataSet1 5 5 Word3 MAXIMUM TORQUE 20 4 20 5 TORQUE CTRL SPEED CORR Group 24 CDP 312R PANEL REF WITH SIGN Optimization ON START EXTERNAL e3 2O O9 OO Figure 5 7 Control Signals Connection in Fieldbus mode 5 10 ACC 800 Firmware Manual Chapter 5 Crane Program Description 5 5 4 Speed correction in Fieldbus mode In Fieldbus mode there is a possibility to send a speed correction reference non ramped reference added to ramp unit output to the drive In the Fieldbus communication interface DataSet 3 Word 2 is connected as a Speed Correction input signal 8 ms updating time in ACC 800 application software The speed correction reference is limited so that the sum of the normal ramped speed reference and the speed correction reference cannot exceed Maximum Minimum Speed setting parameters 20 1 amp 20 2 5 5 5 External Chopper monitoring
188. p 2 Range Unit Deseo ETE E TINTE 1 SPEED REF 2 Ramp input reference limited by speed limits r pm parameters 20 1 amp 20 2 3 SPEED REF 4 rpm Total speed reference ramp output reference speed correction reference 4 SPEED ERROR NEG Acceleration compensation reference 9 TORQUE REF 1 Torque reference input to drive torque ramp output 10 TORQUE REF 2 Speed controller total output acceleration compensation reference Limited with parameters 20 4 amp 20 5 11 TORQUE REF 3 14 TORQ USED REF Final torque reference used by torque controller Torque ref 5 with limits 15 MOTOR TORQUE Actual motor torque 16 FLUX ACT Actual motor flux 0 26ELSHAFTPOSERROR Electric shaft control position error in Slave drive Limit word indicating if drive is running in any boolean Hex limitation For bit details see table 4 3 below boolean Hex boolean Hex below 29 TORQUE SELECTOR 0 5 Torque reference 2 11 mode active 0 Zero control speed control in CraneDrive 1 Speed control Torq ref 2 2 Torque control Torq ref 1 3 Minimum control min of ref 1 and 2 4 Maximum control max of ref 1 and 2 5 Add control sum of Torq ref 1 and 2 Derivative of speed reference ramp output Speed ref3 That is rate of change with sign in rpm per sec 31 LOAD TORQUE Calculated load torque in 96 of motor nominal torque pum Signal is filtered with parameter 68 10 Indica
189. pe 5 ACS800 ACS800 Application type ACC 800 Firmware Manual Appendix A Complete Parameter and Default Settings Table A 2 Parameter Settings Parameter Alternative Settings Default Fieldbus scaling setting HeSTATTUPDATA 99 1 LANGUAGE ENGLISH ENGLISH AM DEUTSCH ITALIANO ESPANOL ENGLISH 1 PORTUGUES NEDERLANDS FRANCAIS DANSK SUOMI SVENSKA CESKY POLSKI PO RUSSKI 99 2 APPLICATION MACRO CRANE M F CTRL USER 1 LOAD USER 1 SAVE USER 2 LOAD 99 3 APPLIC RESTORE NO YES NO 99 4 MOTOR CTRL MODE DTC SCALAR DTC fee LC ANNE 99 5 MOTOR NOM VOLTAGE Unof ACS 800 2 Unof ACS 800 printed on the motor nameplate v i T 0 213 99 6 MOTOR NOM CURRENT 1 6 In of ACS 800 2 Insof ACS 800 printed on the motor nameplate 10 1A 99 7 MOTOR NOM FREQ 8 Hz 300 Hz printed on the motor nameplate 50 0 Hz 100 1 Hz 99 8 MOTOR NOM SPEED 1 rpm 18 000 rpm printed on the motor nameplate 99 9 MOTOR NOM POWER 0 kW 9000 kW printed on the motor nameplate 0 0 kw 10 1 kW 99 10 MOTOR ID RUN ID MAGN STANDARD REDUCED ID MAGN 99 11 DEVICE NAME Drive section name e g Main Hoist e 4 10 DIGITAL INPUTS oie ees 1 1 1 6 10 1 BRAKE ACKN SEL INTERNAL 011 012 015 016 DI IL DI1 10 2 ZERO POS SEL NOT SEL DI1 DI2 015 DI6 DI IL 121 1 6 016 121 1 10 NOT
190. ped Indication given in Master drive if M F ctrl Macro active Check motor Check motor cable Check there are no power factor correction capacitors or surge absorbers in the motor cable In Slave drive check parameters 73 2 73 5 setting Check following settings in Master and Slave drive 50 1 69 1 69 5 70 1 Check group 23 speed controller settings Check settings of Parameter Group 50 Check pulse encoder and it s cabling including Ch A and Ch B phasing The sign of the signal 2 17 SPEED MEASURED must be the same as int calculated speed 1 02 MOTOR SPEED when rotating the motor set parameter 70 3 SPEED FEEDB USED FALSE during this test If not exchange channels A and B Check connection between the RMIO board and the RTAC module Check for proper earthing of equipment Check for highly emissive components nearby Check external devices for faults Check EXT FAULT Fault Function parameter see chapter 6 parameter 30 3 Check fault text on Follower drive panel Check Torque and Current limit settings Check ramp time setting 69 2 5 and fieldbus RATE signal and B to RTAC or NTAC module if used INV OVERLOAD if running inverter in overload condition during braking i e IGBT overtemp alarm active gt 10 braking power speed gt 5 for more than 200 ms the drive will trip display fault on panel and give indication to Check pulse encoder connections the supervisory system Check brake
191. plains the functions of each parameter Chapter 7 Fault Tracing describes the fault tracing procedure when warnings and faults are indicated Warnings and faults are listed in tabular form with possible causes and remedies Appendix A Complete Parameter and Default Settings lists in tabular form all parameter settings and the default values for the CraneDrive ACC 800 Firmware Manual 1 1 Chapter 1 Introduction to this Manual Appendix B User I O interface diagrams showing default I O signal connections for Stand alone and Fieldbus modes 1 4 Related Publications In addition to this manual the CraneDrive user documentation includes the following manuals ACS800 01 U1 Hardware Manual or ACS800 02 U2 Hardware Manual ACS 800 Multidrive Hardware Manuals ACS800 Pulse encoder RTAC 01 User s manual optional e ACS800 I O Extension modules RDIO 01 amp RAIO 01 User s manuals optional ACS800 Fieldbus adapter module User s manuals optional DriveWindow User s Manual optional New manuals will be prepared as more Option Modules and other optional extras become available Please ask for them from the local ABB distributor ACC 800 Firmware Manual Chapter 2 Overview of CraneDrive Programming and the CDP 312R Control Panel 2 1 Overview This chapter describes the programming principles of the CraneDrive the operation of the CDP 312R Control Panel and how to use the panel to modify paramete
192. played in Vpc 8 MAINS VOLTAGE MAINS V Calculated supply voltage at power on 10 ACS 800 TEMP ACS TEMP deg Celcius 11 APPLICATION MACRO CRANE M F CTRL MACRO USER 1 LOAD USER 2LOAD 13 CTRL LOCATION CTRL LOC LOCAL I O CTRL Active control location FIELDBUS M F CTRL 14 OP HOUR COUNTER OP HOURS Elapsed power on time meter wmm BT TT HROMISUNE C Rr RTO BIOTA 222 optimisation autotune 26 EXT RO4 1 STATUS EX RO4 1 52525 Status of RDIO digital outputs 28 MOTOR TEMP EST MOT TEMP deg Celcius 29 CTRL BOARD TEMP CTRLBT C deg Celcius 420 800 Firmware Manual Chapter 4 Control Operation pray aem pao PREC RATIT LOAD SPEC FACT Km FATRE Km 1 gt factor Km ACC 800 Firmware Manual ss A Chapter 4 Control Operation 4 3 Signal Selection 1 SPEED ESTIMATED 2 MOTSPEED FILT 3 FREQUENCY 4 CURRENT 5 MOTOR TORQUE 6 POWER 7 DC BUS VOLTAGE V 8 MAINS VOLTAGE 9 OUTPUT VOLTAGE 10 ACS 800 TEMP 11 APPLICATION MACRO 12 SPEED REF 13 CTRL LOCATION 14 OP HOUR COUNTER 15 KILOWATT HOURS 16 IDENTIFICATION RUN DONE 17 DI7 1 STATUS 18 Alt V 19 Al2 mA Description of the Actual Signals Groups 1 and 2 Displays the estimated speed of the motor as calculated by the CraneDrive shows estimated speed also if encoder is enabled The speed is displayed in rpm Displays a filtered value of the actu
193. pressed T ter the Function Mode 1 o enter the Function Mode ILS 00 d Func UPLOAD lt lt DOWNLOAD gt gt CONTRAST 4 2 To select a function a blinking cursor indicates the selected 1L gt 0 0 0 function UPLOAD lt lt DOWNLOAD gt gt CONTRAST 4 3 122 the selected 1L 00 0 ENTER gt gt gt gt gt gt gt DOWNLOAD 4 Loading completed 1L 0 0 0 SPEED 470 rpm TORQUE S0 CURRENT 40A Table 2 8 How to set the contrast of the panel display Step Function Press key Display after key is pressed 1 To enter the Function Mode iL gt 00 0 UPLOAD lt lt DOWNLOAD gt gt CONTRAST 4 2 To select a function IL 00 0 UPLOAD lt lt DOWNLOAD gt gt CONTRAST 4 3 contrast setting IL gt 00 0 ENTER CONTRAST 4 4 7 the contrast IL 00 0 CONTRAST 6 5a To accept the selected value IL gt 00 0 ENTER UPLOAD lt lt or DOWNLOAD gt gt CONTRAST 6 5b To cancel the new setting and keep the original value press any of the Mode keys The selected Keypad Mode is entered 1L gt 00 0 UPLOAD lt lt DOWNLOAD gt gt CONTRAST 4 ACC 800 Firmware Manual Chapter 2 Overview of ACC 800 Programming and the CDP 312 Control Panel Copying parameters from one unit to other units You can copy parameters 10 97 from one drive to another by using the
194. r It is recommended having the driven equipment disengaged when first start is performed if there is the risk of damage to the driven equipment in case of incorrect rotation direction of the motor ACC 800 Firmware Manual 3 1 Chapter 3 Start Up START UP FLOWCHART Apply mains power The ACS 800 should not be CDP312 PANEL powered up more than five times in ten minutes to ID NUMBER 31 avoid charging resistor overheating no limitation for ACS 600 MultiDrive units TOTAL 12 DRIVES The Control Panel enters the Identification Display 1L 0 0 0 SPEED 0 rpm The Control Panel enters the Actual Signal Display Mode Ta automatically in a few seconds Select the Application Macro TR RID a A Press PAR key 2 APPLICATION MACRO CRANE 0 Press ENTER Square brackets appear around So dn cr A parameter value Scroll available options with and 2 APPLICATION MACRO Accept the selection with ENTER CRANE A detailed description of the Application Macros is included in Chapter 5 Select the motor control mode DTC is suitable in most cases 1L 0 0 0 99 START UP DATA 4 MOTOR CTRL MODE DTC 3 2 ACC 800 Firmware Manual Chapter 3 Start Up START UP FLOWCHART Enter the motor data from the motor nameplate Note Use the motor s continuous duty data true electrical data If nameplate is showing only du
195. r 6 Parameters 2 3 Control Panel The CDP 312R Control Panel is the device used for locally controlling and programming the ACS 800 It can monitor and control up to 31 drives The Panel can be attached directly to the door of the cabinet or it can be mounted for example in a control desk ACC 800 Firmware Manual 2 1 Chapter 2 Overview of ACC 800 Programming and the CDP 312 Control Panel Panel Link The CDP312R Drives Panel is connected to the drive through Modbus communication bus Modbus which is based on the RS485 standard is a common bus protocol for ABB Drives products The communication speed is 9600 bit s 31 drives and one panel can be connected on this bus Each station must have a unique ID number ACT PAR FUNC DRIVE T VN VU CDP 312R Figure 2 1 CDP 312R Control Panel 2 3 2 Display The LCD type display has 4 lines of 20 characters The Control Panel display is an LCD type display of drive functions drive parameter selections and other drive information Letters or numbers appear on the display according to which Control Panel keys are pressed 2 3 3 Keys The 16 Control Panel keys are flat labeled push button keys that allow you to monitor drive functions select drive parameters and change drive macros and settings 22 800 Firmware Manual Chapter 2 Overview of ACC 800 Programming and the CDP 312 Control Panel Actual Signal Display Mode
196. r Al1 and AI2 is 32 ms and for EXT 1 Speed correction the updating interval is 8 ms Table 6 2 Group 13 Parameter Range Uni 1 SCALE 0 4 000 Scaling factor for Al1 2 FILTER AI1 0s 4 00s Filter time constant for AM 3 SCALE Al2 0 4 000 Scaling factor for AI2 4 FILTER AI2 0s 4 00s Filter time constant for Ali2 5 SCALE EXT 0 4 000 Scaling factor for EXT Al1 RAIO 6 FILTER EXT Al1 Os 4 00s Filter time constant for EXT Al1 RAIO 7 Al1 0 REF LEV 0 0 10 0 V Al1 signal level corresponding to 0 speed reference 1 SCALE Al1 Scaling factor for analogue input Al1 signal 2 FILTER Al1 Filter time constant for analogue input AI1 As the analogue input value changes 63 96 of the change takes place within the time specified by this parameter If you select 0 sec that equals the minimum value the signal is filtered with a time constant of 10 ms 100 63 Figure 6 2 shows the filter time constant 3 SCALE 2 Refer to parameter 13 1 4 FILTER AI2 Refer to parameter 13 2 5 SCALE EXT Al1 Refer to parameter 13 1 CACC 800 Firmware Manual 6 FILTER EXT AI1 Al1 0 REF LEV ACC 800 Firmware Manual Chapter 6 Parameters Refer to parameter 13 2 The minimum 1 voltage level that should correspond to 0 speed reference is adjustable with this parameter Can for example be used if a 4 20 mA reference signal is connected to Al1 with 500 ohm resistor across Al1
197. r nominal rating Absolute value POWER Motor power 20 mA 100 96 of motor nominal rating absolute value DC BUS VOLT DC bus voltage 20 mA 100 of maximal nominal DC bus voltage see also parameter 15 1 OUTPUT VOLT Motor voltage 20 mA motor rated voltage TORQUE REF Torque reference used by torque controller 20 mA 100 96 of motor nominal torque absolute value SIGN SP REF Speed reference Speed ref3 output from ramp with sign OmA 100 of motor maximum speed par 20 1 amp 20 2 10 mA 0 speed 20 mA 100 96 of motor maximum speed Refer to Parameter 15 2 Refer to Parameter 15 3 Refer to Parameter 15 4 Refer to Parameter 15 5 ACC 800 Firmware Manual Chapter 6 Parameters 6 2 5 Group 16 System Ctr Inputs The Range Unit column in Table 6 5 below shows the allowable parameter values The text following the table explains the parameters in detail Table 6 5 Group 16 2 PARAMETER LOCK OPEN LOCKED Parameter lock input 3 PASS CODE 0 30 000 Parameter lock pass code 8 FAN SPD CTRL MODE CONST 50HZ Fan speed control mode RUN STOP CONTROLLED 9 FUSE SWITCH CNTR OFF ON Fuse switch control 10 INT CONFIG USER 1 12 Inverter module configuration 2 PARAMETER LOCK This parameter selects the state of the Parameter Lock With Parameter Lock you can inhibit unauthorised parameter changes OPEN Parameter Lock is open Parameters can be altered LOCKED Parameter Lock i
198. r plate Encoder module speed deviation alarm JOYSTICK Joystick supervision alarm Stand alone Start inhibit alarm Prevention of ed unexpected start active Not used 8S THERMISTOR _ Thermistor alarm DIG 11 No motor data or too low nominal current entered Crane hoist machinery lifetime exceeded 90 of total lifetime set in par 74 2 Not used 15 Bit 15 MSB ACC 800FirmwareManual sss BAT Chapter 5 Crane Program Description 5 6 13 5 48 Master Follower 72 General The Master Follower is a load sharing Application and is designed for applications in which the system is run by two CraneDrives and the motor shafts are coupled to each other via gearing rail shaft etc The Master Follower application is then controlling the load distribution between the drives The Master drive is sending order signals and references speed and torque through the Master Follower bus to the Follower drive The Master is also reading back status information from the Follower drive to ensure a safe operation The Master Follower application can be used for both hoist and travel motions in both Fieldbus mode and Standalone mode The Master station shall always be speed controlled and the Follower station normally be Torque controlled NOTE Both drives must be in DTC control mode i e M F ctrl does not work in Scalar mode To ensure correct Follower load sharing the Follower speed limits 20
199. rection factor in lowering direction Note efficiency part for lowering is calculated as 1 mech eff E g 1 0 9 1 10 6 50 ACC 800 Firmware Manual Chapter 6 Parameters 6 2 25 Group 69 Reference Handler The Range Unit column in Table 6 22 shows the allowable parameter values The text following the table explains the parameters in detail Table 6 22 Group 69 Parameter Range unit Description 1 SPEED SCALING RPM 0 10000 RPM 2 ACC TIME FORW 0 1 60 0s Acceleration time forward 3 ACC TIME REV 0 1 60 0s Acceleration time reverse 1 SPEED SCALING RPM Setting of motor shaft rotational speed rpm corresponding to 100 96 speed reference 2 ACC TIME FORW Setting of acceleration ramp time forward direction up 0 to 100 speed where 10096 corresponds to parameter 69 1 3 ACC TIME REV Setting of acceleration ramp time reverse direction down 0 to 100 96 speed ref Parameter 69 1 4 DEC TIME FORW Setting of deceleration ramp time forward direction 100 to 0 96 speed ref Parameter 69 1 5 DEC TIME REV Setting of deceleration ramp time reverse direction 100 to 0 speed ref Parameter 69 1 6 S RAMP Setting of the s curve time constant the speed reference ramp unit RAMP SCALE LOCAL Scaling multiplying factor for ramp times when running in local 10 RAMP 1 Selection Fieldbus mode if RAMP RATE signal from PLC controller is not required by drive Alternatively to activate analog
200. rent of the inverter The following warning will be displayed WARNING NO MOT DATA If the Motor Control Mode Parameter 99 4 is set to SCALAR the comparison between the nominal current of the motor and the nominal current of the inverter is not made WARNING Running the motor and the driven equipment with incorrect start up data can result in improper operation reduction in control accuracy and damage to equipment 3 7 Chapter 3 Start Up Table 3 1 Group 99 Start up Data Parameters Range Unit 1 LANGUAGE Display language selection MACRO RESTORE factory setting values MODE selection 5 MOTOR NOM 7e Un of ACS 800 Nominal voltage from the ACS 800 1 6 Iha of ACS 800 Matches the ACS 800 to the CURRENT 2 Ing of ACS 800 rated S1 motor current 7 MOTOR NOM 8 300 Hz Nominal frequency from the FREQ motor rating plate SPEED motor rating plate 9 MOTOR NOM 0 9000 kW Nominal 51 power from POWER the motor rating plate 10 MOTOR ID ID MAGN Selects the motor ID self RUN STANDARD tune run REDUCED NOTE This will cause the motor to operate after start command 11 DEVICE NAME free text Drive section name e g Main Hoist Parameter Selection The following is a list of the Start up Data Parameters with a description of each parameter The motor data parameters 99 5 99 9 are always to be set at start up 1 LANGUAGE ACS 800 displays
201. ription 5 6 12 5 40 Field bus communication 71 Receive This part is used to receive signals from a superior controller via a high speed serial bus the form of a Field Bus e g Advant link CS31 max 8 words Profibus 10 words Modbus Interbus S Devicenet Please check the respective fieldbus adapter manual for limitations on the number of words possible for sending and receiving The ACC receive signal interface is standardised as a block of 12 words where each signal has its specific position The module also includes one element for unpacking the Command word signal to 16 Boolean signals Updating interval for datasets 1 3 amp 5 is 32 ms except FB SPEED REF FB TORQ REF and FB SPEED CORR that are updated every 8 ms For transmission of signals from drive to superior controller see Fieldbus communication Transmit NOTE If parameter 71 5 DSET BASE ADDRESS is set to 10 instead of the default value 1 than add 9 to all dataset numbers below e g DS1 gt DS10 DS3 gt DS12 aso Table 5 4 Receive Dataset 1 alt 10 Word 1 FB COMMAND WORD DataSet 1 Word 1 signal 3 1 Bit number Signal Range Description 0 Bit 0 LSB COMTEST REC 1 0 Comtest receive bit 1 DRIVE ON 0 Drive On magnetize from 1 active PLC Fieldbus mode 2 HIGH SPEED 1 0 High speed selected 1 active Power optimisation 3 START OVR 1 0 Startorder
202. rs measure actual values and control the drive s 2 2 CraneDrive Programming The user can change the configuration of the CraneDrive to meet the needs of the requirements by programming The CraneDrive is programmable through a set of parameters 2 2 1 Application Macros Parameters can be set one by one or a preprogrammed set of parameters can be selected Preprogrammed parameter sets are called Application Macros Refer to Chapter 5 Crane Program Description for further information on Application Macros 2 2 2 Parameter Groups In order to simplify programming parameters of the CraneDrive are organised into logical Groups Parameters of the Start Up Data Group are described in Chapter 3 Start up Data and other parameters in Chapter 6 Parameters Signals are described in the chapter 4 Start up Data Parameters The Start up Data parameters Group 99 contains the basic settings needed to match the CraneDrive with your motor This group also contains a list of preprogrammed Application Macros The Start up Data Group includes parameters that are set at start up and should not need to be changed later on Refer to Chapter 3 Start up Data for description of each parameter The Start up Data Group is displayed as the first parameter group in the Parameter Mode The correct procedure for selecting a parameter and changing its value is described in the paragraph Keypad Modes Parameter Mode Parameters are described in Chapte
203. s closed from the Control Panel Parameters cannot be altered Only entering the valid code at Parameter 16 3 PASS CODE can open the Parameter Lock Note This function is not available if User macros are used 3 PASS CODE This parameter selects the Pass Code for the Parameter Lock The default value of this parameter is O In order to open the Parameter Lock change the value to 358 After the Parameter Lock is opened the value is automatically changed back to O 8 FAN SPD CTRL MODE Selection of control mode for the optional speed control of the inverter fan in ACS800 Multidrive CONST 50HZ No fan speed control active Fan is always running with constant nominal 50 or 60 Hz speed RUN STOP Fan is running with constant nominal speed when inverter is modulating and inverter temperature is above min limit CONTROLLED Fan speed is controlled between 30 and 110 of nominal depending on inverter temperature ACC 800FirmwareManul Chapter 6 Parameters 9 FUSE SWITCH CNTR Activation parameter for optional inverter DC fuse switch 10 INT CONFIG USER 6 14 OFF Charging logic for DC fuse switch control is disabled Parameter must be selected to OFF if no DC fuse switch is installed ON Charging logic for DC fuse switch control is active To be selected ON if an optional DC switch is installed Adjustable inverter module configuration for n R8i size inverters This parameter is user acceptance for Reduced Run
204. s on FAULT N Fault trip signal indication MEAS VALUE 1 Default selection Motor speed MEAS VALUE 2 Default selection Motor torque ACC 800FirmwareManual BATE Chapter 5 Crane Program Description 5 18 Joystick control mode 64 10 When connecting a joystick directly to the drive then parameter 64 10 CONTROL TYPE should be selected to JOYSTICK default ANALOGUE REF INPUTS The analogue reference signal 0 max reference is connected to Analogue input 1 for speed reference and to Analogue input 2 for torque reference The sign for the reference speed as well as torque reference is given by inputs DI3 Start Dir A for positive reference up for hoist and 014 Start Dir B for negative reference down for hoist With parameter 13 7 Al1 0 REF LEV the minimum AI1 voltage level corresponding to 096 speed reference is set used e g with 4 20mA signal REFERENCE CURVE The joystick for giving reference has parameters for setting of the deadzone in direction A and B 64 4 and 64 5 REF SHAPE 64 6 is for giving the reference a parabolic shape Parameter set to 0 straight line 20 X and 100 X curve JOYSTICK CHECKS The drive is stopped normal deceleration ramp if speed control and prevented from a new start until the joystick is moved back to the neutral position i e Zero Position ZERO POS e g 012 1 DIR A DI3 0 amp DIR B 014 0 indi
205. se ACC 800 Firmware Manual Chapter 6 Parameters 7 ZERO SPEED TIME Time delay before signal ZERO SPEED is set to 1 when the motor speed is below ZERO SPEED LEV If parameter 67 11 MOTOR TYPE is set to CONICAL than this parameter is used to delay the stop sequence with reduced flux 8 SPEED REF TD Time delay at start before releasing speed reference to ramp unit 9 START TORQ SEL NOT USED No extra starting torque AUTO TQ MEM Automatic torque memory selected Note value set in parameter 67 10 is used as a minimum value for the torque memory LOAD MEAS Starting torque reference is received from an superior controller DS5 2 e g measurement from a load cell PAR 67 10 Starting torque reference is fixed using torque level set in parameter 67 10 MIN START TQ REF 10 MIN START TQ REF Starting torque reference level used if parameter 67 9 is set to PAR 67 10 11 MOTOR TYPE CONICAL Conical motor function active Reduced flux level at stop set with parameter 67 12 and possibility for increased flux at start par 67 13 amp 67 14 See section 5 6 8 Mecanical brake control page 5 31 for details on Conical motor function STANDARD Conical motor function not active 12 RED FLUX LEVEL Reduced flux level used when stopping if Conical motor function is activated in parameter 67 11 For higher power conical motors on hoists use a lower value than the default 75 if needed to further reduce roll back when stoppin
206. source for Fast stop Change this setting before selecting THERMISTOR for Parameter 30 5 MOT THERM P MODE In other words ensure that digital input 6 is not selected as signal source by any other parameter than 30 5 MOT THERM P MODE 6 MOTOR THERM This is the time within which the motor temperature reaches 63 of the TIME final temperature rise Figure 6 9 shows Motor Thermal Time definition If the DTC mode is selected for motor thermal protection motor thermal time can be read from this parameter This parameter can be set only if Parameter 30 5 MOT THERM P MODE is set to USER MODE f thermal protection according to UL requirements for NEMA class motors is desired use this rule of thumb Motor Thermal Time equals 35 times t6 t6 in seconds is the time that the motor can safely operate at six times its rated current given by the motor manufacturer The thermal time for a Class 10 trip curve is 350 s for a Class 20 trip curve 700 s and for a Class 30 trip curve 1050 s Temp 100 63 t Temp Figure 6 9 Motor Thermal Time 62 ACC 800 Firmware Manual Chapter 6 Parameters 7 MOTOR The Motor Load Curve sets the maximum allowable operating load of LOAD CURVE the motor When set to 100 96 the maximum allowable load is equal to the value of Start up Data Parameter 99 5 MOTOR NOM CURRENT The load curve level should be adjusted if the ambient temperature differs from the nominal value 99 6 MOTOR NOM CURRENT 15096
207. ters to be checked 98 1 Encoder module e g RTAC SLOT1 50 1 Encoder pulse nr 69 1 Speed scaling rpm max operating Speed 69 2 5 Acc Dec ramp times forward and reverse 70 1 Pos scale e g no of pulses mm 20 1 2 Minimum Maximum speed limits to be 5 higher than parameter 69 1 98 5 6 DI O Ext modules 1 2 selection ACC 800 Firmware Manul 555 Chapter 5 Crane Program Description 5 6 15 Crane lifetime monitor 74 The main function of the Crane lifetime monitor is to indicate how much is left of the crane hoist mechanical lifetime signal 1 35 LIFETIME LEFT This is done with the help of the following signals Total operating time 7 brake open time of the drive signal 1 32 TOTAL OPER TIME Signal is backed up in non volatile memory Continuously calculated actual hoist load signal 1 33 LOAD TORQUE ton Load spectrum factor Km function of load and time signal 1 34 LOAD SPEC FACT Km Signal is backed up in non volatile memory To get a correct load signal the Inertia parameters 68 4 and 68 5 must be tuned see tuning instruction on page 5 34 part of commissioning power optimisation instruction NOTE There is no requirement to set parameter 68 1 POWOP SELECT or 68 2 BASE SPEED in order to get the load torque signal to work For compensating the mechanical efficiency of hoist machinery to get equal load torque value in both hoisting and lowering direction parameters 68 12 LOADCORR FACT
208. the ones from user definable Programmable Fault Functions are presented in Table 7 1 and Table 7 2 with information on the cause and remedy for each case Fault and Warning indications are displayed in the Actual Signal Display Mode as well as in the Parameter Mode Warnings do not have a direct effect on operation Faults terminate motor operation The standard maintenance measures are described in the latter part of this chapter Most Warning and Fault conditions can be identified and cured with the information in this manual There are however some situations that can only be treated by an ABB service representative The unit is fitted with complex circuitry and measurements parts replacements and service procedures not described in this manual are not allowed for the user Programmable Fault Functions are explained in detail in chapter 6 Group 30 Signal Group 5 Information shows software versions of the unit CAUTION Do not attempt any measurement parts replacement or other service procedure not described in this manual Such action will void guarantee endanger correct operation and increase downtime and expense 7 1 Chapter 7 Fault Tracing and Maintenance 7 2 Warnings WARNING All electrical installation and maintenance work described in this Chapter 7 Fault Tracing and Maintenance should only be undertaken by a qualified electrician Disconnect mains power if fault tracing involves work inside the frame the mo
209. ting details if 2 27 bit 4 Torq inv cur lim is set See table 4 5 below for details 33 INT SC INFO 0 FFFF Hex Info on short circuit location See table 4 6 below 460 800 Firmware Manual Chapter 4 Control Operation Table 4 3 Signal 2 27 LIMIT WORD 1 Name Active Limit TORQ MOTOR LIM Motor pull out torque limit reached SPD TOR MIN LIM Speed control torque min limit TORQ USER CUR LIM User defined current limit TORQ INV CUR LIM Internal current limit SPD TOR MAX LIM Speed control torque max limit FREQ MIN LIMIT Speed Frequency min limit TORQ MIN LIM Any torque min limit Note Bit 4 INV CUR is activated if thermal overload from inverter or braking chopper is detected See details in 2 32 LIMIT WORD INV Table 4 4 Signal 2 28 FAULTED INT INFO This word includes information on the location of faults PPCC LINK OVERCURRENT EARTH FAULT SHORT CIRCUIT ACS800 TEMP TEMP DIF POWERF INT Name Description 1 10 INT 2 FLT INT 3 FLT INT 4 board fault R8i module 4 a s o INT 6 board fault INT 7 board fault NT 8 FLT INT 8 board fault INT 9 board fault LINT PBU FLT PBU board fault In use only with parallel inverters INT 1 is connected to PBU CH1 INT 2 to CH2 a s o ACC 800 Firmware Manual Ae Chapter 4 Control Operation Table 4 5 Signal 2 32 LIMIT WORD INV This word gives more detailed information when the TORQ INV CUR LIM bit 4
210. tive reference voltage 10V max 10 mA not used not used Speed Limit par 20 10 current 0 4 20 mA 0 20 mA 0 100 Motor speed 12 0 20 mA 0 Motor Nominal Torque Terminal Block X22 Digital Inputs Brake Acknowledge default Increase Accelerate Start Direction A Up or Forward Start Direction B Down or Backward Slowdown N default Fast Stop N default 24 VDC 24 VDC max 100 mA DGND Digital ground Digital ground programmable input see Group10 24 Aux voltage output 24V 250 mA Terminal Block X25 Digital Outputs RO11 uns Relay Output 1 RO12 Brake Lift default Terminal Block X26 Relay Output 2 6 RO2 Watchdog N default Terminal Block X27 RO31 E Relay Output 3 6 Ro Fault N default Use external power supply if the total current consumption exceeds 250 mA Figure B 2 Connections at the RMIO board in Stand Alone mode Motor Pot control ACC 800 Firmware Manual sss B Appendix B User I O Interface diagrams B 4 Use external power supply if the total current consumption exceeds 250 mA Figure B 3 Connections at the RMIO board in Stand Alone mode 0 20 mA 0 Motor Nominal Torque Terminal Block X22 Digital Inputs DI Acknowledge default Terminal Block X16 RMIO board Negative reference voltage 10V max 10 mA Terminal Block X21 Analogue signals VREF Positive r
211. tor or the motor cable For CraneDrive units with EMC Line Filter disconnect mains power at the distribution board The fuse switch with handle in the front door of the enclosed ACS 800 does not switch off power from the EMC Line Filter Wait 5 minutes for the intermediate circuit capacitors to discharge The ACS 800 can contain dangerous voltages from external control circuits Exercise appropriate care when working on the unit Neglecting these instructions can cause physical injury and death WARNING The printed circuit boards contain integrated circuits that are extremely sensitive to electrostatic discharge Exercise appropriate care when working on the unit to avoid permanent damage to the circuits The Control Panel enters the Fault Display when a Warning condition is detected The Fault Display shows the cause of the Warning The programmable warning messages are displayed when the value of the Parameter 30 4 and 30 12 is set as WARNING The default settings of the Programmable Fault Functions are given in Appendix Complete Parameter and default settings Table 7 1 contains the Warning messages their most likely causes and possible remedies An example of a Warning message is displayed in Figure 7 1 1L 50 0 1 ACS800 01 75 kW WARNING ACS 800 TEMP Figure 7 1 A Warning display The Warning does not have a direct effect on frequency converter operation The message disappears when any of the Control Pa
212. trol Type parameter 64 10 should be set to Motor Pot Start Dir A and Start Dir B contacts connects to amp 014 Increase contacts should be connected in parallel to DI2 activated by setting parameter 10 13 ACCELERATE SEL DI2 The Drive will start and accelerate on ramp towards or 100 speed if both direction and increase inputs are activated 7 closed If increase order is removed before reaching 100 speed drive will stop accelerating and run with the speed level reached With a new increase order the drive will continue to accelerate towards 100 96 If direction order is removed the drive will decelerate on ramp towards 0 speed Reclosing the direction contact before reaching 0 speed will stop deceleration and hold speed at the level reached Inputs Al1 and AI2 are inactive in this control mode Other inputs have normal functions Fast stop N DI 6 4 199 at fa 4 Increase DI 2 100 eae Drive speed ref lt Minimum ref gt lt Speed ref Fast stop 12 UJ reduced o Slowdown N DI 5 CRANE stand alone logic using Motor Pot control Figure 5 11 Crane Stand Alone logic in Motorised Potentiometer ACC 800 Firmware Chapter 5 Crane Program Description NOTE Motor pot mode does not work if drive is using Scalar control mode Step joystick reference mode 64 102 STEP JOYST When using a step type joystick havi
213. trument that the frequency converter is in fact discharged before beginning work The ACS 800 motor cable terminals are at a dangerously high voltage when mains power is applied regardless of motor operation There can be dangerous voltages inside the ACS 800 from external control circuits when the ACS 800 mains power is shut off Exercise appropriate care when working with the unit Neglecting these instructions can cause physical injury and death WARNING The ACS 800 introduces electric motors drive train mechanisms and driven machines to an extended operating range It should be determined from the outset that all equipment is up to these conditions Operation is not allowed if the motor nominal voltage is less than one half of the ACS 800 nominal input voltage or the motor nominal current is less than 1 6 of the ACS 800 nominal output current Proper attention should be given to the motor insulation properties The ACS 800 output comprises short high voltage pulses approximately 1 35 1 5 mains voltage regardless of output frequency This voltage can be increased up to 100 96 by unfavourable motor cable properties Contact an ABB office for additional information if multi motor operation is required Neglecting these instructions can result in permanent damage to the motor All insulation tests must be carried out with the ACS 800 disconnected from the cabling Operation outside the rated capacities should not be attempted N
214. ty cycle data e g 53 60 data please contact motor manufacturer for S1 data ABB Motors C M2AA 200 MLA 4 IEC 200 M L 55 3 o 8 En A Co 1L gt 0 0 0 99 START UP DATA 621203 Sa 6210 03 5 MOTOR NOM VOLTAGE Q IEC 34 1 d Nominal voltage Press PAR key Press Y to move to Parameter 99 5 Press ENTER Enter the value by and gt Press ENTER Allowed range gt 2 Un of ACS 800 refers to the highest voltage in each of the nominal voltage ranges 415 VAC for 400 VAC units 500 VAC for 500 VAC units and 690 VAC for 600 VAC units 11 gt 00 0 99 START UP DATA 6 MOTOR NOM CURRENT Note Enter exactly the value given on the nameplate Repeat the procedure for the following parameters Nominal current 99 6 1L gt 0 0 0 Allowed range 1 6 Ihd 2 Ihd of ACS 800 1 1 Nominal frequency 99 7 Range 8 300 Hz 800 Firmware Manual sess 88 Chapter 3 Start Up START UP FLOWCHART 99 8 1L 0 0 0 Range 1 18000 rpm 99 START UP DATA 8 MOTOR NOM SPEED Set the motor data exactly the same as on the motor nameplate should be the rated full load speed For example if the motor nominal speed is 1440 rpm on the nameplate setting the value of Parameter 99 8 MOTOR NOM SPEED to 1500 rpm
215. ue The tuning part is now activated for one autotune cycle 6 Start the drive with base speed reference from Local or External control in positive respectively negative direction and the motor will accelerate up to base speed The motor will keep at base speed for about 4 seconds for calculation to be completed If giving start and reference from External control place it s required to disconnect HIGH SPEED OK signal during Autotune in Standalone set par 64 3 100 Calculation is completed when actual signal no 24 TOTAL INERTIA is showing a non zero value Stop the drive 7 Read the actual signal no 24 TOTAL INERTIA on the panel Repeat this procedure 2 3 times in each direction and calculate the average value for parameter INERTIA TOTAL UP and INERTIA TOTAL DWN respectively 8 Set this value to parameter INERTIA TOTAL UP 68 4 or INERTIA TOTAL DWN 68 5 depending upon the direction Reconnect HIGH SPEED OK signal i e in Standalone set par 64 3 back to 98 9 Adjusting TQLIM UP and TQLIM DWN Connect a load equal to the highest load specified to operate to max field weakening 100 speed Lower parameters TQLIM UP and TQLIM DWN to a low value e g 40 Testrun from joystick giving full reference up resp down Check max speed reached If not equal to 100 than increase TQLIM UP resp TQLIM DWN in steps of 5 until reaching 100 speed each time 10 Now with this same load decrease TMAX 68 9 step by step and testrun
216. ue memory LOAD MEAS Starting torque reference is received from a PLC DS5 2 LOAD MEAS REF or from the extended RAIO analog input 2 connected e g from a load cell The Ext AI2 input is filtered with parameter 13 6 also used for Ext Al1 and scaling is done with par 64 9 TORQUE REF SCALE Parameter 64 9 2 0 gives following scaling Ext 2 10V corresponds to 200 starting torque reference NOTE signal LOAD MEAS SEL from Fieldbus command word must be set true to enable the fieldbus reference from DS5 2 The fieldbus DS5 2 reference and Ext AI2 reference are added together PAR 67 10 Starting torque reference is set fixed equal to value given in parameter 67 10 START TORQ REF SPEED REF TD t 0 LEF 3 ACC TIME FORW gt DEC TIME FORW gt lt S RAMP TC Speed ref 3 DEC TIME REV ACC TIME REV Reference handler 69 Figure 5 16 Reference Handler logic 5 38 ACC 800 Firmware Manual Chapter 5 Crane Program Description 5 6 11 Position measurement 70 The function module is used to give a position measurement from a pulse encoder input RTAC or NTAC Position measurement can be used in both Fieldbus and Stand alone modes The measurement can be synchronised to the value POS PRECOUNT sent from the supervisory controller either by signal PGMSYNC from the fieldbus Command word or from digital input hw sync parameter 10 6 SYNC SEL NOTE Hw sync from digital input
217. unication System DDCS ACC 800 Firmware Manual 5 53 Chapter 5 Crane Program Description 5 6 14 5 54 Electric shaft 73 The electric shaft control is used for synchronized operation of two drives For example two independent hoist machineries connected to the same load To use Electric shaft control both drives are required to have pulse encoder feedback They are also required to have fiber optic connection between channel 2 in Master and Slave drive RDCO 0x board needed Basic function is that position counter values from the Master and Slave drive are compared and the difference is controlled to zero by adding a speed correction reference positive or negative in Slave drive This correction is limited to 5 When stopping startorder 0 the correction is disabled below a speed set in parameter 73 6 ELSH CTRL MIN SPD but position difference is still measured and used for correction when new start order is given Correction P controller is adjusted with parameter 73 2 ELSHAFT GAIN Electric shaft control can be used in both Stand alone and Fieldbus mode Electric shaft control can be switched on or off with an external signal ELSHAFT ON using a digital input parameter 10 15 ELSHAFT ON SEL or fieldbus Aux command word DS5 1 4 signal FB ELSHAFT ON This external signal should be connected to both Master and Slave drive When Electric shaft control is switched on start orders and reference are only required
218. uous error value is corrected Too short integration time makes the control unstable Controller Output PT ETE Gain K 1 T Integration time gt 0 Derivation time 0 Error value t Ti Figure 6 6 Speed Controller Output after an error step when the error remains constant ACC 800 Firmware Manudl 621 Chapter 6 Parameters 3 DERIVATION TIME Derivative action boosts the controller output if the error value changes The longer the derivation time the more the speed controller output is boosted during the change The derivation makes the control more responsive for the disturbances If derivation time is set to zero the controller works as a controller otherwise as PID controller Gain 1 I Ti Integration time gt 0 Tp Derivation time gt 0 Ts Sample time period 2 ms Ae Error value change between two samples SEIEN et e Pepe Controller Output Error Value e Error value Ti Figure 6 7 Speed Controller Output after an error step when the error remains constant NOTE Changing this parameter is recommended only if a pulse encoder is used 4 ACC COMPENSATION Derivation time for compensation of acceleration In order to compensate inertia during acceleration the derivative of the reference is added to the output of the speed controller The principle of a derivative action is described in section
219. vant controller communication type if communicating via Advant controller Module bus port AC70 AC80 AC800M 410 with or AC450 with ENG DRIVE Engineered type of Advant communication e g Advant controller selections ACS 600 Eng or DRIENG Maximum 10 datasets direction possible i e all ACC 800 datasets 1 12 are accessable STD DRIVE Standard type of Advant communication e g Advant controller selections ACS 600 Std or DRISTD Maximum 2 datasets direction possible i e only ACC 800 datasets 1 4 are accessable ACC 800 Firmware Manul Chapter 6 Parameters 5 DSET BASE ADDRESS 6 FIELDBUS R TYPE 6 54 Dataset number of the first dataset used for fieldbus communication with the overriding control system e g Advant controller The dataset addressed by this parameter is the first dataset to the drive while the next dataset is the first dataset from the drive and so on 1 Dataset range is 1 12 Where dataset 1 3 5 amp 7 is to the drive and datasets 2 4 6 8 amp 12 is from the drive to PLC Used for example with AC800M ModuleBus if ABB Standard Drive type of drive unit is selected 10 Dataset range is 10 21 Where dataset 10 12 14 amp 16 is to the drive and datasets 11 13 15 17 amp 21 is from the drive to PLC Used for example with AC800M ModuleBus if ABB Engineered Drive type of drive unit is selected Possibility to preset ACC800 def
220. ve a speed ratio 3 6 6 4 0 5625 between Master and Slave To run the two drives together Electric shaft control on with the same rope speed 0 3 6 m min we should set parameter 73 3 Gear Numerator 36 and parameter 73 4 Gear Denominator 64 36 64 0 5625 Parameter 70 1 POS SCALE should be set to same value in both drives NOTE Parameter only active in Slave drive See the description above for parameter 73 3 If position error signal 2 26 between Master and Slave drive when Electric shaft control is on exceeds this value drives will trip and the Slave indicate ELECTR SHAFT fault Master will then also indicate FOLL FAULT Follower fault A Reset command to Master drive will reset both drives Unit is units e g mm according to scaling done in parameter 70 1 POS SCALE The parameter is only active in Slave drive Electric shaft control is only active at motor speeds without sign above this minimum speed level Meaning controller is inactive around zero speed e g during start and stop When passing this speed limit the controllers output is gradually released respectively removed i e ramped up during start resp ramped to zero during stop to make a smooth change Any accumulated position error when running below this speed limit e g when motors stopped will be controlled to zero as soon as motor is running above the minimum speed limit ELSH CTRL MIN SPD again The parameter is only
221. ve setting adjusts the load split between Master and Follower 10096 setting causes the Follower drive to produce the same percent of motor nominal torque as the Master drive i e 50 50 load split Window control together with the selection of ADD of Parameter 72 2 TORQUE SELECTOR form a speed supervision function for a torque controlled drive OFF Window control is off ON Window control is on This selection should be used only when Parameter 72 2 TORQUE SELECTOR is set to ADD Window control supervises the speed error value Speed Reference Actual Speed In normal operating range the window control keeps the speed controller input at zero The speed controller is evoked only if the speed error exceeds the value of Parameter 72 5 WINDOW WIDTH POS or the absolute value of the negative speed error exceeds the value of Parameter 72 6 WINDOW WIDTH NEG When the speed error goes outside the window the exceeding part of the error value is connected to the speed controller The speed controller produces a reference term relative to the input and gain of the speed controller Parameter 23 1 GAIN which the torque selector adds to the torque reference The result is used as the internal torque reference for CraneDrive For example in a load loss condition the internal torque reference of the drive is decreased preventing the excessive rise of motor speed If the window control were inactivated the motor speed would rise until a spe
222. ware Manual sss 241 Chapter 2 Overview of ACC 800 Programming and the CDP 312 Control Panel and 99 and the results of motor identification For more information please contact your local ABB representative 242 800 Firmware Manual Chapter 2 Overview of ACC 800 Programming and the CDP 312 Control Panel Drive Selection Mode In normal use the features available in the Drive Selection Mode are not needed these features are reserved for applications where several drives are connected to one Modbus Link Modbus Link is the communication link connecting the Control Panel and the CraneDrive Each on line station must have an individual identification number ID By default the ID number of the CraneDrive is 1 CAUTION The default ID number setting of the CraneDrive should not be changed unless it is to be connected to the Modbus Link with other drives on line Table 2 9 How to select a drive and change ID number Step Function Press key Display after key is pressed 1 To enter the Drive Selection Mode ACS 800 0005 3 Trolley ACXR7100 040930 ID NUMBER 1 2 To select the next view ACS 800 0005 3 The ID number of the station is Trolley changed by first pressing ENTER ACXR7100 040930 the brackets round the ID number ID NUMBER 1 appear and then adjusting the value with arrow buttons The new value is accepted with ENTER The power of the CraneDrive must be switched off t
223. ws the allowable parameter values The text following the table explains the parameters in detail Table 6 7 Group 21 Range Uni 1 START FUNCTION Conditions during motor ON DCMAGN order 1 START FUNCTION 2 CONST MAGN TIME 6 18 2 CONST MAGN TIME 30 ms 10000 Duration of pre magnetising ms CNST DC MAGN This parameter cannot be altered Sets the constant magnetising mode This is the fastest starting method if the motor is at a standstill The CraneDrive can provide full starting torque by pre magnetising the motor The optimal magnetising current is calculated on the basis of the parameters concerning the motor The pre magnetising time is defined by Parameter 21 2 CONST MAGN TIME Note This mode is always used with the ACC 800 Crane Control Software Defines the duration of the pre magnetising in the constant magnetising mode An approximate value for this can be calculated as the motor nominal power in kW multiplied by 4 Example For a 100 kW motor set parameter 21 2 CONST MAGN TIME 4 100 400 ms ACC 800 Firmware Manual Chapter 6 Parameters 6 2 8 Group 23 Speed Ctrl ACC 800 Firmware Manual These parameter values can be altered with the CraneDrive running The Range Unit column in Table 6 8 shows the allowable parameter values The text following the table explains the parameters in detail These parameters are not visible in the SCALAR control mode Table 6 8 Group 23 R
224. ypad Mode with the status row visible Change the Speed Reference value by pressing REF and then Press Start to start the motor Check that the motor is running in the desired direction Stop the motor by pressing To change the rotation direction of the motor 71 Disconnect mains power from the CraneDrive 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 2 Exchange the position of two motor cable phase conductors at the motor terminals or at the motor connection box 3 Verify your work by applying mains power and repeating the check as described above 1L gt 0 0 1 STANDARD DRIVE WARNING ID MAGN 1L 00 0 STANDARD DRIVE WARNING ID DONE 11 gt 1 SPEED XXXX rpm TORQUE xx CURRENT XX A ACC 800 Firmware Manual Chapter 3 Start Up 71 START UP FLOWCHART Press PAR Use and to scroll parameters Minimum speed 1L 0 0 0 um 20 LIMITS Enter the value by ENTER and or Press ENTER 1 MINIMUM SPEED Repeat the procedure for the following parameters 1 Maximum speed 1L 0 0 0 20 LIMITS 2 MAXIMUM SPEED 1 Acceleration times 1L 0 0 0 69 REFERENCE HANDLER 2 ACC TIME FORW 1 1L gt 0 0 0 69 REFERENCE HANDLER

ACS800 CraneDrive Control Firmware Manual ACC800 Crane

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