DCC800 1.4 - Kranovi - FirmwareManual+3AST004143R0501

DCS800
Firmware manual supplement

DCC800 Crane Application, version 1.40
DCC800 Crane Application Program 1.40
Firmware Manual Supplement

to be used with DCS800 firmware version 80x360
3AST004143R0501
EN
EFFECTIVE: 24.03.2011
Copyright © 2008 ABB. All rights reserved.

i
Table of Content
Table of Content
Safety instructions
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Warnings and notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
General safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Introduction to the manual

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Before you start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Reader . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Content . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Crane program description

Fieldbus mode operation (64.01 = False) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Input and output I/O signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
External connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Speed correction in Fieldbus mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Watchdog output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Parameter settings for Fieldbus mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Stand alone mode operation (64.01 = True) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Input and output I/O signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
External connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Control signals connection, Stand alone mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Parameter settings for the Stand alone mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Function module description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Position measurement (61) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Torque monitor (62) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Fast stop (63) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Crane (64) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Joystick mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Radio control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Motorized potentiometer control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Step joystick reference mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Step radio reference mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

3AST004143R0501 Table of Content
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Logic handler (65) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Logic handler logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Start and stop sequence, time diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Torque proving (66) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Power optimization (68) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Commissioning instructions for the power optimization. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Reference handler (69) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Reference handler logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Master/Follower (72) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Local control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
MasterCommandWord (signal 7.12) ......................................... 38
FollowerStatusWord (signal 8.17) ........................................... 38
Broadcast mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Fieldbus communication and Fieldbus words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Receive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Transmit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Shared motion 2 (80) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Signals and parameters

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Signal groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Group 1 Phys Act values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Group 2 SPC signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Group 7 Control words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Group 8 Stat/Limit words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Parameter groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Group 60 Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Group 61 Position measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Group 62 Torque monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Group 63 Fast stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Group 64 Crane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Group 65 Logic handler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Group 66 Torque proving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Group 68 Power optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Group 69 Reference Handler . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Group 72 Master/Follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Group 80 Shared motion 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Fault tracing
Fault signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Alarm signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Table of Content 3AST004143R0501
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Appendix A - Complete signal and parameter list and default settings

Physical actual values (group 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Speed controller signals (group 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Reference actual values (group 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Information (group 4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Analog I/O (group 5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Drive logic signals (group 6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Control words (group 7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Status/limit words (group 8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Fault/alarm words (group 9) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Start-up data (group 99) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Start/stop select (group 10) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Speed reference input (group 11) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Constant speeds (group 12) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Analog outputs (group 15) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
System control inputs (group 16) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Data storage (group 19) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Limits (group 20) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Start/stop (group 21) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Speed ramp (group 22) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Speed reference (group 23) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Speed control (group 24) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Torque reference (group 25) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Torque reference handling (group 26) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Fault functions (group 30) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Motor 1 temperature (group 31) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
DCS800 Control panel display (group 34) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
PID control (group 40) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Brake control (group 42) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Current control (group 43) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Field excitation (group 44) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Field converter settings (group 45) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
12-pulse operation (group 47) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Shared motion (group 49) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Speed measurement (group 50) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Fieldbus (group 51) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Modbus (group 52) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Digital inputs (group 60) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Position measurement (group 61) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Torque monitor (group 62) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Fast stop (group 63) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Crane (group 64) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Logic handler (group 65) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Torque proving (group 66) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

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Power optimize (group 68) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Reference handler (group 69) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
DDCS control (group 70) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Drive bus (group 71) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Master/Follower (group 72) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Shared motion 2 (group 80) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Events (group 81) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Adaptive program control (group 83) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Adaptive program (group 84) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Adaptive program output (group 86) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Internal (group 88) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Receiving data sets addresses 1 (group 90) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Receiving data sets addresses 2 (group 91) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Transmit data sets addresses 1 (group 92) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Transmit data sets addresses 2 (group 93) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
DCSLink control (group 94) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Measurement (group 97) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Option modules (group 98) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Appendix B - Signal and parameter cross reference list: DCC600 to DCC800
Appendix C - Signals and parameters, overwritten by the DCC800
Appendix D - User I/O interface diagrams

Table of Content 3AST004143R0501
1
Safety instructions
Overview
These safety instructions must be followed when installing, operating and servicing
the DCS800. If neglected, physical injury and death may follow, or damage may
occur to the DC converter, the motor and driven equipment. The material in this
chapter must be studied before attempting any work on, or with the unit.
Warnings and notes

This manual distinguishes between two kinds 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.
Warnings
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.
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.
Notes
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.

3AST004143R0501 Safety instructions
2
General safety instructions

These safety instructions are intended for all work on the DCS800.
WARNING! All electrical installation and maintenance work on the DCS800 should
be carried out by a qualified electrician.
The DCS800 and adjoining equipment must be properly earthened.
The DCS800 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 DCS800 from external control circuits
when the DCS800 mains power is turned off. Exercise appropriate care when
working with the unit. Neglecting these instructions can cause physical injury and
death.
WARNING! The DCS800 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.
All insulation tests must be carried out with the DCS800 disconnected from the
cabling. Operation outside the rated capacities should not be attempted. Neglecting
these instructions can result in permanent damage to the DCS800.

Safety instructions 3AST004143R0501
3
Introduction to the manual
Overview
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 DCC800 Firmware Manual Supplement is compatible with
DCC800 Application Software version 1.40 (signal 4.12).
The DCC800 1.40 complies with the DCS800 firware version 3.6
Software identification of DCS800 CraneDrive:
Motor Control Firmware 3.6 (signal 4.01, Firmware version)
+ Crane Application software 1.40 (signal 4.12, Application version)
Before you start

The purpose of this manual is to provide the information necessary to control and
program your DCS800 Crane Drive, from now on mentioned as DCC800.
Reader
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.
Content
• The 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.
• Introduction to the manual, the chapter you are reading now, introduces you to
the DCC800 Firmware Manual Supplement and conventions used throughout the
manual.
• Crane program description defines the Crane program by describing the included
crane specific functions and presenting them in a block diagram.
• Signals and parameters describes the actual signals and parameters of the drive.
• Fault tracing lists the fault and alarm messages with the possible causes and
remedies.
• Appendix A - Complete signal and parameter list and default settings
• Appendix B - Signal and parameter cross reference list: DCC600 to DCC800
• Appendix C - Signals and parameters, overwritten by the DCC800
• Appendix D - User I/O interface diagrams.

3AST004143R0501 Introduction to the manual
4
Revision history
The table below describes the updates of the different document revisions.
Revision Description Issued date/By
R01 New document 2008-04-21/GW
R02 Master/Follower function added. 2008-08-28/GW

Stand alone function added
R03 Valid firmware and application versions updated 2009-01-30/GW
R04 Several updates due to bug corrections. (See release 2009-06-09/GW

notes, 3AST004539R0601)
New Apx C. (Apx D was C)
R05 Start/Stop sequence diagram for fieldbus mode 2011-03-24/GW

added.
Master/Follower (group 72) description improved.
Minor textual improvements.
See also release notes, 3AST004539R0701)

Introduction to the manual 3AST004143R0501
5
Fieldbus mode operation (64.01 = False)

All drive commands and reference settings can be given from the control panel
keypad or selectively from an external control location.
The active control location is selected with the LOC REM key on the control panel
keypad. The drive is normally speed controlled.
In External Control, the control location is from the Fieldbus communication. The
reference signals, On/Start and so on, are connected to corresponding datasets, see
Fieldbus communication Receive on page 39 for details.
The mechanical brake is controlled from DO4 and the acknowledgement is
connected to DI6 as a default.
Example of digital input connections:
DI7 Sync, is position measurement synchronisation. DI4 is electrical disconnect.
Two analogue and five digital 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 for Fieldbus mode
Reference and Start/Stop
LOC 1470 rpm
Fieldbus comm 1470 rpm and Direction commands are
module 400 V given from the control panel.
40 A To change to External ctrl,
~ rpm Speed
DIR 11:21:01 P press LOC REM key at
MENU
rpm
Torque standstill.
= Relay
Outputs
REM 1470 rpm

1470 rpm Start/Stop commands and
Brake 400 V References are received
Motor M 40 A through the Fieldbus
=
RESET 11:21:04 P MENU communication
Input and output I/O signals

Example of input and output signals selected when Fieldbus mode is selected, that
is, a supervisory controller (PLC) is used:
Input signals Param. Output signals Param.
Converter fan ackn. (DI1) 10.20 Analogue Output AO1: Not selected 15.01
SnagLoad-N: (DI2) 60.12 Analogue Output AO2: Not selected 15.06
Main contactor ackn. (DI3) 10.21 Relay Output DO4: Brake Lift 1 14.07
Electrical disconnect: (DI4, Fixed) 10.08 Relay Output DO5: Watchdog-N 14.09
Brake Ackn 1: (DI6) 42.02 Relay Output DO8: Brake Lift 2 14.15
Sync: (DI7) 60.06
Brake Ackn 2: (DI8) 49.29

3AST004143R0501 Crane program description
6
External connections
The following connection example is applicable when the crane program is used in
Fieldbus mode.
External connections in Fieldbus mode
Term inal
IOB-21 & Function
CON-4
X6:1 DI 1 C onverter Fan ackn. (def.)

X6:2 DI 2 SnagLoad-N (def.)
X6:3 DI 3 Main Contactor Ackn. (def.)
X6:4 DI 4 Electrical disconnect (Fixed)
X6:5 DI 5 ”programmable”
X6:6 DI 6 Brake Acknow ledge 1 (def.)
X6:7 DI 7 Sync. (def.)
X6:8 DI 8 Brake Acknow ledge 2 (def.)
X7:3,4 +48V IOB-21: 48Vdc, max 50 m A
X6:9 +48V C ON -4: 48Vdc, max 50 mA
Term inal
+24V Com. IOB-21 Function
Fan X4:1 DO 1 C onverter Fan order (def.)

Contactor X4:2
Field exc. X4:3 DO 2 Field exciter order (def.)

Contactor X4:4
X4:5 DO 3 Main Contactor order (def.)

X4:6
Brake X4:7 DO 4 Brake Lift 1 (def.)

Contactor
X4:8
E-Stop
Contactor X5:1 DO 5 W atchdog_N (def.)
X5:2
X5:3 DO 6 ”programmable”
X5:4 (transistor output)
X5:7 DO 8 Brake Lift 2 (def.)

X5:8

Crane program description 3AST004143R0501
7
Control signals connection in Fieldbus mode
FIELDBUS
DataSet1,
Word 1
Bit 2 and 4 EXTERNAL SPEED CONTROLLER
MAX
DataSet 1, M1SpeedMin 20.01
23.01 SPEED REF SELECTOR
Word 2 M1SpeedMax 20.02
Power
SELECT optimiza-
DS1.1 TORQ. CTRL tion SPEED CONTROL
Bit 7
KEYPAD Group 24
DataSet 1,
TORQUE REF
Word 3
TORQUE CONTROLLER
SPEED CORR.
DS3,2 TorqMax 20.05
DCS CP TORQ REFERENCE

PANEL Group 25
REF. WITH SIGN
LOC
REM
EXTERNAL
ON/START
KEYPAD

8
Speed correction in Fieldbus mode

In Fieldbus mode there is a possibility to send a speed correction reference (a "non-
ramped" reference added to the ramp unit output), to the drive:
In the Fieldbus communication interface, DataSet 12 (alt. 3), Word 2 is normally
connected as a speed correction input signal (20 ms updating time).
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 20.01 and 20.02).
When using speed correction, make sure that:
13.09, AI3 High Value = 0
and
13.10, AI3 Low Value = 0
Watchdog output signal

The WATCHDOG-N signal, FBAuxStatusWord (8.16) bit 9, is set “False” if any of the
following occurs:
• MasOscFault (fieldbus communication fault)
• Brake Long Falltime indication (brake not closing at stop). In FBStatusWord
(8.15), bit 13.
• CPU stalls out
As default, the WATCHDOG-N signal is connected to DO5 (parameters DO5Index
(14.09) and DO5BitNo (14.10)). The digital output should be wired into the crane’s E-
stop circuit.

9
Parameter settings for Fieldbus mode

* 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 - Complete signal and parameter list and default settings.
Parameter settings for the Fieldbus mode
Parameter Value Parameter Value *
99 START-UP DATA 42 BRAKE CONTROL (continued)
99.02 M1NomVolt 350.0 V * 42.12 M1BrakeLongTime 4s
99.03 M1NomCur 0.0 A * 42.13 M1BrakestopDly 1s
99.04 M1BaseSpeed 1500.0 rpm *
99.09 DeviceName “Device name” 50 SPEED MEASURING
99.10 NomMainsVolt (97.01) / (97.03) V 50.02 M1EncMeasMode A_-_B_-_
99.11 M1NomFldCur 0.3 A * 50.03 M1SpeedFbSel CALC BY EMF *
99.12 M1UsedFexType OnBoard 50.04 M1EncPulseNo 1024 *
50.06 SpeedFiltTime 5 ms
20 LIMITS
20.01 M1SpeedMin -1500 rpm * 51 FIELDBUS
20.02 M1SpeedMax 1500 rpm * 51.1 Module Type (module type)
20.05 TorqMax 100 % TN * 51.2 …51.33
20.06 TorqMin -100 % TN *
20.12 M1CurLimBrdg1 100 % lm * 60 DIGITAL INPUTS
20.13 M1CurLimBrdg2 -100 % lm * 60.02 Zero Pos Sel Not Used
20.14 ArmAlphaMax 150 deg 60.03 SlowDown-N Sel Not Used
20.15 ArmAlphaMin 15 deg 60.04 FastStop-N Sel Not Used
60.06 Sync Sel Not Used *
24 SPEED CONTROL 60.08 Step Ref2 Sel Not Used
24.03 KpS 10.0 * 60.09 Step Ref3 Sel Not Used
24.09 TiS 300 ms * 60.10 Step Ref4 Sel Not Used
24.12 DerivTime 0 ms 60.11 High Speed Sel Not Used
24.14 AccCompDerTime 0s 60.12 Snag Load-N Sel Not Used
60.13 Accelerate Sel Not Used
42 BRAKE CONTROL 60.14 Step Ref5 Sel Not Used
42.01 M1BrakeCtrl On 62.15 Shared Motion Sel Not Used
42.02 M1BrakeAckSel NotUsed *
42.03 M1BrakeRefDly 0.1 s * 61 POS MEASURE
42.04 M1ZeroSpeedDly 0s * 61.02 Pos Scale 100.00 PPU
42.05 M1BrakeFltTime 1s 61.03 Sync Cond Pos
42.06 BrakeFaultFunc Fault

10
Parameter Value Parameter Value *

42.07 StrtTorqRefSel NotUsed * 62 TORQUE MONITOR
42.08 StrtTorqRef 100 % 62.01 Torque Mon Sel True
42.09 BrakeEStopMode Disable 62.02 Speed Dev Lev 10 %
42.10 M1TorqProvTime 0s 62.03 Torque Fault TD 600 ms
42.11 M1BrakeLiftDly 0s 62.04 Sp Der Blk Lev 7.5 %/s *
63 FAST STOP 69 REFERENCE HANDLER
63.01 FastStop Type 11 NotUsed 69.02 Acc Time Fwd 5.0 s *
63.02 FastStop Type 12 NotUsed * 69.03 Acc Time Rev 5.0 s *
69.04 Dec Time Fwd 5.0 s *
64 CRANE 69.05 Dec Time Rev 5.0 s *
64.01 Stand Alone Sel False 69.07 Ramp Scale Local 2.0
* 69.10 Ramp Rate=1 True
69.11 ExtEmfRef 44.22 95%
66 TORQUE PROVING
66.03 Torq Prov Ref 20 % 70 DDCS CONTROL
66.04 Regen Test Sel True 70.01 Ch0 NodeAddr 1 *
70.04 Ch0 TimeOut 300 ms
68 POWER OPTIMIZE 70.22 Ch3 NodeAddr 1
68.01 PowOp Select False 70.24 Ch0 DsetBaseAddr 1 *
68.02 Base Speed 100.0 % *
68.03 PowOpAutotuneSel False * 98 OPTION MODULES
68.04 InertiaTotalUp 3 kgm2 98.02 CommModule Not used *
2
68.05 InertiaTotalDown 3 kgm * 98.15 IO BoardConfig IOB2+3 *
68.06 TorqLimUp 100 % *
68.07 TorqLimDown 75 % *
68.08 PowOpResetLevel 12 % *
Stand alone mode operation (64.01 = True)

All drive commands and reference settings can be given from the control panel
keypad or alternatively from an external control location.
The active control location is selected with the LOC REM key on the control panel
keypad. The drive is speed controlled.
In External control, the control location is the basic I/O. The reference signal is
connected to analogue input AI1, and On/Start and Direction signals are generated
from digital inputs DI2 …DI8.

11
One DI is used for connecting slowdown limit switches in series, and one DI is used
for Fast stop order from mechanical overload and slack rope indications.
The mechanical brake is controlled from e.g. DO4 and the acknowledgement is
connected to e.g. DI6.
Two analogue and five digital 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: between drive and PLC is
available also in stand alone mode by enabling parameter CommModule (98.02).
Operation diagram for Stand alone mode
LOC 1470 rpm Reference and Start/Stop and
1470 rpm Direction commands are given
Input 400 V
Power 40 A
from the control panel. To
Ext. Controls change to External ctrl, press
DIR 11:21:01 P MENU LOC REM key at standstill.
~ rpm Speed
rpm
Torque
Relay
= REM 1470 rpm Speed reference is read from
Outputs
1470 rpm analogue input AI1
400 V (Terminal Block X21). On/
40 A
Start and Direction com-
Brake RESET 11:21:04 P MENU mands are generated from
Motor M
=
Input and output I/O signals

Input and output I/O signals as default assigned by the Crane program (For more
details, see Crane (64) on page 20–28.):
Input signals Param. Output signals Parameter
Converter fan ackn. (DI1) 42.04 Analogue Output AO1: Not selected 15.01
Zero Pos: (DI2) 60.12 Analogue Output AO2: Not selected 15.06
Main contactor ackn. (DI3) 10.21 Relay Output DO4: Brake Lift 1 14.07
Electrical disconnect: (DI4) Fixed Relay Output DO5: Watchdog-N 14.09
Brake Ackn 1: (DI6) 10.08
Start Dir A: (DI7) Fixed
Start Dir B: (DI8) Fixed
Slow Down-N: (DI9) 60.03
Fast Stop-N: (DI10) 60.04
Speed Rf: (AI1) Fixed
Torque Ref: (AI2) Fixed
Speed Corr: (AI3) Fixed

12
External connections
The following connection example is applicable when the Crane program with Stand
alone control mode and Joystick control is used.
External DI connections to DCC800 in Stand alone mode, Joystick control
Terminal Function
IOB-21 &
CON-4
X6:1 DI 1 Converter Fan ackn. (def.)
X6:2 DI 2 Zero Pos
X6:3 DI 3 Main Contactor Ackn. (def.)
X6:4 DI 4 Electrical disconnect (fixed)
X6:5 DI 5 Programmable
X6:6 DI 6 Brake ackn. (def.)
X6:7 DI 7 Start Dir A (Fixed)
X6:8 DI 8 Start Dir B (Fixed)
X7:3,4 +48 V IOB-21: 48 V DC, max 50 mA
X6:9 +48 V CON-4: 48 V DC, max 50 mA
Terminal Function
24 VDC RDIO-xx
X11:1 DI 9 Slow down limits = Slowdown-N
X11:2
X12:1 DI 10 Fast stop-N
X12:2
X12:3 DI11 STEP REF 2
X12:4
0 VDC
Terminal Function
24 VDC RDIO-xx
X11:1 DI 12 STEP REF 3
X11:2
X12:1 DI 13 STEP REF 4
X12:2
X12:3 DI14
X12:4
0 VDC

13
External AI, AO and DO connections to DCC800 in Stand alone mode, Joystick

control
Terminal Terminal
IOB-3 CON-4 Function
X4:7 X4:4 Vref. Reference voltage 10 VDC

Fo rwar d max 5 mA
X4:8 X4:3 GND
X3:4 X3:6 AI 1+ Speed reference
Rever se 0…10V <-> 0 …100%
X3:3 X3:5 AI 1-
TE
X3:6 X3:8 AI 2+ Torque reference
0…10V <-> 0 …Tmax
X3:5 X3:7 AI 2-
X3:8 X3:10 AI3+ Speed Correction
+/-10V <-> +/- 100%
X3:7 X3:9 AI3-
rpm X4:1 X4:7 AO1+ Speed
-10V … +10V <-> -100 …100%
X4:2 X4:6 AO1-
Nm X4:3 X4:8 AO2+ Torque
-10V …+10V <-> -Tn…+Tn
X4:4 X4:6 AO2-
TE
Terminal
+24V Com. IOB-21 Function
Fan X4:1 DO 1 Converter Fan order

Contactor X4:2
Field exc. X4:3 DO 2 Field exciter order

Contactor X4:4
Brake X4:5 DO 3 Main Contactor order X4:6

Contactor X4:6
E-Stop X4:7 DO 4 Brake lift 1 (def.)

Contactor X4:8
X5:1 DO 5 Watchdog_N (def.)

X5:2
X5:7 DO 8 Brake lift 2 (def.)

X5:8

14
Control signals connection, Stand alone mode
STAND
ALONE
DI 2, DI 5-8 EXTERNAL SPEED CONTROLLER

Ext DI 9-14 SPEED REF
MAX
M1SpeedMin 20.01
SELECTOR
CRANE M1SpeedMax 20.02
MODULE
SPEED Power
AI.1
REF optimiza-
tion SPEED CONTROL
KEYPAD Group 24
AI.2 TORQUE REF TORQUE

REF
TORQUE CONTROLLER
SPEED CORR
AI.3
MAXIMUM TORQUE
DCS CP TORQ REFERENCE

PANEL Group 25
REF. WITH SIGN
LOC
REM
EXTERNAL ON/START
KEYPAD

15
Parameter settings for the Stand alone mode

* 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 - Complete signal and parameter list and default settings.
Listing of parameters typically requiring changes during start-up. Stand alone mode.
Parameter Value * Parameter Value *
99 START-UP DATA 42 BRAKE CONTROL (continued)
99.01 Language English 42.10 M1TorqProvTime 0s
99.02 M1NomVolt 350.0 V * 42.11 M1BrakeLiftDly 0s
99.03 M1NomCur 0.0 A * 42.12 M1BrakeLongTime 4s
99.04 M1BaseSpeed 1500.0 rpm * 42.13 M1BrakestopDly 1s
99.09 DeviceName “Device name”
99.10 NomMainsVolt 400 V * 50 SPEED MEASUREMENT
99.11 M1NomFldCur 0.3 A * 50.01 M1SpeedScale 0 rpm *
99.12 M1UsedFexType Onboard * 50.02 M1EncMeasMode A_-_B_-_
50.03 M1SpeedFbSel CALC BY EMF *
20 LIMITS 50.04 M1EncPulseNo 1024 *
20.01 M1SpeedMin -1500 rpm * 50.06 SpeedFiltTime 5 ms
20.02 M1SpeedMax 1500 rpm *
20.05 TorqMax 100 % TN * 60 DIGITAL INPUTS
20.06 TorqMin -100 % TN * 60.02 Zero Pos Sel Not Used *
20.12 M1CurLimBrdg1 100 % lm * 60.03 SlowDown-N Sel Not Used *
20.13 M1CurLimBrdg2 -100 % lm * 60.04 FastStop-N Sel Not Used *
20.14 ArmAlphaMax 150 deg 60.06 Sync Sel Not Used *
20.15 ArmAlphaMin 15 deg 60.08 Step Ref2 Sel Not Used *
60.09 Step Ref3 Sel Not Used *
24 SPEED CONTROL 60.10 Step Ref4 Sel Not Used *
24.03 KpS 10.0 * 60.11 High Speed Sel Not Used *
24.09 TiS 300 ms * 60.12 Snag Load-N Sel Not Used *
24.12 DerivTime 0 ms 60.13 Accelerate Sel Not Used *
24.14 AccCompDerTime 0s 60.14 Step Ref5 Sel Not Used *
60.15 Shared motion Sel Not Used
42 BRAKE CONTROL
42.01 M1BrakeCtrl On 61 POS MEASURE
42.02 M1BrakeAckSel NotUsed * 61.01 Pos Meas Enable True
42.03 M1BrakeRefDly 0.1 s * 61.02 Pos Scale 100.00 PPU
42.04 M1ZeroSpeedDly 0s * 61.03 Sync Cond Pos
42.05 M1BrakeFltTime 1s
42.06 BrakeFaultFunc Fault
42.07 StrtTorqRefSel NotUsed *
42.08 StrtTorqRef 100 %
42.09 BrakeEStopMode Disable

16
Parameter Value * Parameter Value *

62 TORQUE MONITOR 68 POWER OPTIMIZE
62.01 Torque Mon Sel True 68.01 PowOp Select False
62.02 Speed Dev Lev 10 % 68.02 Base Speed 100.0 %
62.03 Torque Fault TD 600 ms 68.03 PowOpAutotuneSel False
62.04 Sp Der Blk Lev 7.55 s * 68.04 InertiaTotalUp 3 kgm2
68.05 InertiaTotalDown 30 kgm2 *
63 FAST STOP 68.06 TorqLimUp 100 % *
63.01 FastStop Type 11 NOT USED 68.07 TorqLimDown 75 % *
63.02 FastStop Type 12 NOT USED * 68.08 PowOpResetLevel 12 %
*
64 CRANE 69 REFERENCE HANDLER
64.01 Stand Alone Sel False * 69.02 Acc Time Fwd 5.0 s *
64.02 Continuous Gear False 69.03 Acc Time Rev 5.0 s *
64.03 HighSpeedLevel 1 98.0 % 69.04 Dec Time Fwd 5.0 s *
64.04 Dead Zone A 0% * 69.05 Dec Time Rev 5.0 s *
64.05 Dead Zone B 0% 69.07 Ramp Scale Local 2.0
64.06 Reference Shape 20 69.10 Ramp Rate=1 True
64.07 SlowDownSpeedRef 25 % * 69.11 ExtEmfRef 44.22 95%
64.08 ZeroPosOk TD 0.3 s *
64.09 Torque Ref Scale 1.00 * 98 OPTION MODULES
64.10 Control Type Joystick * 98.02 CommModule Not used *
64.11 Minimum Ref 0.0 % 98.03 DIO ExtModule1 Not used *
64.12 Joystick Warn TD 400 ms 98.04 DIO ExtModule2 Not used *
64.13 Step Ref Level 1 10.0 %
64.14 Step Ref Level 2 25.0 % 98.06 AIO ExtModule Not used *
64.16 Step Ref Level 4 100.0 % 98.15 IO BoardConfig IOB2+3 *
64.18 Speed/Torque Ctrl Speed

64.19 Slow Down Mode Single Dir
66 TORQUE PROVING *
66.03 Torq Prov Ref 20 %
66.04 Regen Test Sel False *

17
Function module description
Position measurement (61)

The function module is used to give a position measurement from a pulse encoder
input. Position measurement can be used in both Fieldbus and Stand alone modes.
Parameter 61.01 defines if the measurement method used is the standard DCS800
(see the DCS800 Firmware manual), or the crane control method (61.01=TRUE),
described below.
The measurement can be synchronised to the value of signal FBPosPrecountPPU
(2.44) sent from the supervisory controller, either by the signal PGM SYNC from the
FBCommandWord (7.10) or from the digital input hw-sync (parameter 60.06 Sync
Sel, or 80.10 Sync Sel2 (for shared motion, group 80)).
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 SYNC through e.g. DI7 can be blocked if HW SYNC
INHIBIT from supervisory controller = "1". Synchronising edge of DI7 is selected with
parameter Sync Cond (61.03).
The measurement value PosActPPU (1.54) sent to the supervisory controller is the
number of pulses counted divided with the value of parameter Pos Scale (61.02).
The number of pulses counted depends upon the settings of parameters
M1EncMeasMode (50.02) and M1EncPulseNo (50.04). The default setting of the
M1EncMeasMode parameter is that both positive and negative edges from both A
and B signals are counted.
Example: If 50.04 is set to 1024 ppr and 50.02 is set to default: "A_-_B_-_", then a
total of 4*1024=4096 pulses are added per revolution of the pulse encoder.

18
Position measurement logic

MOT2 8.16 bit 14 8.15 bit 11 SYNC
SYNC SEL2 80.10
SYNC SEL 60.06
SYNC COND 61.03

Active Enc/Enc2
DI1
DI2
ENC
.
0
.
&
.
>1 0
DI14 ENC2
HW SYNC INHIBIT 7.10 bit 12
RUNNING
PGM SYNC 7.10 bit 11
8.15 bit 12 SYNC RDY
SYNC RDY 8.02 bit 5
POS PRECOUNT PPU 2.44

ADD
ENC1L 1.54 POS ACT PPU
3.07 PULSE
COUNTER DIV DS4.2 POS ACT PPU
ENC1H 3.08
ENC2L 3.05 PULSE

ENC2H COUNTER
3.06
MOTOR2 8.16 bit 14
POS SCALE 2 80.31
POS SCALE 61.02
RESET SYNC RDY 7.10 bit 13 7.02 bit 11 RESET SYNC RDY
Torque monitor (62)

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
acceleration/deceleration and without excessive speed error during acceleration/
deceleration and normal running.
For the supervision to be active, Torque Mon Sel (62.01) has to be set to "True".
If the absolute value of the speed error (SPEED REF4 - SPEED ACT) is higher than
parameter Speed Dev Lev (62.02) for a time longer than Torque Fault TD (62.03),
the drive trips for torque fault, indicating fault to panel, Fieldbus and fault logger.

19
Parameter Sp Der Blk Lev (62.04), rate of actual speed change in % per second,
can be set so that it blocks the protection during acceleration/deceleration. As long
as the actual rate of change (derivative) of the motor speed during acceleration/
deceleration is faster than the setting of parameter Sp Der Blk Lev, the torque fault
protection is blocked.
Example: The acceleration ramp time is set to e.g. 5 seconds. With Sp Der Blk Lev
set to 7.5 s, the drive will not trip for torque fault if reaching torque limit during
deceleration, as long as the actual deceleration time (100–0%) is below
7.5 seconds.
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:
Type of fast stop Description

Fast stop 1 With torque limit only
Fast stop 2 With torque limit and mechanical breaking
Fast stop 3 With mechanical breaking only
Note that fast stop is not to be mixed up with emergency stop.

NOTE: Fast stop functions are not active when in Local control!
To run the drive again after reaching zero speed, the START-signal must be reset
before accepting a new start-order.
There are two input signals from the Fieldbus communication module
(FBCommandWord 7.10), FAST STOP 1 and FAST STOP 11, to order fast stop:
• FAST STOP 1 = "1" gives fast stop 1
• FAST STOP 11 = "1" gives a fast stop per selection parameter FastStop type11
(63.01)
To use FAST STOP 11 for: … set FastStop Type 11 (63.01) equal to:
Fast stop 1 FAST STOP 1
When using Stand alone mode, the parameter FastStop Type 12 (63.02) can be
programmed to give anyone of the three types of fast stop. The fast stop is activated
by digital input, e.g. DI 10 (FAST STOP-N) = “0” (see function module Crane (64) on
page 20 for more details).
For settings of FastStop Type 12 (63.02), see FastStop type11 (63.01) above.

20
Crane (64)
General
Stand alone default I/O signal interface and functions.
Signal Input Function
(DI set in Group60)
ZERO POS DI2 Zero position contact from joystick
START DIR A DI7 (fixed) Direction A (pos.) from joystick, to be connected
in series with Stop Lim A and contact from
mechanical overload protection equipment
START DIR B DI8 (fixed) Direction B (neg.) from joystick, to be connected
in series with Stop Lim B and contact from slack
rope protection equipment
SLOWDOWN-N Ext DI9 Slow down limits A and B. Direction from START
DIR inputs. After a power down (CPU init), only
slow speed is possible until this input is "1"
FAST STOP-N Ext DI10 Fast stop signal to the converter
SPEED REF AI1 (fixed) Speed reference signal from joystick.
0–10 V for 0–100 %
TORQ REF AI2 (fixed) Torque reference signal from joystick. 0–10 V for
0 to maximum torque reference (maximum set
with parameter Torq ref scale (64.09))
SPEED CORR AI3 (fixed) Speed correction signal from e.g. electric shaft
control unit. 0 – (+/-)10 V for 0 – (+/-)100% speed
correction signal
BRAKE LIFT DO4 Output to brake contactor
WATCHDOG-N DO5 Closed contact indicates "healthy" drive. Open
contact makes hardwired emergency stop; main
contactor(s) off and brakes on.
START
The drive starts 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.
SLOWDOWN
The SLOWDOWN function allows for the drive to decelerate to a preset slow speed
when, for instance, a limit switch connected to a digital input is actuated.
Single Direction SlowDown
a) One digital input used to activate the slowdown function:
When the parameter SlowDownMode (64.19) is set to SingleDir, and if the selected
SLOWDOWN-N (60.03) input (for instance Ext DI9) is set to zero, then the speed
decelerates to the preset level – SlowDownSpeedRef (64.07) .

21
The converter remembers the motion direction and allows full speed in the opposite
direction, as long as the auxilliary supply voltage (CON-4 board supply) is not
switched off.
If this supply voltage is switched off and the input SLOWDOWN-N = "0", then only
the preset slow speed is allowed in both direction.
If SLOWDOWN-N goes from "1" to "0" during standstill, then only the preset slow
speed is allowed in both directions.
b) Two digital inputs used to activate the slowdown function:
When the parameter SlowDownMode (64.19) is set to SingleDir, and if the selected
SLOWDOWN-N (60.03) input is, for instance, DI2_DI5, then the speed decelerates
to the preset level – SlowDownSpeedRef (64.07) – in the following cases:
- If DI2 is set to zero, then the slow speed in forward direction is activated.
- If DI5 is set to zero, then the slow speed in backward direction is activated.
When DI2 is set to zero, (forward slow down) full speed is still allowed in backward
direction.
When DI5 is set to zero, (backward slow down) full speed is still allowed in forward
direction.
Dual direction SlowDown:

a) One digital input used to activate slowdown:
When the parameter SlowDownMode (64.19) is set to DualDir, and the selected
SLOWDOWN-N (60.03) input (for instance Ext DI9) is set to zero, then the speed
decelerates to the preset level – SlowDownSpeedRef (64.07). Only the preset slow
speed is allowed in both directions.
Motor 2 slowdown direction is selected in parameter SlowDownMode2 (80.11).
b) Two digital inputs used to activate slowdown:
When the parameter SlowDownMode (64.19) is set to DualDir, and any of the
selected SLOWDOWN-N (60.03) inputs (for instance DI2_DI5), is set to zero, then
the speed decelerates to a preset level – SlowDownSpeedRef (64.07). Only the
preset slow speed is allowed in both directions.
Backward slowdown Normal speed area Forward slowdown
area area
Backward Backward Forward Forward

end stop Slow down Slow down end stop
Backward slow Backward slow Forward slow down Forward slow down
down area and down area and area and running area and running
running backward running forward backward forward
Singel direction Low speed Normal speed Normal speed Low speed
Slow down
Dual direction Slow Low speed Low speed Low speed Low speed
down

22
FAST STOP
When the FAST STOP-N input, e.g. Ext DI10, changes to "0" (activates on a
negative edge) while running, the drive is fast stopped (active in both speed and
torque control). Three alternatives can be selected by parameter FastStop Type 12
(63.02), see Fast stop (63) on page 19.
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 ZeroPosOk TD (64.08), the drive is allowed to start. That is, the joystick
must be returned to the neutral position for a minimum of 0.3 seconds (default value)
before starting in other direction is possible.
To avoid running in the same direction (hoisting after overload indication or lowering
after slack rope indication), the appropriate direction input must be wired in series
with an additional contact from the protection equipment. These contacts must be
normally open (NO) which are closed when the protection equipment is energised
and opens when a fault occurs.
TORQUE CONTROL
Activated when the voltage level of input AI2 TORQ REF the first time (after each
power on) passes the level 1 V, and if the speed reference to AI1 is below 1 V.
Speed reference is activated the first time AI1 passes the level 1 V (and after each
power on = default).
If both inputs are above limit, then speed control is active.
Updating time for speed and torque references are 20 ms.
SPEED CORRECTION
The additional speed reference input, Speed correction (AI3), 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 an "electric shaft" control unit. The updating
time is 20 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.
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 M1SpeedMin (20.01) & M1SpeedMax (20.02)).
WATCHDOG
The signal WATCHDOG-N (digital output 5 as default) is used to indicate a healthy
drive. This output is zero-set if the software detects any of the following faults:
• Fieldbus communication fault
• Brake long falling time
• CPU stalls out
If this relay output contact opens, the supply contactor to the converter must
immediately be opened and the mechanical brakes applied by removing power from
the brake contactor = emergency stop of the crane drive.

23
Joystick mode
When connecting a joystick directly to the drive I/O, parameter Control Type (64.10)
should be set to "Joystick" (default).
Crane stand alone logic using Joystick control type.
Fast stop-N (DI 5) Trigg
Speed ref < 5% S Fast stop 12

& R
<Zero Pos OK TD>

t 0
Zero speed S
&
Running R
Zero pos (DI 2)

Dir A (DI 7)
Dir B (DI 8) & &
<Joystick Warn TD>
_>1 t 0
&
=1 Start
& &
&
1V
Speed ref (AI 1) MAX Drive speed ref.

<Deadzone>
<Ref. shape>
<Minimum Ref.> <Speed ref.

reduced>
“0”
Slowdown-N (DI 9) INV

<Abcd> = Parameter

24
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 DI7 (Start Dir A) for
positive reference and DI8 (Start Dir B) for negative reference.
REFERENCE CURVE
The joystick for giving reference has parameters for setting the deadzone in direction
A and B (Dead Zone A (64.04) and Dead Zone B (64.05)).
Reference shape (64.06) is used for giving the reference a parabolic shape:
Setting of REF SHAPE parameter Reference curve shape
“0” straight line
“20” x2 curve
“100” x3 curve
JOYSTICK CHECKS
If any of the following conditions occur for a duration longer than Joystick Warn TD
(64.12):
• START DIR A= "1" and START DIR B="1" at the same time,
• SPEED REF is > 1 V or TORQUE REF is > 1 V when the joystick is in the neutral
position (ZERO POS = "1", DIR A = "0" and DIR B = "0") (this indicates a possibly
loose ground connection),
then the drive is ramp stopped and prevented from a new start until the joystick is
moved back to the neutral position. That is, zero position must be indicated for
longer than the time set by ZeroPosOk TD (64.08).
The panel also indicates this with an alarm text: "WARNING JOYSTICK".

25
Radio control mode

If the joystick is connected to and monitored by an external unit such as a Radio
controller or PLC, then control type "Radio Control" (set by parameter Control Type
(64.10)) can be used. The differences from "Joystick” control are:
• The ZERO POS input signal (e.g. DI2) is not used/required.
• If receiving both direction orders START DIR A and START DIR B at the same
time, the start order and reference are interlocked while the error occurs, but no
indication is given to the panel nor any requirement for both signals to be zero
before releasing the interlock
• No check of reference level is made before responding to the start order.
Reference inputs for speed, torque, and speed correction reference (AI1-AI3) have
the same scaling and functions as in "Joystick" control mode.
CRANE stand alone logic using Radio control
Speed ref < 5% S Fast stop 12

& R
Zero speed
Dir A (DI 7)
&
Dir B (DI 8)
Start
=1 &
Speed ref (AI 1) MAX Drive speed ref.

reduced>
“0”

26
Motorized potentiometer control mode

If using (for example) a pendant controller with push-buttons for start and increase
speed, then parameter Control Type (64.10) should be set to "Motor Pot".
START DIR A and START DIR B contacts connects to DI7 & DI8. "Accelerate"
contacts could be connected in parallel to e.g. DI2.
The drive will start and accelerate on ramp towards (+ or -) 100 % speed in both
directions if the accelerate input is activated (= closed). If the accelerate order is
removed before reaching 100 % speed, the drive will stop accelerating and run with
the speed level reached. With a new accelerate order, the drive will continue to
accelerate towards 100 %.
If the 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 the speed at the level reached.
Inputs AI1 and AI2 are inactive in this control mode. Other inputs have normal
functions.
Crane Stand alone logic using Motorized potentiometer control
S Fast stop 12
Zero speed & R
Dir A (DI 7)
&
Dir B (DI 8)
Start
=1 &
Accelerate (DI 2)
100% MAX Drive speed ref.
Ramp output

reduced>
“0”

27
Step joystick reference mode

When using a step type joystick, having reference contacts instead of an analogue
potentiometer, the control mode “Step joyst” (set by parameter Control Type (64.10))
should be used.
Up to five different speed levels are supported: Direction order giving the first speed
level and 4 additional contacts for different speed levels. Contacts can be connected
to selectable digital inputs (including extended I/O modules), see parameters
Step Ref2 Sel (60.08), Step Ref3 Sel (60.09), Step Ref4 Sel (60.10) and
Step Ref5 Sel (60.14).
The corresponding speed reference levels are set with parameters
Step Ref Level 1 (64.13) up to Step Ref Level 5 (64.20).
All lower step reference contacts must remain closed for the next level to be active.
Example: when closing the contact corresponding to Step reference level 4, the
contacts for level 2 and level 3 must still be closed.
Note that a Zero pos signal from joystick is required in this mode, similar to control
mode JOYSTICK. Joystick monitoring function is active.
Step radio reference mode

When using a radio controller or PLC having step reference output contacts, the
control mode “Step radio” (set by parameter Control Type (64.10)) can be used. Up
to five different speed levels are available.
Digital inputs and speed reference levels are selected as described above in Step
joystick reference mode.
A Zero Pos input signal is not required in this control mode. Joystick monitoring is
not active.

28
Logic handler (65)

Contains logic for On, Off, and Start order.
On is the contactor On command, and the Start command releases speed and
torque controllers. To get an On command to the converter, the signal ON must
become "1". This can only be obtained if no Off order is issued, that is, if:
• Electrical disconnect (DI4) = "1".
• The converter is not tripped (FAULT = "0")
• The button "0" at the panel is not pushed (LOCAL OFF = "0")
An On command is given either in local mode with the panel LOCAL ON (I) or in
remote mode with the signal DRIVE ON (Fieldbus mode) or START DIR A/ START
DIR B (stand-alone mode) to get the signal ON. When the On command signal is
given, then a RdyRun signal (see signal DriveStat (8.08)) is awaited, acknowledging
that the contactors are on. If this acknowledgement is not received within 7 seconds,
the On command signal is reset to zero.
An Off order is given by the CDR panel LOCAL OFF (0) at zero speed (off push-
button on panel) or in external control when the signal DRIVE ON is set to "0"
(Fieldbus mode).
If the parameter Continuous On (65.01) = "false" and running becomes "0", the ON
signal will be reset to "0" after expired time Off Time Delay (65.02). This is a
"contactor shut-off" function if the drive is not operated within the last Off Time Delay
seconds.
A 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) gives the Start
order. In local mode, the Start order is given with the signal LOCAL START (start
pushbutton on panel).
No start order can be given unless the converter is On, acknowledged by the signal
RdyRun.
Also see timing and logic diagrams in the following pages.

29
Logic handler logic
<OFF TIME DELAY>

Running t 0
<Contin on>
&
RdyRef
<ON PULSE TIME>

_>1
0 7s
Elec disc-N
Stop CDP panel _>1
Zero speed &
Fault
On “FieldBus” R
Trigg On
Start “Panel” _>1 S
Start “I/O”
Start 2
_>1 &
Start “FieldBus”
NOTE: For description of mechanical brake control, see DCS800 Firmware manual,
Group 42.

Start and stop sequence, time diagram
30
8.15 b0 RDY FOR ON
7.10 b1 DRIVE ON
8.15 b2 RDY FOR RUN 65.02 + 65.01 = False
7.10 b3 + 2.40 START OVR + REF
8.15 b3 RUNNING
8.15 b6 TORQ PROV OK signal

M1BrakeLiftDly (42.11)
8.16 b6 or b7 BRAKE LIFT signal

M1BrakeStopDly (42.13)
See 42.02 or 49.29 BRAKE ACKN signal
M1BrakeRefDly (42.03)
(Internal) SPEED REF to ramp
1.04 SPEED ACT signal

ZeroSpeedLim (20.03)
8.15 b4 ZERO SPEED signal
M1ZeroSpeedDly (42.04)
Start and stop sequence, Fieldbus mode

3AST004143R0501
3AST004143R0501
Start if contactors are already on.
DIRA or DIRB 23.01 START order + Ref
7.01 b1 DRIVE ON
8.01 b1 RDY FOR RUN Off Time delay (65.02)
8.01 b2 RUNNING
8.15 b6 TORQ PROV OK signal M1BrakeLiftDly (42.11)
8.16 b6 or b7 BRAKE LIFT signal

M1BrakeStopDly (42.13)
See 42.02 or 49.29 BRAKE ACKN signal
M1BrakeRefDly (42.03)
(Internal SPEED REF to ramp
1.04 SPEED ACT signal

ZeroSpeedLim (20.03)
8.15 b4 ZERO SPEED signal
M1ZeroSpeedDly (42.04)
Start and stop sequence, Stand alone mode, where “first” start order gives “On” order
31
32
Torque proving (66)

Torque proving is a function module included in the drive control to ensure that the
drive is able to produce torque, before releasing the brake and starting the crane
operation. The function module is mainly intended for hoist drives, but can also be
used with other motions.
If the parameter RequestTestSel (66.04) = “True”, torque proving is performed by
giving a negative torque reference (downwards on the hoist), with the brake applied.
If the torque reaches the correct level, the reference changes sign, and the same
test is performed in positive direction. If torque proving is successful in both
directions, the brake is lifted and the next step in the starting sequence is initiated.
If the parameter RequestTestSel (66.04) = “False”, only test of torque is performed in
up direction.
The time to execute the torque proving sequence is so short (approximately 200 ms)
that the operator does not experience any time delay in the starting sequence.
The torque proving is activated by setting M1TorqProvTime (42.10) or
M2TorqProvTime (49.40) greater than 0.0 seconds.
The torque proving reference, Torq Prov Ref (66.03) sets the output test torque
reference. The actual torque is read from the signal MotTorq (1.08).
When the torque proving is activated but not yet performed, the output signal
TORQ PROV OK (bit 6 of FBStatusWord (8.15)) is "0".
The torque proving sequence starts when the signal RUNNING (bit 3 of
FBStatusWord (8.15)) is "1", 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 the drive trips. A message (“TorqProvFlt”) is displayed on the drive
panel and an indication given to the supervisory control.
NOTE: Torque proving is not active if the drive is in torque control mode.
Torque proving logic
MxTorqProvTime > 0 s
Torq prov OK
_>1
Motor torque S
R
t 0
Torq prov flt
RUNNING &
<MxTorqProvTime>
<TORQ PROV REF> Torq Prov Ref

33
Power optimization (68)

"Base speed" is the highest speed for the hoist drive to carry full, rated load.
Normally, the motor field weakening point is equal to Base speed. When increasing
the motor speed above motor nominal speed (= field weakening point = base
speed), field weakening is used. However, field weakening reduces the maximum
available torque of the motor.
To ensure that the motor always will 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 optimization. This means that for a heavy
load, the maximum allowed speed is less than for a light load.
If the power optimization receives a signal HIGH SPEED OK (bit 2 of
FBCommandWord (7.10) if Fieldbus mode), telling that maximum speed is allowed,
the calculated maximum speed reference is used as input to the ramp unit and the
motor will accelerate up to the corresponding speed.
In stand alone mode, the HIGH SPEED OK is created if the AI speed reference is
greater than parameter HighSpeedLevel 1 (64.03) or if the DI signal High Speed Sel
(60.11) is active.
The power optimization function module can only be used in drives with an active
(pulling) load, i. e. in general only on hoist drives. The speed reference in hoisting
direction must be a positive value (Dir A).
For power optimization to be active, the parameter PowOp Select (68.01) must be
set to "True".
The parameters TorqLimUp (68.06) and TorqLimDown (68.07) are the 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 of the maximum allowed speed by the
formula:
Base Speed (68.02)  TorqLimUp/Down (68.06/07)

maximum speed = -------------------------------------------------------------------------------------------------------------------------------------
LoadTorque (1.53)
LoadTorque is the torque needed to hold the load, and is calculated by the module. If
the module gets the order HIGH SPEED OK = "1", commonly given when the master
switch is in its outermost position, the output PowOpSpeedRef (1.52) is set to the
calculated maximum speed reference. The quality of the calculation depends on the
measurements done before reaching 90% of base speed. The speed should have a
linear acceleration and be without excessive ripple (use parameter 50.06).
If the input signal HIGH SPEED OK goes to zero, the output power optimizing speed
reference is set to zero .The calculated maximum reference is reset to zero when the
actual speed signal MotSpeed (1.04) has decreased to a speed corresponding to the
parameter PowOpResetLevel (68.08).

34
The LoadTorque value mentioned above is continuously calculated by the power

optimization module. It is available as signal LoadTorque (1.53), in % of the motor
nominal torque (signal 4.23). This signal is filtered with the filter time constant set in
parameter 68.09 LoadTorqueFiltTC.
This LoadTorque signal is used to detect a "Slack rope" situation, that is, load torque
dropping below the level set in parameter SlackRopeTorqLev (68.10). SLACK ROPE
is indicated as bit 10 in signal FBAuxStatusWord (8.16) (DS21.1). A detected slack
rope will make a Fast stop1 of the drive. This fast stop can be disabled via the signal
DISABLE SLACKROPE in Fieldbus DataSet 14, Word 1: signal
FBAuxCommandWord (7.11), bit 7.
Setting the parameter SlackRopeTorqLev (68.10) = -300% (default) will also disable
the fast stop.
Commissioning instructions for the power optimization.

This is an instruction on how to adjust the parameters InertiaTotalUp (68.04),
Inertia total do (68.05), TorqLimUp (68.06), and TorqLimDown (68.07).
1. Set the parameter PowOp Select (68.01) to "True".
2. Set the parameter TorqLimUp (68.06) to the rated torque of the motor (100%).
3. Temporarily set the parameter TorqLimDown (68.07) to 75% of rated torque of
the motor. The reason to set TorqLimDown lower than TorqLimUp is to get about
same speed in positive and negative directions, with a certain load on the hoist.
4. The parameters InertiaTotalUp (68.04) and Inertia Total Dwn (68.05) are
acceleration constants in positive and negative direction. Use a load that is
75–100% of full load.
5. Set parameter PowOpAutotuneSel (68.03) to "True". The tuning part is now
activated for one autotune cycle.
6. Start the drive with base speed reference only (from Local or External control) in
positive direction (and negative direction, respectively), and the motor will
accelerate up to base speed. The motor will need to run at base speed for about
4 seconds until the calculation is ready. If giving start and reference from
External control place, it is recommended to disconnect the HIGH SPEED OK
signal during autotune (in Stand alone, set parameter 64.03=100%). Calculation
is completed when the actual signal Total Inertia (1.51) is showing a non-zero
value. Stop the drive.
7. Read the actual signal Total Inertia (1.51) on the panel.
Repeat this procedure 2–3 times in each direction and calculate the average
value for the parameters InertiaTotalUp (68.04) and Inertia Total Dwn (68.05),
respectively.
8. Set this calculated average to parameter InertiaTotalUp (68.04) or Inertia Total
Dwn (68.05), depending upon the direction. Reconnect the HIGH SPEED OK
signal (i.e. in stand alone mode, set parameter 64.03 back to 98%).

35
9. Check that the final speed in the field weakening area is the same every time
within 1–2 %, for each autotune run in the same direction.
10. Adjusting TorqLimUp (68.06) and TorqLimDown (68.07):
a. Connect rated load.
b. From the DriveWindow, record with the signal PowOpSpeedRef (1.52).
c. Test run from the joystick by giving a full reference up (resp. down).
d. Check that Base Speed is reached in signal PowOpSpeedRef (1.52). If not
adjust TorqLimUp (or TorqLimDown, respectively) in steps of 5% until
reaching reaching Base Speed (68.02) within 1–2% every time.
e. Verify that the hoist reaches 100% speed with no load.
An alternative to steps 4–8 above for finding the inertia values is:
1. Monitor the signal LoadTorque 1.53 with the drives window while making start
and stop test runs (acceleration, constant speed for a couple of seconds and
deceleration) with different settings on Inertia parameter.
– Any load 20–100% is possible to use.
– Do not run faster than base speed.
– Perform the first run in hoisting direction.
2. When you have found the correct value for parameter InertiaTotalUp (68.04),
then signal LoadTorque 1.53 will show the same level during acceleration and
deceleration as during constant speed.
– If the LoadTorque signal is showing a higher value during acceleration than
during constant speed, the parameter InertiaTotalUp (68.04) should be
increased.
– If LoadTorque is showing a lower value during acceleration than during
constant speed, then InertiaTotalUp (68.04) should be lowered.
3. Next make similar test runs in lowering direction to find correct value for
parameter InertiaTotalDown (68.05).
– If the LoadTorque signal is showing a higher value during acceleration than
during constant speed, the parameter InertiaTotalDown (68.05) should be
decreased.
– If LoadTorque is showing a lower value during acceleration than during
constant speed, then InertiaTotalDown (68.05) should be increased.
4. Verify with different loads.

36
Reference handler (69)

The function module includes:
• Setting of ramp times
• Handling of speed references
• Torque memory function
Setting of ramp times can be made for both acceleration and deceleration, and can
be set differently for forward and backward (or upwards and downwards) with the
parameters: Acc Time Fwd (69.02), Acc Time Rev (69.03), Dec Time Fwd (69.04)
and Dec Time Rev (69.05). Actual acceleration and deceleration ramp times are
written to parameters AccTime1 (22.01) and DecTime1 (22.02), respectively
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 FB Ramp Rate (2.42)
from supervisory control, if parameter Ramp Rate=1 (69.10) is set to “False”.
• In local control mode, parameter Ramp Scale Local (69.07) is used. The 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
69.02–69.05.
Speed reference when running in external control mode:
The drive is using the higher value from SpeedRef (23.01) or PowOpSpeedRef
(1.52). The SpeedRef is a reference up to base speed at start. Then if the power
optimization has calculated, for the actual load, that it is possible to run above base
speed, it will use PowOpSpeedRef which brings the speed into the field weakening
range. SpeedRef 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).
Speed reference when running in local control mode is chosen with the push-buttons
on the panel or with the DriveWindow.
The speed reference output to the speed controller can be delayed if having a slow
acting brake (long lifting time) using the time set with parameter M1BrakeRefDly
(42.03) or M2BrakeRefDly (49.30).
The ramp unit is equipped with an S-curve function, for smoothing both the
beginning and the end of the ramp. The S-curve time constant is set with parameter
ShapeTime (22.05).
The starting torque reference is possilbe to connect to the preset speed controller
integration part before start. The function is called torque memory, see parameters
StrtTorqRefSel (42.07) and StrtTorqRef (42.08) for details.

37
Reference handler logic
<BrakeRefDly>
Start t 0
Local
Speed ref local
SpeedRef MAX
PowOpSpeedRef
"0"
<ACC TIME FORW>

<DEC TIME FORW> <Sh ap eTim e>
1 2
Speed ref 3
Ramp hold 3 4
<DEC TIME REV>
<ACC TIME REV>
Master/Follower (72)
General
The Master/Follower is a load sharing application, where the system is run by two
CraneDrives and the motor shafts are coupled together via gearing, rail, shaft, etc.
The Master/Follower application controls the load distribution between the drives.
The Master drive sends order signals and references (speed and torque) through the
Master/Follower bus to the follower drive. The master also reads status information
from the follower drive to ensure a safe operation, that is, a two way communication.
For single Master/Follower communication, the DCS link (group 94) has to be used.
It is an electrical (two wire) point-to-point communication link (duplex) which requires
the DCS link board to be installed. (SDCS-DSL-4). (For broadcast communication,
see Broadcast mode on page 38)
The settings of parameters 72.01 ((OFF), MASTER, or FOLLOWER) and 72.11
(always = NO!) automatically configures the communication parameters in group 94.
(Refer to Appendix A, and the DCS800 Firmware manual.)
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 usually
is Torque controlled.
To ensure correct Follower load sharing, the Follower speed limits 20.1 and 20.2,
and 42.19 and 42.20 must be set 5 % higher than the setting of Master parameter
69.1 SPEED SCALING.

38
Local control
For local M/F operation, point-to-point (parameter 72.11 “M/F Broadcast mode” =
NO):
Set the master drive in “Local” and the follower in “Remote” operation. The master
will then control that both drives run together.
If the two drives do not run together, an “M/F run Fault” is given.
To run only one of the drives, either set parameter 72.01 “Mast/Foll mode” to Off,
or – from fieldbus or I/O – ‘Set’ bit 5 (SEPARATE) in 7.10, “FBCommandWord”.
MasterCommandWord (signal 7.12)

Bit number Signal Range Description
0 = Bit 0, LSB ComTestBitMaster ”1” ”0” Communication test bit from master
1 OnOrderMaster ”1” ”0” Master Drive On
2 StartOrderMaster ”1” ”0” Start order from Master drive to Follower

drive
3 ReadyForRunMaster ”1” ”0” Master is ready to generate torque
4 ReadyForRefMaster ”1” ”0” Master drive is running
5 TorqueProvingOKMaster ”1” ”0” Master motor torque proving OK
6 SeparateOrderMaster ”1” ”0” Separate order from Master
7 FastZeroSetMaster ”1” ”0” Fast Zero set from Master
8 SpeedOffMaster ”1” ”0” Speed off from Master
9 FastStopMaster ”1” ”0” Fast stop from Master
10 FaultResetMaster ”0  1” (edge) Master fault reset
11 FaultMaster ”1” ”0” Master fault
12 RemoteMaster ”1” ”0” Master in remote
FollowerStatusWord (signal 8.17)

0 = Bit 0, LSB ComTestBitFollower ”1” ”0” Comtest bit follower
1 ReadyForRunFollower ”1” ”0” Follower is ready to generate torque
2 ReadyForRefFollower ”1” ”0” Follower drive is running
3 TorqueProvingOKFollower ”1” ”0” Follower motor torque proving OK
4 FaultFollower ”1” ”0” Follower fault
Broadcast mode
For broadcast M/F communication – where the master controlls more than one
follower drive – the DDCS link (group 70) has to be used. The DDCS link is a one
way, fiber optic communication (on CH2), and can be used for broadcast only
(communication, group 90).
39
Fieldbus communication and Fieldbus words
Receive
Signals from a superior controller (for instance AC800) are received by a specific
module in the crane control application. The signals may be transferred via a high
speed serial bus in the form of a Fieldbus, e.g. Advant Module bus (max 30 words/
dir), or Profibus (max 10 words/dir).
The receiving module includes an element for unpacking the Command word signal
to 16 boolean signals. Upon processing by the crane logic, the signals are
transferred to the standard DCS800 main control word (MCW)
MCW Used MCW
7.10 7.01 7.04

Profibus Crane
Logic
Group 51
Group 70
For transmission of signals from drive to superior controller, see Fieldbus

communication Transmit on page 42.
NOTE: If parameter Ch0 DsetBaseAddr (70.24) is set to 1 instead of the default
value 10, then subtract 9 from all DataSet numbers given below
(e.g. DS10 --> DS1, DS12 --> DS3 and so on).
Receive DataSets 10, 12, and 14 (alt. 1, 3, and 5)

Example: DS10.02 = DataSet 10, Word 2
DataSet.Word Signal Range/Unit Description Dset
(set in param. corresp. to address
group 90) 32767
DS10.1 (DS1.1) FBCommandWord Command Word (see table 90.01=710
(7.10) below for details)
DS10.2 (DS1.2) FB Speed Ref (2.40) -163.84– Drive speed reference (%) 90.02=240
+163.84
DS10.3 (DS1.3) FB Torq Ref (2.41) -327.67– Torque reference signal (%Tn) 90.03=241
+327.67
DS12.1 (DS3.1) FB Ramp Rate (2.42) 0.00–32.767 Ramp rate scaling of the 90.04=242
speed ramp times set in drive
(normal = 1.0 = integer 1000)
DS12.2 (DS3.2) FB Speed Corr (2.43) -163.84– Speed correction signal (%) 90.05=243
+163.84
DS12.3 (DS3.3) FBPosPrecountPPU -32767– Preset value position counter, 90.06=244
(2.44) +32767 sync value
DS14.1 (DS5.1) FBAuxCommandWord Auxiliary Command Word (see 90.07=711
(7.11) table below for details)
Scalings
Speed signals have the scaling: 20 000 corresponds to 100 % (parameter 50.01)
Torque signals have the scaling: 10 000 corresponds to 100 % of motor nominal
torque (signal 4.23).

40
Receive DataSet 10 (alt. 1), Word 1: FBCommandWord (signal 7.10).

Set if par. 90.01=710.
0 = Bit 0, LSB COMTEST REC "1" "0 Comtest receive bit
1 DRIVE ON "1" "0" Drive On from overriding
control
2 HIGH SPEED "1" "0" High speed select
3 START OVR "1" "0" Startorder from PLC in
Fieldbus mode
4 RAMP HOLD "1" "0" Ramp holding signal
5 SEPARATE "1" "0" Separate control select signal
(M/F ctrl)
6 TORQ CTRL SEL "1" "0" Torque control select signal
7 LOAD MEAS SEL "1" "0" Load measurement select
(enable LOAD MEAS REF)
8 RESET OVR "0 --> 1" (edge) Reset from overriding control
9 FAST STOP 1 "1" "0" Fast stop type 1
10 FAST STOP 11 "1" "0" Fast stop 11 type select
11 PGM SYNC "0 --> 1" (edge) Program synchronisation of
position measurement
12 HW SYNC INHIBIT "1" "0" Hardware synchronisation
inhibit
13 RESET SYNC READY "1" "0" Reset synchronisation ready
14 MOTOR1/MOTOR2 or "1" "0" Shared motion Motor1/Motor2
USER1/USER2 change or User macro 1 and 2 change
request
15 = Bit 15, ENABLE FIELDBUS "1" "0" Enable fieldbus start and
MSB CTRL reference during Stand alone
mode
Receive DataSet 14 (alt. 3), Word 1: FBAuxCommandWord (signal 7.11).

Set if par. 90.07=711
0 = Bit 0, LSB
1
2
3
4
5 RESTART DATALOG “1” “0” Restart data logger
6 TRIGGER DATALOG “1” “0” Trigger data logger
7 DISABLE SLACKROPE “1” “0” Disable that Slack rope
makes Fast stop (stop on
torque limit)
8 FIELD BOOST ON “1” “0” Field boost activation
MCW 7.01 bit 13

41
The communication is supervised continuously by COMTEST REC – a "toggle bit"

received on bit 0 of FBCommandWord (7.10):
If "next edge" is not received within a certain time, Ch0 TimeOut (70.04), 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 on transmission DS11.1 bit 14, COMTEST TRA.
NOTE: In the superior controller the received bit should be sent directly to the drive
again without inverting and without delay (recommended updating time maximum
100 ms).
PLC Drive

42
Transmit
The DCS800 standard application sends information on the main status word (MSW)
and several other signals to the crane logic. A new status word is created in a
module of the crane logic.
This module is used to transmit signals from the drive to a supervisory controller via
high-speed serial bus in the form of a Fieldbus, e.g. Advant Module bus (max 30
words/dir), Profibus (max 10 words/dir) and ModbusPlus. The module includes
elements for packing 16 Boolean signals to word signals.
MSW
8.01 8.15 Fieldbus
Crane
Logic group 51
group 70
NOTE: If parameter Ch0 DsetBaseAddr (70.25) is set to 1 instead of the default

value 10, then subtract 9 from all DataSet numbers given below
(e.g. DS11 --> DS2, DS13 --> DS4 and so on).
Transmit DataSets 11, 13, 15, 17, 19, and 21 (alt. 2, 4, 6, 8, 10, and 12)
Example: DS11.2 = DataSet 11, Word 2
DataSet.Word Signal Range Description Dset
(set in group 92) corresp. to address
+/- 32767
DS11.1 (DS2.1) FB StatusWord (8.15) Fieldbus status word 92.01=815
DS11.2 (DS2.2) MotSpeed (1.04) -163.84– Speed actual, rmp 92.02=104
+163.84
DS11.3 (DS2.3) MotTorque (1.08) -327.67– Torque actual, %Tn 92.03=108
+327.67
DS13.1 (DS4.1) SpeedRef3 (2.02) -163.84– Speed reference 3, 92.04=202
+163.84 % of parameter 50.1
DS13.2 (DS4.2) PosActPPU (1.54) -32767– Position actual value 92.05=154
+32767
DS13.3 (DS4.3) PowOpSpeedRef (1.52) -163.84– Power optimization speed 92.06=152
+163.84 ref, %
DS15.1 (DS6.1) MotCur (1.06) -327.67– Motor current, 92.07=106
+327.67 % of parameter 99.03
DS15.2 (DS6.2) Mot1FldCurRel (1.29) -327.67– Field current Motor 1, 92.08=129
+327.67 % of parameter 99.11
DS15.3 (DS6.3) Mot2FldCurRel (1.31) -327.67– Field current Motor 2, 92.09=131
+327.67 % of parameter 49.05
DS17.1 (DS8.1) ArmVoltActRel (1.13) -327.67– Armature voltage, 92.10=113
+327.67 % of parameter 99.02
DS17.2 (DS8.2) FBAuxStatusWord (8.16) Auxiliary status word 92.11=816
DS17.3 (DS8.3) “free”
DS19.1 (DS10.1) FaultWord1 (9.01) Motor control faults 92.13=901

43
DataSet.Word Signal Range Description Dset

(set in group 92) corresp. to address
+/- 32767
DS21.2 (DS12.2) UserFaultWord (9.05) Crane application fault 92.17=905
DS21.3 (DS12.3) AlarmWord1 (9.06) Motor control warnings 92.18=906
DS23.3 (DS14.3) UserAlarmWord (9.09) Crane application warnings 93.03=909
Scalings:
MotTorque: Integer 10000 = 100 % of motor nominal torque.
Tnom(Nm) = 9550 * Pnom(kW)/n = signal MotTorqNom (4.23))
MotCur: Integer 10000 = 100 % of parameter 99.02
MotxFldCurRel: Integer 10000 = 100 % of parameter 99.11 or 49.05, respectively
Transmit DataSet 11 (alt. 2), Word 1: FBStatusWord (signal 8.15).

Set if par. 92.01=815.
0 = Bit 0, LSB RDY FOR ON "1" "0 Ready for on
1 ELEC DISC-N "1" "0 Electrical disconnect, DI4
2 RDY FOR RUN "1" "0 Ready for run
3 RUNNING "1" "0 Running (RdyRef)
4 ZERO SPEED "1" "0 Zero speed
5 REM LOC "1" "0 Remote /Local (1= Remote)
6 TORQ PROV OK "1" "0 Torque proving OK
7 MOTOR1/MOTOR2 "1" "0 Motor1 or Motor2 active (alt. User1/User2)
(0=Motor1/User1; 1=Motor2/User2)
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. DI7) status
12 SYNC RDY "1" "0 Synchronisation ready
13 BRAKE LONG FTIME "1" "0 Brake long falling time indication
14 COMTEST TRA "1" "0 Communication test transmit bit
15 = Bit 15, MSB SNAG LOAD "1" "0 Snag load indication

44
Transmit DataSet 17 (alt. 8), Word 2: FBAuxStatusWord (8.16).

Set if par. 92.11=816.
Bit number Signal Description
0 = Bit 0, LSB “not used”
1 “not used”
2 “not used”
3 “not used”
4 “not used”
5 “not used”
6 BRAKE LIFT 1 Brake lift order motor 1 / User1
7 BRAKE LIFT 2 Brake lift order motor 2 / User2
8 “not used”
9 WATCHDOG-N Watchdog_Not (def. DO5)
10 SLACK ROPE Slack rope detected (makes a Fast stop 1)
11 “not used”
12 “not used”
13 Motor1 (or User1) Motor1 active (alt. User1)
14 Motor2 (or User2) Motor2 active (alt. User2)
15 = Bit 15, MSB “not used”
Transmit DataSet 19 (alt. 10), Word 1: FaultWord1 (signal 9.01).

Set if par. 92.13=901.
See description in DCS800 Firmware manual (chapter Signal and parameter list).

Set if par. 92.14=902.

Set if par. 92.15=903.

Set if par. 92.16=904.

45
Transmit DataSet 21 (alt. 12), Word 2: UserFaultWord (9.05).

Set if par. 92.17=905.
Bit number Fault text Fault Description
code
0 = Bit 0, LSB TORQUE FAULT F610 Torque fault (excessive speed error)
1 MAS OSC FAULT F611 Fieldbus toggle bit stopped
2 MF RUN FAULT F612 Master/follower run fault (both not running)
3 TORQ PROVE FLT F613 Torque proving fault
4 FOLLOWER FLT F614 Follower fault
5 MF COM FAULT F615 Master/follower communication fault
6 MOT CHANGE FAULT F616 Motor change-over fault
7 – 15 F617– “not used”
F625
Transmit DataSet 21 (alt. 12), Word 3: AlarmWord1 (9.06).

Set if par. 92.18=906.

Set if par. 93.01=907.

Set if par. 93.02=908.
Transmit DataSet 23 (alt. 14), Word 2: UserAlarmWord (9.09).

Set if par. 93.03=909.
Bit number Alarm text Alarm Description
code
0 = Bit 0, LSB JOYSTICK WARNING A310 Joystick warning (AI/DI mismatch)
1 – 15 A311– “not used”
A325

46
Shared motion 2 (80)

See also parameter group 49, DCS800 Firmware manual, for more info..
Shared motion is used to control two different motors (called Motor 1 and Motor 2)
with the same converter. The armature circuit is switched between the two motors
using contactors (not controlled by the DCC800). The converter is also to be
equipped with dual Field exciters (OnBoard + DCF803 or qty 2 DCF803).
For Motor 2, it is possible to set a number of individual parameters in parameter

groups 49 and 80. These are used if setting parameter MacroChangeMode (16.05)
= Motor1/2.
Switching between Motor 1 and Motor 2 is ordered with bit 14 (MOTOR1/MOTOR2)

in FBCommandWord DS10.1.
Switching is only done if the following conditions are both fulfilled:
• Running = 0 (i.e. drive must be stopped)
• Zero Speed = 1 (i.e. motor must indicate zero speed, see par. 20.03 and 42.04)
Bit 14 set = 0 is ordering normal parameters = parameters for Motor 1.

Bit 14 set = 1 is ordering parameters for Motor 2 to be loaded, i.e. parameter group
49 and 80 settings. This signal also controls the switching of Field exciter control
between the Field exciter 1 and Field exciter 2 (e.g. the reduced field for "non-active"
field exciter). Also switching between the Motor thermal overload monitors 1 and 2 is
done by this signal. An indication of the active selection can be seen in signal
FbStatusWord (8.15, bit 7), and also in FbAuxiliaryStatusWord (8.16, bit 13 and 14).
Do not use signal 8.09 to check which motor is selected, as it only shows the
firmware selection and not the crane application selection.
The parameter switch-over time is less than 50 ms. The total switching time between
Motor1/Motor2 depends on the hardware switching contactors, and the safety
behind it. The total switch-over time is less than 500 ms.
In stand alone mode (64.01 = “true”), switching between Motor 1 and Motor 2 can
also be ordered via digital input if parameter SharedMotionSel 60.15 is set to e.g.
DI1.
Note:
An alternative to dual parameter sets for Motor 1 and Motor 2 is to use the parameter
UserMacro (16.05) functionality, but this is a very slow method. Only the parameter
switching time is approximately 5 s, but since the switch-over must be done when
the drive is off, the total switch-over time becomes approximately 8-9 s.
UserMacro is recommended only for emergency mode or other none time critical
applications.

47
Signals and parameters
Overview
This chapter explains the function of, and valid selections for, each DCC800 signal
and parameter.
Signal groups
Group 1 Phys Act values

This group contains measured and calculated actual values of the drive.
Signal Range/unit Description
1.01–1.49 See DCS800 Firmware manual
1.50 Ctrl Location LocalControl; IOControl; Active control location

FieldBus; MFControl
1.51 Total Inertia kgm2 Total identified inertia
1.52 PowOpSpeedRef % Power optimizing speed reference
1.53 LoadTorque % Hoist actual load torque
1.54 PosActPPU - Position actual pulses per unit
Group 2 SPC signals

This group contains speed control and crane application Fieldbus reference values.
Signal Unit Description
2.40 FB Speed Ref 0 – ±20000 corresponds to Fieldbus speed reference

0 – ±100%
2.41 FB Torque Ref % Fieldbus torque reference
2.42 FB Ramp rate - Fieldbus ramp rate factor
2.43 FB Speed Corr 0 – ±20000 corresponds to Fieldbus speed correction

0 – ±100% reference
2.44 FBPosPrecoutPPU - Fieldbus position precount, pulses

per unit

3AST004143R0501 Signals and parameters
48
Group 7 Control words

This group contains control and command words.
7.10 FBCommandWord - Fieldbus command word (see

page 40 for details)
7.11 FBAuxCommandWord - Fieldbus auxiliary command word

(see page 40 for details)
7.12 MasterCommandWord - Master command word

(See page 38 for details)
Group 8 Stat/Limit words

This group contains status and limit words.
8.15 FBStatusWord - Fieldbus Status word (see page

43 for details)
8.16 FBAuxStatusWord - Fieldbus auxiliary status word

(see page 43 for details)
8.17 FollowerStatusWord - Follower status word

(See page 38 for details.)

Signals and parameters 3AST004143R0501
49
Parameter groups
The DCC800 parameters are arranged into groups by their function. Chapter
DCS800 Control Panel operation in DCS800 Firmware manual explains how to
select and set the parameters. Some parameters that are not in use in the current
application are hidden to simplify programming.
CAUTION! Exercise caution when configuring I/O connections as it is possible to

use one I/O connection to control several operations. If an I/O is programmed for
some purpose the setting remains, even if you select the I/O for another purpose
with another parameter.
Group 60 Digital inputs

These parameter values can be altered with the DCC800 running.
The Range/unit column below shows the allowed parameter values. The text
following the table explains the parameters in detail.
Parameter Range/unit Description
60.02 Zero Pos Sel NOT USED; DI2; DI5; DI6; Zero position digital input
EXT DI9 ... EXT DI14 (Stand alone)
60.03 SlowDown-N Sel NOT USED; DI2; DI5; DI6; Slowdown digital input
EXT DI9 ... EXT DI14; DI2_5; (Stand alone)
EXT DI9_DI10; EXT
DI11_DI12; EXT DI13_DI14
60.04 FastStop-N Sel See parameter 60.02 Fast stop digital input
(Stand alone)
60.06 Sync Sel NOT USED; DI2; DI5; DI6; DI7; Synchronisation digital input
DI8; EXT DI9 … EXT DI14
60.08 Step Ref2 Sel See parameter 60.02 Step reference 2 digital input
(Stand alone)
(Stand alone)
(Stand alone)
60.11 High Speed Sel See parameter 60.02 High speed digital input
(Stand alone)
60.12 Snag Load-N Sel See parameter 60.02 Snag load digital input
60.13 Accelerate Sel See parameter 60.02 Accelerate digital input

(Stand alone)
(Stand alone)
60.15 Shared Motion Sel See parameter 60.02 Shared motion selection
(Stand alone)

50
60.02 Zero Pos Sel

Selection of digital input for signal ZERO POS (see page 20), used in Stand alone
mode.
NOT USED; DI2; DI5; DI6; EXT DI2 … EXT DI5; EXT DI9 … EXT DI10; EXT DI11 …
EXT DI12; EXT DI3 … EXT DI14;
60.03 SlowDown-N Sel

Selection of digital input for signal SLOWDOWN-N (see page 20), used in Stand
alone mode.
NOT USED; DI2; DI5; DI6; EXT DI9 ... EXT DI14; DI2_5; EXT DI9_DI10; EXT
DI11_DI12; EXT DI13_DI14
60.04 FastStop-N Sel

Selection of digital input for signal FAST STOP-N (see page 20), used in Stand alone
mode.
NOT USED; DI2; DI5; DI6; EXT DI9 … EXT DI14
60.06 Sync Sel

Selection of digital input for signal SYNC (see page 17), used to make Hw
synchronisation of position counter.
NOT USED; DI2; DI5; DI6; DI7; DI8; EXT DI9 … EXT DI14
60.08 Step Ref2 Sel

Selection of digital input for signal STEP REF 2 (see page 27), used in Stand alone
mode, with Step Joystick or Step Radio control.
60.09 Step Ref3 Sel

60.10 Step Ref4 Sel


51
60.11 High Speed Sel

Selection of digital input for signal HIGH SPEED (see page 33), used in Stand alone
mode, to enable Power optimizing speed ref.
60.12 Snag Load-N Sel

Selection of digital input for signal SNAG LOAD-N, used in Fieldbus mode to activate
Fast stop 2 during hoisting only, with speed > 1 %.
60.13 Accelerate Sel

Selection of digital input for signal ACCELERATE (see page 26), used in Stand
alone mode, with Motor Pot control.
60.14 Step Ref5 Sel

Selection of digital input for the signal STEP REF5 (see page 27), used in Stand
alone mode, with Step Joystick or Step Radio control.
60.15 Shared Motion Sel

Selection of digital input for the signal SHARED MOTION (see page 46), used in
Stand alone mode.

52
Group 61 Position measurement

The Range/unit column below shows the allowed parameter values. The text
following the table explains the parameters in detail.
61.01 PosMeasEnable True; False Position measurement enable
61.02 Pos Scale 1.00 …32767.00 PPU Position scaling
61.03 Sync Cond Pos; Neg Synchronization condition
61.01 PosMeasEnable
True
Position measurement according to the ACC800 crane control is active.
False
Position measurement according to the standard ACS800 is active.
61.02 Pos Scale

Set position counter scaling factor, Pos Scale, as number of pulses per unit, e.g.
pulses/mm.
(Position measurement value PosActPPU (1.54) = Pulse counter / Pos Scale.)
Example of how to calculate Pos Scale:
We have the following conditions:
• The hoist operating speed of 40 m/min (= 40 000 mm/min) corresponds to a
motor speed of 980 rpm.
• We have a pulse encoder with 1024 ppr (set in parameter 50.04).
• The speed measuring (parameter 50.02) is set to use all four edges (default).
This gives us:
980 rpm  1024 ppr  4

Pos Scale = ---------------------------------------------------------- = 100,35 pulses/mm
40000 mm/min
61.03 Sync Cond

Pos
The HW synchronization acts on the positive edge (0 --> 1) of e.g. DI7.
Neg
The HW synchronization acts on the negative edge (1 --> 0) of e.g. DI7.

53
Group 62 Torque monitor

The Range/unit column in the table below shows the allowed parameter values. The
text following the table explains the parameters in detail.
62.01 Torque Mon Sel True; False Torque monitor select
62.02 Speed Dev Lev 0 ...100 % Speed deviation level
62.03 Torque Fault TD 0 ...60000 ms Torque fault time delay
62.04 Sp Der Blk Lev 0 ...100 % / s Speed derivative blocking level
62.01 Torque Mon Sel

True
Torque monitor is activated
False
Torque monitor is blocked
62.02 Speed Dev Lev

A speed deviation level above Speed Dev Lev means that the speed error is too
high.
62.03 Torque Fault TD

If a speed error higher than Speed Dev Lev occurs, and if it last longer than the time
Torque Fault TD, the drive will trip, indicating F610 torque fault message on the
control panel and in fault word 9.05.
62.04 Sp Der Blk Lev

The protection is blocked during acceleration and deceleration if the sign of the
speed error is OK and if the “ramp time” of the actual speed is lower than the setting
of Sp Der Blk Lev.

54
Group 63 Fast stop

63.01 FastStop Type 11 NOT USED; FAST STOP 1; FAST STOP 2; Fast stop type 11
FAST STOP 3
63.02 FastStop Type 12 NOT USED; FAST STOP 1; FAST STOP 2; Fast stop type 12
FAST STOP 3
63.01 FastStop Type 11

Parameter for selecting type of fast stop action from PLC. Activated if signal FAST
STOP 11, bit 10 in signal FBCommandWord (7.01), 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 Ext DI10 (see parameter 60.04). Refer to parameter 63.01 for setting
alternatives.

55
Group 64 Crane
64.01 Stand Alone Sel True; False Stand alone selection
64.02 Continuous Gear True; False Continuous gear
64.03 HighSpeedLevel 1 0.0 …100.0 % High speed level 1
64.04 Dead Zone A 0 …100 % Dead zone A
64.05 Dead Zone B 0 …100 % Dead zone B
64.06 Reference Shape 0 …100 Reference shape
64.07 SlowDownsSpeedRef 0 …100 % Slowdown speed reference
64.08 ZeroPosOk TD 0.0 …60.0 s Zero position OK time

delay
64.09 Torque Ref Scale 0 …4.00 Torque reference scaling
64.10 Control Type JOYSTICK; RADIO CTRL; Control type selection

MOTOR POT; STEP JOYST;
STEP RADIO
64.11 Minimum Ref 0.0 …100.0 % Minimum reference
64.12 Joystick Warn TD 0 …5000 ms Joystick warning time delay
64.13 Step Ref Level 1 0.0 …100.0 % Step reference level 1
64.18 Speed/Torq Ctrl Speed; Torque; AI1 AND 2 LEVEL Speed or torque control
selection
64.19 Slow Down Mode SINGLE DIR; DUAL DIR Selection of slow down
direction
64.01 Stand Alone Sel

True
Stand alone mode is selected.
False
Fieldbus mode is selected.

56
64.02 Continuous Gear

True
Normally joystick movement zero to maximum equals zero to base speed reference.
If the power optimization calculates a higher speed reference, then the maximum
reference from the controller is recalculated to correspond to the highest speed
reached in field weakening.
False
Means that zero to maximum movement of the joystick is always zero to base speed
reference. If the power optimization calculates a higher speed reference than base
speed, the speed will increase to the calculated value with the joystick in maximum
position.
When pulling back the joystick to e.g. 90 %, the speed reference will then be
reduced to 90 % of base speed.
64.03 HighSpeedLevel 1
Joystick output (e.g. AI1) speed reference signal level to give HIGH SPEED signal
(see page 33) for power optimization.
64.04 Dead Zone A

Deadzone on the joystick before it starts to give reference in direction A (positive,
e.g. hoisting direction)
64.05 Dead Zone B

Deadzone on the joystick before it starts to give reference in direction B (negative,
e.g. lowering direction)
64.06 Reference Shape

Parameter for making a parabolic curve for the reference
0 = straight line
20 = x2 curve
100 = x3 curve
64.07 SlowDownsSpeedRef
Maximum speed reference level (limitation) when the slow down function is activated
(e.g. Ext DI9=0).
Scaling: 100% = parameter 50.01 (motor 1) or 49.22 (motor 2) level.
64.08 ZeroPosOk TD
Time delay for the joystick to stay in zero position before a new start order can be
given after a stop from: trip, fast stop or joystick warning.

57
64.09 Torque Ref Scale

Scaling of torque reference from joystick (AI.2). E.g. with Torque Ref Scale set to
2.0: a 100 % joystick reference will give 200 % torque reference to the torque
controller.
64.10 Control Type

JOYSTICK
External control of drive, in Stand alone mode, is done by using a joystick controller,
with Zero Pos (e.g. DI2), Dir A (DI7) and Dir B (DI8) 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 I/O. Dir A and Dir B orders connected to DI7 and DI8.
Reference connected to AI1 or AI2.
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 e.g.
DI2, Dir A and Dir B connected to DI7 and DI8.
STEP JOYST
External control of drive, in Stand alone mode, is done by using a joystick controller,
with Zero Pos (e.g. DI2), Dir A (DI7) and Dir B (DI8) contacts connected to digital
inputs and Step type of speed reference connected to digital inputs selected with
parameters 60.08–60.10 and 60.14. Joystick supervision is active.
STEP RADIO
External control of drive, in Stand alone mode, is done by connecting signals from a
radio controller or PLC to drive I/O. Dir A and Dir B orders connected to DI7 and DI8.
Step type of speed reference connected to digital inputs selected with parameters
60.08–60.10 and 60.14.
64.11 Minimum Ref

Minimum speed reference in stand alone mode. Normally used with MOTOR POT
control type.
64.12 Joystick Warn TD

Time delay for joystick supervision.
64.13 Step Ref Level 1

First speed reference level applied with startorder, i.e. Dir A or Dir B, when using
STEP JOYST or STEP RADIO control types.

Second speed reference level applied when digital input, selected by parameter
Step Ref2 Sel (60.08), is activated (plus start order active).

58

Third speed reference level applied when digital input, selected by parameter
Step Ref3 Sel (60.09), is activated (plus step ref2 conditions still active).

Fourth speed reference level applied when digital input, selected by parameter
Step Ref4 Sel (60.10), is activated (plus step ref3 conditions still active).
64.18 Speed/Torq Ctrl

Selection of speed or torque control in Stand alone mode.
Speed
Speed control active. Speed reference via AI1.
Torque
Torque control active. Torque reference via AI2.
AI1 AND 2 LEVEL
If Speed ref > 10%, then Speed ref.
If Tq ref > 10%, then Tq ref.
The speed reference is always prioritized. This means, as soon as the speed
reference goes higher than 10%, the torque reference is overruled.
64.19 Slow Down Mode

Selection of slow down direction. (See also page 20)
Single Dir
Slow down is active in one direction, within the slowdown area.
Dual Dir
Slow down is active in both directions, within the slowdown areas.

A fifth speed reference level, applied when the digital input – selected by the
parameter Step Ref5 Sel (60.14) – is activeated, (plus the Step Ref4 conditions still
active.)

59
Group 65 Logic handler

65.01 Continuous On True ; False Continuous on
65.02 Off Time Delay 0.0 …10000.0 s Off time delay
65.01 Continuous On
Contactors will remain on without time limit after the motor is stopped, if parameter
Continuous On = True.
65.02 Off Time Delay

The time for how long the contactors shall remain on after the motor is stopped.
Group 66 Torque proving

66.03 Torq Prov Ref 0.0 …200.0 % Torque proving reference
66.04 Regen Test Sel True; False Regenerative bridge test select
66.03 Torq Prov Ref

Torque proving reference level.
66.04 Regen Test Sel

True
Torque proving test performed with both motoring (forward) and regenerative
(reverse) bridge.
False
Torque proving test performed only with motoring (forward) bridge.
NOTE: Torque proving is activated by setting torque proving supervision time

parameter 42.10 (motor 1) or 49.40 (motor 2) greater than 0 seconds.

60
Group 68 Power optimization

68.01 PowOp Select True; False Power optimization select
68.02 Base Speed 1.0 …100.0 % Base speed
68.03 PowOpAutotuneSel True ; False Powop autotune select
68.04 InertiaTotalUp 0.00 …100.00 kgm2 Total inertia upwards
68.05 InertiaTotalDown 0.00 …100.00 kgm2 Total intertia downwards
68.06 TorqLimUp 0.0 …200.0 % Powop torque limit upwards
68.07 TorqLimDown 0.0 …200.0 % Powop torque limit downwards
68.08 PowOpResetLevel 0 …100 % Power optimization reset level
68.09 LoadTorqueFiltTC 0 …32000 ms Load torque signal filter time constant
68.10 SlackRopeTorqLev -400 % …400 % Slack rope torque indication level
68.01 PowOp Select

TRUE
Power optimization is active (only used on hoist drive).
FALSE
Power optimization not active.
68.02 Base Speed

Normally the speed where field weakening starts and the available RMS power of
the motor is constant. Full load torque possible for mechanics up to this speed.
68.03 PowOpAutotuneSel
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 signal Total Inertia (1.51).
An average value after running 2–3 times in each direction should then be entered to
parameters InertiaTotalUp (68.04) and InertiaTotalDown (68.05) respectively.
FALSE
Autotune mode not active.

61
68.04 InertiaTotalUp
Total inertia measured in upward direction.
68.05 InertiaTotalDown
Total inertia measured in downward direction.
68.06 TorqLimUp
Maximum load torque allowed upwards (=field weakening power limit).
68.07 TorqLimDown
Maximum load torque allowed downwards (=field weakening power limit).
68.08 PowOpResetLevel
Speed level (in % of base speed) where the calculated power optimization reference
will be reset to be prepared for a new calculation during the next acceleration.
68.09 LoadTorqueFiltTC
Filter time constant for calculated signal LoadTorque (1.53) (see the alternative
commissioning instruction for power optimization in page 35).
68.10 SlackRopeTorqLev
Detection level for "slack rope", (see Power optimization (68) on page 33 for more
details on the "Slack rope" function). The signal LoadTorque (1.53) dropping below
this level is considered a "slack rope", making a Fast stop type 1 to the drive. Setting
of -300% (default) will disable the Fast stop.

62
Group 69 Reference Handler

69.02 Acc Time Fwd 0.1 …60.0 s Acceleration time forward
69.03 Acc Time Rev 0.1 …60.0 s Acceleration time reverse
69.04 Dec Time Fwd 0.1 …60.0 s Deceleration time forward
69.05 Dec Time Rev 0.1 …60.0 s Deceleration time reverse
69.07 Ramp Scale Local 0.5 …100.0 Ramp scale local
69.10 RampRate=1 True; False Ramp rate set equal to 1
69.11 ExtEmfRef 44.22 0.0 ... 200.0% Reference for the EMF controller.
69.02 Acc Time Fwd

Setting of acceleration ramp time forward direction (up), 0 to +100 % speed (where
100% corresponds to parameter M1SpeedScale (50.01)).
69.03 Acc Time Rev
Setting of acceleration ramp time reverse direction (down), 0 to -100 % speed (ref.
parameter 50.01).
69.04 Dec Time Fwd
Setting of deceleration ramp time forward direction, +100 to 0 % speed (ref.
parameter 50.01).
69.05 Dec Time Rev
Setting of deceleration ramp time reverse direction, -100 to 0 % speed (ref.
parameter 50.01).
69.07 Ramp Scale Local
Scaling (multiplying) factor for ramp times when running in local.
69.10 Ramp Rate=1
Selection in Fieldbus mode if ramp rate signal from the superior controller is not
required by the drive.
TRUE
The signal FB Ramp Rate (2.42) available from Fieldbus communication (DS12.1) is
not active, set fixed to 1.0.
FALSE
The signal FB Ramp Rate (2.42) from Fieldbus communication (DS12.1) is active.
69.11 ExtEmfRef 44.22
EMF voltage reference for the EMF controller. The parameter value is written to the
signal input in the parameterVoltRefExtSel (44.22). This value is used as reference
for the EMF controller if parameter EMF RefSel (44.23) is set to value “ExtRef
44.22”. (The value of 44.22 is never saved in the flash PROM. Therefore the
parameter 69.11, which is saved in the flash prom, is needed).
The value of ExtEmfRef 44.22 is in percent of parameter M1NomVolt (99.02) (if
Motor1 is active) or M2NomVolt (49.01) (if Motor2 is active).

63
Group 72 Master/Follower
Group 72 handles the Master/Follower configuration for communication via the DCS
link. (Group 94)
The range/unit column in the table below shows the allowed parameter values.
NOTE! Several of the parameters in this group also appears in other parameter
groups. However, they are gathered in this group (72) in order to simplify the settings
for Master/Follower mode. The setting of these parameters is written to – and
overwirtes any other value on – the corresponding parameter according to the table
below.
72.01 Mast/Foll Mode Off; Master; Follower Master/Follower mode selection.

(Visible only if M/F CTRL macro is selected.)
72.02 Torque Selector Zero; Speed; Torque; Minimum; Maximum; Torque selector setting
(writes to 26.01) Add; Limitation
72.03 Load Share 0.0 ... 400.0% Load sharing

(writes to 25.03) (Visible only if M/F CTRL macro is selected.)
72.04 Window Sel On Off; On Window control selection On

(writes to 7.02, bit 7)
72.05 Window Width Pos -10000 – +10000 rpm Window width, positive
(Writes to 23.08)
72.06 Window Width Neg -10000 – +10000 rpm Window width,, negative
(writes to 23.09)
72.07 Droop Rate 0.00% ... 100.0% Droop rate

(writes to 24.02)
72.08 Torq Ref A FTC 0 ... 32767 ms (Visible only if M/F CTRL Torque reference A, filter time constant
(writes to 25.02) macro is selected.)
72.09 M/F Fault TD 0 ... 32767 ms (Visible only if M/F CTRL Master/Follower fault time delay
macro is selected.)
72.10 M/F Comm Err TD 0 ... 32767 ms (Visible only if M/F CTRL Master/Follower communication error
macro is selected.) time delay
72.11 M/F Broadcast Mode No; Yes Master/Follower broadcast mode
72.01 MAST/FOLL MODE

Master and follower drive operating mode.
OFF
Master or Follower drive not activated, only separate control (or Local) available.
MASTER
Drive selected to be the Master drive in M/F control.
FOLLOWER
Drive selected to be the Follower drive in M/F control.
NOTE! The setting of this parameter automatically configures the communication
parameters in group 94. (Please refer to Appendix A, and the DCS800 Firmware
manual.)
64
72.02 TORQUE SELECTOR

Mode selection for Follower drive.
ZERO
Torque selector parameter not active (speed or torque control selection done with I/
O or Fieldbus in normal way).
SPEED
Drive is speed controlled. Receiving speed reference (before ramp!) from Master
drive if M/F ctrl macro active i.e. using M/F bus comm.
TORQUE
Drive is torque controlled. Receiving torque reference from Master drive if M/F ctrl
macro active (Torq ref A), i.e. load sharing between Master and Follower.
MINIMUM
Torque selector compares the torque reference and the output of the speed
controller. The lower value is used as the reference for motor torque control.
Receiving speed and torque references from Master drive if M/F ctrl macro active.
This mode should normally not be used with a crane drive!
MAXIMUM
Torque selector compares the torque reference and the output of the speed
controller. The higher value is used as the reference for motor torque control.
Receiving speed and torque references from Master drive if M/F ctrl macro active.
This mode should normally not be used with a crane drive!
ADD
Torque selector adds the speed controller output to torque reference. The drive is
torque controlled in normal operating range.
The selection ADD together with the window control form a speed supervision
function for a torque controlled Follower drive:
• In normal operating range, the Follower follows the torque reference,
TORQ REF A.
• Window control keeps the speed controller input and output to zero as long as the
speed error (speed reference - actual speed) remains within a certain window.
• If the speed error goes out of the window, window control connects the increases
or decreases the internal torque reference, stopping the rise or fall of the actual
speed.
LIMITATION
TorqRef1 (2.08) limits TorqRef2 (2.09). If TorqRef1 = 50%, then TorqRef2 is limited to
±50%.
The output of the torque reference selector is TorqRef3 (2.10).
72.03 LOAD SHARE

Follower drive setting adjusts the load split between Master and Follower. 100%
setting causes the Follower drive to produce the same percent of motor nominal
torque as the Master drive, i.e. 50/50 load split.

65
72.04 WINDOW SEL ON

Window control together with the selection of ADD of Parameter 72.02 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 72.02
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
72.06 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 23.01 KPS) which
the torque selector adds to the torque reference. The result is used as the internal
torque reference for DCC 600.
For example, in a load loss condition, the internal torque reference of the drive is
decreased, preventing the excessive rise of motor speed. If the window control were
inactivated, the motor speed would rise until a speed limit of the DCC 600 was
reached. Parameters 20.01 MINIMUM SPEED and 20.2 MAXIMUM SPEED set the
speed limits.
Window Control
72.6 W IN DOW
Speed Reference W IDTH NEG
72.5 W IN DOW
W IDTH POS
e Actual Speed
Torque Reference
Internal Torque Reference =

G = Speed controller gain Torque Reference + Speed Controller Output
e= Value Ge
connected to speed Speed Controller Output
controller
Time

66
72.05 WINDOW WIDTH POS

This parameter value is considered only if the window control is on. The allowed
setting range is from 0 to 1500 rpm.
The speed controller input is kept to zero until the positive speed error exceeds the
value WINDOW WIDTH POS.
72.06 WINDOW WIDTH NEG

This parameter value is considered only if the window control is on. The allowed
setting range is from 0 to 1500 rpm.
The speed controller input is kept to zero until the absolute value of the negative
speed error exceeds WINDOW WIDTH NEG.
72.07 DROOP RATE

This parameter value needs to be changed only if both the Master and the Follower
are speed controlled.
CAUTION ! Follower speed control or drooping should not be used if the motor
shafts of the Master and the Follower are solidly coupled together (e.g. gearbox or
common rail).
Drooping slightly decreases the drive speed as the drive load increases in order to
provide better load sharing between the Master and Follower drives. The correct
droop rate for each installation needs to be determined case by case. If drooping is
used it is recommended to set some droop rate both for the Follower and Master
drives.
The droop rate is set as % of the drive maximum speed. The actual speed decrease
in a certain operating point depends on the droop rate setting and the internal torque
reference of the drive (speed controller output).
Speed Decrease =
Drooping  Speed Controller Output  Max. Speed
Calculation Exam ple:

DR OOP RATE is 1%. Speed Controller Output is 50% and
Motor
m aximum speed of the drive is 1500 rpm .
Speed Speed decrease = 0.01  0.50  1500 rpm = 7.5 rpm
(%)
No Drooping
Par. 72.7 DR OOP R ATE

Drooping
Speed Controller
Output (%)
100%
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.

67
72.08 TORQ REF A FTC

Filtering time constant for torque reference TORQ REF A in Follower drive, received
from Master drive.
72.09 M/F FAULT TD

When the Follower drive have received start-order from Master drive, both drives
check that they have signal RUNNING=1 within the time M/F FAULT TD. If not the
drive will trip, indicating MF RUN FLT. NOTE: Master drive will trip as a result of a
Follower drive tripping
72.10 M/F COMM ERR TD

As soon as the Master and the Follower are activated (Parameter 72.01 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.
72.11 MF BROADCAST MODE

NO
Master/Follower Broadcast mode disabled. Normal point-to-point, SDCS-DSL-4,
(CANBUS )
In crane drives, this parameter shall allways be set to NO! (=Single M/F drive)
For M/F broadcast in crane drives, allways use the fiber optic DDCS link (Group 70,
with communication group 90).
(See the DCS800 Firmware manual for information about group 70))

68
Group 80 Shared motion 2

This group is not visible when parameter 16.5=OFF. The Range/unit column in the
table below shows the allowed parameter values. The text following the table
explains the parameters in detail.
80.10 Sync Sel 2 NOT USED; DI2; DI5; Selection of input sync signal, motor 2
DI6; DI7; DI8;
EXT DI9 … EXT DI14
80.11 Slow Down Mode 2 SINGLE DIR; Selection of slow down direction, motor
DUAL DIR 2
80.18 Speed DevLev 2 0 …100.0% Speed deviation level, motor 2
80.19 TorqueFault TD 2 0 …32000 ms Torque fault time delay, motor 2
80.20 Sp Der Blk Lev 2 0 …100 s Speed derivative blocking level, motor 2
80.22 PowOp Select 2 True; False Power optimization select, motor 2
80.23 Base Speed 2 1.0 …100.0% Base speed, motor 2
80.25 Acc Time Fwd 2 0.1 …60.0 s Acceleration time forward, motor 2
80.26 Acc Time Rev2 0.1 …60.0 s Acceleration time reverse, motor 2
80.27 Dec Time Fwd 2 0.1 …60.0 s Deceleration time forward, motor 2
80.28 Dec Time Rev 2 0.1 …60.0 s Deceleration time reverse, motor 2
80.31 Pos Scale 2 1.00 …32767.00 PPU Position scaling, motor 2
80.35 Not used
80.36 Force Motor2 True; False Force motor 2 active
80.10 Sync Sel 2

Selection of digital input for the SYNC signal, motor 2 (see page 17)
NOT USED; DI2; DI5; DI6; DI7; DI8; EXT DI9 … EXT DI14
80.11 Slow Down Mode 2

Selection of slow down direction for motor 2. (See also parameter 64.19)
Single Dir
Slow down is active in one direction., within the slowdown area
Dual Dir
Slow down is active in both directions, within the slowdown areas.

69
80.18 Speed DevLev 2

A level above this parameter means that the speed error is too high, motor 2.
80.19 TorqueFault TD 2
If a speed error higher than Speed DevLev 2 occurs for motor 2, and if it lasts longer
than the time TorqueFault TD 2, the drive will trip, indicating torque fault (code F610).
80.20 Sp Der Blk Lev 2

The torque fault protection is blocked during acceleration and deceleration on
motor 2, if the sign of the speed error is OK, and if the derivative of the actual speed
is higher than the setting of this parameter.
80.22 PowOp Select 2

True
Power optimization is active on motor 2.
False
Power optimization is not active on motor 2.
80.23 Base Speed 2

Normally the speed where field weakening starts, and the available RMS power of
the motor is constant, motor 2.
80.25 Acc Time Fwd 2

Setting of acceleration ramp time forward direction (up), for motor 2, 0 to +100%
speed (where 100% corresponds to parameter M2SpeedScale (49.22)).
80.26 Acc Time Rev2

Setting of acceleration ramp time reverse direction (down), for motor 2, 0 to +100%
speed (ref. parameter 49.22).
80.27 Dec Time Fwd 2

Setting of deceleration ramp time forward direction for motor 2, +100 to 0 % speed
(ref. parameter 49.22).
80.28 Dec Time Rev 2

Setting of decleration ramp time reverse direction for motor 2, -100 to 0 % speed
(ref. parameter 49.22).

70
80.31 Pos Scale 2

Set position counter scaling factor for motor 2, Pos Scale 2, as number of Pulses Per
Unit, e.g. pulses/mm. (For more information, see parameter Pos Scale (61.02)).
80.36 Force Motor2

Possibility to activeate Motor 2 parameters if shared motion is activated (that is,
parameter 16.05= Motor1/2).
True
Shared motion forced to Motor 2 parameters (groups 49 and 80). This is used during
commissioning and service for testing.
False
Forcing not active

71
Fault tracing
Fault signals
The fault signals will be shown on the seven segment display of the control board
SDCS-CON-2 as codes (F ..) as well as on the LCD of the control panel CDP 312 as
numbers with text. Moreover there are fault signals which will only be shown on the
LCD of the control panel.
All fault signals – with the exception of F 17, F 18 and F 20 – can be reset (after
elimination of the faults).
For resetting (RESET) fault signals, the following steps are required:
• Switching off the commands ON/OFF and RUN
• Elimination of the faults
• Fault acknowledgement, i.e. resetting (RESET) through input of the command
RESET with APC or in "LOCAL" mode with control panel CDP 312/DRIVES
WINDOW.
• Depending on the application conditions, generate the commands ON/OFF and
RUN once more.
•
The fault signals will result in tripping the drive (installation-dependent).
If a fault occurs, there will be three different possibilities of reaction (see column
"Remark" in the fault list):
1. Fault will switch off the signals energizing the main contactor, the field contactor
and the fan contactor.
2. Fault will switch off the signals energizing the main contactor and the field
contactor.
3. Fault will switch off the signal energizing the main contactor.
See also DCS800 Firmware manual for fault and warning message descriptions.

3AST004143R0501 Fault tracing
72
Fault signals
Code Text on LCD of control Definition/Action Status signal Remark
seven panel CDP 312 (or (FAULT_WORD_
segm. DRIVES WINDOW) 1/2/3/4)
display
F610 TorqueFault If SPEED ERROR during constant speed 9.05 bit 0 (1)
is higher than Speed Dev Lev (62.02) for
a time longer than Torque Fault TD
(62.03), the drive will trip for
TorqueFault.
Check:
• Ramp times
• Torque and Current limit settings
• Torque monitoring (Group 62)
parameter settings
• Motor and motor cables
• Pulse encoder connections (A and B)
F611 MasterOscFlt If "next edge" of the communication test 9.05 bit 1 (1)
bit is not received within a certain time
(parameter 70.04), the drive will trip.
Check:
• Fieldbus adapter and its connection to
board SDCS-COM-8x channel 0.
• PLC program connection of comm. test
bit from input to output.
• Fieldbus wiring.
F612 MFRunFault Both Master and Follower drive 9.05 bit 2

receiving start-order, but only one of the
drives are in "Running" state.
Check:
• Setting of param. 72.9 M/F FAULT TD.
• M/F bus connections and fibres
Additional checks for Local control:
• Check that both drives run at Run
command.
• Check that only the master is in Local
mode, and the follower is in Remote,
controlled by the master.
• Check that no emergency stop or other
coast stop is activated in the follower.

Fault tracing 3AST004143R0501
73
Code Text on LCD of control Definition/Action Status signal Remark

seven panel CDP 312 (or (FAULT_WORD_
segm. DRIVES WINDOW) 1/2/3/4)
display
F613 TqProvFlt The torque proving could not be 9.05 bit 3

performed within the set torque proving
time.
Check:
• Setting of parameter
42.10, M1TorqueProvTime and
49.40, M2TorqueProvTime
• Check motor cables
F614 FollowerFlt The followeer drive has a fault. 9.05 bit 4

Check the follower unit.
F615 MFComFault Master/Follower communication fault 9.05 bit 5
F616 MotChangeFlt Fault during motor change over 9.05 bit 6

Check: Setting of parameters
8.15 bit 13 and 8.15 bit 14
Alarm signals
The alarm signals will be shown on the seven segment display of the control board
SDCS-CON-2 as codes A .. . On the LCD of the control panel CDP 312, the alarm
signals will be shown as numbers (without the leading digit "1") with text.
Alarm signal
Code Text on LCD of control Definition / Possible source Signal number Remark
seven panel CDP 312 (ALARM_WORD
segm. (or DRIVES WINDOW) _1/2)
display
A310 JoystickWarn The drive is stopped and prevented 9.09 bit 0

from start. If Stand Alone Sel (Parameter
64.1) is True and control Type (Par
64.10) is JOYSTICK
Conditions:
• START DIR A= "12" and
START DIR B="1" simultaneously
• SPEED REF is > 1 V or
TORQUE REF is >1V and
ZERO POS ="1"
Check:
• Joystick and wiring to digital imputs
2,7,8 and analogue inputs 1 or 2.
• Setting of parameter 64.1 (Stand Alone
Sel) if using fieldbus control

3AST004143R0501 Fault tracing
74

Fault tracing 3AST004143R0501
75
Appendix A - Complete signal and parameter list

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.
Also see the DCS800 Firmware manual for signal and parameter description.
Physical actual values (group 1)

Signal name Range/unit Description
PHYS ACT VALUES (Group 1) See DCS800 Firmware manual
1.01 MotSpeedFilt rpm
1.02 SpeedActEMF rpm
1.03 SpeedActEnc rpm
1.04 MotSpeed rpm
1.05 SpeedActTach rpm
1.06 MotCur %
1.07 MotTorqFilt %
1.08 MotTorq %
1.09 CurRipple %
1.10 CurRippleFilt %
1.11 MainsVoltActRel %
1.12 MainsVoltAct V
1.13 ArmVoltActRel %
1.14 ArmVoltAct V
1.15 ConvCurActRel %
1.16 ConvCurAct A
1.17 EMF VoltActRel %
1.20 Mot1TempCalc %
1.21 Mot2TempCalc %
1.22 Mot1TempMeas ºC
1.23 Mot2TempMeas ºC
1.24 BridgeTemp ºC
1.25 CtrlMode NotUsed; SpeedControl;
TorqueControl; CurCtrl
1.29 Mot1FldCurRel %
1.30 Mot1FldCur A
1.31 Mot2FldCurRel %
1.32 Mot2FldCur A
1.33 ArmCurActSI A
1.35 ArmCurAll A
1.37 DC VoltSerAll V
1.38 MainsFreqAct Hz
1.39 AhCounter kAh
1.41 ProcSpeed m/min
1.42 SpeedActEnc2 rpm
1.50 Ctrl Location LocalControl; IOControl; FieldBus; Active control location
MFControl
1.51 Total Inertia kgm2 Total identified inertia
1.52 PowOpSpeedRef % Power optimizing speed reference
1.53 LoadTorque % Hoist actual load torque
1.54 PosActPPU ± 32767 Position actual pulses per unit, scaled with
parameter 61.02

3AST004143R0501 Appendix A - Complete signal and parameter list and default settings
76
Speed controller signals (group 2)

SPS SIGNALS (Group 2) See DCS800 Firmware manual
2.01 SpeedRef2 rpm
2.02 SpeedRef3 rpm
2.03 SpeedErrNeg rpm
2.04 TorqPropRef %
2.05 TorqIntegRef %
2.06 TorqDerRef %
2.07 TorqAccCompRef %
2.08 TorqRef1 %
2.09 TorqRef2 %
2.10 TorqRef3 %
2.11 TorqRef4 %
2.13 TorqRefUsed %
2.14 TorqCorr %
2.16 dv_dt rpm/s
2.17 SpeedRefUsed rpm
2.18 SpeedRef4 rpm
2.19 TorqMaxAll %
2.20 TorqMinAll %
2.22 TorqUsedMax %
2.23 TorqUsedMin %
2.24 TorqRefExt %
2.26 TorqLimAct –
2.29 SpeedScaleAct rpm
2.30 SpeedRefExt1 rpm
2.31 SpeedRefExt2 rpm
2.32 SpeedRampOut rpm
2.40 FB Speed Ref 0–±20000 corresponds to 0–±100% Fieldbus speed reference
2.41 FB Torque Ref % Fieldbus torque reference
2.42 FB Ramp Rate – Fieldbus ramp rate factor
2.43 FB Speed Corr 0–±20000 corresponds to 0–±100% Fieldbus speed correction reference
2.44 FBPosPrecountPPU – Fieldbus position precount, pulses per unit
Reference actual values (group 3)

REF/ACT VALUES (Group 3) See DCS800 Firmware manual
3.01 DataLogStat NotInit; Empty; Running; Triggered;
Filled
3.03 SquareWave –
3.05 PosCount2Low PulseEdges; Scaled: Rollover
3.06 PosCount2High PulseEdges; Scaled: Rollover
3.07 PosCountLow PulseEdges; Scaled: Rollover
3.08 PosCountHigh PulseEdges; Scaled: Rollover
3.09 PID Out %
3.11 CurRef %
3.12 CurRefUsed %
3.13 ArmAlpha °
3.15 ReactCur %
3.17 ArmAlphaSI °
3.20 PLLOut s
3.22 CurCtrlIntegOut %
3.23 CurActPeak %
3.24 FluxRefFldWeak %
3.25 VoltRef1 %

Appendix A - Complete signal and parameter list and default settings 3AST004143R0501
77

3.26 VoltRef2 %
3.27 FluxRefEMF %
3.28 FluxRefSum %
3.30 FldCurRefM1 %
3.31 FldCurRefM2 %
Information (group 4)
INFORMATION (Group 4) See DCS800 Firmware manual
4.01 FirmwareVer –
4.03 ApplicName –
4.04 ConvNomVolt V
4.05 ConvNomCur A
4.06 Mot1FexType NotUsed; OnBoard; FEX-425-Int;
DCF803-0035; DCF803-0050;
DCF804-0050; DCF803-0060;
DCF804-0060; DCS800-S01;
DCS800-S02; FEX-4-Term5A
4.07 Mot2FexType NotUsed; OnBoard; FEX-425-Int;
DCF803-0035; DCF803-0050;
DCF804-0050; DCF803-0060;
DCF804-0060; DCS800-S01;
DCS800-S02; FEX-4-Term5A
4.08 Mot1FexSwVer –
4.09 Mot2FexSwVer –
4.11 Com8SwVer –
4.12 ApplicVer –
4.13 DriveLibVer –
4.14 ConvType None; D1; D2; D3; D4; D5; D6; D7;
ManualSet
4.15 QuadrantType Auto; BlockedBridge2; RelBridge2
4.16 ConvOvrCur A
4.17 MaxBridgeTemp ºC
4.18 DCS Link Stat1 0-65535 See DCS800 Firmware manual for bit
information
4.19 DCS Link Stat2 0-65535 See DCS800 Firmware manual for bit
information
4.20 Ext IO Stat 0-65535 See DCS800 Firmware manual for bit
information
4.21 CPU Load %
4.22 ApplLoad %
4.23 MotTorqNom Nm
4.24 ProgressSignal %
4.25 TachoTerminal –
4.26 IaActScaling A
Analog I/O (group 5)

ANALOG IN/OUT (Group 5) See DCS800 Firmware manual
5.01 AITacho Val V
5.03 AI1 Val V
5.04 AI2 Val V
5.05 AI3 Val V
5.06 AI4 Val V
5.07 AI5 Val V
5.08 AI6 Val V
5.11 AO1 Val V
5.12 AO2 Val V

78
Drive logic signals (group 6)

DRIVE LOG SIGNAL (Group 6)
6.01 SystemTime min See DCS800 Firmware manual for bit details
6.03 CurCtrlStat1 0-65535 See DCS800 Firmware manual for bit details
6.04 CurCtrlStat2 0-65535 See DCS800 Firmware manual for bit details
6.05 SelBridge NoBridge; Bridge1; Brigde2 See DCS800 Firmware manual for bit details
6.06 FldCtrlAlarm 0-3 See DCS800 Firmware manual for bit details
6.09 CtrlStatMas 0-65535 See DCS800 Firmware manual for bit details
6.10 CtrlStatSla 0-65535 See DCS800 Firmware manual for bit details
6.12 Mot1FexStatus NotUsed, OK, ComFault; FexFaulty;
FexNotReady; FexUnderCur;
FexOverCur; WrongSetting
6.13 Mot2FexStatus NotUsed, OK, ComFault; FexFaulty;
FexNotReady; FexUnderCur;
FexOverCur; WrongSetting
Control words (group 7)

CONTROL WORDS (Group 7)
7.01 MainCtrlWord 0-65535 See DCS800 Firmware manual for bit details
7.02 AuxCtrlWord 0-65535 See DCS800 Firmware manual for bit details
7.03 AuxCtrlWord2 0-65535 See DCS800 Firmware manual for bit details
7.04 UsedMCW 0-65535 See DCS800 Firmware manual for bit details
7.05 DO CtrlWord 0-65535 See DCS800 Firmware manual for bit details
7.06 RFE CtrlWord 0-65535 See DCS800 Firmware manual for bit details
7.10 FBCommandWord 0-65535 See page 40 for bit details.
7.11 FBAuxCommandWord 0-65535 See page 40 for bit details.
7.12 MasterCommandWord 0-65535 See page 38 for bit details.
Status/limit words (group 8)

STAT/LIMIT WORDS (Group 8)
8.01 MainStatWord 0-65535 See DCS800 Firmware manual for bit details
8.02 AuxStatWord 0-65535 See DCS800 Firmware manual for bit details
8.03 LimWord 0-65535 See DCS800 Firmware manual for bit details
8.05 DI StatWord 0-65535 See DCS800 Firmware manual for bit details
8.06 DO StatWord 0-65535 See DCS800 Firmware manual for bit details
8.08 DriveStat 0-65535 See DCS800 Firmware manual for bit details
8.09 MotSel 0-65535 See DCS800 Firmware manual for bit details
8.10 MacroSel 0-65535 See DCS800 Firmware manual for bit details
8.11 RFE StatWord 0-65535 See DCS800 Firmware manual for bit details
8.15 FBStatusWord 0-65535 See page 43 for bit details.
8.16 FBAuxStatusWord 0-65535 See page 43 for bit details.
8.17 FollowerStatusWord 0-65535 See page 38 for bit details

79
Fault/alarm words (group 9)

9.01 FaultWord1 F501–F516 See DCS800 Firmware manual for bit details
9.05 UserFaultWord F610– F625 See page 44 for bit details
9.06 AlarmWord1 A101–A116 See DCS800 Firmware manual for bit details
9.07 AlarmWord2 A117–A132 See DCS800 Firmware manual for bit details
9.08 AlarmWord3 A133–A143; A301– A305 See DCS800 Firmware manual for bit details
9.09 UserAlarmWord A310–A325 See page 45 for bit details
9.10 SysFaultWord – See DCS800 Firmware manual for bit details
9.11 Diagnosis 0–65535 See DCS800 Firmware manual for bit details
9.12 LastFault F<Fault code> <FaultName> See DCS800 Firmware manual for bit details
9.13 2ndLastFault F<Fault code> <FaultName> See DCS800 Firmware manual for bit details
9.14 3rdLastFault F<Fault code> <FaultName> See DCS800 Firmware manual for bit details
9.17 M1FexAlarmWord A<Alarm code> <AlarmName> See DCS800 Firmware manual for bit details
9.18 M1FexFaultWord F<Fault code> <FaultName> See DCS800 Firmware manual for bit details
9.19 M2FexAlarmWord A<Alarm code> <AlarmName> See DCS800 Firmware manual for bit details
9.20 M2FexFaultWord F<Fault code> <FaultName> See DCS800 Firmware manual for bit details
Start-up data (group 99)

Parameter name Range/unit Default setting Recommended setting
99.01 Language – English
99.02 M1NomVolt 5–2000 V 350 V
99.03 M1NomCur 0–30000 A 0A
99.04 M1BaseSpeed 10–6500 rpm 1500 rpm
99.06 ServiceMode See DCS800 Firmware manual NormalMode
99.07 ApplRestore Done; Yes Done
99.08 ApplMacro See DCS800 Firmware manual NotUsed
99.09 DeviceName
99.10 NomMainsVolt 0–(97.01)/(97.03) V (97.01)/(97.03) V
99.11 M1NomFldCur 0.3–655 A 0.3 A
99.12 M1UsedFexType See DCS800 Firmware manual OnBoard
99.15 Pot1 -32768–32767 0
99.16 Pot2 -32768–32767 0
99.17 SqrWavPeriod 0.01–655 s 10 s
99.18 SqrWavIndex 0–9999 0
Start/stop select (group 10)

Parameter name Range/unit Default setting Recommended
setting
10.01 CommandSel Local I/O; MainCtrlWord; Key; 12PLink; FexLink Local I/O MainCtrlWord
10.02 Direction NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; DI9; DI10; NotUsed
DI11; MCW Bit11; MCW Bit12; MCW Bit13; MCW Bit14
;MCW Bit15; ACW Bit12; ACW Bit13; ACW Bit14; ACW
Bit15;
10.03 Reset NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; DI9; DI10; DI6 NotUsed
DI11; MCW Bit11; MCW Bit12; MCW Bit13; MCW Bit14
;MCW Bit15; ACW Bit12; ACW Bit13; ACW Bit14; ACW
Bit15;
10.04 SyncCommand NotUsed; DI7+; DI7Hi&Z; DI7Hi&Z Fwd; DI7Hi&Z Rev; DI7-; NotUsed
DI7Lo&Z; DI7Lo&Z Fwd; DI7Lo&Z Rev; Z; SyncCommand
10.05 SyncCommand2 NotUsed; DI7+; DI7Hi&Z; DI7Hi&Z Fwd; DI7Hi&Z Rev; DI7-; NotUsed
DI7Lo&Z; DI7Lo&Z Fwd; DI7Lo&Z Rev; Z; SyncCommand

80

setting
10.06 MotFanAck NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; DI9; DI10; DI2 NotUsed
DI11
10.07 HandAuto NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; DI9; DI10; NotUsed
DI11; MCW Bit11; MCW Bit12; MCW Bit13; MCW Bit14;
MCW Bit15; ACW Bit12; ACW Bit13; ACW Bit14; ACW
Bit15;
10.08 Off2 NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; DI9; DI10; DI4, Fixed Absolutely necessary to be
DI11; MCW Bit11; MCW Bit12; MCW Bit13; MCW Bit14; set to DI4!!
Bit15;
10.09 E Stop NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; DI9; DI10; DI5 NotUsed
Bit15;
10.10 ParChange NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; DI9; DI10; NotUsed MCW Bit11
Bit15;
10.13 OvrVoltProt NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8 NotUsed
10.15 OnOff1 NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; DI9; DI10; DI7 NotUsed
Bit15; DI7DI8
10.16 StartStop NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; DI9; DI10; DI8 NotUsed
Bit15; DI7DI8
10.17 Jog1 NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; DI9; DI10; NotUsed
MCW Bit15; ACW Bit12; ACW Bit13; ACW Bit14; ACW Bit15
10.18 Jog2 NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; DI9; DI10; NotUsed
10.20 ConvFanAck NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; DI9; DI10; DI1 DI1
DI11
10.21 MainContAck NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; DI9; DI10; DI3 DI3
DI11
10.22 DynBrakeAck NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; DI9; DI10; NotUsed
DI11
10.23 DC BreakAck NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; DI9; DI10; NotUsed
DI11
10.25 DI1Invert Direct; Inverted Direct
Speed reference input (group 11)

setting
11.02 Ref1Mux Open; Close; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; DI9; Close
DI10; DI11; MCW Bit11; MCW Bit12; MCW Bit13; MCW
Bit14; MCW Bit15; ACW Bit12; ACW Bit13; ACW Bit14;
ACW Bit15
11.03 Ref1Sel SpeedRef2301; AuxSpeedRef; AI1; AI2; AI3; AI4; AI5; AI6; SpeedRef2301
FixedSpeed1; FixedSpeed2; MotPot; AuxRef-AI1;
MinAI2AI4; MaxAI2AI4; AI1Direct+; AI2Direct+; Enc2Direct+

81

setting
11.06 Ref2Sel SpeedRef2301; AuxSpeedRef; AI1; AI2; AI3; AI4; AI5; AI6; SpeedRef2301
FixedSpeed1; FixedSpeed2; MotPot; AI2-AI3; AI2+AI3;
AI1*AI2; AI2*AI3; MinAI2AI4; MaxAI2AI4; Encoder2
11.12 Ref2Mux Invert1102; Open; Close; DI1; DI2; DI3; DI4; DI5; DI6; DI7; Open
DI8; DI9; DI10; DI11; MCW Bit11; MCW Bit12; MCW Bit13;
MCW Bit14; MCW Bit15; ACW Bit12; ACW Bit13; ACW
Bit14; ACW Bit15
11.13 MotPotUp NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; DI9; DI10; NotUsed
11.14 MotPotDown NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; DI9; DI10; NotUsed
11.15 MotPotMin NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; DI9; DI10; NotUsed
Constant speeds (group 12)

See DCS800 Firmware manual for details.
Analog inputs (group 13)
setting
ANALOG INPUTS (Group 13)
13.01 AI1HighVal -10000–10000 mV 10000 mV
13.02 AI1LowVal -10000–10000 mV -10000 mV
13.03 ConvModeAI1 ±10 V Bi; 0V-10V Uni; 2V-10V Uni; 5V Offset; ±10 V Bi 0-10 V Uni
6V Offset
13.04 FiltAI1 0–10000 ms 0 ms
13.05 AI2HighVal -10000–10000 mV 10000 mV
13.06 AI2LowVal -10000–10000 mV -10000 mV
13.07 ConvModeAI2 ±10 V Bi; 0V-10V Uni; 2V-10V Uni; 5V Offset; ±10 V Bi
6V Offset
13.08 FiltAI2 0–10000 ms 0 ms
13.09 AI3HighVal -10000–10000 mV 10000 mV 0 mV
13.10 AI3LowVal -10000–10000 mV -10000 mV 0 mV
6V Offset
13.12 FiltAI3 0–10000 ms 0 ms
13.13 AI4HighVal -10000–10000 mV 10000 mV
13.14 AI4LowVal -10000–10000 mV -10000 mV
6V Offset
13.16 FiltAI4 0–10000 ms 0 ms
13.17 TachoHighVal -10000–10000 mV 10000 mV
13.18 TachoLowVal -10000–10000 mV -10000 mV
13.19 ConvModeTacho ±10 V Bi; 0V-10V Uni; 2V-10V Uni; 5V Offset; ±10 V Bi
6V Offset
13.21 AI5HighVal -10000–10000 mV 10000 mV
13.22 AI5LowVal -10000–10000 mV -10000 mV
6V Offset
13.25 AI6HighVal -10000–10000 mV 10000 mV
13.26 AI6LowVal -10000–10000 mV -10000 mV
6V Offset

82
Digital outputs (group 14)

DIGITAL OUTPUTS (Group 14)
14.01 DO1Index -9999–9999 603
14.02 DO1BitNo 0–15 0
14.03 DO2Index -9999–9999 603
14.04 DO2BitNo 0–15 5
14.05 DO3Index -9999–9999 603
14.06 DO3BitNo 0–15 7
14.07 DO4Index -9999–9999 0 816
14.08 DO4BitNo 0–15 0 6 (Brake Lift 1)
14.09 DO5Index -9999–9999 0 816
14.10 DO5BitNo 0–15 0 9 (Watchdog-N)
14.11 DO6Index -9999–9999 0
14.12 DO6BitNo 0–15 0
14.13 DO7Index -9999–9999 0
14.14 DO7BitNo 0–15 0
14.15 DO8Index -9999–9999 603 816
14.16 DO8BitNo 0–15 7 7 (Brake Lift 2)
Analog outputs (group 15)

System control inputs (group 16)

SYSTEM CONTROL INPUT (Group 11)
16.02 ParLock Open; Locked Open
16.03 SysPassCode 0–30000 0
16.04 LocLock False; True False
16.05 MacroChangeMode User1/2; Motor1/2 User1/2 Motor 1/2
16.06 ParApplSave Done; Save; SaveToMemC; Done
LoadFromMemC; EableAppl;
DisableAppl
16.09 USI Sel Compact; Extended Compact Extended
16.11 SetSystemTime 0–64000 min 0 min
16.14 ToolLinkConfig 9800; 19200; 38400 38400
Data storage (group 19)


83
Limits (group 20)

LIMITS (Group 20)
20.01 M1SpeedMin -10000–10000 rpm -1500 rpm
20.02 M1SpeedMax -10000–10000 rpm 1500 rpm
20.03 ZeroSpeedLim 0–1000 rpm 75 rpm 15 rpm
20.05 TorqMax 0–325 % 100 %
20.06 TorqMin -325–0% -100 %
20.07 TorqMaxSPC 0–325 % 325 %
20.08 TorqMinSPC -325–0% -325 %
20.09 TorqMaxTref 0–325 % 325 %
20.10 TorqMinTref -325–0% -325 %
20.12 M1CurLimBrdg1 0–325 % 100 %
20.13 M1CurLimBrdg2 -325–0% -100 %
20.14 ArmAlphaMax 0–165 º 150 º
20.15 ArmAlphaMin 0–165 º 15 º
20.18 TorqUsedMaxSel TorqMax2005; AI1; AI2; AI3; TorqMax2005
AI4; AI% AI6
20.19 TorqUsedMinSel TorqMin2006; AI1; AI2; AI3; TorqMin2006
AI4; AI% AI6
20.22 TorqGenMax 0–325 % 325 %
Start/stop (group 21)

START/STOP (Group 21)
21.02 Off1Mode RampStop; TorqueLimit; RampStop CoastStop
CoastStop; DynBraking
21.03 StopMode RampStop; TorqueLimit; RampStop
21.04 E StopMode RampStop; TorqueLimit; RampStop TorqueLimit
21.05 E StopDecMin 0–1800 rpm/s 18000 rpm/s
21.06 E StopDecMax 0–1800 rpm/s 18000 rpm/s
21.07 DecMonDly 0–100 s 20 s
21.10 FlyStart StartFrom0; FlyingStart; FlyingStart
FlyStartDyn
21.14 FanDly 0–300 s 30 s
21.16 MainContCtrlMode On; On&Run On
21.18 FldHeatSel NotUsed; On; OnRun; ACW NotUsed
Bit12; ACW Bit13; ACW Bit14;
ACW Bit15;
Speed ramp (group 22)

setting
SPEED RAMP PAR (Group 21)
22.01 AccTime1 0–300 s 20 s Parameters 69.02 and 69.03
write to this value.
22.02 DecTime1 0–300 s 20 s Parameters 69.04 and 69.05
write to this value.
22.03 RampTimeScale 0.1–100 1
22.04 E StopRamp 0–300 s 20 s 0s
22.05 ShapeTime 0–30 s 0s
22.07 VarSlopeRate 0–30000 ms 0

84

setting
22.08 BalRampRef -10000–10000 rpm 0
22.09 AccTime2 0–300 s 20 s
22.10 DecTime2 0–300 s 20 s
22.11 Ramp2Sel Acc/Dec1; Acc/Dec2; SpeedLevel; DI1; DI2; DI3; ACC/Dec1
DI4; DI5; DI6; DI7; DI8; DI9; DI10; DI11; MCW
Bit11; MCW Bit12; MCW Bit13; MCW Bit14;
MCW Bit15; ACW Bit12; ACW Bit13; ACW Bit14;
ACW Bit15
22.12 JogAccTime 0–300 s 20 s
22.13 JogDecTime 0–300 s 20 s
Speed reference (group 23)

Speed control (group 24)

setting
SPEED CONTROL (Group 24)
24.02 DroopRate 0–100 % 0%
24.03 KpS 0–325 5 15 + tuning
24.04 KpSMin 0–(24.03) 0
24.05 KpSWeakp 0–325 % 0%
24.06 KpSWeakpFiltTime 0–100 ms 100 ms
24.09 TiS 0–64000 ms 2500 ms 500 ms + tuning
24.10 TiSInitVal -325–325 % 0%
24.11 BalRef -325–325 % 0%
24.12 DerivTime 0–10000 ms 0 ms
24.13 DerivFiltTime 0–10000 ms 8 ms
24.14 AccCompDerTime 0–1000 s 0s
24.15 AccCompFiltTime 0–10000 ms 8 ms
24.17 KpSTiSMinSpeed 0–(24.18) rpm 0 rpm
24.18 KpSTiSMaxSpeed (24.17)–10000 rpm 0 rpm
24.19 KpSValMinSpeed 0–500 % 100 %
24.20 TiSValMinSpeed 0–500 % 100 %
24.21 ZeroFreqRFE 0–150 Hz 45 Hz
24.22 ZeroDampRFE -1–1 0
24.23 PoleFreqRFE 0–150 Hz 40 Hz
24.24 PoleDampRFE 0–1 0.25§
24.25 SpeedErrorScale 10–400 % 100 %
24.27 KpS2 0–325 5
24.28 TiS2 0–64000 ms 2500 ms 500 ms + tuning
24.29 Par2Select ParSet1; ParSet2; SpeedLevel; SpeedError; DI1; ParSet1
DI2; DI3; DI4; DI5; DI6; DI7; DI8; DI9; DI10; DI11;
MCW Bit11; MCW Bit12; MCW Bit13; MCW
Bit14; MCW Bit15; ACW Bit12; ACW Bit13; ACW
Bit14; ACW Bit15

85
Torque reference (group 25)

TORQUE REFERENCE (Group 25)
25.01 TorqRefA -325–325 % 0%
25.02 TorqRefA FTC 0–10000 ms 0 ms
25.03 LoadShare -400–400 % 100 %
25.04 TorqRefB -325–325 % 0%
25.05 TorqRampUp 0–120 s 0s
25.06 TorqRampDown 0–120 s 0s
25.10 TorqRefA Sel TorqRefA2501; AI1; AI2; AI3; TorqRefA2501
AI4; AI5; AI6
Torque reference handling (group 26)

TORQ REF HANDLING (Group 25)
26.01 TorqSel Zero; Speed; Torque; Minimum; Maximum; Add; Speed
Limitation
26.02 LoadCom -325–325 % 0%
26.03 TorqSelMode Auto; Fix Auto
26.04 TorqMuxMode TorqSel2601; Speed/Torq; Speed/Min; Speed/ TorqSel2601
Max; Speed/Limit
26.05 TorqMux NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; NotUsed
DI9; DI10; DI11; MCW Bit11; MCW Bit12; MCW
Bit13; MCW Bit14; MCW Bit15; ACW Bit12; ACW
Bit13; ACW Bit14; ACW Bit15
26.08 GearStartTorq 0–325 % 325 %
26.09 GearTorqTime 0–10000 ms 100 ms
26.10 GearTorqRamp 0–64000 ms 100 ms
26.15 TorqCorrect NotUsed; AI1; AI2; AI3; AI4; AI5; AI6 NotUsed
Fault functions (group 30)

FAULT FUNCTIONS (Group 30)
30.01 StallTime 0–200 s 0s
30.02 StallSpeed 0–1000 rpm 5 rpm
30.03 StallTorq 0–325 % 75 %
30.05 ResCurDetectSel NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; NotUsed
DI9; DI10; DI11
30.06 ResCurDetectLim 0–20 A 4A
30.07 ResCurDetectDel 0–64000 ms 10 ms
30.08 ArmOvrVoltLev 20–500 % 120 %
30.09 ArmOvrCurLev 20–400 % 250 %
30.10 ArmCurRiseMax 0–325 %/ms 325 %/ms
30.12 M1FldMinTrip 0–100 % 50 %
30.13 M1FldOvrCurLev 0–135 % 125 %
30.14 SpeedFbMonLev 0–10000 rpm 15 rpm
30.15 EMF FbMonLev 0–2000 V 50 V
30.16 M1OvrSpeed 0–10000 rpm 1800 rpm
30.17 SpeedFbFltSel NotUsed; Fault; EMF/Fault; EMF/Alarm; Enc/ Fault
Alarm
30.18 CurRippleSel NotUsed; Fault; Alarm Fault
30.19 CurRippleLim 0–650 % 150 %
30.21 PwrLossTrip Immediately; Delayed Immediately

86

30.22 UNetMin1 0–150 % 80 %
30.23 UNetMin2 0–150 % 60 % 80 %
30.24 PowrDownTime 0–64000 ms 500 ms
30.27 LocalLossCtrl RampStop; TorqueLimit; CoastStop; DynBraking; RampStop CoastStop
LastSpeed; FixedSpeed1
30.28 ComLossCtrl RampStop; TorqueLimit; CoastStop; DynBraking; RampStop CoastStop
LastSpeed; FixedSpeed1
30.29 AI Mon4mA NotUsed; Fault; LastSpeed; FixedSpeed1 Fault NotUsed
30.30 FaultStopMode RampStop; TorqueLimit; CoastStop; DynBraking; RampStop CoastStop
30.31 ExtFaultSel NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; NotUsed
30.32 ExtAlarmSel NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; NotUsed
30.33 ExtFaultOnSel Fault; Fault&RdyRun Fault
30.34 ExtAlarmOnSel Alarm; Alarm&RdyRun Alarm
30.35 FB TimeOut 0–64000 ms 100 ms
30.36 SpeedFbFltMode CoastStop; DynBraking CoastStop
Motor 1 temperature (group 31)

setting
MOT1 TEMPERATURE (Group 31)
31.01 M1ModelTime 0–6400 s 240 s
31.02 M1ModelTime2 0–6400 s 240 s
31.03 M1AlarmLimLoad 10–325 % 102 %
31.04 M1FaultLimLoad 10–325 % 106 %
31.05 M1TempSel NotUsed; 1PT100 AI2; 2PT100 AI2; 3PT100 AI2; NotUsed
4PT100 AI2/3; 5PT100 AI2/3; 6PT100 AI2/3;
1PT100 AI7; 2PT100 AI7; 3PT100 AI7;
4PT100 AI7/8; 5PT100 AI7/8; 6PT100 AI7/8; 1PTC
AI2; 2PTC AI2/3; 1PTC AI2/Con
31.06 M1AlarmLimTemp -10–4000 ºC 0 ºC
31.07 M1FaultLimTemp -10–4000 ºC 0 ºC
31.08 M1KlixonSel NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; NotUsed
DI9; DI10; DI11
DCS800 Control panel display (group 34)

PANEL DISPLAY (Group 34)
34.01 DispParam1Sel 0–9999 101 104
34.08 DispParam2Sel 0–9999 114
34.15 DispParam3Sel 0–9999 116
PID control (group 40)


87
Brake control (group 42)

BRAKE CONTROL (Group 42)
42.01 M1BrakeCtrl NotUsed; On; BrakeClose; BrakeOpen NotUsed On
42.02 M1BrakeAckSel NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; NotUsed DI6
42.03 M1BrakeRefDly 0–60 s 0.1 s 0.2 s
42.04 M1ZeroSpeedDly 0–60 s 0s 0.4 s
42.05 M1BrakeFltTime 0–60 s 1s
42.06 BrakeFaultFunc Alarm; Fault; Crane Fault Crane
42.07 StrtTorqRefSel NotUsed; Memory; StrtTorqRef; AI1; AI2; AI3; NotUsed
AI4; AI5; AI6
42.08 StrtTorqRef -325–325 % 100 % 0%
42.09 BrakeEStopMode Disable; Enable Disable
42.10 M1TorqProvTime 0–100 s 0s
42.11 M1BrakeLiftDly 0–60 s 0s
42.12 M1BrakeLongTime 0–60 s 4s
42.13 M1BrakeStopDly 0–60 s 1s
Current control (group 43)

CURRENT CONTROL (Group 43)
43.01 OperModeSel ArmConv; FieldConv; 12PParMaster; ArmConv
12PParSlave; 12PSerMaster; 12PSerSlave
43.02 CurSel CurRef311; CurRefExt; AI1; AI2; AI3; AI4; AI5; CurRef311
AI6; FexCurRef; FluxRefEMF
43.03 CurRefExt -325–325 % 0%
43.04 CurRefSlope 0.2–40 %/ms 10 %/ms
43.05 CtrlModeSel Standard; FeedFwdRef; NoFeedFwd; Standard
PowerSupply2
43.06 M1KpArmCur 0–100 0.1
43.07 M1TiArmCur 0–10000 ms 50 ms
43.08 M1DiscontCurLim 0–325 % 100 %
43.09 M1ArmL 0–640 mH 0 mH
43.10 M1ArmR 0–65500 mOhm 0 mOhm
43.12 Uk 0–15 % 0%
43.13 FiringLimMode Fix; FixSingle; Calculated; CalcSingle FixSingle
43.14 RevDly 0–600 ms 5 ms
43.16 RevMode Soft; Hard Hard
43.17 MaxCurLimSpeed 0–10000 rpm 1500 rpm
43.18 ArmCurLimSpeed1 0–325 % 325 %
43.24 PwrSpplyRefExt -150–150 % 0%

88
Field excitation (group 44)

FIELD EXCITATION (Group 44)
44.01 FldCtrlMode Fix; EMF; Fix/Rev; EMF/Rev; Fix/Opti; EMF/Opti; Fix
Fix/Rev/Opti; EMF/Rev/Opti
44.02 M1KpFex 0–325 0.2
44.03 M1TiFex 0–64000 ms 200 ms
44.04 M1FldHeatRef 0–100 % 100 %
44.07 EMF CtrlPosLim 0–100 % 10 %
44.08 EMF CtrlNegLim -100–0 % -100 %
44.09 KpEMF 0–325 0.5
44.10 TiEMF 0–64000 ms 50 ms
44.12 FldCurFlux40 0–100 % 40 %
44.13 FldCurFlux70 0–100 % 70 %
44.14 FldCurFlux90 0–100 % 90 %
44.15 FldWeakDyn 80–100 % 100 %
44.17 FldBoostSel NotUsed; Run; DI1; DI2; DI3; DI4; DI5; DI6; DI7; NotUsed MCW bit 13
DI8; DI9; DI10; DI11; MCW Bit11; MCW Bit12;
MCW Bit13; MCW Bit14; MCW Bit15; ACW Bit12;
ACW Bit13; ACW Bit14; ACW Bit15
44.18 FldBoostFact 100–160 % 100 %
44.19 FldBoostTime 0–600 s 0s
44.21 RevVoltMargin 0–20 % 6%
44.22 VoltRefExt -100–100 % 0%
44.23 EMF RefSel Internal; ExtRef 44.22 Internal ExtRef 44.22
44.25 VoltCorr -100–100 % 0%
44.26 VoltRefSlope 0.01–100 %/ms 30 ms
44.27 FluxCorr -100–100 % 0%
44.28 MG ConfigWord - - -
Field converter settings (group 45)

12-pulse operation (group 47)


89
Shared motion (group 49)

SHARED MOTION (Group 49)
49.01 M2NomVolt 5–2000 V 350 V
49.02 M2NomCur 0–30000 A 0A
49.03 M2BaseSpeed 10–6500 rpm 1500 rpm
49.04 M2ZerospeedLim 0–1000 rpm 75 rpm 15 rpm
49.05 M2NomFldCur 0.3–655 A 0.3 A
49.06 M2FldHeatRef 0–100 % 100 %
49.07 M2UsedFexType NotUsed; OnBoard; FEX-425-Int; DCF803-0035; NotUsed
DCF803-0050; DCF804-0050; DCF803-0060;
DCF804-0060; DCS800-S01; DCS800-S02;
FEX-4-Term5A
49.08 M2FldMinTrip 0–100 % 50 %
49.09 M2FldOvrCurLev 0–135 % 125 %
49.10 M2KpFex 0–325 0.2
49.11 M2TiFex 0–64000 ms 200 ms
49.12 M2CurLimBrdg1 0–325 % 100 %
49.13 M2CurLimBrdg2 -325–0 % -100 %
49.14 M2KpArmCur 0–100 0.1
49.15 M2TiArmCur 0–10000 ms 50 ms
49.16 M2DiscontCurLim 0–325 % 100 %
49.17 M2ArmL 0–640 mH 0 mH
49.18 M2ArmR 0–65500 mOhm 0 mOhm
49.19 M2SpeedMin -10000–10000 rpm -1500 rpm
49.20 M2SpeedMax -10000–10000 rpm 1500 rpm
49.21 M2OvrSpeed 0–10000 rpm 1800 rpm
49.22 M2SpeedScale 0–6500 rpm 0 rpm
49.23 M2EncMeasMode A+/B Dir; A+-; A+-/B Dir; A+-/B+- A+-/B+-
49.24 M2SpeedFbSel EMF; Encoder; Tacho; External; Encoder2 EMF
49.25 M2EncPulseNo 20–10000 ppr 1024 ppr
49.26 M2TachoAdjust -10000–10000 rpm 0 rpm
49.27 M2TachoVolt1000 -1–270 V 0V
49.28 M2BrakeCtrl NotUsed; On; BrakeClose; BrakeOpen NotUsed On
49.29 M2BrakeAckSel NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; NotUsed DI8
49.30 M2BrakeRefDly 0–60 s 0.1 s 0.2 s
49.31 M2ZeroSpeedRefDly 0–60 s 0s 0.2 s
49.32 M2ModelTime 0–6400 s 240 s
49.33 M2AlarmLimLoad 10–325 % 102 %
49.34 M2FaultLimLoad 10–325 % 106 %
49.35 M2TempSel NotUsed; 1PT100 AI3; 2PT100 AI3; 3PT100 AI3; NotUsed
4PT100 AI3/2; 5PT100 AI3/2; 6PT100 AI3/2;
1PT100 AI8; 2PT100 AI8; 3PT100 AI8;
4PT100 AI7/8; 5PT100 AI7/8; 6PT100 AI7/8;
1PTC AI3; 2PTC AI3/2; 1PTC AI2/Con;
49.36 M2AlarmLimTemp -10–4000 ºC 0 ºC
49.37 M2FaultLimTemp -10–4000 ºC 0 ºC
49.38 M2KlixonSel NotUsed; DI1; DI2; DI3; DI4; DI5; DI6; DI7; DI8; NotUsed
DI9; DI10; DI11
49.39 M2BrakeFltTime 0–60 s 1s
49.40 M2TorqProvTime 0–100 s 0s
49.41 M2BrakeLiftDly 0–60 s 0s
49.42 M2BrakeLongTime 0–60 s 4s
49.43 M2BrakeStopDly 0–60 s 1s
49.44 M2StrtTorqRefSel NotUsed; Memory; StrtTorqRef; AI1; AI2; AI3; Not Used
AI4; AI5; AI6

90
Speed measurement (group 50)

SPEED MEASUREMENT (Group 50)
50.01 M1SpeedScale 0–6500 rpm 0 rpm Max speed
50.02 M1EncMeasMode A+/B Dir; A+-; A+-/B Dir; A+-/B+- A+-/B+-
50.03 M1SpeedFbSel EMF; Endoder; TAcho; External; Encoder2 EMF Encoder
50.04 M1EncPulseNo 20–10000 ppr 1024 ppr
50.06 SpeedFiltTime 0–10000 ms 5 ms
50.07 PosCountMode PulseEdges; Scaled; Rollover Scaled PulseEdges
50.08 PosCountInitLo 0–65536 0
50.09 PosCountInitHi -32768–32767 0
50.10 SpeedLev 0–10000 rpm 1500 rpm
50.11 DynBrakeDly -1–3000 s 0s
50.12 M1TachoAdjust -10000–10000 rpm 0 rpm
50.13 M1TachoVolt1000 0–270 V 60 V
50.15 PosSyncMode Single; Cyclic Single
50.17 WinderScale -100–100 1
50.18 Enc2MeasMode A+/B Dir; A+-; A+-/B Dir; A+-/B+- A+-/B+-
50.19 Enc2PulseNo 20–10000 ppr 1024 ppr
50.21 PosCountInitLo 0–65536 0
50.22 PosCountInitHi -32768–32767 0
Fieldbus (group 51)

Modbus (group 52)

Digital inputs (group 60)

Parameter name Range/unit Default setting Description
DIGITAL INPUTS (Group 60)
60.02 Zero Pos Sel NotUsed; DI2; DI5; DI6; EXT DI9 …EXTDI14 NotUsed Zero position digital input (Stand
alone)
60.03 SlowDown-N Sel NotUsed; DI2; DI5; DI6; EXT DI9 …EXTDI14; NotUsed Slowdown digital input
DI2_DI5; EXTDI9_10; EXTDI11_12; EXTDI13_14; (Stand alone)
60.04 FastStop-N Sel NotUsed; DI2; DI5; DI6; EXT DI9 …EXTDI14 NotUsed Fast stop digital input
(Stand alone)
60.06 Sync Sel NotUsed; DI2; DI5; DI6; DI7; DI8; NotUsed Synchronisation digital input
EXT DI9 … EXT DI14
60.08 Step Ref2 Sel NotUsed; DI2; DI5; DI6; EXT DI9 …EXTDI14 NotUsed Step reference 2 digital input
(Stand alone)
(Stand alone)
(Stand alone)
60.11 High Speed Sel NotUsed; DI2; DI5; DI6; EXT DI9 …EXTDI14 NotUsed High speed digital input
(Stand alone)
60.12 Snag Load-N Sel NotUsed; DI2; DI5; DI6; EXT DI9 …EXTDI14 NotUsed Snag load digital input
60.13 Accelerate Sel NotUsed; DI2; DI5; DI6; EXT DI9 …EXTDI14 NotUsed Accelerate digital input
(Stand alone)
60.14 Step Ref 5 Sel NotUsed; DI2; DI5; DI6; EXT DI9 …EXTDI14 NotUsed Step ref 5 input (Stand alone)
60.15 Shared Motion Sel NotUsed; DI2; DI5; DI6; EXT DI9 …EXTDI14 NotUsed Shared motion digital input (Stand
alone)

91
Position measurement (group 61)

POS MEASURE (Group 61)
61.01 PosMeasEnable True; False True
61.02 Pos Scale 1.0–32767 ppu 100 Position scaling
61.03 Sync Cond Pos; Neg Pos Synchronization condition
Torque monitor (group 62)

TORQUE MONITOR (Group 62)
62.01 Torque Mon Sel True; False True Torque monitor select
62.02 Speed Dev Lev 0–100 % 10 % Speed deviation level
62.03 Torque Fault TD 0–30000 ms 600 ms Torque fault time delay
62.04 Sp Der Blk Lev 0–1000 s 7.5 s Speed derivative blocking level
Fast stop (group 63)

FAST STOP (Group 63)
63.01 FastStop Type 11 NotUsed; Fast stop 1; Fast stop 2; Fast stop 3 NotUsed Fast stop type 11
63.02 FastStop Type 12 NotUsed; Fast stop 1; Fast stop 2; Fast stop 3 NotUsed Fast stop type 12
Crane (group 64)

CRANE (Group 64)
64.01 Stand Alone Sel True; False False Stand alone select
64.02 Continuous Gear True; False False Continuous gear
64.03 HighSpeedLevel 1 0.0–100 % 98 % High speed level 1
64.04 Dead Zone A 0–100 % 0% Dead zone A
64.05 Dead Zone B 0–100 % 0% Dead zone B
64.06 Reference Shape 0–100 20 % Reference shape
64.07 SlowDownSpeedRef 0–100 % 25 % Slowdown speed reference
64.08 ZeroPosOk TD 0.0–60.0 s 0.3 s Zero position OK time delay
64.09 Torque Ref Scale 0–4.00 1 Torqe reference scaling
64.10 Control Type Joystick; Radio Ctrl; Motor Pot; Step Joyst; Step Joystick Control type selection
Radio
64.11 Minimum Ref 0.0–100.0 % 0% Minimum reference
64.12 Joystick Warn TD 0–5000 ms 400 ms Joystick warning time delay
64.13 Step Ref Level 1 0.0–100.0 % 10 % Step reference level 1
64.18 Speed/Torq Ctrl Speed; Torque; AI1 and 2 Level Speed Speed/ torque control selection
64.19 Slow Down Mode SingleDir, DualDir SingleDir Selection of slow down direction
64.20 Step Ref Level 5 0.0–100.0 % 100% Step reference level 5
Logic handler (group 65)

LOGIC HANDLER (Group 65)
65.01 Continuous On True; False True Continuous on
65.02 Off Time Delay 0.0–10000.0 s 180 s Off time delay

92
Torque proving (group 66)

TORQUE PROVING (Group 66)
66.03 Torq Prov Ref 0.0–200.0 % 20 % Torque proving reference
66.04 Regen Test Sel True; False False Regenerative bridge test select
Power optimize (group 68)

POWER OPTIMIZE (Group 68)
68.01 PowOp Sel True; False False Power optimization select
68.02 Base Speed 1.0–100.0 % 100 % Base speed
68.03 PowOpAutotuneSel True ; False False Power optimization autotune select
68.04 InertiaTotalUp 0.00–100.00 kgm2 3 kgm2 Total inertia upwards
68.05 InertiaTotalDown 0.00–100.00 kgm2 30 kgm2 Total intertia downwards
68.06 TorqLimUp 0.0–200.0 % 100 % Power optimization torque limit
upwards
68.07 TorqLimDown 0.0–200.0 % 75 % Power optimization torque limit
downwards
68.08 PowOpResetLevel 0–100 % 12 % Power optimization reset level
68.09 LoadTorqueFiltTC 0–32000 ms 150 ms Load torque signal filter time
constant
68.10 SlackRopeTorqLev -300–300 % -300 % Slack rope torque indication level
Reference handler (group 69)

REFERENCE HANDLER (Group 69)
69.02 Acc Time Fwd 0.1–60 s 5s Acceleration time forward
69.03 Acc Time Rev 0.1–60 s 5s Acceleration time reverse
69.04 Dec Time Fwd 0.1–60 s 5s Deceleration time forward
69.05 Dec Time Rev 0.1–60 s 5s Deceleration time reverse
69.07 Ramp Scale Local 0.5–100.0 2.0 Ramp scale local
69.10 Ramp Rate=1 True; False True Ramp rate set equal to 1
69.11 ExtEmfRef 44.22 0.0 ... 200.0 95% EMF reference (see also 44.22)
DDCS control (group 70)

DDCS CONTROL (Group 70)
70.01 Ch0 NodeAddr 0–254 1
70.02 Ch0 LinkControl 1–15 10
70.03 Ch0 BaudRate 8 Mbits/s; 4 Mbits/s; 2 Mbits/s; 1 Mbits/s 4 Mbits/s
70.04 Ch0 TimeOut 0–64000 ms 100 ms 300 ms
70.05 Ch0 ComLossCtrl RampStop; TorqueLimit; CoastStop; RampStop CoastStop
DynBreaking; LastSpeed; FixedSpeed1
70.06 Ch0 HW Config Ring; Star Star
70.08 Ch2 NodeAddr 1–125 1
70.09 Ch2 MaFoMode NotUsed; Master; Follower NotUsed
70.10 Ch2 MasSig1 0–9999 701
70.11 Ch2 MasSig2 0–9999 2301
70.12 Ch2 MasSig3 0–9999 210

93

70.14 Ch2 TimeOut 0–64000 ms 100 ms
70.15 Ch2 ComLossCtrl RampStop; TorqueLimit; CoastStop; RampStop
DynBreaking; LastSpeed; FixedSpeed1
70.18 Ch2 FolSig1 0–9999 701
70.19 Ch2 FolSig2 0–9999 2301
70.20 Ch2 FolSig3 0–9999 2501
70.21 Ch3 HW Config Ring; Star Star
70.22 Ch3 NodeAddr 1–254 1
70.24 Ch0 DsetBaseAddr 1–16 10
Drive bus (group 71)

DRIVE BUS (Group 71)
71.01 Ch0 DriveBus No; Yes No
Master/Follower (group 72)

Master/Follower (Group 72)
72.01 Mast/Foll mode Off; Follower; Master Off *)
72.02 Torque selector Zero; Speed; Torque; Min; Max; Add; Limitation Speed
72.03 Load Share 0 ... 400% 100%
72.04 Window Select Off; On Off
72.05 Window Width Pos -10000 ... +10000 rpm 0
72.06 Window Width Neg -10000 ... +10000 rpm 0
72.07Droop Rate 0 ... 100% 0
72.08Torq Ref A FTC 0 ... 32767 ms 0
72.09 M/F Fault TD 0 ... 32767 ms 200 ms
72.10 M/F Comm Err TD 0 ... 32767 ms 200 ms
72.11 MF Broadcast mode No, Yes No Allways NO! For broadcast
communication, use group 70. *)
*) The setting of these parameters automatically sets values on some parameters in

group 94. For M/F broadcast in the crane control firmware, group 90 is used.
Shared motion 2 (group 80)

SHARED MOTION 2 (Group 80)
80.10 Sync Sel 2 NotUsed; DI2; DI5; DI6; DI7; DI8; Not Used Digital input for synchronization,
EXT DI9 …EXTDI14 motor 2
80.11 Slow Down Mode 2 SingleDir; DualDir SingleDir Slown down direction, motor 2
80.18 Speed DevLev 2 0–100.0 % 10 % Speed deviation level, motor 2
80.19 TorqueFault TD 2 0–32000 ms 600 ms Torque fault time delay, motor 2
80.20 Sp Der Blk Lev 2 0–100 s 7.5 s Speed derivative blocking level,
motor 2
80.22 PowOp Select 2 True; False False Power optimization select, motor 2
80.23 Base Speed 2 1.0–100.0% 100 % Base speed, motor 2
80.25 Acc Time Fwd 2 0.1–60.0 s 5s Acceleration time forward, motor 2
80.26 Acc Time Rev 2 0.1–60.0 s 5s Acceleration time reverse, motor 2
80.27 Dec Time Fwd 2 0.1–60.0 s 5s Deceleration time forward, motor 2
80.28 Dec Time Rev 2 0.1–60.0 s 5s Deceleration time reverse, motor 2
80.31 Pos Scale 2 0.1–6553.5 100.0 Position scaling, motor 2
80.35 Not used
80.36 Force Motor2 True; False False Force motor 2

94
Events (group 81)

NOTE: Only for internal software use. Not to be changed!
EVENTS (Group 81)
81.01 ApplicationFault TorqueFault
81.02 ApplicationWarn JoystickWarn
Adaptive program control (group 83)

Adaptive program (group 84)

Adaptive program output (group 86)

Internal (group 88)

Receiving data sets addresses 1 (group 90)

DSET REC ADDR 1 (Group 90)
90.01 DsetXVal1 0–9999 701 710
90.02 DsetXVal2 0–9999 2301 240
90.03 DsetXVal3 0–9999 2501 241
90.04 DsetXplus2Val1 0–9999 702 242
90.05 DsetXplus2Val2 0–9999 703 243
90.06 DsetXplus2Val3 0–9999 0 244
90.07 DsetXplus4Val1 0–9999 0 711
90.08 DsetXplus4Val2 0–9999 0
Receiving data sets addresses 2 (group 91)


95
Transmit data sets addresses 1 (group 92)

DSET TMT ADDR 1 (Group 92)
92.01 DsetXplus1Val1 0–9999 801 815
92.02 DsetXplus1Val2 0–9999 104
92.03 DsetXplus1Val3 0–9999 209 108
92.04 DsetXplus3Val1 0–9999 802 202
92.05 DsetXplus3Val2 0–9999 101 154
92.06 DsetXplus3Val3 0–9999 108 152
92.07 DsetXplus5Val1 0–9999 901 106
92.08 DsetXplus5Val2 0–9999 902 129
92.09 DsetXplus5Val3 0–9999 903 131
92.10 DsetXplus7Val1 0–9999 904 113
92.11 DsetXplus7Val2 0–9999 906 816
92.12 DsetXplus7Val3 0–9999 907 0
92.13 DsetXplus9Val1 0–9999 908 901
92.14 DsetXplus9Val2 0–9999 803 902
92.15 DsetXplus9Val3 0–9999 805 903
92.16 DsetXplus11Val1 0–9999 806 904
92.17 DsetXplus11Val2 0–9999 124 905
92.18 DsetXplus11Val3 0–9999 122 906
Transmit data sets addresses 2 (group 93)

DSET TMT ADDR 2 (Group 93)
93.01 DsetXplus13Val1 0–9999 0 907
93.02 DsetXplus13Val2 0–9999 0 908
93.03 DsetXplus13Val3 0–9999 0 909
93.04 DsetXplus15Val1 0–9999 0 0
93.05 DsetXplus15Val2 0–9999 0 0
93.06 DsetXplus15Val3 0–9999 0 0
DCSLink control (group 94)

DCS LINK CONTROL (Group 94)
94.01 DCSLinkNodeID 0–63 0 *)
94.02 BaudRate 20 kBit/s; 50 kBit/s; 125 kBit/s; 250 kBit/s; 500 500 kBit/s
kBit/s; 800 kBit/s; 888 kBit/s; 1 MBit/s
94.03 12P Timeout 0–64000 ms 100 ms
94.04 12P SlaNode 0–63 31
94.07 FexTimeout 0–64000 ms 100 ms
94.08 M1FexNode 0–32 21
94.09 M2FexNode 0–32 30
94.12 MailBox1 -64–64 0 *)
94.13 MailBoxCycle 0–64000 ms 100 ms *)
94.14 TmtRecVal1.1 0–9999 0 *)
94.15 TmtRecVal1.2 0–9999 0 *)
94.16 TmtRecVal1.3 0–9999 0 *)

96

94.17 TmtRecVal1.4 0–9999 0
94.18 MailBox2 -64–64 0
94.19 MailBoxCycle2 0–64000 ms 100 ms *)
94.20 TmtRecVal2.1 0–9999 0 *)
94.21 TmtRecVal2.2 0–9999 0
94.22 TmtRecVal2.3 0–9999 0
94.23 TmtRecVal2.4 0–9999 0
94.24 MailBox3 -64–64 0
94.25 MailBoxCycle3 0–64000 ms 100 ms
94.26 TmtRecVal3.1 0–9999 0
94.27 TmtRecVal3.2 0–9999 0
94.28 TmtRecVal3.3 0–9999 0
94.29 TmtRecVal3.4 0–9999 0
94.30 MailBox4 -64–64 0
94.31 MailBoxCycle4 0–64000 ms 100 ms
94.32 TmtRecVal4.1 0–9999 0
94.33 TmtRecVal4.2 0–9999 0
94.34 TmtRecVal4.3 0–9999 0
94.35 TmtRecVal4.4 0–9999 0
*) These Parameters are automatically set depending on the setting of parameters

72.01 and 72.11
Measurement (group 97)

See DCS800 Firmware manual for details, except for parameter 97.09 and 97.24.
MEASUREMENT (Group 97)
97.09 MainsCompTime 0–1000 ms 10 ms 200 ms
97.24 OffsetUDC -5.0 ... 5.1% 5.1% 0%
Option modules (group 98)

OPTION MODULES (Group 98)
98.01 Encoder2Module NotUsed; Slot1; Slot2; Slot3; AMIA NotUsed
98.02 CommModule NotUsed; Fieldbus; NotUsed
COM-8/AC800x; COM-8/Nxxx; Modbus;
AC800xFldbus; AC800xModbus; NxxxModbus;
FldBusModbus
98.03 DIO ExtModule1 NotUsed; Slot1; Slot2; Slot3; AMIA NotUsed
98.04 DIO ExtModule2 NotUsed; Slot1; Slot2; Slot3; AMIA NotUsed
98.06 AIO ExtModule NotUsed; Slot1; Slot2; Slot3; AMIA NotUsed
98.08 ModBusModule2 NotUsed; Slot1; Slot2; Slot3; NotUsed
98.12 AIO MotTempMeas NotUsed; Slot1; Slot2; Slot3; AMIA NotUsed
98.15 IO BoardConfig NotUsed; SDCS-IOB-2; SDCS-IOB-3; IOB- NotUsed IOB-2+IOB-3
2+IOB-3

97
Appendix B - Signal and parameter cross reference

list: DCC600 to DCC800
Signal and parameter cross reference list: DCC600 to DCC800

DCC600 … is equal to … corresp. to DCC800
1.01 MOTOR SPEED x 1.04 MotSpeed
1.02 MOTOR SPEED FILT x 1.01 MotSpeedFilt
1.03 ARM VOLT ACT x 1.14 ArmVoltAct
1.04 CONV CUR ACT x 1.16 ConvCurAct
1.05 MOTOR TORQUE FILT x 1.07 MotTorqFilt
1.06 FIELD CUR M1 x 1.30 Mot1FldCur
1.07 FIELD CUR M2 x 1.32 Mot2FldCur
1.08 MAINS VOLT ACT x 1.12 MainsVoltAct
1.10 HEAT SINK TEMP x 1.24 BridgeTemp
1.13 CTRL LOCATION x 1.50 Ctrl Location
1.15 CONTROL MODE x 1.25 CtrlMode
1.18 AN IN 1 VALUE x 5.03 AI1 Val
1.24 TOTAL INERTIA x 1.51 Total Inertia
2.01 SPEED REF 2 x 2.01 SpeedRef2
2.04 SPEED ERROR NEG x 2.03 SpeedErrNeg
2.05 TORQUE PROP REF x 2.04 TorqPropRef
2.06 TORQUE INTEG REF x 2.05 TorqIntegRef
2.09 TORQUE REF 1 x 2.08 TorqRef1
2.14 TORQ USED REF x 2.13 TorqRefUsed
2.16 FIRING ANGLE x 3.13 ArmAlpha
2.17 MEASURED SPEED x 1.03 SpeedActEnc
2.18 POS ACT PPU x 1.54 PosActPPU
2.23 APPL DUTY x 4.21 CPU Load
2.24 SPEED CORR x 2.43 FB Speed Corr

3AST004143R0501 Appendix B - Signal and parameter cross reference list: DCC600 to DCC800
98
2.25 POWOP SPEEDREF x 1.52 PowOpSpeedRef
2.26 REL FIELD CUR M1 x 1.29 Mot1FldCurRel
2.27 REL FIELD CUR M2 x 1.31 Mot2FldCurRel
2.28 LOAD TORQUE x 1.53 LoadTorque
3.01 FB STATUS WORD x 8.15 FBStatusWord
3.02 FB FAULT WORD 1 x 9.05 UserFaultWord
3.03 FB FAULT WORD 2 x 9.01 FaultWord1
3.08 FB COMMAND WORD x 7.10 FBCommandWord
3.09 FB SPEED REF x 2.40 FB Speed Ref
3.10 FB AUX COMM WORD x 7.11 FBAuxCommandWord
3.11 FB AUX STATUSWORD x 8.16 FBAuxStatusWord
4.03 APPLIC NAME x 4.12 ApplicVer
4.04 CONV NOM VOLT x 4.04 ConvNomVolt
4.05 CONV NOM CURR x 4.05 ConvNomCur
4.06 FEX 1 CODE x 4.06 Mot1FexType
4.07 FEX 2 CODE x 4.07 Mot2FexType
4.08 FEX 1 SW VERSION x 4.08 Mot1FexSwVer
4.09 FEX 2 SW VERSION x 4.09 Mot2FexSwVer
4.14 CONVERTER TYPE x 4.14 ConvType
4.15 QUADRANT TYPE x 4.15 QuadrantType
4.16 CONV OVCUR LEVEL x 4.16 ConvOvrCur
4.17 MAX BRIDGE TEMP x 4.17 MaxBridgeTemp
10.01 BRAKE ACKN SEL x 42.02 M1BrakeAckSel
10.02 ZERO POS SEL x 60.02 Zero Pos Sel
10.03 SLOWDOWN-N SEL x 60.03 SlowDown-N Sel
10.04 FAST STOP-N SEL x 60.04 FastStop-N Sel

Appendix B - Signal and parameter cross reference list: DCC600 to DCC800 3AST004143R0501
99
13.01 SCALE AI1 x 13.01 A1HighVal

13.02 A1LowVal
13.03 ConvModeA1

13.06 A2LowVal
13.07 ConvModeA2

13.10 A3LowVal
13.11 ConvModeA3
13.04 AN IN TACH HI VAL x 13.17 TachoHighVal
13.05 AN IN TACH LO VAL x 13.18 TachoLowVal
14.01 DO4 OUTPUT x 14.07 DO4Index

14.08 DO4BitNo

14.10 DO5BitNo

14.12 DO6BitNo

14.14 DO7BitNo

14.16 DO8BitNo
14.09 AN OUT 1 INDEX x 15.01 IndexAO1
14.13 AN OUT 2 INDEX x 15.06 IndexAO2
15.05 USED FEX TYPE x 99.12 M1UsedFexType
15.06 FIELD CONTRL MODE x 44.01 FldCtrlMode
15.10 FIELD HEAT SEL x 21.18 FldHeatSel
15.18 DC BREAK ACK SEL x 10.23 DC BreakAck
16.02 PARAMETER LOCK x 16.02 ParLock
16.03 PASS CODE x 16.03 SysPassCode
16.04 FAULT RESET SEL x 10.03 Reset
16.05 USER MACRO CH SRCE x 16.05 MacroChangeMode = User1/2

10.10 ParChange
16.06 SHARED MOTION SEL x 16.05 MacroChangeMode = Motor1/2

80.36 Force Motor2
20.16 FIELD1 OVERCUR LEV x 30.13 M1FldOvrCurLev
20.17 FIELD2 OVERCUR LEV x 49.09 M2FldOvrCurLev

100
23.01 KPS x 24.03 KpS
23.02 TIS x 24.09 TiS
23.03 DERIVATION TIME x 24.12 DerivTime
23.04 ACC COMP DER TIME x 24.24 AccCompDerTime
23.05 SP ACT FILT TIME x 50.06 SpeedFiltTime
24.01 TORQ RAMP UP x 25.05 TorqRampUp
24.02 TORQ RAMP DOWN x 25.06 TorqRampDown
28.01 TEMP MODEL 1 TC x 31.01 M1ModelTime
28.03 ALARM LIM LOAD I1 x 31.03 M1AlarmLimLoad
28.04 TRIP LIM LOAD I1 x 31.04 M1FaultLimLoad
28.05 TEMP MODEL 2 TC x 49.32 M2ModelTime
28.07 ALARM LIM LOAD I2 x 49.33 M2AlarmLimLoad
28.08 TRIP LIM LOAD I2 x 49.34 M2FaultLimLoad
28.09 MOT 1 TEMP SEL x 31.05 M1TempSel
28.10 ALARM LIM M1 TEMP x 31.06 M1AlarmLimTemp
28.11 FAULT LIM M1 TEMP x 31.07 M1FaultLimTemp
28.12 MOT 2 TEMP SEL x 49.35 M2TempSel
28.13 ALARM LIM M2 TEMP x 49.36 M2AlarmLimTemp
28.14 FAULT LIM M2 TEMP x 49.37 M2FaultLimTemp
28.18 MOT1 KLIXONSEL x 31.08 M1KlixonSel
28.19 EARTH CUR FLT SEL x 30.05 ResCurDetectSel
28.20 EARTH CUR FLT LIM x 30.06 ResCurDetectLim
28.21 EARTH CUR FLT DEL x 30.07 ResCurDetectDel
28.22 ARMAT OVRVOLT LEV x 30.08 ArmOvrVoltLev
28.23 SPD MEAS MON LEV x 30.14 SpeedFbMonLev
28.24 SPD EMF MON LEV x 30.15 EMF FbMonLev
28.25 MOT2 KLIXONSEL x 49.38 M2KlixonSel
40.01 U NET MIN 1 x 30.22 UNetMin1
40.02 U NET MIN 2 x 30.23 UNetMin2
40.03 POWER DOWN TIME x 30.24 PowrDownTime

101
41.03 MOT 1 NOM FLD CUR x 99.11 M1NomFldCur
41.11 ARM L x 43.09 M1ArmL
41.12 ARM R x 43.10 M1ArmR
41.14 FLD CUR@ 40% FLUX x 44.12 FldCurFlux40
41.17 MOT 2 NOM FLD CUR x 49.05 M2NomFldCur
41.19 INT EMF REF x 69.11 ExtEmfRef 44.22
42.05 ARM OVCUR LEVEL x 30.09 ArmOvrCurLev
42.06 NOM SUPPLY VOLT x 99.10 NomMainsVolt
43.02 ARM CUR PI P-GAIN x 43.06 M1KpArmCur
43.03 ARM CUR PI I-GAIN x 43.07 M1TiArmCur
43.06 DISCONT CUR LIMIT x 43.08 M1DiscontCurLim
44.02 P-GAIN FEX 1 x 44.02 M1KpFex
44.03 INTEG TIME FEX 1 x 44.03 M1TiFex
44.08 P-GAIN FEX 2 x 49.10 M2KpFex
44.09 INTEG TIME FEX 2 x 49.11 M2TiFex
44.13 FIELD 1 REF RED x 44.04 M1FldHeatRef
44.17 FIELD 1 MIN TRIP x 30.12 M1FldMinTrip
44.21 FIELD 2 REF RED x 49.06 M2FldHeatRef
44.22 FIELD 2 MIN TRIP x 49.08 M2FldMinTrip
46.01 POS LIM EMF CON x 44.07 EMF CtrlPosLim
46.02 NEG LIM EMF CON x 44.08 EMF CtrlNegLim
46.03 EMF CON KP x 44.09 KpEMF
46.04 EMF CON KI x 44.10 TiEMF
50.02 SPEED MEAS MODE x 50.02 M1EncMeasMode
50.03 SPEED FB SEL x 50.03 M1SpeedFbSel
50.04 ENCODER PULSE NR x 50.04 M1EncPulseNo

102
61.01 ZERO SPEED LEV x 20.03 ZeroSpeedLim
61.02 ZERO SPEED TIME x 42.04 M1ZeroSpeedDly
61.03 MOT OVERSPEED LEV x 30.16 M1OvrSpeed
66.01 TORQ PROV SEL x 42.10 M1TorqProvTime
67.01 BRAKE FALL TIME x 42.13 M1BrakeStopDly
67.02 BRAKE FLT TD x 42.05 M1BrakeFltTime
67.04 BRAKE LIFT TD x 42.11 M1BrakeLiftDly
67.05 BRAKE LONG FT TD x 42.12 M1BrakeLongTime
69.01 SPEED SCALING RPM 50.01 M1SpeedScale
69.06 S-RAMP TC x 22.05 ShapeTime
69.08 SPEED REF TD x 42.03 M1BrakeRefDly
69.09 START TORQ SEL x 42.07 StrtTorqRefSel
70.01 POS SCALE x 61.02 Pos Scale
70.02 SYNC COND x 61.03 Sync Cond
71.01 COMTEST FLT TD x 70.04 Ch0 TimeOut
71.05 DSET BASE ADDRESS x 70.24 Ch0 CsetBaseAddr
80.01 BRAKE ACKN SEL2 x 49.29 M2BrakeAckSel
80.03 DO8 OUTPUT 2 x 14.15 DO8Index

14.16 DO8BitNo
80.06 CUR LIM MOT BR 2 x 49.12 M2CurLimBrdg1
80.07 CUR LIM GEN BR 2 x 49.13 M2CurLimBrdg2
80.08 KPS 2 x 24.27 KpS2
80.09 TIS 2 x 24.28 TiS2
80.10 ARM L 2 x 49.17 M2ArmL
80.11 ARM R 2 x 49.18 M2ArmR
80.13 ARM CUR PI PGAIN2 x 49.14 M2KpArmCur
80.14 ARM CUR PI IGAIN2 x 49.15 M2TiArmCur

103
80.15 DISCONT CUR LIM 2 x 49.16 M2DiscontCurLim
80.16 SPEED FR SEL 2 x 49.24 M2SpeedFbSel
80.18 SP DEV LEV 2 x 80.18 Speed DevLev 2
80.19 TORQ FLT TD 2 x 80.19 TorqueFault TD 2
80.21 TORQ PROV SEL 2 x 49.40 M2TorqProvTime
80.24 SPEED SCALE RPM 2 x 49.22 M2SpeedScale
80.29 SPEED REF TD 2 x 49.30 M2BrakeRefDly
80.32 MOT NOM VOLTAGE 2 x 49.01 M2NomVolt
80.33 MOT NOM CURRENT 2 x 49.02 M2NomCur
80.34 MOTOR NOM SPEED 2 x 49.03 M2BaseSpeed
98.02 COMM MODULE x 98.02 CommModule
98.03 CH3 NODE ADDR x 70.22 Ch3 NodeAddr
98.04 CH0 NODE ADDR x 70.01 Ch0 NodeAddr
98.08 IO BOARD CONFIG x 98.15 IO BoardConfig
99.05 MOTOR NOM VOLTAGE x 99.02 M1NomVolt
99.06 MOTOR NOM CURRENT x 99.03 M1NomCur
99.08 MOTOR NOM SPEED x 99.04 M1BaseSpeed
99.09 DEVICE NAME x 99.09 DeviceName

104

105
Appendix C - Signals and parameters, overwritten

by the DCC800
Some signals and parameters in the DCS800 firmware are overwritten by the crane
drive application (DCC800). The table below tells which signals that are overwritten,
and under which conditons.
Overwritten signal Condition
7.01 MainCtrlWord Always
7.02 AuxCtrlWord Always
7.03 AuxCtrlWord2 Always
7.12 MasterCommandWord Always
8.17 FollowerStatusWord Always
10.04 SyncCommand 61.01 PosMeasuringEnable = True
10.05 SyncCommand2 61.01 PosMeasuringEnable = True
10.10 ParChange Always
22.08 BalRampRef Always
23.01 SpeedRef 11.03 Ref1Sel = SpeedRef2301. This is a default value. If 11.03 is

changed, the DCC800 will not work
23.04 SpeedCorr 2.43 + AI3
23.08 WinWidthPos 72.05 Window Width Pos
23.09 WinWidthNeg 72.05 Window Width Neg
24.02 Droop Rate 72.07 Droop Rate
24.29 Par2Select 16.05 MacroChangeMode = Motor1/2

This means that for motor 2 the speed controller
parameters are taken from 24.27 and 24.28
25.02 TorqRefAFTC 72.08 Torq Ref A FTC
25.03 LoadShare 72.03 Load Share
25.04 TorqRefB Always
26.01 TorqSel 72.02 Torque Selector or 64.18 Speed/Torq Ctrl
44.17 FldBoostSelect 64.01 StandAloneSel = False
44.22 VoltRefExt 69.11 ExtEmfRef
50.05 PosCountMode 61.01PosMeasuringEnable = True
50.15 PosSyncMode 61.01PosMeasuringEnable = True

3AST004143R0501 Appendix C - Signals and parameters, overwritten by the DCC800
106
94.01 DCSLinkNodeID 72.01 Mast/Foll Mode <> Off
94.12 MailBox1 72.01 Mast/Foll Mode <> Off
94.13 MailBoxCycle1 72.01 Mast/Foll Mode <> Off
94.14 TrmtRecVal1.1 72.01 Mast/Foll Mode <> Off
94.18 MailBox12 72.01 Mast/Foll Mode <> Off
94.19 MailBoxCycle2 72.01 Mast/Foll Mode <> Off

Appendix C - Signals and parameters, overwritten by the DCC800 3AST004143R0501
107
Appendix D - User I/O interface diagrams
The figures in this appendix shows typical signal connections at the RMIO board I/O
for the different control modes.
Connections at the I/O boards in Stand alone mode, Joystick control
Terminal Function
IOB-21 &
CON-4
X6:1 DI 1 Converter Fan ackn.
X6:2 DI 2 Zero Pos
X6:3 DI 3 Main Contactor Ackn.
X6:4 DI 4 Electrical disconnect
X6:7 DI 7 Start Dir A
X6:8 DI 8 Start Dir B
X7:3,4 +48 V IOB-21: 48 Vdc, max 50 mA
X6:9 +48 V CON-4: 48 Vdc, max 50 mA
Continued on next page.

3AST004143R0501 Appendix D - User I/O interface diagrams
108
Connections at the I/O boards in Stand alone mode, Joystick control (continued)
Terminal Terminal
Forward max 5 mA
X4:8 X4:3 GND
Reverse 0…10V <-> 0 …100%
X3:3 X3:5 AI 1-
TE
0…10V <-> 0 …Tmax
X3:5 X3:7 AI 2-
+/-10V <-> +/- 100%
X3:7 X3:9 AI3-
-10V … +10V <-> -100 …100%
X4:2 X4:6 AO1-
-10V …+10V <-> -Tn…+Tn
X4:4 X4:6 AO2-
TE
+24V Com. Terminal

IOB-21 Function
Fan contactor X4:1 DO 1 Converter Fan order
X4:2
Field exc.
X4:3 DO 2 Field exciter order
contactor
X4:4
Brake contactor X4:5 DO 3 Main Contactor order
X4:6
E-Stop
Contactor X4:7 DO 4 Brake lift 1 (def.)
X4:8
X5:2
X5:8

Appendix D - User I/O interface diagrams 3AST004143R0501
109
Connections at the RMIO board in Stand alone mode, Motor pot control
Terminal Function
IOB-21 &
CON-4
X6:2 DI 2 Accelerate
X7:3,4 +48 V IOB-21: 48 Vdc, max 50 mA
X6:9 +48 V CON-4: 48 Vdc, max 50 mA
Terminal Terminal
max 5 mA
X4:8 X4:3 GND
X3:4 X3:6 AI 1+
X3:3 X3:5 AI 1-
X3:6 X3:8 AI 2+
X3:5 X3:7 AI 2-
+/-10V <-> +/- 100%
X3:7 X3:9 AI3-
-10V … +10V <-> -100 …100%
X4:2 X4:6 AO1-
-10V …+10V <-> -Tn…+Tn
X4:4 X4:6 AO2-
TE
+24V Com. Terminal

IOB-21 Function
X4:2
Field exc.
contactor
X4:4
X4:6
E-Stop
X4:8
X5:2
X5:3 DO 6 ”Programmable”
X5:4
X5:6
X5:8

110
Connections at the RMIO board in Stand alone mode, Radio control
Terminal Function
IOB-21 &
CON-4
X6:2 DI 2
X7:3,4 +48 V IOB-21: 48 Vdc, max 50 mA
X6:9 +48 V CON-4: 48 Vdc, max 50 mA
Terminal Terminal
Forward max 5 mA
X4:8 X4:3 GND
Reverse 0…10V <-> 0 …100%
X3:3 X3:5 AI 1-
TE
0…10V <-> 0 …Tmax
X3:5 X3:7 AI 2-
+/-10V <-> +/- 100%
X3:7 X3:9 AI3-
-10V … +10V <-> -100 …100%
X4:2 X4:6 AO1-
-10V …+10V <-> -Tn…+Tn
X4:4 X4:6 AO2-
TE
+24V Com. Terminal

IOB-21 Function
X4:2
Field exc.
contactor
X4:4
X4:6
E-Stop
X4:8
X5:2
X5:4
X5:6
X5:8

111
Connections at the RMIO board in Fieldbus mode
Terminal Function
IOB-21 &
CON-4
X6:2 DI 2 SnagLoad-N
X6:5 DI 5 “programmable”
X6:6 DI 6 Brake ackn. 1 (def.)
X6:7 DI 7 Sync
X6:8 DI 8
X7:3,4 +48 V IOB-21: 48 Vdc, max 50 mA
X6:9 +48 V CON-4: 48 Vdc, max 50 mA
Terminal Terminal
max 5 mA
X4:8 X4:3 GND
X3:4 X3:6 AI 1+
X3:3 X3:5 AI 1-
X3:6 X3:8 AI 2+
X3:5 X3:7 AI 2-
X3:8 X3:10 AI3+
X3:7 X3:9 AI3-
-10V … +10V <-> -100 …100%
X4:2 X4:6 AO1-
-10V …+10V <-> -Tn…+Tn
X4:4 X4:6 AO2-
TE
+24V Com. Terminal

IOB-21 Function
X4:2
Field exc.
contactor
X4:4
X4:6
E-Stop
X4:8
X5:2
X5:4
X5:6
X5:8

112

EFFECTIVE: 24.03.2011
3AST004143R0501
ABB AB
Crane Systems
SE-721 59 Västerås
SWEDEN
Telephone +46 21 34 00 00
Telefax +46 21 34 02 90
Internet http://www.abb.com/cranes

DCC800 1.4 - Kranovi - FirmwareManual+3AST004143R0501

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DCS800

Firmware manual supplement

Firmware Manual Supplement

Copyright © 2008 ABB. All rights reserved.

Introduction to the manual

Crane program description

Copyright © 2008 ABB. All rights reserved.

Logic handler (65) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Signals and parameters

Copyright © 2008 ABB. All rights reserved.

Appendix A - Complete signal and parameter list and default settings

Copyright © 2008 ABB. All rights reserved.

Power optimize (group 68) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Appendix B - Signal and parameter cross reference list: DCC600 to DCC800

Appendix C - Signals and parameters, overwritten by the DCC800

Appendix D - User I/O interface diagrams

Copyright © 2008 ABB. All rights reserved.

Warnings and notes

Dangerous Voltage Warning: warns of situations in which a high

General Warning: warns of situations that can cause physical injury

Electrostatic Discharge Warning: warns of situations in which an

Copyright © 2008 ABB. All rights reserved.

General safety instructions

The DCS800 and adjoining equipment must be properly earthened.

Copyright © 2008 ABB. All rights reserved.

Introduction to the manual

Before you start

Copyright © 2008 ABB. All rights reserved.

R01 New document 2008-04-21/GW

R02 Master/Follower function added. 2008-08-28/GW

R03 Valid firmware and application versions updated 2009-01-30/GW

R04 Several updates due to bug corrections. (See release 2009-06-09/GW

R05 Start/Stop sequence diagram for fieldbus mode 2011-03-24/GW

Copyright © 2008 ABB. All rights reserved.

Crane program description

Fieldbus mode operation (64.01 = False)

REM 1470 rpm

Input and output I/O signals

Copyright © 2008 ABB. All rights reserved.

X6:1 DI 1 C onverter Fan ackn. (def.)

Fan X4:1 DO 1 C onverter Fan order (def.)

Field exc. X4:3 DO 2 Field exciter order (def.)

X4:5 DO 3 Main Contactor order (def.)

Brake X4:7 DO 4 Brake Lift 1 (def.)

X5:7 DO 8 Brake Lift 2 (def.)

Copyright © 2008 ABB. All rights reserved.

Control signals connection in Fieldbus mode

DCS CP TORQ REFERENCE

REF. WITH SIGN

Copyright © 2008 ABB. All rights reserved.

Speed correction in Fieldbus mode

Watchdog output signal

Copyright © 2008 ABB. All rights reserved.

Parameter settings for Fieldbus mode

Copyright © 2008 ABB. All rights reserved.

Parameter Value Parameter Value *

Stand alone mode operation (64.01 = True)

Copyright © 2008 ABB. All rights reserved.

Input and output I/O signals

Copyright © 2008 ABB. All rights reserved.

Copyright © 2008 ABB. All rights reserved.

External AI, AO and DO connections to DCC800 in Stand alone mode, Joystick

X4:7 X4:4 Vref. Reference voltage 10 VDC