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ACS800 CraneDrive Control

Firmware Manual
ACC800

  

for ACS800 Frequency Convertors

7.1

ACC800 Crane Application Program 7.1


for ACS800 Frequency Convertors

Firmware Manual

ABB Korea/ATDP/
: 2006-07-20
KR

3BSE 011179 R1025


EFFECTIVE : 2004-10-26
SUPERSEDES : 2004-10-01

2004 ABB Automation Technologies AB, Crane Systems.

All Rights Reserved

(*)

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ACS 800

ACS 800

ACS 800
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ACS 800

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i
i
i
i
ii

1 Chapter 1
1.1
1.2
1.3
1.4
2 Chapter 2
2.1
2.2
2.2.1
2.2.2
2.3
2.3.2
2.3.3
2.4
2.4.1
2.4.2

3 Chapter 3
3.1
3.2
3.3
3.3.1

4 Chapter 4
4.1
4.2
4.3
4.4
4.5
4.5.1
4.5.2
4.6
4.7
4.8 RMIO
4.8.1
5 Chapter 5
5.1
5.2
5.3

1,2

24V

CDP 312R

a P ~;  :

1-1
1-1
1-1
1-1
1-2
2-1
2-1
2-1
2-1
2-1
2-1
2-2
2-2
2-4
2-4
2-14
3-1
3-1
3-1
3-7
3-7
4-1
4-1
4-1
4-4
4-10
4-10
4-10
4-11
4-12
4-13
4-14
4-14
5-1
5-1
5-1
5-2
iii

5.4

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5.4.1
5.4.2
5.4.3
5.4.4
5.5

5.5.1
5.5.2
5.5.3
5.5.4
5.5.5
5.5.6
5.6

5.6.1
5.6.2
5.6.3
5.6.4
5.6.5
5.6.6
5.6.7
5.6.8
5.6.9
5.6.10
5.6.11
5.6.12
5.6.13
5.6.14
5.6.15
5.7

6 Chapter 6
6.1
6.2
6.2.1
6.2.2
6.2.3
6.2.4
6.2.5
6.2.6
6.2.7
6.2.8
6.2.9
6.2.10
6.2.11
6.2.12
6.2.13
6.2.14
6.2.15
6.2.16
6.2.17
6.2.18
iv

-Local operation(60)
-Speed monitor(61)
-Torque monitor(62)
-Fast stop(63)
-Crane(64)
-Logic handler(65)
-Torque proving(66)
-Mechnical brake control(67)
-Power optimisation(68)
-Reference handler(69)
-Position measurment(70)
-Field bus communication(71)
/
-Master/Follower(72)
-Electric shaft(73)
-Crane lifetime monitor(74)

10
13
14
15
16
20
21
23
24
26
27
28
30
50
51
60
61
62

-Digital Inputs
-Analogue Inputs
-Relay Outputs
-Analogue Outputs
-System Ctr Inputs

-Limits
/
-Start/Stop
-Speed Ctrl
-Torque Ctrl
-Motor Control(
-Brake Chopper
-Motor Model
-Fault Functions
-Pulse Encoder
-Comm module
-Locall operation
-Speed monitor
-Torque monitor

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5-3
5-3
5-4
5-6
5-7
5-8
5-8
5-9
5-10
5-11
5-11
5-12
5-14
5-14
5-15
5-15
5-16
5-17
5-26
5-29
5-30
5-33
5-37
5-39
5-40
5-48
5-54
5-56
5-57
6-1
6-1
6-1
6-2
6-6
6-8
6-10
6-13
6-15
6-18
6-19
6-24
6-25
6-26
6-28
6-29
6-35
6-36
6-37
6-38
6-39

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6.2.19
6.2.20
6.2.21
6.2.22
6.2.23
6.2.24
6.2.25
6.2.26
6.2.27
6.2.28
6.2.29
6.2.30
6.2.31
6.2.32
6.2.33
6.2.34

63
64
65
66
67
68
69
70
71
72
73
74
90
92
98
99

-Fast stop
-Crane
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/
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-Electric Shaft
-Crane Lifetime
-Dataset REC Addr
-Dataset TR Addr
-Option modules
-Start-up Data

6-40
6-41
6-44
6-45
6-46
6-48
6-51
6-52
6-53
6-55
6-61
6-63
6-64
6-65
6-66
6-69

7 Chapter 7
7.1
7.2
7.3
7.3.1
7.4
7.4.1
7.4.2
7.4.3

A
B

7-1
7-1
7-2
7-5
7-5
7-12
7-12
7-13
7-13

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B-1

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7.1

1.2

ACS800 Crane

Drive Control

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ABB

1.3

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CDP 312R

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TVUIUXWZYZY\[]^_a`cbdef

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______________________________________________________

g
Note :
y ,
 , s

_________________________________________________

_______ _

 
r  ( pqr 99.4) ASCALAR
y , rs 5x

y 
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________________________________________ u
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TVUIUXWZYZY\[]^_a`cbdef

3-7

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3-1

pqr

99,

g r 
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1.LANGUAGE

Languages

2 APPLICATION

Application macros

MACRO
3 APPLIC

NO; YES

RESTORE
4 MOTOR CTRL

DTC; SCALAR

MODE

k
r  s
5y ( g y
r  
k  .
r s

pq

rs y y y .
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y


r
k ( 
r S1 y )

5 MOTOR NOM

1/2 * UN of ACC 800~

VOLTAGE

2 * UN of ACC 800

6 MOTOR NOM

1/6 * Ihd of ACC 800~

CURRENT

2 * Ihd of ACC 800

7 MOTOR NOM

8 ... 300 Hz

rs yp y

1 ... 18 000 rpm

rs y % y

0 ... 9000 Kw

rs y  y

FREQ
8 MOTOR NOM
SPEED
9 MOTOR NOM
POWER
10 MOTOR ID

ID MAGN

RUN?

STANDARD;
REDUCED

11 DEVICE NAME

mn


r ID RUN( xy )s kY .


r
Note: ID RUN kYk

/ u  | A .
n x y .
 
, Main Hoist.

pqr g

r pg  qrs N OP o . r r pqr

k k yN | .
99.5 ... 99.9 n

B , ,   ,


m





~

y




k

|


1 LANGUAGE
ASC800
.
 f , z  , 6 ,  ,   , 6 , 6  B , w ,
 ]  R|  .  ACC800 -<] 7.1 , ,  ,
 f , 6  R| .


h   gh   CRANE
pqr n r /   g
2 APPLICATION
  r /   +  gh   M/F CTRL  m
MACRO
n 
l 
|  . # 
s  n 5    
xmk . 2P s pqr y  n USER MACRO

n 
p qr 

(USER 1 SAVE, USER 2 SAVE) v
 .(USER 1 LOAD, USER 2 LOAD)
TVUIUXWZYZY\[]^_a`cbdef
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3 APPLIC
RESTORE

4 MOTOR
CTRL MODE

j
d
  N pqrg 99 
% n  g !N gP"
y p

q r 99 r 
 
m %
y 
O #R .
g ry (  99)@ r
Note: l load(USER 1,2 LOAD) n
#   . l rN |P y R  mk .
ID Run @
m  rs y  :
Yes
 g CRANE M/F CTRL  , p qrs 5N}
- r

P
$
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y
R  #R  .





R


N
-USER MACRO 1
2
, pqr
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4 :  50,51,98s p qr y
R  #R  .
pqrn r y| .
DTC

%&
n Os N || . ACC 800
rs y ' P  % 0 C | . ( 

q ~  -  N S  .
O s r )* mn mN} rs y y rs
y
yp%  |g .  ry
, rs
,s y| @ p qmr 99.6(MOTOR
o
P
NOMINAL CURRENT) N
N} ym | .
DTC (Direct Torque Control)

SCALAR

+n O s r   N   `,  . 2P


+
  r n ij rs g y ,u  % ry`,,s . 1/6 m  r
+ N}n DTC N} @  . +  DTC
s n  [\s  p qr ghN}  o .
r ID RUN, 0  , r ij (Parameter 30.10) +N}
R
R 
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3-9

F g
5 MOTOR
NOM VOLTAGE

6 MOTOR NOM
CURRENT

7 MOTOR NOM
FREQUENCY
8 MOTOR NOM
SPEED

p qrn  rN - ry yO ACC 800  k. .


pqrs  y ACC 800  g n  .
Note:
u 1/2 * UN m g 2 * UN  s y y  rn  m

  . N} UN ACC 800 N} ln y 415 V
2 n 690 V N mo .
500 V 
pqrNn s ry , y| . DTC N}
l
n /<
 n ACC 800s 1/6 * Ihd N} 2 * Ihd l o
+ 
N}s /
 n ACC
800 s
0 * Ihd N} 3 * Ihd o .

m , )
(Ihd : Heavy
u Duty Current,
  }  rs <" , n ry , s 90% 0R
yP
 | .

pqrNn s ryp g h| .
xy h | .
8 Hz N} 300 Hz 1R
pqrNn s ry % y| .

 g
p qrs


N
}


s




y
%


2
m


}
n
Note: %
y  S| .

p qrNn s ry KW  y| . 0.5 kW ~ 9000 kW 1R


xy h | .
POWER
pqrn  r ID RUNi   l . ID Run d ACC 800
10 MOTOR ID RUN
s 
 rs
 p3 o . ID Runs  1
y% S .
9 MOTOR NOM

1@   gh

d
N n YNR  .
P omn p qr 20s ID Run @N B 'g  q4
r ID Run  P  N  m |  .(ID RUN kn y l

Note: Torque monitor, Torque proving, Power optimisation, Torque memory


ID Run

ID MAGN

 mR  Os  N l  . 


r ID Run


r

g
B



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r

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3-10

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Note :

7
7




 .
ID u RUN(Standard, Reduced)

i
 % Q B
u 
* N1R SP  v
r k 5x0 s 8
P (  q% n

STANDARD

y'% 
%h 
9| .
 m IDg Run Nn  k s 
r m   

|  .

ID Run

REDUCED

 :

s


N
Reduced ID Run
ID Run O
g u n  20%  ( : , r m  
7
7
r  s 7 /R  
)* x   )
( : , r
g N rs / ' ij .


k

Y
m
Note : 
u r ID Run
rn
mn d y
' / 
o  .
s ! r ID Run   mn d rn O ; y %s u 50%~
80%s

m r
4
<
d  %> =/  R> ?  o |  . !r ID RUN 
r ID Runs  (   n k  | )  u
N 
p qr (  10 N} 98) 
m @
Note : ID Run

y s 
x AN O
n R mk .

BCDEFHG
7
BIDEJHKLNMODEPRQSGUT
7
BIVWJYXZG[GUT$\ ]_^a`cbedfhg
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BIjik$JHlSGUT

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m g

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2)
s k
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o lP
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k

3) ID Run  kYm
,
.
k    | .
xmk .)
( : DI2, pqr 10.5
ID Run

oqpsr tvuqwsxvy

ID Run

zv{v| tYu wH}vy

  [RESET] j
  
ID Run ~j
, 
 .


 ID Run 
      


     [ACT], [FUNC] [DRIVE]  


   j $    ,  99.10  j 
 STANDARD, REDUCED ID MAGN 
ID Run 
 .  60      ID Run 
     .
~j   16 IDENTIF RUN DONE True j .
> > >> >>> 99.5 ... 99.9 > >>
Note : ID Run ~<
> ID Run >>  >> . ACC >800 > >> >
<>> >> > ID Run ( > ) > >>>> >>

ID Run

11.DEVICE NAME

3-12

   ( : Main Hoist, on the drive)    . 


 .(CDP312E   
DriveWinow
 )   DriveWindow
CDP312R ([Drive]  

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 %& 
  '(
     )  *
+ , 

     -.    


  -.   /    
0 
   1 
  

Note : ACS800

(rpm) = (

(Hz) /

) * 120

: 1,2,3.

4.2

!#"
$

: 2,4,6.

ACC 800

ACC 800

[ACT]

(8

23

4-1

  

<4= 5
 .

4-1

67 '(

 98  : ; 

C      67>?
5 2-6, 2-3 #  .

[$$$$

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2 -

) 
B

4-1

9DE 
4-1
> >

2F

2GF 
1,

1)

G

H I
/

1 SPEED ESTIMATED

SP ESTIM

rpm

2 MOTOR SPEED FILT

SPEED

rpm

3 FREQUENCY

FREQ

Hz

4 MOTOR CURRENT

CURRENT

5 MOTOR TORQUE FILT

TORQUE

6 POWER

POWER

7 DC BUS VOLTAGE V

DC BUS V

8 MAINS VOLTAGE

MAINS V

9 OUTPUT VOLTAGE

OUT VOLT

10 ACS 800 TEMP

ACS TEMP

C(

11 APPLICATION

MACRO

CRANE; M/F;CTRL;

MACRO

USER 1 LOAD;
USER 2 LOAD

12 SPEED REF

SPEED REF

13 CTRL LOCATION

CTRL LOC

LOCAL; I/O CTRL;


FIELDBUS;M/F CTRL

14 OP HOUR COUNTER

OP HOURS

H(hourss)

15 KILOWATT HOURS

kW HOURS

kWh

16 IDENTIF RUN DONE

ID RUN

True; False

17 DI7-1 STATUS

DI7-1

18 AI1 (V)

AI1 (V)

19 AI2 (mA)

AI2 (mA)

mA

20 EXT AI1(V)

EXT AI1

21 RO3-1 STATUS

RO3-1

22 AO1 (mA)

AO1 (mA)

mA

23 AO2 (mA)

AO2 (mA)

mA

24 INERTIA

INERTIA

kgm2

25 EXT DI6-1 STATUS

EX DI6-1

26 EXT RO4-1 STATUS

EX RO4-1

27 MOTOR RUN-TIME

RUN-TIME

H(hours)

28 MOTOR TEMP EST

MOT TEMP

C(

29 CTRL BOARD TEMP

CTRL B T

C(

4-2


J   (rpm)
K   (rpm)
 
 
+  L @ .
ML @
100 = 
 N .
M  N .
100 = 
P
DC O
 +  P .
 +  Q P .
>ST U .

XVY $  W
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9[$

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~ 

RMIO ]^ 2 

RMIO _ 2  1
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RMIO 
RAIO-01  .

RMIO `A 2 Q
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RMIO 
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RMIO 
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 +,  ,c
^  
RDIO ]
^ Q 
RDIO ]
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J  U
U
RMIO d$
kWh meter.

\

ID Run

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.
.

.
.

> >

2GF

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1)

G

H I

G

RMIO

30 FAN ON TIME

FAN TIME

H(hours)

31 AI3 (mA)

AI3 (mA)

mA

32 TOTAL OPER TIME

TOTAL OP

H(hours)

33 LOAD TORQUE ton

LOAD ton

ton

34 LOAD SPEC FACT Km

FACT Km

35 LIFETIME LEFT%

LIFETIME

[$$$$

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4-3

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4.3

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] ^   2   x 

2   x * 
_ 2   P  
_ 2     
_   P  
. `A Q  `A  ;  
`A     
-

1 SPEED ESTIMATED

rpm

2 MOTSPEED FILT

rpm

3 FREQUENCY

4 CURRENT

5 MOTOR TORQUE

6 POWER

7 DC BUS VOLTAGE V

DC Bus

8 MAINS VOLTAGE

DC

Note :

Volt

9 OUTPUT VOLTAGE

10 ACS 800 TEMP

11 APPLICATION MACRO

.(

99.2)

12 SPEED REF

69.1)

13 CTRL LOCATION

. LOCAL, I/O CTRL, FIELDBUS

M/F CTRL

14 OP HOUR COUNTER

. RMIO

15 KILOWATT HOURS

16 IDENTIFICATION
RUN DONE
17 DI7-1 STATUS

ID Run

RMIO
+24 VDC
( : 1000010 = DI2

18 AI1 (V) RMIO

19 AI2 (mA)

DI7

Off

DI1 )

20 EXT AI1 (V) RAIO-01

4-4

DI1-6 + DI_IL (DI_IL


1
DI_IL On,
1

RMIO

21 RO3-1 STATUS RMIO


0

.1

[$$$$

22 AO1 (mA)
23 AO2 (mA)
24 INERTIA

25 EXT DI6-1 STATUS

26 EXT RO4-1 STATUS

27 MOTOR RUN-TIME

28 MOTOR TEMP EST

 

Q9a,b$

 j RMIO _ 2 Q 1 .


Q 2 .
[mA]  j RMIO _
  + ,c  
68.4 INERTIA TOTAL UP 8
68.5 INERTIA TOTAL DWN
 .
2RDIO 6. ] ^    .  P $ 1,
 0  .
  . 1 `A  ; 
RDIO 4 . `A Q
 , 0 `A    j
  \  .    $  \  +$ .
  97.10 RESTORE MOTOR RUN-TIME

 .
 J U ~  .
U + RMIO [  30R  .
Note : $
[mA]

d * U ~ 


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    / d d  /    K
2

_      -



 
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29 CTRL BOARD TEMP RMIO


30 FAN ON TIME

9DE 

Note :

DriveWindow

. RMIO

31 AI3 (mA)

RMIO

20.10

32 TOTAL OPER TIME

33 LOAD TORQUE TIME


34 LOAD SPEC FACT Km
35 LIFETIME LEFT %

68.12-13 & 74.1


(

74)
(0.0~1.0)

74.2

[$$$$

ton

4-5

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4-2

2F 2GF

2,

(
2)
1 SPEED REF 2
2 SPEED REF 3
3 SPEED REF 4

H I
/

rpm
rpm
rpm

4 SPEED ERROR NEG


5 TORQUE PROP REF
6 TORQUE INTEG REF
7 TORQUE DER REF
8 TORQ ACC COMP REF
9 TORQUE REF 1
10 TORQUE REF 2

rpm
%
%
%
%
%
%

11 TORQUE REF 3
12 TORQUE REF 4
13 TORQUE REF 5
14 TORQ USED REF

%
%
%
%

15 MOTOR TORQUE
16 MOTOR SPEED
17 SPEED MEASURED
18 POS ACT PPU
19 START
20 RUNNING
21 BRAKE LIFT
22 FAULT
24 SPEED CORR
25 POWER SPEEDREF
26 ELSHAFT POS ERROR
27 LIMIT WORD 1

%
rpm
rpm
+/- 32767
True; False
True; False
True; False
True; False
rpm
%

29 TORQUE SELECTOR

0FFFF Packed
boolean (Hex)
0FFFF Packed
boolean (Hex)
05

30 dV/dt

Rpm/s

31 LOAD TORQUE %

32 LIMIT WORD INV

0 FFFF (Hex)

33 INT SC INFO

0 FFFF (Hex)

28 FAULTED INT INFO

4-6

G
  20.1 & 20.2 , ;$ W
V \ y  Q
  W = V\ y W
+ 
         9 W Q
   b ii99 QQ
 d  W
    #Q L @+ W  d  W .
 20.4 & 20.5  ; .
LTORQUE
 @ 6REF
7 3+ Q , d  72.2
TORQUE REF
4+ Torque step

L @  # a, L@ W


(TORQUE REF 5 with limits)
 L  @
*,*   ( (RTAC)
 W v,c  70.1   )
 ) 3  ( L @9  )
)A @) S  W (h )
Q9 a,b$ ,  #  +$  
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INT - d   d 4-3 
L- @  W (2.11)
 4-4 v,c
 (= @A  )  

 )
0 = 
   (Torq ref 2)
1= 

L


@
 (Torq ref1)

2=
 (Torq ref1,2  )
3 = a#Z 
 (Torq ref1,2 a# )
4 = a# 
+    (Torq
)
5= 
ref1,2


  O, V ,  i Speed ref3


  M L @ ;  +  L @
. 2.27
  68.1 , K9

- 9 

O 9 I$, 4-5 ;  d .  9 4-6 
[$$$$

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4-3

Gh

2.27 LIMIT WORD 1

>

v
c;
G;  L@ 9v
  L @ a,Z ;
  L @ a, ;
   ;
  ;
LL  @@ a#a#Z ;;
LL  @@ WW a,a,Z ;;
9 a# Z W ;
  a,Z ;
  a, ;
8,PP ;;
L  @   ; ;
9 U 
8  )A |
-
 

0
1
2
3

TORQ MOTOR LIM


SPD_TOR_MIN_LIM
SPD_TOR_MAX_LIM
TORQ_USER_CUR_LIM

4
5
6
7
8
9
10
11

TORQ_INV_CUR_LIM
TORQ_MIN_LIM
TORQ_MAX_LIM
TREF_TORQ_MIN_LIM
TREF_TORQ_MAX_LIM
FLUX_MIN_LIM
FREQ_MIN_LIMIT
FREQ_MAX_LIMIT

12
13
14
15

DC_UNDERVOLT
DC_OVERVOLT
TORQUE LIMIT
FREQ_LIMIT

v,c$

/
/

DC
DC

Note : Bit 4 TORQ_INV_CUR_LIM





2.32 LIMIT WORD INV


  ,
d jx

4-4

2.28 FAULTED INT INFO

: PPCC LINK, OVERCURRENT, EARTH FAULT,

SHORT CIRCUIT, ACS800 TEMP, TEMP DIF , POWERF INT.

Gh

0
1
2
3
4
5
6
7
8
9
10
11
1214
15
*



G

>

INT 1 FLT
INT 2 FLT
INT 3 FLT
INT 4 FLT
INT 5 FLT
INT 6 FLT
INT 7 FLT
INT 8 FLT
INT 9 FLT
INT 10 FLT
INT 11 FLT
INT 12 FLT

INT 1 board fault (R8i module #1)


INT 2 board fault * (R8i module #2)
INT 3 board fault * (R8i module #3)
INT 4 board fault * (R8i module #4)
INT 5 board fault *
INT 6 board fault *
INT 7 board fault *
INT 8 board fault *
INT 9 board fault *
INT 10 board fault *
INT 11 board fault *
INT 12 board fault *

x



PBU FLT

[$$$$

PBU board fault


. INT 1

PBU CH1

, INT 2

a.s.o.

CH2 a.s.o.


4-7

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9, ) d bi 8 
U
Gh >
G
bi 8  ;
U  v,c
bi 8  ;
U   v,c

%  U  ;
U  v,c

U9  ;
U  v,c

U9  ;
U  v#c

 g  ' U9  ;
U  v#c
 ;    g9  '9
U b   
   
 9 Q  ;9  ;
  |9# ;
 9 8, h ;9  ;
a,   ;  
b
 ;
b Q  ;
x
 v,$c 
4-5

2.32 LIMIT WORD INV

TORQ INV CUR LIM (bit 4 in 2.27

LIMIT WORD 1)

INTEGRAT 200

IGBT

200%

INTEGRAT 150

INT LOW FREQ

150%

(<10Hz)

IGBT

.*

INTG PP TEMP

IGBT

.*

PP OVER TEMP

IGBT

PP OVERLOAD

IGBT

IGBT

PP OVERLOAD

alarm

INV POW LIM

INV TRIP CUR

OVERLOAD CUR

CONT DC CUR

10

CONT OUT CUR

Imax.

DC

. 20.03

(Icont.max).

1115

* ACS600

4-8

.(with NINT board)

[$$$$

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Gh

4-6

>

U-PH SC U

U-PH SC L

V-PH SC U

V-PH SC L

W-PH SC U

W-PH SC L

615

Note :

2F

G
U
U
V
V
W
W

2.33 INT SC INFO

x

3(FB REC WORDS)

[$$$$

lower-leg IGBT(s)
upper-leg IGBT(s)
lower-leg IGBT(s)
upper-leg IGBT(s)
lower-leg IGBT(s)

=  
A

upper-leg IGBT(s)

2F

I
I
I
I
I
I

4(FB TRA WORDS)

;  d

4-9

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4.4

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Z   
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     67  
15

RMIO

2 -

2-7,

2-4

4.5

.)

DriveWindow)

4-2

[LOC REM]

23

 Z
>>
ACC 800 G

G G> G> GG> >>G

> >>

4-2

MASTER FAULT FUNC,

4.5.1

>> G

9  W98 W 


z\  _ 
.

4-10

W 

I 

<>

30.2 PANEL LOSS

W ACC 800    


  L (Local) j .

Note :

30.12



 ,  

SPEED SCALING RPM (



d8 
69.1)

;

[$$$$

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4.5.2

G

Stand alone

   , W Fieldbus Q (Stand Alone


   64.1 Stand Alone Sel  67
mode) ;
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 Stand Alone Sel (  64.1) True (  )  $, 
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 _  AI1&AI2 .@A  : 
DI 1 - DI 68 Ext DI1-DI4
,   .(I , g  K g  @A  
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@A :  On/OFF, START 8  W98 W  .

ACC 800

Fieldbus

Kg   (64.1 Stand Alone Sel=False), W $,g


Kg  d .(5.6.. )

ACC 800

[$$$$

4-11

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4.6

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$

23
4-12

4-3

9[8  Z9

67
[$$$$

9DE 
4.7

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23
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4-4

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67

.
4-13

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4.8 RMIO

24V

RMIO

24Vdc

ACS800

4.8.1

RMIO

Power on acknowledge(

24V

,DI2)

AC Power On Contactor

NO(Normal Open)

10.5

Power on acknowledge
.

PPCC Link

Power on acknowledge

. Power on acknowledge
.

OFF

; Coast Stop(

. Power on acknowledge

Note : ACS800 Multidrive

10.5 POWER ON ACKN SEL

. = DI2!

4-14

[$$$$


5.1

 

 

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9      & *,+
 
=  9  -  & d.
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(CRANE

M/F CTRL)

5.2

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"

 @ ) 8
#   
9 67
@ 


@
@  g 4 : 5$#;  @A ZBh5, :
 6  
@  
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6 

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@ & 78    
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 &   , & :, 

CRANE

M/F CTRL

99.2

CRANE

CRANE

M/F CTRL

CRANE

.(Master/Follwer (72)

Note :

.)

99

ID Run

[$$$$

5-1

2C
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5.3

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5-2



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 W8 W 
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I   #.9 _   -. `A Q&
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     9
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5.4

LOC REM

On/Start

X21

AI1

DI2,,, DI4

. DI5

DI6

DO1

DI1

CURRENT

SPEED, TORQUE

PLC

98.2)

W98   ,O >&9  W 


$NO  M # 


/



LOC REM

F&

23

5.4.1

W  _  AI1   .


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( I
DI2,DI3,DI4 $ .
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I %

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@A  
> G
2 Q>GG
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_ " Q
`A " Q
`A " Q
`A Q
$<GG
5-1

.(

5.4.2

5.6.5

(64)

.)

Brake Ackn: (DI1)

AO1: Speed

Zero Pos: (DI2)

AO2: Torque

Start Dir A: (DI3)

RO1: Brake lift

Start Dir B: (DI4)

RO2: Watch dog-N

Slow Down-N: (DI5)

RO3: Fault-N

[$$$$

5-3

2C
;E @A B

"
9 2 C " 6 I%   g   @A
B $ b  
.

23
5-4

5-2

I%

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RMIO

d $j6

[$$$$

2C
;E @ A B
 

2 3
I%
, 
Q 
5-3

5.4.3

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$j

RDIO-01,RAIO-01

IP%GG > G GG G

[$$$$

5-5

2C
;E @ A B
 

23
5.4.4
5-6

IP%GG >

5-4

I%     

>>G G

[$$$$

5-1

5.5



<=  Qb

2C
;E @ A B
 
ERS
K;  7 
.

T UT VAW XYZ[ 



\ ]^_ ` abc db efg hiZjk `l mnZoTp
\]^_ qi rks hk g tuvw

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5-7

2 {C z
;E @ Ax By

 5 s   , Ah g l
t
w [ 5
 5A ][
u
v
d j ivw Ah    
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l X dW  Z  U VAW[

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A
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vw

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5.5.1

68789 8:



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. / 021%3%4+5
%
( ( &%'%(%) *+'-,

MNOPQ ;< = , ( > , ? @ AB (PLC) C DE FHG = )I JKL


RTS 6 , 7 9 :U "V W XY!" .
68988:
Brake Ackn: (DI1)
Power On Ackn: (DI2)
Sync: (DI3)
Chopper Flt-N: (DI4)

5.5.2
5-8

^`_8a8b

8:
Z[ N O 79 7898AO1:
Speed
Z [ N O 79 AO2: Torque
\ K] 79 RO1: Brake lift
\ K] 79 RO2: Watchdog-N
\ K] 79 RO3: Fault-N
|~}}5555

A cedfJKL MNOP R


Zw I b x   ; Qy JKL MNOP ] DE z =
{ E| } ~U  6!" .

O
8 88 ;8I A8B88: a8b
gihjh-kmlmlonTpTqrtsvu55

5-6

 ;TI ^H_ab

5.5.3

5-9

A cedfJKL MNOP R

O
5.5.4
5-10

888 ;8 8Q y I P88?

5-7

 ;TI AB: ab


gihjh-kmlmlonTpTqrtsvu55

A cedfJKL MNOP R


 ;  Q Qy U ] N  ?  } ~Y!" .
C  C  !" .)
(ramp 79
  L] Qy MDataSet
? 69:
3, Word 2 U

Q

y
ab H!" . (ACC 800 E
B
8ms  C !" ).
 ? C  W ?TI ]  /  R
WH  AT!" .(  20.1 & 20.2)
 888 ;8 ;8  { E8C8 )
5.5.5 ^`_ 888 ( 8888
^H_ A  DE|  A  ab  (nomally open -a  QQ
ab ; DC ] LCTF Q C  = ~ ab ) U  69
ab FHB ~ = ] I | } ~Y!" .(  10.7
 , ][ U   ,
Chopper Flt-N Sel)  ] ab F
Q
d]9 ,    CHOPPER FAULT C  6!" . 
| 6!" .
Watchdog : (DO2) C

8 ! A  C  FH ]Q Q  FHU AC Q  TFHB
 !" ! (  C A  I  IH ] DBR U N Q
B } ~U  ]   6 !" .) ] ] ?
ab
FH | } ~Y!" .
Watchdog-N 79 DO2

Q
]  6 U (DI2 Power On Ackn C 0 Qy 1 N )
 U QTS
 @H  71.3I
R S 
 Q Y!" .
Chopper Monit Td
N
 A C TFB ~UN ? L y H] 6TFH ] I
] Tz } ~ ]  @H   C

 R!" . (  . 1000 ms)

8 88 ;8I 888 R8


gihjh-kmlmlonTpTqrtsvu55

5.5.6

5-11

A cedfJKL MNOP R

v v T Tv Tvv vT vT vvvv v vv


Tvv v v v 

v
  Tvv



5-12

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A cedfJKL MNOP R

5.6



O




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5-8

N 
5-13

A cedfJKL MNOP R


5.6.1

N 8


N
!

Q
Q
y
] ;! L  NN _#" S AB IH { N ;
!$ Q @ #% &
]! 'B#( ~Y!Q" y . <!) ]
  DE!* , LN! + ! U AB
"V I  Y!" :
/  ,  !- { R , / ; , N! A . ;!, Qy JKL  E ] I
 (  : /{ . L K]JAB ) ;
!" .
U A ^ )
( , 79
N  808<8= Slowdown Limits, Stop limits, Fast stop E 6898  8

8U8 Q 1IH 288 . P 8?88 8!8" .
 (60.1)N LOC OPER INH = trueNN R ]U ^H_AB;
 FB 679 : _  ] 
(LOCAL = 0 )
N
; AB !" .
^H_ N AB; Q y #N y ; N 3!4 ) N !N  ; Qy ^H_ AB
;5!6 3 @H
  U ;C ZERO SPEED = 1" U RUNNING = "0"W
K]JC
FB  S ? !" .
N!  ;TI   @H #7 W  /  @ !7 C!8
  Qy 9#: H!" . C (par. 69.2 - 5)  !
;?}U RAMP SCALE
<}6!" . ;TI H
LOCAL (parameter 69.7, default = 2.0) C ~U
N
!=  , >!= #7 !?!" .


.
 7 @   A
!
] !} :TFH  R Q B  C
? CQ !" .  I
!
 7 @!D#E LOC ZERO SPEED TD (60.3) 
!
]!F R] ZERO SPEED LEV (61.1) ]? ?!C  ]U
"  | 6!" .
!0 Q #7 @ ;U  Q IH Q y 0  N GQ B ,
. CONTIN ON (65.1) = False
] OFF TD (65.2)
 RTS # . E ; I

Q
y

 H!" . 0 
! 7 }
@ 
6!" .
(= I  ) U Tz

-Local operation (60)

HLC H
J L 
6 9 !Z K : (  Q  !N 10.5)
D E Qy

 U
^ _ ) ;
| }
POWER ON ACKN=1 ]
( U H
Y!" .

Note :

5.6.2
5-14

P88

-Speed monitor (61)

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A cedfJKL MNOP R

;! ; I WH U!L D E FM* , WH Q  ] Q


: !N!" .
; I Q C MOT OVERSPEED LEV(61.3) Qy b S }!O QPG =
 { MOT
d FM*
OVER SPEED : Q  ]9
N
>!R ] ! S!" .( I  + K]J )
]

5.6.3

T8J88


{
N
C!0]!4 Q ? Q U
W, #U!V I _
CU 0 3  !RY ;C #WU !X ; I
TJ U#L DETFHU
;!6!" .
!Y 
]

!$ @H y U TORQ MON SEL (62.1)  True N
R!" .

-Torque monitor (62)

!U!V (SPEED
 REF4 - SPEED ACT)I Z] TORQ FLT TD(  62.3)
" [
SP DEV LEV (  62.2)  P ]U  ,
 ]9 Q : # F TJ  (TORQ FLT) N  !" .
 SP DER BLK LEV (62.4) U ! \ % N 3y U 9A I #] 
F!* C!
0< . = :!d ^ I
 _ @ R!" . C ;
 I 9A 3 ]]  SP DER BLK LEVI R" `#( TJ
 :!d ^U
 Y!" .
 : !aB C   5 N  , SP DER N BLK LEV  8 %/s N R
9A C] 12.5 (100% / 8%/s = 12.5 s) b!
B ( ]C C
Q
N
U
TJA!
^ !c TJ   FH Y!" .

8 88 -Fast stop (63)


gihjh-kmlmlonTpTqrtsvuTT
5.6.4

5-15

A cedfJKL MNOP R


 ]Q  d  #$ @H &5 NN ]!'B!( ~Y!"


U N !$ @H eC I "!D!fC ~Y!" .
! - {  = fast N stop 1
- TJ A
T -JA!
^
L K]J  = fast stop 2
- !
{
N
L K]J   = fast stop 3
  ?Y Ni g Q8 y h!2  .
;8 U

8 8Y8!8" !
Note : 88

U "!D f C!8 N e#j I 79 :C ~Y!" .


J A Qy : C 69 F FAST ZERO SET 
FAST STOP 1 > , T
N
R !" . ( K ]JU 0
#- {  !" .)
1
L A d#^:C 6N 9 FG= , eC I
FAST STOP 2 > , TJA W
: FAST ZERO SET,
- {SPEED  OFF FAST STOP ] 1 R H!" . N
!
L A d!^TI :C 69 F FAST STOP ] 1
FAST STOP 3 > ,
R HQ !" .


Q
y
N
Q ! c E " ]
@H U , k

0 
1
:Qy #l!" .
 
 ! $ @ ! j I 69:U FAST
~Y!" (   ; ;
STOP 1 W FAST STOP 11 ]
):
N!" .
- FAST STOP 1 = 1   1  #
x!m Q IH y
- FAST STOP 11 = 1   63.1 FAST STOP TYPE 11I
!" .
88]88U FAST STOPQ81 y 8U  FAST STOP 11(63.1N n1 .  ?8 )I A8B8 C
z } 8Y8!8" .
(CDP 8 ) 
1Y < = ^`_8A8B d8
C 8!8" .

@H y U :
FAST STOP 11  DE
Fast stop 1: FAST STOP TYPE 11 (63.1) = 1 R
Fast stop 2: FAST STOP TYPE 11 (63.1) = 2 R
Fast stop 3: FAST STOP TYPE 11 (63.1) = 3 R
 ; DE| =U TI Q eC!y 0    x#m R | }
~! *  69 (FAST STOP-N) = "0" I
FHU   63.2
? y eD CRANE(64) o )
FAST STOP TYPE 12 C ~Y!" . ( #
Q
R  U @I FAST STOP TYPE 11 o .
FAST STOP TYPE 12I
 ; Q y AB#p (  64.10)  FB JOYSTICK N x!m
 FAST STOP 1W X  69  Y FAST STOP 12 
  FAST STOP 11 q" DE C !" .Q
;!, U : 4.5 FB AUX STATUSWORD bit11 QTH!" .

Note :

5.6.5
5-16

J8K8L

-Crane (64)

gihjh-kmlmlonTpTqrtsvuTT

A cedfJKL MNOP R


888 ;88U 888
F`B8 9:`!8" .
Note :

64.1 STAND ALONE SEL=True

!Y

679 : a b A
.

Y
O

r
689 ( 10
DI e
)

K ]JQE y !s ( U K]J  )I
DI1

69 FHU K]J !W:
]! tTI 0!! u - @M{ ^ 
DI2
L WH_ :d!^TI
DI3(  )
Stop Lim A
Q
N
 v#w ab S ]!tTI != A
(pos.=up) :
NM /] x :d!^TI  Q
DI4(  )
Stop Lim B
N ab S ]#tTI != B
v!w

5-1 Stand Alone

8:
BRAKE ACKN
ZERO POS
START DIR A

START DIR B

(neg.=down)

SLOWDOWN-N

DI5

FAST STOP-N

DI6

SPEED REF

AI1(



TORQ REF

AI2(



SPEED CORR

Ext AI1(

BRAKE LIFT

DO1

WATCHDOG-N

DO2

FAULT-N

DO3

MEAS VALUE 1

AO1

MEAS VALUE 2

AO2

]8t A8B ;8

N R8

y :

B != I
: . H] y!Y 8!E y : ] 69] 1 N
zH=!zQ C !" .
I
69 FU  :
]!t Qy 69 FHU 
R Q : .
0-10 V (par.13.7-10V) U 0-100 %
 \ H!"Q.y
]!t Q6y 9 FHU TJ R: .
 TJ R6N !" .
0-20 mA U 0
(  64.9 TORQ REF SCALE H
 ! {R )

AB +#| N _ I  ?
:
? :
0(+/-)10V U 0(+/-)100% 
K]J  I 79
] } ]U ?] ]
GB ? C
s U GB
; 1 !

 K]JC
!" .
 !~ : 
~ R : ; 
!
R : ; TJ
START DIR



69 I

lim A

(64.10=JOYSTICK)

gihjh-kmlmlonTpTqrtsvuTT

5-17

A cedfJKL MNOP R


]TI 679 Q ]# t #v~ ab| =U  64.10
 )
CONTROL TYPE  JOYSTICK(=
Z8[ N8O R8 689 : Z[ NO R : (0 H ) 0  RE Z[ NO
6!9 1 Q ab TJ RQEy  Z[ NO 69 2 Q ab!" . TJ R
RTI ! =!x m Zw ! = (= :] @H#= )  6Q 9 DI3(Start Dir

Q
ab >#= ( :] Q != )  DI4 (Start Dir B) ab!" .
A)
 13.7 AI1 0% REF LEV 0%  R  H AI1 !^
R!" .( DE : 4-20mA : )
R88 8x : ]#t Qy AB|  Q U != A BI Deadzone  R
U  R!"  . (64.4 64.5)
x !
; TI R ! !" . ]  0 N
REF SHAPE(64.6) 
R vx , 20  X , 100  X x # !" .
]8t J`L : ]C <!) { L  N  SME ]!t] ZERO POS
  
0!u  M
@ ^ (DI2=1, DIR A:DI3=0
OK TD (64.8) "
& DIR B:DI4=0)

Z
w
N
Q M
^ ~ k
]
F Y!" . I ?! 0 
( ]@ #
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+  ~ ,  U WARNIG JOYSTICK ] !" .
Q START DIR A= 1 ] START DIR B=1 L  .
@ ^ (ZERO POS = 1 DIR A = "0" W DIR B = "0") Qy
]! t] 0!u 
Y
SPEED
REF >1V U TORQUE REF >2mA <  ab] !"U
C  ! N!" .
8 Q
! ]   START DIR A START DIR B
! S 

: @
Q C 1 ] ZERO POS ] "0" ]  ]U
0
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{
.M
.
Q
N

R! 5!^ 6 #? C !> R { BCU Q . ?TI


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( ]
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a !C 8#E y!" ..

Q
H6 : READY :C nA S E ]# t] 0!uTM
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888 :  SLOWDOWN-N DI5I ]
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(  SPEED REF REDUCED 64.7) #
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| } ~ !" . < ] y SLOWDOWN-N
] 0 69 FH

!
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(- .
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2

#!

5-18

( #!!

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. !

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#!

!

# !

!/
!! 0 #!! 1 #! !/
!#!
.

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!!



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/
/



0M

FAST STOP-N DI6

!!

1 !!

0( >!!=

#!

! nM/

)
5-19

/!!!!#!
!!!

 
!#       .(   !    )
 $ , Fast Stop 2 =   
#! Fast
Fast Stop 1 = 



%& ' () FAST STOP TYPE 12(63.2)
stop 3 = 
*+  ,- .  2 / 0 1#  ! "!.#


3 * 4& 5   65 7 #* ! 8 
0
9 ;<
"ZEROPOS" 1
OK TD
$ A 5POS
=  > ;<! ?@ #
9 !:  # ' ( #) ZERO
B . #(*  3# CD!

*

T E!  7
F G!  HI 0.3 JK (  LM ) N "O6P Q RS 0
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V


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1V 
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N AI1 }~
a# 
# e   .
1V 
( 
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$
\ t ( W  C 6P  
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M

n .
z =
$    = (Ext AI1=RAIO # AI1)



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N 
: f

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*





$

time
  # P! \   .o"  p  !"  W ramp
=
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 0%$  P S   0-(+/-)10V
 = V 6 0-(+/-)100%#
S *+ 
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1  . f

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P 
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9
P!
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( ' ( ) 20.1 & 20.2) H /HI
j
V

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WATCHDOG: WATCHDOG-N(  LM : i


 $ )# K 
`# ; gh    . ! N I W
 ~
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!! 
B  :

C  e { (MAS OSC FLT)
C e{ (ch2)
- C ) /

- Brake long falling time


(
- CPU stalls out

 e{   _` )
` e{
 ! g h !w
 !  * lm 9 g   ;

#
!* w  T  !#
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w u& ^
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5 n .

5-20

i # 

/!!!!#!

3 C D  &
!
i # 
5-9

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#!

# t

5-21

/!!!!#!

, z z
(64.10=RADIO CTRL)
 3! CD! ,   ,PLC S N ` P * # 5 +  w  *
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 . !3 CD "  V S# ! h N : 


  * ~ .
- "Zero Pos" #
- "Start Dir A" S (DI2)

 ;
!w ,  _
"Start Dir B"#

MNV * * $ o  p   K *  ) * w  #, ) t   


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*
 
/#  1  .
- 

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# N 3#CD
S !
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(AI1-Ext AI1)
A
$
N  _ ! B .

5-22

5-9

,  
*+ !!

!#

# t

i # 

/!!!!#!


$ c
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;  6
T
 N ( ' () 64.10) Motor Pot
5 n  .
g h N DI3 & DI4 * lm n  . " $ " gh N DI2
"Start Dir A" S "Start Dir B"

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( ' ( ) 10.13 ACCELERATE SEL = DI2
n .
* $ gh



  7 $ " #U " ! w$  h


h # !  w w
 #   $ (+/-)100%
&


f
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^* w
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w
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!!
"
#
U   .
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*
+
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AI1 ! AI2 ! N
 A & 1 .

Motorised Potentiometer
control mode(64.10=MOTOR POT)

5 - 10 Motorised Potentiometer mode

i # 

*+ !!

!!

# t

5-23

/!!!!#!
Note :

1

z 3zCzD

 ! $ C  
!  . r

z

Motor pot


!  . /

(64.10=STEP JOYST)

R !
%$ 5 6 %0
34

. )1

   0  -      1       

) 7 %$ #$ $* ) 8 %$ #$ $* 
) ) %$ #$ $* 
 !"#$ %$ .
$$ #$ *$9$* &
'(
. . $$ #$ *
$9$*

'(  ! '( *+%, #.)/ # 
1 '0 ( *: !"#$  ! 23 *: *: 
! 

; <4$ 56 78 &


9
 :% ;# < ,= >%?

z , A@ z

(64.10=STEP RADIO)

'( 
  
B $ 
C 5, D$ * %$ #
 
  9
E '( 7F
0. )1 
&  G
<
;
<  4$
*+ G

5-24

i # 

/!!!!#!
FB

3AHzCzD z z
(64.10=FB JOYSTICK & 64.1=True)
I
ILUQV
I
I JLKLM NLOQPLRLS KLT
WLKQXLY ZQ[L\ ]LM * ^ _ YQ` aLbLc
dLegfih jQk lLmQnLR JLK 0 # !$= > 1 o pLSL]Lq rts u pLSLvLwQx
I
ILULy
V
YQ` JLKQM KQILT LLQV zL{L| aLc
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" _
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L
% #% #
% #% #" ;$#
[QLo LhLQaQwLx
g
V I LL
}L
 pLSgiwLx
*
< ( >M
L< (+ > L_QL L
I

[L
g
) , "3) * "
" ;$#
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[L 0 <, 1
" % #% #
? 2 ?)2 _ I YL` L
YL` L " [L
" % #% #"
? 2 ?)2 _
yQ
0 I B,> 1
YL` LLQh
" 5 6 %%& %#* ? 2 ?)2 _
Qh Q
" $* C % ! VL ? 2 ?)2 RLL


L
=


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Bit 0~2 PLC `) 3QHCD
*+ Dataset 1 word 2 DRIVE SPEED REF(5.5.12
3QH CD R
scaling
)
V
=L

L M ( ` Q H )

* +  .
@ 
eL
V Q , dataset 5 word 1 bit3 N 1 w B  .
@ eL= =L M ( ` LH ) N dataset 1 word 3 TORQ REF L (5.5.12 scaling
B .
)
N   
 

3 L ;e .
\LL* t( m W C 6PL 'L()
, . / 0 1QL .

Bit 4 FB ELSHAFT ON

. 5.5.14.

# ` L &

# QLHQ iL

10.3 SLOWDOWN N SEL

LL FB 3LHC
t$ (W  C 6 PL 'L() 10.14
FB STOPLIM SEL &
D L
r ( QC Q *+Q Q ) LQHL DI3 + DI4 * m ,
;L / 01LQ .

; , dataset 1 word 1(5.5.12


Q

FB 3LHCD L

Q 
3 ) N START OVR_ TORQ CTRL WQ (QL wt L 
QLL .
LL L  LL Lwt L L Qe :
L
L

Comtest toggle bit LLHQLL L


LL L PLC QLL (5.5.12 ) QtL QL .
i # 
5-25
END

gLLLLQL
5.6.6



-Logic handler ( 65 )

   Q 
 tL HQ LLQ .




 t
Q  
 LLQ
Q
On  
. L On  L L QL On Q 1 ' iL LQ .
L !"# Off 

i $%L &
L :
(iL )i (DI2)Q= "1".
- 
*+,L
!- & .(FAULT = 0)
- L
1233 $%Q & (LOCAL STOP = 0)
- ./ # 0 0
45
89 : 6LL 6;< On ( =6L
6QL LOCAL START 7 
9  E

6


B
D
E
) >? START DIR A/ START DIR B ( @ABC 6 ) 
On   ONG
F Ready
Q H3g
I J KQGLM? 4
For Run 



Q
R
VW 7 NQ OM . P

7 5 STL N3 UEF On   0

on-, off

OM

XYLQ ./# LOCAL STOP( ,4 3 VaZ[0 )  ' 9 \G] ^L_`
L 6;< ON J ( =6L 6 ) 0
F
OM .

Off



 'I running  0

 G
F ON 
i
?j OFF TD ( 65.2 ) d 3e f 0 gh OM . 
 6 
; <J i
k OFF TD dTL L
M
E3 $lF KG,37
?

m 3
OM .
  "  START 2 = 1 n&  OM . : 6LL START OVR
"
 L
 4 5 6 ) 9 START DIR A/ START
4
( =6Q
DIR
B ( @ABC 6 ) J

L
6 Q? ./ #  0l oOM .
P b;c

CONTIN ON ( 65.1) = false

 Q p   QqL O#M L. J

Ready For Run

On=

KLLM? 7 N3 $lF

mr 
LL & X Y3L
REF ZERO SET ? IX,3 J
s m OM .
4
Mt 2 u3#
  v[Y7 wEQ
x * .

5-26

H3

QL

^gy_{zLL

|~

QL

5-12

 / , 3 t d v[Y

4|

{}L

.
5-27

^gy_{zLL

|~

5-28

4|

{}L

5-13

 

 Y

QL

^gy_{zLL
5.6.7

z ]

4|

{}L

   
 

   

  






 
 0 D! *?;$# $$ 2, 1
 
  






         
        
   



         
   0  )) 4<1
      
0.. 1 , ?% ?
% #& #9 $*
 
% #& # 9#$ 0.. 1 % #& # 9#$
 = %% #&   


      % #& # 9 E  ?)2



    


#'!! !D  ? 2
 % #& # 9 E ? 2 



        % #& # 9 E  ? 2
  % #& # 9 *% ? 2   

    


       0  ..
!
   1

-Torque proving (66)

|~

QL

5 - 13

z ]
 

4
5-29

^gy_{zLL
5.6.8

5-30

4|

{}L

 
A < z 4^ | -Mechnical

brake control (67)

 7 ,3  C 
 ^  4 3(OM .
C

 ^  7 ,3  G J_ n


 l ]62B



^ i& ^ 7 OM . 
 ^    !"$# , %J3#
J
 '(OM :
- ),3
- IX,3
4
i
   
 < z7 ^~ E? m
 7 *+~ OM . , r - mr
4 z .  OM . < z . 3-?
BRAKE LIFT(2.21)  <
0T1OM .
( / ;DI1) BRAKE ACKN
 2 i < zJ . ? 3^d  45E6 ramp   d37
}, J O
M .( b;c   67.8 SPEED REF TD).

 8 
?  ?)2 9  8 :;<=


  > 

  F < > @
  ;$# $$ 0 D! * 1   ?)2 A 
9 ;$# $$ *$90.G.1   ;$# $$ %=$0.GG1  B
 ;$# $$ ? 2   C 
G 8 DE
F < >
  2 : ~
r -
< z 4 . Va   F  G mr - START2=
1  # ,
I FXJ Y H  z^ J I  OM . TORQ 4 PROV
RUN=1
OK = 1

V
W
-7 NI ~ ,F
3 J  I E3 $lF BRAKE LIFT ? 1
OM .
< z .
 b;c SPEED REF TD (67.8)  },K d #
37L M '(OM .
NO
8  
N
C P  
Q )  9 R  ?)2

9
S9 TA
0 Q UV 1 A ;$#
$$ , ? 2 


WX ?)2  
\ YZ "# E$ E! ,?)2
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` ;$# $$ @   WX #N '!


C
a
b 0 ; 

,)


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$=$#D % , ? ?1 c 9 0
% % , ? ?1 dG
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Dh 0"# E$* %,)1 g

WXC 0"# E$* %, 1 ij
QL

^ky_{z l

4|

} F

 
 
8   "# E$ *%% 0.G 1 Q 

  "# E$ *%
"


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A
Q
  0"
, 1 "# E$* !D %% 0.G(1
     "# E$* !D %=$  ;
R    b  0  c  
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|~

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5 - 15


 < z ^ 

4
5-31

^ky_{z l

4|

} F

O 5  i

_ ?  5  \] 
 < F z7   5  T] <
z K O  m !" | } OM . O ? GCKJ
K
   4 OM .
 K CJ   vK
j -K I
K ]l ]  ]$K < z z9 7 O
M . 3 CJ @
GCK?  $   < z
XOM .
5

b;c 67.11 MOTOR TYPE = COINCAL


4
}   4 O   i 5
}OM .  b;c? B   KI
l 4 E6 , O
 !"
E OM .( b;c 67.11 STANDARD }EF n

  OM .)

10.1 BRAKE ACKN SEL = INTERNAL ACK


21.2 CONST MAGN TIME = 30ms
65.2 OFF TD = 0.0 s
67.1 BRAKE FALL TIME = 0.0 s
67.6 ZERO SPEED LEV = 3.0 %
67.7 ZERO SPEED TIME = 1000ms

5
4


3 :  O  Roll back(load dip) G` E G


4 E6 m
3I KX b;c 67.12RED
5
}K l p OM
FLUX LEVEL 
 75% ?  ]4 O  E3 , 30~40kW  
? Roll back G` E GE6 75% 0M , =J '(OM 4 . KX
p  3E? Y? CJ )JOM . 2 H 4 
  E6 C 6HJ J7 OM . n
l
@   J 5 # 1i OM .
KX `? O   b;c 67.11(=CONICAL)  }#
'  HO M . 5
4

I  O  Roll back(load dip) ` E GE6 I
 KX G? b;c 67.14 START FLUX TIME  }4 K dI b;c
67.13 START FLUX LEVEL(100~140%)  }  J L M '(
OM .
4
5

b;c
67.7 ZERO SPEED TIME l 3 O FJ  < z 

d 37s L M '(OM . /7 Mt$ I
 
EIK
!"GOM .
5
4


s

O  4 ID-RUN 
? b;c 99.10  ID-RUN
5
NOTE :

 REDUCED
 4 OM . STANDARD
 ID-RUN O 
&
3 #G?  5 KX $ #   !" M q(OM .
:
"$K O ? 6 6 !"E6OM .
5-32

monpnrqtstsvu$w$xy{z}|$~$

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5.6.9

, r

|

} F

-Power optimisation ( 68 )

, r 

$  i n
l : 
6 ;<J  
! "E? i I]E"
6;< !" GOM .   
X Y    (Dir A)
#  OM .
  XY (base speed)| 9 l  XY7 JEIi K s h
PK BC !"GO .
PKBC  "J  z
` OM . ? PK BC $ T ]E ^ Ei 

r

 M 'Y  "XY OM . 
, 
$
z
I ]
.    "    " 

0   .
  :     PLC(DS1.2)   J
  68.2( / :50%)     $
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, 
$   FJ (DS1.1) Bit2  HIGH SPEED -    ,
  "J #   (     )  ,  
K    ramp  $    K   ! 
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 .  PLC   # %K  (SPEED REF3,
 .
DS4.1)  & ' RESCALE( )      
*+,-  :  J I/O( . : /
0   AI1) 1 FB 
/
0  2 (   64.10 CONTROL TYPE3 Stand alone Mode
 ) PLC(DS1.2) 4 '  5 .  6 :9  69.1 SPEED70 8 .
6 ;=< 
SCALING TIME  2 0~100%
9
   6 Ramp      .
 64.3 HIGH SPEED
LEVEL1 HIGH SPEED $ $ > ?


@
* +





$


(
68.2 2  ) A B  . ( C
, - D    E .)
C  F 3 G# H   ? 2  I POWOP SELECT(68.1) True

, - J . I TQLIM
/
UP (68.6) < TQLIM DWN (68.7)
K 

 2 L M (
 )  .     
  $ 90%  %:( C D N- O  P L  
J . (  :Q 90%  %  250ms G  A M 3   ):

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5-33


:RTSUM V WUX YZU [
9 t u  % " v (=  w s ) DI x y M


p


q
( rs
z <  level C G w { z  .)  ?P | { xM C  } D N
 Q P 2  ~= . w   I :? ( C / )Q  Cp S
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L  - q 6  9 z  s: . L =Q s:
POWOP  ~
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 QP = . 
< { ripple C :Q 3 P J .
:=  q 6 z SPEED9 REF POWOP z $ HIGH SPEED
0z C  0  s= .   ~ L  q 6 
 SPEED
I 68.8)  L    
ACT C POWER RESET LEV(
( 9 0  z s: .
 ~ q6 (HIGH SPEED switch C - ) 2.25 POWOP SPEEDREF $
 2 5 .
? { A B C TORQUE HOLD z  :: D N 2 z  
 ~: . LOAD TORQUE

%(2.31) $ D s x y M=Q
%



F J . C $  9 z I 68.10 LOAD TORQ FILT TC  2  s w s


I #  I
 .
TORQ HOLD

 I 68.11 SLACK ROPE TQ LEV s z C


$

 x y M 0q
X:Q  t:3  : .
X:Q9   4.05 FB  AUX

q#: .
STATUSWORD (DS12.1) bit 10 2

X:Q 

C:Q FAST STOP1 3 G #  . C
s q Fieldbus Dataset 5 Word 1: FB AUX COMMAND WORD(Signal 3.07) bit 7
Q DISABLE SLACKROPE
$ p 4 '  5  . 1{

z
I 68.11= -400%(  )Q s  s qp "  .
C

LOAD TORQUE

C :  D I=Q

D

x M (T
I
( ): G r
J .
xM

 s# W I : " F  2


)p
| C(  " - x  M   :?   2 s=( 0 (t )
 :?2 1/n  & ' ; J  !
}  : : s 9 - x 9 M (  + ) p   ' Breakdown

I 68.9) 2
# Dz Ip :<q )   2 z
torque TMAX(
F { L  p ~ "  . C SPEED REF POWOP q 6 3

{   = .

Note :

max

5-34

\^]_]a`cbcbed=f=ghjilk=m n=o


:RTSUM V WUX YZU [
 p    ?{ # ,- [ .
'   2
I INERTIA TOTAL UP(68.4)<

TQLIM UP(68.6), TQLIM DWN(68.7)

1.

2.
3.

4.

5.

6.

7.

8.

p s K 3  [

INERTIA TOTAL DWN (68.5),

TMAX(68.9)

J .

 I POWOP SELECT (68.1) p True  s J . 1 { , # 68.9 p
L (500%)  sJ  .
 I TQLIM UP (68.6) 3 D I=Q
s xM (100%)  s J .
#  I TQLIM DWN (68.7) 3 D I s x M=Q 75 % s J .
TQLIM FLD WEAK UP  TQLIM DWN 3  s C  C  
w s {  p 0 s /  K 2 :Q B p > ?   .
 I INERTIA TOTAL UP< INERTIA TOTAL DWN s /  K  2:Q 
t   . 75 ~ 100% p  J  .
 I POWOP AUTOTUNE SEL (68.3) 3 true s  , G s 
G = .
s /  ( ) K    =Q q6 3 7 ( 1 
0 2 ) G 3
 D I   : . D I ~ 3 z   ?P 4 G r
  p  q* " +, -   .  G [ 6=< q 6 C 
0 S ; 2 7 0
q  G s (
D  2 , I 64.3=100% s )  G r
HIGH SPEED OK $  :(q )  J  . 
$ no.24 TOTAL
 z 3 w v ~  9 C  C  p
INERTIA 0 C
s q J  .
=Q - 


$ no.24 TOTAL INERTIA p W J   .


K

 ?AB p 2-3
(C 
I INERTIA TOTAL
z
3 ~ J .
UP<
INERTIA TOTAL  L { 
C z 3 
-K   I INERTIA TOTAL UP (68.4)< INERTIA
TOTAL DWN (68.5)   J . HIGH SPEED OK $ p  J  .
* + ,- D   2 ,  I 64.3 3 98%  s )
(

< TQLIM DWN , s - :


L   = 100% 
( s:Q 9 
L z
A Gw { 
p
J . I TQLIMz UP< TQLIM DWN 3 , - ( . :40%) 
.
C / L q6 (up/down) 3 70 #
3 J
. L  %
\^]_]a`cbcbed=f=ghjilk=m n=o
5-35
9. TQLIM UP


:RTSUM V WUX YZU [
' p W J  . 
100% (q )  
# .
UP, TQLIM DWN 3 5%

10.

100%

 % " v q

TQLIM

C
G w{  TMAX 68.9 p  C z  UP/DOWN K
 2
,

3
v


q


#
100% C 
{=( # q :Q
J . t=< =Q K 2 ' - 100%  %P 3v
q TMAX 68.9 p  # .
?Q <s 4~8 E z 3  L K :
E  I  z 3 s  # ,- ( , 2,3 G r:Q s , ,
) 3 # / s q" v DriveWindow p C  P 2.31 LOAD TORQUE* %Q
$ p # J ,- . 20 ~ 100%Q D K p   " , - 5 . ,  

q # y . t
 
3 J .
 I 68.4 INERTIA TOTAL UPQ s={ z 3   s  , - G r 2.31
: < C B 3 w  . x M
LOAD TORQUE % $ 

$  s z   2  z  INERTIA TOTAL UP
Q
I 3 #H#y . L=Q  E 3  #y .
 I 68.5 INERTIA TOTAL DWN G w { K  #
, - J . x M
$ s z   2  z  INERTIA TOTAL
I 3 #y . L=Q  E 3 
# H# y .
DWNQ

5-36

\^]_]a`cbcbed=f=ghjilk=m n=o


:RTSUM V WUX YZU [
q6 z 
 

-Reference handler ( 69 )
C
D N  :<B   C 0 5 :
# =z Q s
- 
Q 
- q 6
- x M   F
#:Q  s  I 69.2 ACC TIME FORW, 69.3 ACC TIME- REV,
<
69.4 DEC TIME FORW A 69.5 DEC TIME REV.  2 =<
 ( 1 t < )  L P  s " 5  , . 1
# :Q  s 3  ?{
;& :Q   , - 
 0 ( *   D 
P ) D  D  2 FJ . 
D  2 # :Q
;
&
I 69.10 "RAMP RATE=1" C False s:(0 3 v t:?
#  2 RAMP RATE(DS3.1) $, - p C  ' s: .  z I RAMP
} w v   : .  s z C 2.0
SCALE LOCAL (69.7)  2

,
C  (  I /    M  }, W -  I
C  p
: s 1.0
  s= .),9 D  2
}w v
 #
I
 # =Q  :( 3 Q J  .
69.2-69.5  s
 , - D   2 , - } w v q 6 z (64.1=FALSE):


 C  DRIVE SPEED REF 1 SPEED REF POWOP } z 3  


J . DRIVE SPEED REF  C   G#=Q z      q6 z 
. Y  , 2-  :: 
, -  L{ 3  ~   , 
C t 

C FPq   
:?2 SPEED REF POWOP
Q
z
z
3   "  . 4 , C / (  0 )  I q 6 3 ;
#    L  %"  DRIVE SPEED REF
M  p s J  .
* + , - D (64.1=True) ,- }   C 7 0  C q6 z (FB
C / D w v AI1 1 PLCQ DRIVE SPEED REF) }  z 3   J
.
 V C M=Q G   (  # C   ) SPEED REF TD (69.8)
Q # 3 C  '  0   q 6 !3 q # 5
.
# :< # 2  G # H  ?{ S $  F
Ramp  "  =Q
3 q  5 . S $ :Q #s % I 69.6 S-RAMP TC  2 & s J
.
% I START TORQ SEL (69.9) C"  C  G # roll-back
( 3 '  ?P2 xM  F3 (  ?P  J  .
NOT USED =   W  G x M  .

G x M  sq # ) | { x M p  S z  G
AUTO TQ MEM =
# B x M q6 z 3  J . % I 67.10 START TORQ REFQ
x M =Q ;   : .
\^]_]a`cbcbed=f=ghjilk=m n=o
5-37
5.6.10

:RTSUM V WUX YZ*& [


 G 
x M q 6 z PLC (DS5.2 LOAD MEAS REF) 1 S
+ Y ! 
,:< B S  ) 2 5 . Ext AI2 !

% I
    )  )I : ( % I 64.9
3 4 P - w = . % I 64.9z = 2.0
- w  70 8  : Ext AI2 = 10V  G x y M q 6 Q 200% A w
J .
z C :(  ?P ) [ 6

Note:
DS 5.2  I y ) q 6
.  2 y LOAD MEAS SEL $ p True &s P  J .
z < Ext AI2 q 6 z  ' 8  .
Fieldbus DS 5.2 q6
% I z 67.10 =  G x y M q6 z % I 67.10 START TORQ REF  2
7 0
< B  s & s: .

LOAD MEAS =
RAIO
2(
13.6(Ext AI1
TORQUE REF SCALE

Y/

5-38

5-16

q 6 z  0:

\^]_]a`cbcbed=f=ghjilk=m n=o

:RTSUM V WUX YZ*& [


5.6.11

?s

-Position measurment (70)

C
 F DN 1 
2 3 *  +! , RTAC
s
NTAC  I ? p
 :( , ) D
 A
D 
D   2  " 
5 .
C
. s t:? 0  I  q POS PRECOUNT PPU 
) z 6
[ 6
1 4 q5 ! hw-sync( % I 10.6 SYNC SEL)Q

G7: # 6 5  .
 I:Q hw-sync  C ,- } Cq )
3 v 
Note: 4q5 !
 :(q ) 5  .(2.20 RUNNING=0)
G7: Q
W q s t=?8 07=Q SYNC RDY  $ p 9 . 
W q s :Q
P t=?8 07 I RESET SYNC RDY $ p :5 .
SYNC INHIBIT = 1 C< DI.3 p 4 { 
= 0 :tG ?;7= 07  " I !: (5  HW
G7: $  %
I SYNC
. DI.3Q
COND (70.2) (J .

I POS SCALE (70.1)Q


t:z?8
0


7


>

q

%
POS ACT PPU
6 ? 0@ A ~ 9 1 :Q BC  .
1 :Q  % I 50.1 Pulse Nr< 50.2 Speed Meas ModeQ & s z 
QP 2 A~: .  s D:Q 7 &s 23 =Q A A B D  2
E { 1:Q tF
G $ p D A z ~J .
. : -  50.1 C 1024 ppr CH 50.2 7 C< : A_-_B_-_, 1 23 :Q
I 4*1024=4096Q 1 J .
1
? s 1 9 23 D I
 K =( q )  ( . : 23  9
LNM O  )   " 5 . % I 50.5 SPEED FEEDB
USED p false & s< 1 23  2 !:( s $p  
q ) 5 .(  C 23 L $ A
~=( $ p 6   " 
*
.) ?A B C < 1 23 :Q $  q ? s  = .

\^]_]a`cbcbed=f=ghjilk=m n=o

5-39

:RTSUM V WUX YZ*& [


5.6.12

) 4$
$

5-40

-Field bus communication (71)

C
) ( . : Advant link, CS31(L 8 C ), Profibus(10 . C ), Modbus,
Interbus-S, Devicent.) A B
6 I $ p :7=?P  =P:Q H . $ Q4 W $ I3 R CC  :t:Q ? $ 0 # C
S s { ? s P@ 0 12 T . C:Q U 6 2 Vs:(0 5 . C
D N 1{ 16 $:Q [ 6 . C$ p P + " { T=Q E | ;
p W H 5 . C IX" 1,3,5 3 C I:Q Y $ 77 32ms CH
:{ 6 FB TORQ REF, FB SPEED CORR 8ms  . 
FB SPEED REF p
C
[  $ 7 2p t: ? # 0y . # :Q $ CG  L{ tX Z )  4 $
I 7.15 DSET BASE ADDRESS  7 z 1 L $  10 3 & s
Note: %
(8< \=Q D CI X"  ( . : DS1->DS10, DS3->DS12)  9 p
 .
]
:10) Word 1
5-4 $ Dataset 1( L
. C = DataSet 1 Word 1 ( $ 3.1)
FB [ 6
^`_badc
e c
f`g
hbi ^m_ln
julelvxk wmy vx{mol| p qlr n
0=Bit 0, LSB
COMTEST REC
1 0
1
DRIVE ON
"1" "0"
vxlm zOn( m ) PLC}l~b
(1=slt )
l x
2
HIGH SPEED
"1" "0"
(1=slt )
(xmxm )
ulvxwmy z vx{m| PLC}l~b n
3
START OVR
"1" "0"
vxlm lxil
(1=slt )
l xme c
4
RAMP HOLD
"1" "0"
(1=slt )
xmx xme c
5
SEPARATE
"1" "0"
x {m|x )
(1=slt )
( ,M/F
l x x
6
TORQ CTRL
"1" "0"
l lm =DS1.3)
SEL
(1=slt )
(
7
LOAD MEAS
"1" "0"
~l x x l
SEL
(1=slt )
(LOAD
m }l~x ) n
xMEAS
m yxREF
8
RESET OVR
0->1
g
(edge)
olmp m (PLC)
9
FAST STOP 1
"1" "0"
l ll l1 )
(1=slt )
(
l l 11x
10
FAST STOP 11
"1" "0"
l  63.1)
(1=slt )
(
n ll .
11
PGM SYNC
0->1
x
g
m

l
}
x

(edge)
vl (DI) l
12
HW SYNC
"1" "0"
x
g
m

INHIBIT
(1=slt )
^ cln m
13
RESET SYNC
"1" "0"
l

e
READY
(1=slt )
} 1 l 2n
14
USER MACRO
"1" "0"
l
r
x

CHANGE
(0=User1)
myx z vx{m|
15= Bit 15,
ENABLE FB
"1" "0"
m

l
u
x
v
m
w
y
x

n l
MSB
CTRL
(1=slt )
x )
(Sway(lx )
\^]_]a`cbcbed=f=ghjilk=m n=o

:RTSUM V WUX YZ*& [

5-5

 C I X"

1,3,5,7(

1, Word2
b : bDS1.2
b = DataSet
b

:10,12,14,16)

DS1.2(DS10.2)

FB SPEED REF

DS1.3(DS10.3)

FB TORQ REF

DS3.1(DS12.1)

FB RAMP RATE

DS3.2(DS12.2)

FB SPEED
CORR
FB POS
PRECOUNT

-163.84+163.84
-32767+32767

-327.67+327.67

DS5.3(DS14.3)
DS7.1(DS16.1)

FB AUX COMM
WORD
FB LOAD MEAS
REF
not used
PAR VALUE 1

DS7.2(DS16.2)

PAR VALUE 2

-32767+32767

DS7.3(DS16.3)

PAR VALUE 3

-32767+32767

DS3.3(DS12.3)
DS5.1(DS14.1)
DS5.2(DS14.2)

-163.84+163.84
-327.67+327.67
0.0032.767
1000=1.0

-32767+32767

mn
xx x Nx , %
(20000=100%)
x xx , %
(10000=100%)
 l ml N
x x lx
l x 1.0 (1000=1.0)
x x ,%
(20000=100%)
  xl l
(1=1)
=
x n l ( 5-6 l )
l Nx , %
(10000=100%)
3.9
DW x 90.1


90.2 

90.3 

 100% w v 20000    .
   .
"TORQUE"  100% w v 10000

STATUS WORD(DS1.1) " 0 COMTEST REC t 
  p FB

 " ( x " ) p  
 8  .
"SPEED"

6 <
s   COMTEST




q

FLT TD(71.1) >
  sq 
 .
MAS OSC FLT yP E H 
   t 
  (PLC) 6
  COMTEST REC  
" p
H  FB COMMAND WORD(DS2.1) Bit 14 COMTEST TRA
  9 .

 
   " " z
     
Note: t
>@
 !


,next edge

\^]_]a`cbcbed=f=ghjilk=m n=o

5-41

 "! V WUX YZ*& [


]
5-6

   X"

5(

%$

FB START DIR A

FB START DIR B

FB JOYST
TQREF SEL

FB ELSHAFT ON

RESTART
DLOG
TRIGG
LOGGER
DISABLE
SLACKROPE

: DS14)

. C

3.7) m n

( *)+ *),*- f 0
1 0
(1=&' )
 lx. /*0 ( 1 , 64.10
=FB JOYSTICK 23 )
( *)+ *),*- f 45
1 0
f xx. /*0 ( 1 ,
(1=&' )
A
*64.10=FB
(
)+ *JOYSTICK
),*- f 2 3 )45
1 0
f xx. /*0 ( 1 ,
(1=&' )
B
*64.10=FB
JOYSTICK 23 )
(
)
*

)
1 0
, 6 x
78

(1=&' )
&' ( 1 , 64.10
=FB JOYSTICK 23 )
9*): ;< l  .
1 0
(1=&' )

= l( >N) x / f
*? A 78
@
0->1
Bx@
(edge)
 l xx fA
0->1
(edge)
f=d *C
DE
= FN
1 0
*G
H 7
(1=&' )

FB AUX COMM WORD = DS5.1(


0=Bit 0, LSB FB ZERO POS

6
7

5-42

\^]_]a`cbcbed=f=ghjilk=m n=o

 "!IJ"K L
M*&N

 [

 b 
c  d ) e ( : Advant link, CS31(fg#  8 . C ), Profibus

.

i
b

H
N
j


k
Q



l

e
m
(10 C ), Modbus, Interbus-S, Devicenet) h
n o 
ep
 qm  [n 7   rs
t . [u
 
vwx yCN T u z x {J n 7  |
|N }~
le  N  m
{J n  . ACC 
q s
J
t   x e  |
g
u v  14
yNx
d g n . s
t t b 16 y
qd 

x 
m x   . 8ms  8 SPEED ACT,POS
ACT PPU
2,4,12 N
   q
m 6,8zx  
 56ms
s t . 
 32ms
n


Note:
c 71.5 DSET BASE ADDRESS
1 #
 10 

 
q 9 m  st .( : DS2->DS11, DS4->DS13)
5-7


2(  : DS11) y 1
%>

q 4.1)
%_ `

FB STATUS WORD = DataSet 2 Word 1(


0=Bit 0, LSB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15=Bit 15,MSB

OQPRPTSVUVUXWYZ
[]\*^_`a

RDY FOR ON
POWER ON ACKN
RDY FOR RUN
RUNNING
ZERO SPEED
REM LOC
TORQ PROV OK
USER 1 OR 2
FAULT
WARNING
LIMIT
SYNC
SYCN RDY
BRAKE
LONG
FTIME
COMTEST TRA
SNAG LOAD

1 0
1 0
1 0
1 0
1 0
1 0
1 0
1 0
1 0
1 0
1 0
1 0
1 0
1 0
1 0
1 0


*
  ( : DI_IL)
* ( >  )
* (  )
0
* /Y (1= * )
\*^
Y
* 1  2 

*

>
*

 (DI3)

*


 * *
Snag

ON

5-43

z ""d
"

5-8




2,4,6,8,12(

 : DS2.2 = 
 2, y

 %
DS2.2(DS11.2)
SPEED ACT
( )
DS2.3(DS11.3)

DS4.1(DS13.1)
DS4.2(DS13.2)
DS4.3(DS13.3)
DS6.1(DS15.1)
DS6.2(DS15.2)
DS6.3(DS15.3)
DS8.1(DS17.1)
DS8.2(DS17.2)
DS8.3(DS17.3)
DS12.1(DS21.1)
DS12.2(DS21.2)

5-44

MOTOR
TORQUE FILT
(
)
SPEED REF 3
(92.1)
POS ACT PPU
(92.2)
MOTOR CURR
(92.3)
FB FAULT
WORD 1
(92.4)
FB FAULT
WORD 2
(92.5)
FB ALARM
WORD
(92.6)
MOTOR VOLT
(92.7)
DC VOLT
(92.8)
POWER
(92.9)
FB AUX
STATUSWORD
)
(
AI1 REF
(
)







: 11,13,15,17,21)

-163.84+163.84
-327.67+327.67
-163.84+163.84
-32767+32767
-3276.7+3276.7

_%`

, %
(20000=100%)

, %
(10000=100%)


3=ramp

(20000=100%)


(1=1)
 * (A)
(10=1A)
 ^ 

(%)

  
*
-32767+32767
-32767+32767
-3276.7+3276.7

  (V)
(1=1V)
DC  (V)
(1=1V)
  POWER(%)
(10=1%)
 


-163.84+163.84

    

(%)

(20000=100%)

QRVUVUXWYZ
[]\*^_`a

z ""d
"

5-9




12(

: DS21)

FB AUX STATUSWORD=DS12.1 (
0=Bit , LSB
1
2
3

4.5)

DIR A
DIR B
ZERO POS
SLOWDOWN
DIR A
SLOWDOWN
DIR B
ELSHAFT ON
ACKN
BRAKE LIFT
FOLL SEP ACKN
LOGG
DATA
READY

1 0
1 0
1 0
1 0

AI3 LIMIT
ACTIVE

1 0

10
11
12

SLACK ROPE
COMTEST MF
FAST STOP

1 0
1 0
1 0

4
5
6
7
8

q

y

5-10 FB

&? y



((@ A

1 0
1 0
1 0
1 0
1 0

6(

$(%
)* +
,- A %
)* +
,- B %
)* +
0& %
)* +
. /0 + , - A
)* +
. /0 + , - B
    

* 12 %
3  / 4  5

 *
6   
(triggered)
    3 

 (AI3<10mA)
 789: ,
;<  /3  / =&> <
 

:DS15)

y

q 4.2)
$(%
 B 
 
C D * 
 D   

 *
E F < GH 
I J 
F  B
K 
;<  /3  / F < 
@A 

I/O 
NO
ASC800 L M
P 7 <   (DI6)
;<  /3  / +*
= Q 

FB FAULT WORD 1= Dataset 6, Word 1(


0=Bit 0, LSB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15=Bit
15,MSB

QR  "!# $&% '

)
MOT OVERSP
TORQ FLT
BRAKE FLT
ELECTR SHAFT
TORQ PR FLT
MAS OSC FLT
CHOPPER FLT
INV OVERLO
EXTERNAL FLT
MF COMM ERR
PANEL LOSS
I/O COMM
AMBIENT TEMP
THERMISTOR
MF RUN FLT
COMM MODULE

5-45

z ""&R
"

5-11 FB

&?y



((@ A 

6(

FB FAULT WORD 2=Dataset 6, Word 2(


0=Bit 0, LSB
1
2
3
4
5
6
7
8
9

5-46

)
DC OVERVOLT
DC UNDERVOLT
OVERCURRENT
EARTH FAULT
MOTOR PHASE
USER MACRO
ACS 800 TEMP
MOTOR TEMP
OVERFREQ
START INHIBIT

10
11

SHORT CIRCUIT
PPCC LINK

12
13
14

SUPPLY PHASE
ENCODER ERR
LINE CONV

15=Bit 15,MSB

THERMAL MODE

$(%

: DS15)

y

4.3)

B 
S 
B * 
T 
 U 
!#
* S V @
M Z B
IGBT W X Y

 M Z B ( C6[ \ H )
L W ] Z B 
* ^ * ( _ `
* ,  )

_ )
W X Y
 a> 
(INT  )
* b U (DCripple)
cde Q / f&g 
hF  
(4

> )
Pi ,  (30.5)
DC-link
DC-link

QR  "!# $&% '

z ""&R
"

5-12 FB

j&k y 

((@ A 

6(

FB ALARM WORD = Dataset 6, Word 3(


0=Bit 0, LSB
1
2
3
4
5
6

)
MOTOR TEMP
COMM MOUDULE
ID RUN FAIL
ACS 800 TEMP
ENCODER ERR
JOYSTICK
START INHIBIT

7
8
9

Not used
THERMISTOR
NO MOT DATA

10

LIFETIME>90%

11
12
13
14
15=Bit 15,MSB

Not used
Not used
Not used
Not used
Not used

QR  "!# $&% '

: DS15)

y

4.4)

$(%
 M (95%)( C[ \ H )
= Q 
@
ID RUN
M
IGBT W X Y

cde Q  fg 6
 <l m  ( )*+
)
* ^  ( 6_ `
* ,  )
P 7 <   6 (DI6)
op  > n 
q r  s * 

< C D ]%
W

t $ 
u ]7 %* 74.2
Z B
90%v

5-47

z ""&R
"
5.6.13

(w%z( { / x(R(y

& w / x&R&y| } n&~& n | } n & n&   & , z ,


& R &

 t 2   & ~& &
| &


&w
&
& .&~&
&w / x&R&y| ~&  }
z&&& t . &w ~&&|
x&
y ~& t &w
x / xR&y
&&w & x &
& & &
( &&
R&
) k& . &w ~&|  k 
x&R&y ~& 
&k& 
&& .
&&w / x&R&y|
& w
& & & & &&w &&
 & & && & & .
&w &|  &&&
& xRy &&| & &&
&& && .
& & .(M/F
Note: w& x&R&y && &&| DTC &&

&&| w& | & && .) R&y} &~& 


&&| x&R&y & & 20.1 20.2& w  69.1 SPEED
& .
SCALING 
&k& 5% & &
-Master/Follower ( 72 )

( ( (((
 &
&  & &| ACS 800 


&& . &w
/ x&R&y  R &  &

& .
 . }


&

&

1 
&
 5 ~ &  .

M/F & &&


&


w


2 x&R&y
2
2 &
&   &w / x&R&y  & & .
5-17
& .
Note: w / x&R&y w&
&& &&R &
}&& && && .
3 &w &
&& .
4 
M/F & R& &&& .
5 &
&
( &
99.2 &
&R = M/F CTRL)
&
&
6A
&w & 
 & :
- Stand Alone Sel ( &
 64.1) = True
- Master/Follower Mode ( & 72.1) = Master.
x&R&y & 
 & :
- Stand Alone Sel ( &
 64.1) = True
- Master/Follower Mode ( & 72.1) = Follower.
- Torque Selector ( &
 72.2) = Torque
- Brake Int Ackn ( 
67.3) = True
5-48



&
R
.

QR  "!# $&% '

&

 ""&R

&&w &
&w & 
 & :
- Enable Comm module( & 98.2)
- Stand Alone Sel ( &
 64.1) = False
- Master/Follower Mode ( & 72.1) = Master.
x&R&y & 
 & :
- & Enable Comm module( &
 98.2)
- Stand Alone Sel ( &
 64.1) = False
- Master/Follower Mode ( & 72.1) = Follower.
- Torque Selector ( &
 72.2) = Torque
- Brake Int Ackn ( 
67.3) = True
6B

& &
& &
& 
&&& .

& [local/remote]

8 &
ACC 800 & }

&&R j&& .( 
& L & & & .)
& & ~ && .

& &
  && . 
9 &
x&R&y &| R && &R &&& .( &
  72.2 Torque
R
/ &
Selector= Speed). w
&&&R&}
w
&

 
&&w   & k&&& .
&w& x&R&y &
& R  | &&& .
&& & ):
( 
&w
&  ,  & &
& &| .
 !#"$%'&()*
x&Ry &| +w &
& & & ,-&| .
&&& & . && &
10 x&R&y &
&&& .
&& &&R /0 .( &
72.2=Torque)
11 x&R&y &&
1& .
12 
23 | &  &&

&& .
13 
7

QR  "!# $&% '

5-49

 ""&R

( % (
4
} & &
&
5 &| &
 & 6 &
& . +&w &|
& 
7 8&5  & xR&y & &&& .
:& j&y & & & {  ;&w <=&
Note: w9
? & .
RATC-01( >&| NTAC-02)

&

5-50

5-17

w9 &

&
& +&w
/ 
x Ry @&k

QR  "!# $&% '

 ""&R

(((w (
&&&w & | +&w 4 &

&&| & 78 
5&
&
x&R& y & && . } &
5| & &
 A (DI1&B& .
DI4)

&

518

&&w & +&w


/ 
x Ry @&k

Master and Follower Stations

+&w / x&R&y &


&R C&D EF& +&w

x&R&yR &G
?& && . H C&D 72.1 MAST/FOLL MODE @IB& .
J x&Ry  @I &| R&}  & .

QR  "!# $&% '

5-51

 ""&R


KL  

~ &

+&w / x&R&y &


 M7
~ & ~ 
E&KL : & N O +&w

xR&y &
& &
(
 &
&& P #N Q ?&O &)  .
&&& z{ :
KL +&w / x&R&y & 3 & 3
&R 1 ( C&D

& & &R 2( C&D 99.2=CRANE)


99.2 = M/F CTRL)
~ &&  ?&&
& .
3

3
&
&R 13  R 2 R R & A 

&&&w 5& bit 14 & ?& .( C&D


16.5 & )
& E :.R  ? O
| & &
& 
& & .
&&&w && 3Sz&{ SEPARATE 5& (DS1.1 bit5) | Dw &/ x& Ry .&R
} T  : &R /UE &B& .
&&
&&&w &3 & & S V&& . x&Ry & j&y &&w
k& & (DS12.1 Bit 7) separate change acknowledge 5&  V
&& . 5.5.12 &

z O


&

&
5

Note: SEPARATE 5 (0 1, 1 0)
RUNNING=0
V&& .

& ~ 
+&w& x&R&y &
S &| && >&| DriveWindow ~ && N
?&&& . W : &k& , CD 72.1 MAST/FOLL MODE = OFF) R & )
S x&Ry&
X\ &
& Broadcast

[.&R
mode( CD 72.11=YES) Y#Z

+&w / xR&y

& x&R&y && & ?&&& .


6.2.27 & .
+& w &|  2 M/F &w&  & X x&R&y &
&  ] k&&& . ^
2  &| +&w &

x&R&y &&R E& k_& +&w & xR&y
&& & g && . E& &g ( X &?`a
4 x&R&}y:.R & ) X +&. w / xR&y 
&& I/O
&w& &

5-52

QR  "!# $&% '

 ""&R


+&w / &x R&y  b&


% cE :
+w&
 x&R&y wde
& V&

&
fZg : h&&wi j @ , k 1mm, &h &wilm.&R &k
opq : 0.31 dB/m
 r s
: 10m
Et :

Transmission medium:


n
n
n

)
W%7
wu v(

x M
-55
+85
C
$M
-20
+70
C
y r  z V
50
N
y r  z {2 | 25
mm
~}
 z {&2 | 35
mm
}
 z V*

1
N

1000
cycles
& ACC 800 & 
@ I&b &R b& sR
& ?&& .
o
o

 5 (hp 9534, T-1521);


#S 5& (hp 9534, R-2521)
(c c
5 tcA : E& , 
5&
c((c : 4 Mbit/s
c c : 4 ms
(R
: Distributed Drives Communication System, DDCS

RDCO-0x

QR  "!# $&% '

k( (%(

5-53

 ""&R

5.6.14

cE(

E& & | &


&&  E  B . W&& ,
& }
E :.R
 &w9& & #Q O B&
E& EV  E &|  && & ;& w<=
l& 5& && . > , +&w 
& &
&&
 2
&  &&& .(RDCO-0x k & )

-Electric shaft (73)

EF: EV& +&w


  &   
& &
&&k&] (+/-) & && 0 .R  | HA& . &&k
]& +/- 5%

R & B& . & | C&D 73.6 ELSH CTRL MIN SPD  &
] R| k2  &&& .( ^
&R E& & O
&&|  k& B .)
k& &E| CD 73.2 ELSHAFT GAIN &B& .

&

E& &|
&& &&w & & &N ?&& .
& A &
E& &| C&D 10.15 ELSHAFT ON
SEL
3
k &&w & (DS5.1:4)
5& FB ELSHAFT ON
ELSHAFT ON >&|
4

4
& }5& On/Off
?&& . }5&&| +&w

& &  & && .

E& & On Q O E&


& &] +&w &&  fB
&
. +&w &&  | k&+&&w& / x. R&y & w & &2   o&E & &{ &]
+&w & 
 & .
E& & Off Q O ~ & &|  z&{ :
& 
&&& .(M/F
&   & )
&
S
z
&
&
O E& & On >&| Off

&

&

&

|



o

& HA& . &wi 0  E& V&&


.
+&w
 && o  w 5& O & 
&| o& &R  N HA&& .( , E& & YZ ? O )
 r#: | &w9 & & E & ?&& . &&
| &  r
: EV & ?&& . +w&  &&

 H k & ]& & & && ?&


& .
+&w&  R& E&w q && j&y +w& 
& & q& C&D 73.3 GEAR NUMERATOR 73.4 GEAR
&
& ?&& .
DENOMIATOR
&& .)
( && e 6.2,28 &
5-54

QR  "!# $&% '

!!&R

+&  && 100% -  & ( , C&D 69.1


& - ) CD 70.1 POS SCALE 
SPEED SCALING RPM
S
 
 :&& :#  .
W :    :q +  2 & 
 POS SCALE +  POS SCALE 2  &#
 .
E  ( 5 2.26 ELSHAFT POS ERROR) CD 73.5 POS
 # 2 & H
ERROR LIMIT &
  ELECTR SHAFT   + 
 NHA .
FOLL FAULT(Follower fault)

E  YZ :
+   CD 99.2
Ch2 + /  5
APPLICATION MACRO = M/F CTRL @I
  .  Ch2  #   .
 /   #    72.1
MAST/FOLL MODE = MASTER,    72.1
    72.2
MAST/FOLL MODE = FOLLOWER
  .
TORQUE SELECTOR = SPEED
   73.1 ELSHAFT MODE SEL = MASTER, 
  .


SLAVE

( ,  64.1 STANDALONE
SEL = True)  



 10.15 ELSHAFT ON SEL
    
 #   .

= EXT DI3    NDIO
#2,   #1
:   . 10.15


  

.




"  (  64.1 = False) 
!  
FB
 # $ no.5, %& 1 '$( 4( '$( ) 0.15) 
  * +, .
.- / 0  
1 2   :
98.1 345
= : RTAC SLOT1
50.1 Encoder pulse nr
 
69.1 Speed scaling rpm = 67

; <
69.2 - 5 / 8 9:

70.1 Pos scale( :no. of pulse/mm)

6= /67 
 > (     69.1 ?
B  #
98.5 - 6   / 
1 - 2 C

20.1 - 2

~

5%

@A 

5-55

!!
5.6.15

cc c c; -Crane lifetime monitor (74)


 ; D E  I 1.35 LIFETIME LEFT %  
$ FG  H
J K  L .
L M  N # FO.P# :
Q  < (=W  R9 < ),  1.32 TOTAL OPER
- 
XYTP# .
TIME.  'TSU V
Z $ ) ,  1.33 LOAD TORQUE ton.
- G FO
< W 1F 7> E ),  1.34 LOAD SPEC
- ) [\ ] Km( )
XY.P .
FACT Km.  '.S^U V
> )  _# 1  68.4 68.5 ` 
 . ab c 5-34   .
Note : de > )fg  _  68.1 POWOP
I 68.2 BASE SPEED   h, .
SELECT
ij i
 k 9: l j ) fgm _A  ^>
$ FG] no ?   68.12 LOADCORR FACT
i j   .
UP
68.13 LOADCORR FACT DWN


p
'o
>





N


)




f
g

q

r

s
, 
t #  +, .


s

'o t N 

1.33 LOAD TORQUE ton


.



74.1 NOMINAL LOAD



FG]   74.3 CRANE LIFTTIME    .


u 
 v^w
 74.3 START LIFETIMEON = ON  gq]
 FO d.P# .
Wx
 N l
h, .
Note :    &

 LIFETIME
LEFT % 10%  y

"
  V Iz{ L  .

LIFTTIME>90%

' # |} RMIO  ?  ' ? 6# TOTAL


~ 
ABB '
OPER TIME
LOAD SPEC FACT Km mN 
%# .
NOTE :

5-56

~

.Ygq]
5.7

c& gc

 W


& g |t } 


V XY  L . 2 R
&  gI  N +, .  L R    
   ?  # TP# .
"
>  N XY 9 :
1. 2 Y gq]
  #   N  .  R 2-6   L
  . 99.2 APPLICATION MACRO USER1 SAVE  USER2 SAVE
XY v^w.   10.17User macro ch
Note: & g
`  .(10.17 & g XY#
srce = NOT SEL
, .)
2.

3. [ENTER]

 XY

|}  mN & W g XY.P . X Y# [ 


< =    "  . 
mN & g
XY
m Z h

* +, . .#   


 & g j m n .(   gt  


m .^  "
   m   
,
 m
> [ENTER]   XY.P# .
 XY   ( & g )  N 9 :
g q] 
   R
 2 Y #
 

 N .

1.


" 
 

2.

3. ENTER

99.2 APPLICATION MACRO


.

USER1 LOAD

   N

2-6

 I

  L
USER2 LOAD

t  Ns XY & g h


V Iz L

& I g 6 Y  L  


   .# + , .
~

10.17

 
5-57

.Ygq]
& g ]  > "  t , Rdy For Run = 0 s  "
     * +, . & g
#    # L . ; "  USER 1  2
 vw #  
(  B   ) & g

I

z

E 
 .


#   #
NOTE : N] &
 m XY . g]   ID Run
m s  ] .

5-58

~

.Ygq]
 G  J,

~

5-59


6.1
6.2

Y gq]   . E  7 

gq
]    E   R.  [

P  .  6-1 .^  .  . 2 Y  T  


7 
+  # 3 Y j  .
 #  Zm 7  4 Y d )[


+, . > R.  N   + T
<=# # ;
+, .

D ! B  &  I 


 B  
&    R. 
d
 +, . B  G # 
+

   G A >   .
N TP .

TTTT

6-1

 

6-1

.Y!
6.2.1

10

c   -Digital Inputs
 
j+ , .

 




m

N


g

q

]













  /  #  E> 
 # ?  . > 

 .

6-1 

10

1 BRAKE ACKN SEL


2 ZERO POS SEL
3 SLOWDOWN-N SEL

4 FAST STOP-N SEL


5 POWER ON ACKN
SEL
6 SYNC SEL
7 CHOPPER FLT-N
SEL
8 STEP REF2 SEL
9 STEP REF3 SEL
10 STEP REF4 SEL
11 HIGH SPEED SEL
12 SNAG LOAD-N SEL
13 ACCELERATE SEL

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

  
   
 
   )

! 
   

T
T
T
T
T

"
#$    

10.5
10.5
10.5
10.4

%'&
'% &
'% &
'% &
'% &

NOT SEL; DI1DI6;


DI_IL
10.4

T

%'&

NOT SEL; DI3+DI4;


DI5+DI6; DI1.1+DI1.2

15 ELSHAFT ON SEL

NOT SEL; DI1; DI2;


EXT DI1.1..EXT DI2.2;
EXT DI1.3; EXT DI2.3;
DI5; DI6; DI_IL
NOT SEL; DI1DI6;
DI_IL
NOT SEL; DI1DI6;
COMM MOD; DI_IL

17 USER MACRO CH
SRCE
18 EXTERNAL FAULT


 
     

    
0
(  
   )
    

NOT SEL; DI1; DI2;


DI5; DI6; EXT DI1.1
EXT DI2.2; DI5+DI6;
DI1.1+DI1.2; DI_IL
NOT SEL; DI1; DI2;
DI5; DI6; EXT DI1.1
(
EXT DI2.2; DI_IL
NOT SEL; DI1; DI2;
DI5; DI6; EXT DI1,1
EXTDI2.2; EXT DI1.3;
EXT DI2.3; DI_IL
NOT SEL; DI1DI6;
EXT DI1.1..EXT DI2.2;
DI_IL
10.6

14 FB STOPLIM SEL

16 FAULT RESET SEL

6-2

 /  

NOT SEL; DI1-DI6;


DI_IL

( ) * +    
,   - . 2   
(  
   )
,   - . 3   
(  
   )
,   - . 4   
(  
   )
/     
(  
   )
   
Snag 0
1
!    
(  
   )
2 
34   5 6  
 #7

5 8 9:     
* + ; <
   

=
 .'? @
A B >
C 0 * +  

TTTT

6-1

.Y!
1 BRAKE ACKN SEL

2 ZERO POS SEL

qg ;ED
F G^> ED 
 T 
INTERNAL ACK; DI1; DI2; DI5; DI6; DI_IL

I qg E; D
F EJ
INTERNAL ACK( H)G] ;ED )
K E
M .
h L  E
 N
E





 (

 )
0G EF G^> ED .
NOT SEL; DI1; DI2; DI5; DI6; DI_IL

3 SLOWDOWN-N SEL

 N






;EOEF G^> EI D 
  (

 ). DI5+DI6
P
 E
QEQ SLOWDOWN DIR A-NR N SLOWDOWN

N
DI1.1+DI1.2

M
E
 S


DIR B-N EF
. DI5+DI6 DI1.1+DI1.2 P
K

M
EJ
+, .
NOT SEL; DI1; DI2; DI5; DI6; EXT DI1.1; EXT DI1.2; EXT DI2.1;

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


4 FAST STOP-N SEL

 N






T D EF G> ED .  (



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

5 POWER ON ACKN SEL

WV

.  ]
DEFT ED T  . E
U [
W.  ( 
D T T ?  / 
24 Vdc .^

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

EXT DI2.3; DI_IL


6 SYNC SEL

NY

  . G X .

G ]

SYNC EF G> ED T
# E
 ZEP#  .

NOT SEL; DI1DI6; EXT DI1.1EXT DI2.2; DI_IL

F G> E D .  . E[ \ ]


^ 
E
[E\EU. ]E^ 
EP#  .

7 CHOPPER FLT-N SEL CHOPPER FLT-N

NOT SEL; DI1DI6; EXT DI1.1EXT DI2.2; DI_IL

8 STEP REF 2 SEL


N





 .


STEP REF 2 EF G> ED .
M  
S! I M _  
  .

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

EXT DI2.3; DI-IL

9 STEP REF 3 SEL


N





 .


STEP REF 3 EF G> ED .
M  
S! I M _  
  .

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

EXT DI2.3; DI-IL

TTTT

6-3

.Y!
10 STEP REF 4 SEL


N





 .


STEP REF 4 EF G> ED .
M  
S! I M _  
  .

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

EXT DI2.3; DI-IL

11 HIGH SPEED SEL

EN





V EF G^> ED T 
  .



HIGH SPEED
B.6G O D
`m. 
L G  .
NOT SEL; DI1; DI2; DI5; DI6; EXT DI1.1EXT DI2.2; DI_IL

12 SNAG LOAD-N SEL

F 
E
G >

D  i^.jE a   t . ES

EO D 2 ^# #
G 
( ,
)
SNAG LOAD-N

EN

NOT SEL; DI1DI6; DI_IL

13 ACCELERATE SEL

EN





G > ED . 
  .


ACCELERATEa EFEb 

 .
Motor Pot c
NOT SEL; DI1; DI2; DI5; DI6; EXT DI1.1EXT DI2.2; DI_IL

EN

d  STOPLIM
D .  .
B EFEb 
N G>






d
 FB ES!
 
.

14 FB STOPLIM SEL STOPLIM A

ES

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


15 ELSHAFT ON SEL ELSHAFT ON

EFEb G^> ED T  .  Ee c 

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

Wx I EfEg
]E^
c
E

f
]Eg ^EP -W) x

P c a E
n j

B a / ( m
)

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

N
f
h
 t WZ
x i. P
M
SG

EM

t s EDL EN EjE


k
-)Ec
s W"E
x Il
P
.
M D .
E
R 9 #

d.P
D N . 8 o
D )
W x I

.( E
s
j

E

S

`

%
&
a

^
>

E
)
c
Note:
(RESET OVR)
p q rEE
M .
s
F. t oED Td P E

NOT SEL

6-4

TTTT

c.Y!
N
M


I
 V EP .M u
ED  Ev M 
S wEL
w
q & I gENkEb EP# q
.:
ya t x
ED   v ES EFEb   XEk  (a 8 o
D
 X Ek
( t oED ) User
) User Macro 1 j
k u
t
E

M
V 2 r uEt.P
a
M
Macro
.

x 

q & gEk
r 
z }ED L EP ]E^Er { P
:

17 USER MACRO CH SRCE NOT SEL; DI1DI6; COMM MODULE; DI_IL

q] t q& g
k
P I N Er |E} ( & ~ tE D " , RdyK for Run
ED   " a v EN S wE

+,EM
= 0) 
M .

q & gEk. I
EP Er dN ED L " L .
EN F USER 1  2( EDj B EP a v EE
S )P
 v^w
]EDE
M
 Er } 
r E
s { P
.
18 EXTERNAL FAULT NOT SEL

-) ]E^
tEDEd D

EL G>  hM

EM .
  I -) ]E^
 FEb 
G > ED T Eq
E

#
N

L ) 
-)E]E^
r UE


D







P
(

0VDC k
E

M
tEDEJ L
.
DI1-DI6, DI_IL

TTTT

6-5

c.Y
6.2.2

13

k  -Analogue Inputs
N
"
I

  N. m  gq] Er  
 rEEs EM 
{j 6-2
uE
t G / G^EP  uEt ErM E>  GL ? 
D  +, .
I
u
{ E
 b
.
p I 32ms  EXT AI1( O E

< E
? t ) I 8ms  EM .
NOTE : AI1R AI2
{

6-2



1 SCALE AI1
2 FILTER AI1

G / G

13.

1 SCALE AI1

0 ... 4.000

2 FILTER AI1

0 s ... 4.00 s

3 SCALE AI2

0 ... 4.000

4 FILTER AI2

0 s ... 4.00 s

5 SCALE EXT AI1

0 ... 4.000

6 FILTER EXT AI1

0 s ... 4.00 s

7 AI1 0% REF LEV

0.0 10.0V

 
k AI1 g  t
 k AI1 7> v
 k m "T
y.P
M . t s EM u
tmEL
kEP D ,
.

6-6

6-2

v

F K m

g a tKF K
v t
AI1
g a t K F K
AI2
v t
AI2
EXT AI1(RAIO)
g  t F K
EXT AI1(RAIO)
v  t F K
DE`m 0 7
OP AI1
EFqr
AI1

taK m
V a
EL  
u t
<
Ha 
B K m 63 %
6=m] 0 Ek u
t 
5  t P 10 ms 

t K

3 SCALE AI2



13.1.



4 FILTER AI2

E

13.2.


TTTT

c.Y
5 SCALE EXT AI1



13.1.



6 FILTER EXT AI1



13.2.



7 AI1 0% REF LEV

M  EEP 0% O E
D `m 
7 M P AI1
D
` 
FE r AI1 E
500
. 4~20mA

E


E
M
r D
G 2-10V
V P 0-100% OI
. 

F
m . E
( : 6V=50%)    uEt

TTTT

6^p = E
 I mEL uEt 
X L D 2-10V
EF


M
DE`m '

.
E

M
k
] TP
0% O

6-7

c.Y
6.2.3

14

q j B

-Relay Outputs

a  +,
M .
u I { 6-3  u .
M
q BT E < I 32ms 

NOTE : 



{

6-3

jG /  G
p
Ia T
L
q
  ] .

14.

1 RELAY RO1 OUTPUT


2 RELAY RO2 OUTPUT

qB

H
qB 2 H
qB 3 H
H
#1 RDIO, DO1
H
#1 RDIO, DO2
H
#2 RDIO, DO1
H
#2 RDIO, DO2

3 RELAY RO3 OUTPUT


4 EXT1 DO1 OUTPUT
5 EXT1 DO2 OUTPUT
6 EXT2 DO1 OUTPUT
7 EXT2 DO2 OUTPUT

1 RELAY RO1 OUTPUT

qB

d E L Ed l EJ K +, EM

NOT USED

j



I DC ES
T 
 j ' v^w
. .^]Er ]ED
EF ( : DI2) r N hE
" l (
  ) EP
EjE
, > 
9
D kEEr M R9] E
]E^
EP q
r d D , .
E
N

READY

RUNNING

gq]

FAULT

]E^ UE

FAULT-N

. EW

Er OEd fg c  ^~d


 
M

j

q pEI c 7 Y ]
^ G H 

q d

]
^ UE

q 

N
V
a

E
E
f
g
I

c G . 
  c E
 N
E
f
 g ^
- ) a kEEM  Y=ED


LOC = False P kE
(c
)b D
.

CONTROL LOC

F cYEb c  G> EF

. CONTROL

BRAKE LIFT

6-8

TTTT

c.Y

j

WATCHDOG-N

c [E\ E
] ^ (CHOPPER
a EP BR OVERHEAT), -a ) ]
^ (EXT
FLT, BC OVERHEAT, BC a SHORT CIR
N
D . j > CPU
a r
FAULT) d cY.
LONG FTIME)

EL  D Y a P < EM.d  (BRAKE
FP gq]  ' tD
E

M
q P N .
j a
N
EN 
EES N w
 t ; (MASEOSC
ES
d

NOTE : v
FLT) P v

M
ES!

q rE
FB
.
wE

EP

(MAS OSC FLT

N I
qa& gEk 1  k

MF COMM ERR),

USER 1 OR 2

(=0),

REVERSE

 ^ 89:s D

N
q& gEk 2 r k
EL

(=1)

a
.

a a

Er RO E
 jEk E
t D D .( 


OVERSPEED

61.3

E d G u
t

j
a


Er & ~ (ON )  


 J
 EL D

RDY FOR RUN

. a 7 Om 

SPEED LIM 1

a

K

gq].
; 
F

61.4 SPEED LIM 1

LIFETIME>90%

[o ) Er
L 
d
LIFETIME

1.35 LIFETIME LEFT%


.

2 RELAY RO2 OUTPUT



14.1 RELAY RO1 OUTPUT



3 RELAY RO3 OUTPUT



14.1 RELAY RO1 OUTPUT



4 EXT1 DO1 OUTPUT



14.1 RELAY RO1 OUTPUT



5 EXT1 DO2 OUTPUT



14.1 RELAY RO1 OUTPUT



6 EXT2 DO1 OUTPUT



14.1 RELAY RO1 OUTPUT



7 EXT2 DO2 OUTPUT



14.1 RELAY RO1 OUTPUT



TTTT

10%(

? M @
L d


74.2 CRANE

6-9

c.Y
6.2.4

15

k B -Analogue
N Outputs
"
  EP 
r  
 rE 

M M . { j6-4

E
uI t G /
GE P uEt
MrE>  GL ? 
D  +, .
u
{ 
b
a I
.


M .
k BT E < 32ms  E
NOTE :


{

1 ANALOGUE
OUTPUT 1

1 ANALOGUE OUTPUT 1

G / G
 u 

2 INVERT AO1

NO; YES

3 MINIMUM AO1

0 mA; 4 mA

4 FILTER AO1

0.00 s ... 10.00 s

5 SCALE AO1

10 % ... 1000 %

6 ANALOGUE OUTPUT 2

 u 

7 INVERT AO2

NO; YES

8 MINIMUM AO2

0 mA; 4 mA

9 FILTER AO2

0.00 s ... 10.00 s

6-4

15.

 k
.

k

F` .

k
6=m .
AO1 v
 k
 t F K
 k
 k
`
 .k
6
=
m .


a k
t K

B

B

B 1 uEt
a

t K

B 1 g

B 2 
H .
B  2
 F

B


F

B

v

.


k K 
B  2 g 
10 SCALE AO2
10 % ... 1000 %
 t 
F
 
P K  k EBM  AO1( E^ EF ) B E
 F
b E

J
DE
EJ
+A
EP EM 15.5 SCALE AO1 g
.
 btEL 6^
7 100% k u
t> LEL ?  .
NOT USED



MEAS SPEED

 ^EO Et .(RTAC ). 0mA =  67 


O. -100 %

OT
(  20.1 R
20.2), 10mA = 0% O , 20mA =  67 
+100%

SPEED

 ^EO
6-10

20 mA =

 t p O.

100 %(

a 7m

).

TTTT

c.Y
FREQUENCY

B DE K

. 20 mA =

CURRENT

B E^

. 20 mA =

 t p D
K

 t p E^

p





t
p fg. 0 %,
64.9), 10 mA = t

SIGN TORQUE

 fg

. 0 mA =

:TORQUE REF SCALE *


POWER



. 20 mA =

 t p ET

DC BUS VOLT
DC

ES E

. 20 mA =

67

DC

675V(500V unit), 560V(400V unit)


OUTPUT VOLT

 

. 20 mA =

p fg.
20 mA =  t

-100% :TORQUE REF SCALE* (

100% (

ES ET

 t p 

a 7

100%,



+ 100%

).

67 t p

DC

E

 ). 0 mA = -32767 EU ( 
G
E

t

F

(RATC) m ( E
2.18
 t ), 10 mA = 0
U , 20 mA = +32767 EU .

SIGN POSACT

70.1

E g

SIGN SP REF

O DE`m (Speed ref3 = r;


O E > B ), 0 mA =  67 O
 20.1 & 20.2) -100%, 10 mA = 0% O , 20 mA =  67 OT
(
+100%.

2 INVERT AO1

YES

a 

k B

AO1

I `

 k B. 6=mEs 0 mA I 4 mA k uEtEJ K +, EM .


a K


v t .
a
4 FILTER ON AO1
 kk BB mAO1
 J Bm 63 %

D M y EP <EL Es  t s


6=m 0 s k uEt
v EP d D , .( cED 6-6  6-2 )
a p



 I 
P EM kt B AO1 g tmEs  100% uEM t t a Bm
5 SCALE AO1
s 6a 7 Bm 67 g tm? GEL P 
20 mA r P a

.

mEL Er
t ] .
B EF
b E
JEDEb
 K
P E

k


B

AO2( E^ EF )
6 ANALOGUE

 J
+A M . 
P  15.10 SCALE AO2 g  tEL 67
OUTPUT 2
TTTT
6-11
3 MINIMUM AO1

c.Y
100%

k u
t> L
L ?  EM

NOT USED
SIGN SPEED

 
6 7 

O. -100 % ( 
O , 20mA =  
6 7 
OT +100%
10mA = 0% 
 O

. 0mA =

SPEED

 ^EO

20 mA =

FREQUENCY

B DE K

. 20 mA =

CURRENT

B E^

. 20 mA =

 t p fg.

. 20 mA =

 t p ET

DC BUS VOLT
DC

ES E

. 20 mA = DC

OUTPUT VOLT

 

. 20 mA =

100 %(

20.2),

).

100% (

100 %(

a 7m

a 7m

ES. 6^7 E ( 


 t p 

fgEc  q P fg DE`m

a 7m

. 20 mA =

POWER



 t p D
K

 t p E^

TORQUE

 fg

 t p O.

20.1

).

).

15.1



TORQUE REF

. 20 mA =

 t p fg.

100 %(

a 7m

SIGN SP REF

O DE`m (Speed ref3 = r;


O E > B ), 0 mA =  67 O
 20.1 & 20.2) -100%, 10 mA = 0% O , 20 mA =  67 OT
(

+100%.
7 INVERT AO2
8 MINIMUM AO2
9 FILTER ON AO2
10 SCALE AO2
6-12

 .
 15.3  .
 15.4  .
 15.5  .



15.2

TTTT

6.2.5

a
16

c.Y
S c  -System
j p
Ctr Inputs


E

M
{I 6-5 uEt G  / GP EM uEt rE>  mNEL ? 
q
.
{ Eb
.



{

6-5

16

G / G

2 PARAMETER LOCK

OPEN; LOCKED

3 PASS CODE

0 ... 30 000

 E  . N
 EE

N c 4

O Ec

8 FAN SPD CTRL MODE CONST 50HZ;


RUN/STOP;

E SG^ 
c 
K
] 

CONTROLLED

2 PARAMETER
LOCK

9 FUSE SWITCH CNTR

OFF; ON

10 INT CONFIG USER

1 12

 . E" 
 EEL K E
u t / E
c M & J q 
M . E
r D EI
 T
L
+ , .

L

"
 EE
c . 
 
r E 
M
OPEN

"
E

E
f
g
c
E  EEL N u
t
t 
 ErEEs EM
n> 4 "Eb l EE  EK  Ec
M P
16.3 PASS CODE
.
g kEb qEJ
P  EEL q
J

h, .
Note : q& 

N
f
 
I P 

M
 qT S4 b uEt 
M . f
N
3 PASS CODE
EM uEtm 0 

E L Ec G^> " S 4EM P 358
.  E

 .E
E
c
&E
j
k  m 0 jEk
P
.
N
 N
E

 +
P ] G] OEc b G> c
8 FAN SPD CTRL ACS800 E
MODE. 
LOCKED

O
c hM .
IEp j

CONST 50HZ

50

EP

60Hz

t p tEO  iEL EM

EI ] Er a a d 6=Ec> 
b R^> "El t p tEO  iEL
EM .

RUN/STOP

CONTROLLED

TTTT

6-13

c.Y
OEP ] T   t p O.
9 FUSE SWITCH
CNTR

G] ]

DC

30~110%

qE c P EM

SGEb G>  .  ~

V "El

a SG^ c b G> 
 E '.^~
. DC
E SG^Er u

DC ENE
M
P `
E
b ON jEk 
 E

OFF

SG^ c b G> a 
 E. ^~ . G] DC SG
r u
DC E
"El EP ON
j
k  ] .


]I
b G>  E
rE> ]
  .   EP 
n*8i g.
EW jEk EJ E
) E
L G   R8iV ] K 
Reduced Run( G


K
"
l
a V)
cE

L ( : 
b M Gt >
 ( E
)  ] .
K
7E
P M &

s  ] . E
M  d Y B uEt
.

m l
  EP _
Er h, .
ON

10 INT CONFIG
USER

6-14

TTTT

c.Y
6.2.6

20

c>

"

  EP 
r  
 rE 

M M . { j6-6

E
u It G /
GE P uEt
MrE>  GL ? 
D  +, .
u
{ 
N

-Limits

b
{

6-6

20.


1 MINIMUM SPEED -

2 MAXIMUM SPEED -

G / G

u
EN 
6 X
O . SEK
E
P  q
J
h
 )
EMN (3-3
6

O . SE
K
E
P q
J

K )rpm...
67EO ( 

u

t m )
20.2
6XEO ( 

u

t K m )...
20.1
hM
18 000 /(
)rpm
-18 000/(

3 MAXIMUM CURRENT A

0.00 Amp...Imax Amp

4 MAXIMUM TORQUE

0.0 %...600.0 %

5 MINIMUM TORQUE

-600.0 %...0.0%

6 OVERVOLTAGE CTRL

ON; OFF

7 UNDERVOLTAGE CTRL

ON; OFF

8 MINIMUM FREQ

-300.00 Hz...

9 MAXIMUM FREQ

67DE
20.9
6XE
D
20.8

K ( 
uEtm )
K (

uE
t m )

...300.00 Hz

1 MINIMUM SPEED

10 SPEED LIMIT AI3

0.0%...100.0%

11 P MOTORING LIM

0.0%...600.0%

12 P GENERATING LIM

-600.0%...0.0%

13 TORQ RISE T LIM

0max%/ms

67 
B E^
fg
+ 67B
- 67B fg .
E^ R

 c 
E^ X

  6
X N DEc K .
SE
t
E
q rE .
  6
 N DE K .
SE
t
E
q rE .
 ~
AI3  O c> 
67 d. B
67 E
jU
ad. B .
fg
< c>

M
I
O c  E
? HED
P 6XEO D
`. EM c>m . m

 
 -750, -1000, -1500, -3000 rpm r P
.
"a  : uEtm + sP P 0 Ok ;O D j s  ` c
M !
tD P 
 N
E
I

 c>m S
 c

EP qEJ K h, EM .

V
E

M
I


u tm

 t  
t s
2 MAXIMUM SPEED 67EO uEt c>m
. 
TTTT
6-15

c.Y

m I

750, 1000, 1500

EP

3000 rpm

 EM

"  : u tm - sP  P 0 Ok ; O D j s  ` c a


M !
tD P 

N
I
 uEtm S

EE
P qEJ K h, EM .
N
K +EP 67 BE^m 

M . N  uEt





r
N







E
W
V
J
3 MAXIMUM CURRENT A
M . ACS600

E
m I ACS800







{



^

m

Imax E
m I XE
y k m? M
] 200% Cycle load  EM .
K +
P < 67  + fgmEL u
t 

M . ACC800 I
4 MAXIMUM TORQUE  EWEJ

M .  uEt
]

E
d




T



#





6
7

f
g

u

t
m
E
L

c
>
m I  t p fgT 200%  EM .
 N
E
I

M .
 c>m S
 c

EP qEJ K h, E
5 MINIMUM TORQUE

 I EWEJ K
+ P < 67  - fgmEL u
t 
M . EM
]I  Ed 
p . #  E6M 7 fg uEtmEL c>
ACC800
 uEtm  t 
f gT -200%  .
 N
E
I

 c>m S
 c

EP qEJ K h, EM .

E
L E
u t / Ec
q EM .
6 OVERVOLTAGE CTRL DC RE c
 N
E
a
j
s`E
G j
k 
E
 r U
k d DC ES E 
c >  E
j k

Era
aE c


P R^
dEL 9ED a G T f gEb
r ( 
t 9:

M
a  ) M . Note : c [\ q P R c E utL c

c E. E
u t /E
c
q 
M
7 UNDERVOLTAGE CTRL XE
a

8 MINIMUM FREQ

6-16

E ;=j  DC ES E  XE c


M EP DC 
S E
L >  jEk
DG  N O
b  . 
b ;EOEEj
kE )T 1^ ^> 
EDEr 
E
M  W DCI 
S EI EL
sEtA EDE
jEkE XE U
EL 9ED

l
. [
E

M
1 )E
EP Ek]> BZ U
P
.
a
K
M .
B"  DE uEtmT 6X uEt q E
a  : utm M + s
P  P 0 O k ; O D js  ` c
tD P
!
TTTT

c.YE

9 MAXIMUM FREQ

10 SPEED LIMIT AI3

EN
I
 E E
S 
E t q rE 
M .
a
K
B"  DE u
tm. 67 u
t q 
M .
a

 : ut M m - sP P 0 Ok ;O D js  ` c


tD P I !
EN
 E SE
E t q rE 
M .
N
 
k I  3 V E^Er 10mA 

j  D DEP OI
m EM  uEt mEjEk c>  10mA  
O c> V d
DE`
D ,
M . 100% P 
E
69.1 SPEED SCALING RPM uEt O
d l, I .  
N
N
EN 
 E

d v ES
E qEJ K +, EM .

] I
 p
WEJ K E
+ P < ^
6 7 a 
M
EL u
t 
M .
 m T t 
  7>  [oEk { P
.
K +EP < 6^a 7  EEL uEt EM .
12 P GENERATING LIM 
]  EW.
 m I T t p  7> [E
o k { P
M .
W
E

M EP M I E P 67  fg DE`m


L c>EP# I
13 TORQ RISE T LIM 
q.P
B 2.14 TORQ
 s m (=6^7m )
. c>mT
USED REF E

M


M
]E
d  gT 
.

^ t



#


E

P




b
E
u

t






E
u
t
NOTE:  99
EM .
11 P MOTORING LIM

TTTT

6-17

c.YE
6.2.7

21

 / t D
{

j pEI

M
{ 6-7
uEt  G 
q
/ GP uEtErE> E mNEL ? 
.
E

M
{
b
.
-Start/Stop



6-7

21.

1 START FUNCTION

G /  G
CNST
DCMAGN

2 CONST MAGN TIME

30 ms ...10000
ms

j
^

Er ON }
E^ & (
& ~

d

<

.
.

1 START FUNCTION CNST DC MAGN

"
EN

 j P
s t EE
M ^ & uEt
P 
r tED ^
. E
 r
+EP
E. rY
T 
 9
 .
N

a M . 6^G.

P E^ &9
EL wE V  6^7 fgEb E
E

W
E^ & E
 ^EP 

 d 12 
  E
M FOTP M . & < I 
 21.2 CONST MAGN TIME
uEtTP
.
 N

Y
j
p
M .
P ACC800 gq] =$
P
q P 
NOTE: 
 N
E
a
s a t &E
 ^
I & E

< p L tT 
M .
2 CONST MAGN TIME E

K & +, <T

M .7EG] m  t E (kW) 4 L > m


j
k FOEJ
 :
" l , EE 21.2 CONST MAGN TIME = 4 *100 =400 ms.
E
100 kW 

6-18

TTTT

c.YEE
6.2.8

23

Oc

"
 E
EP 
r E 
 rE 

M M . { j6-8

E
u I t G
/
GE P uEt
MrE> EE GL E
?  D
N +, .
uK
{E
b
E
P qEJ hE M .
.  EE
P SE c
{ 6-8  23.

 /  

-Speed Ctrl

1 GAIN

0.0 ... 100.0

2 INTEGRATION

0.01 s ...

TIME

999.98 s

3 DERIVATION TIME

0.0 ms ...
9999.8 ms

4 ACC COMPENSATION

0.00 s ...
100.00 s

5 SLIP GAIN

0.0% ...400.0%

6 AUTOTUNE RUN

NO; YES

7 FEEDB FILTER TIME

0 - 100 ms

8 SPEED STEP

-1500.00 rpm

5 8 # @
 .
. = 15
5 8 # @  .
. = 0.2 0.5 sec
5 8 # @ .
!
@ .

Note: ID RUN 0?
 "
#
@  . .
 5 8 # @ = " &  .
 "
#
5  @ 2

 
DriveWindow

#

#


1500.00 rpm


E
E 1 E
5 EDE 6 Autotune
run L uEt
Ej
kE
K
c
PID EE
EL E
t J E EM .
ACC800 O
23

I
E
E
. y
uE
E
t

E
c

O
E

R
E
D
E
`


O
E

c
EM .  6-3 I O c
EE
(Step
E ~ L tT 
y L
EHE E EM .
yE

I E E
Response)

E
EcEEF 1.1 SPEED ESTIMATED b wE EJ
K EEE 
M .E

{E ID Run ( c 3  M  E )  I 
E 23.1,
NOTE : 
Y kE

Ek 
.
23.2 d 23.4 

a 
 ID Run    23.1 = 15, 23.2 = 0.5, 23.4 = 0
ACC 
k u
t  ] .


 
a !

K
I
EO  a$O
K c  EM E i E (Gain) EL E  L
E "#
E
.


 )
I
OEc

E %&Ec  '(E s  * EE 20.4
MAXIMUM TORQUE d 20.5 MINIMUM TORQUE  c
+ .

TTTT

6-19

c
,-EE

B# : 23.2 INTEGRATION TIME CD EE 23.1 GAIN CD FG


I E J , K
J
B: H

I
J , L
J . B B+ DLE
LM .
C: HE
D: N B# : 23.2 INTERGRATION TIME CD EE 23.1 GAIN CD OG


P 6-3 Q '(R 1~10% E ST
 Q EU .
A:

P

6-20

6-4


S  T  VW

.0/1/3254547689:<;>=?@A

T
,-YXZE

1 GAIN



S T    [
. 1\ 
] J^ S
E ( '(R TE
S T  E ` J#%& 10%
a ^b + .


e fg
 h + .
Note: cd O*
(GAIN) * 

) 10%


P 6-5 HJ 
S 
^ EEQ   ST
U
2 INTEGRATION
TIME


!

 ^ * EE HJi j T
  k`
 Z ! l + . o ^
Ep`q LW mS

E
 BJ* nE' cd E* ^ * T
Jr st + .


 P 6-6 HJ Eu vwE` j
EQ
  S  T 

.0/1/3254547689:<;>=?@A

6-21

T
,-YXZx
3 DERIVATION
TIME


!
Zy *  E
i j T  E` #z^{| } Z^ *

a ^  T
 E E` ~ #z ^b + . E Z! y *  
 
` ) r s  +  . Z^ ` 0 \ ]J^ T
_ PI T \ y |
_ PID T \ y + .


P 6-7 HJ Eu vwE` j
EQ

  S  T 

XZx_ ~  ^ s  ^ .


NOTE:
!

 u SB#` Z ^ ] J . uS_ q ` B#


ST 
E
N  '( R
 ZE )  ~ + . Zy
 h_ 
K ]

 + .
3 DERIVATION TIME

HIE\ XZx *   
 E ^JL l

50~100% \ ]J
+ .

4 ACC COMPENSATION

uSB# G

6-22

uSB#

.0/1/3254547689:<;>=?@A

T
,-YXZx



 E [ (Gain)
` ]J l + . 100 % _ E B#`  Z

| 0% _  B# p ` l + . ]JR_ 100% |


 *
E B# 

 J
E S
fg^ 
+ .

o


T : S '(R 1000 rpm ]J  [ (SLIP GAIN) ` 100%
]J
T J So u 998rpm
JEE SEE _ 1000 rpm - 998

B# _  [ * J


E S

rpm = 2 rpm.  + . E
u fg' _ 106% ' u ^ l + .

o
 o
X Zx  ! ACC600 S T
! K Ji L  + .
6 AUTOTUNE RUN
[ (Gain), ^ (Integration
uS B#
time), Z^
(Derivation time)N

XZx_  EE  `  ]J  l + . K J 


^* N B# B+_ B# ur ]J + .
5 SLIP GAIN

KEJ M  :
 J S 20 ~ 70% \ JS  .
XZx 23.6 AUTOTUNE RUN ` YES \ ]J .
KEJ M  XZx_ K\ NO \
+


K E  J*  )  u  H j s u| Io ^  


_ 
m
l + . 
N 
_
KEJ M  _ JS
 20~40% \ 
l + .

NOTE:

 ! KEJ _  _ uS ^ ]J


N
 10 ~ 20% %&
q u o JS 10% J uS + . KJ M I^ 
 ^  + .
7 FEEDB FILTER
TIME


)T  S 

 
x ^ ` ]Jl + . S  _ HI
\ E
e S 
~ 
(RATC
o _ NTAC-02) `   
~ \x J
S  + . ! ~   S J` ' ` D
_ (
E`  _ D ) x^ ` 0 2ms( XZx = 4ms) \

]Jl +

8 SPEED STEP

S 'o (E
 +Q  E ( u S 
G
fg
 i ^ s .

.0/1/3254547689:<;>=?@A

).

 +Q ^

, DriveWindow

6-23

T
,-YXZx
6.2.9

24

%& T

-Torque Ctrl

X Zx_ ACC 800  


Q
o _ ]J uE XZx
`
w
  + .


XZx_ \D 
_
  ^ )
6-9

'  + .(  x /  \D T

]

%& ' (
0 ! J
1 TORQ RAMP UP
0.00 s ...
%&  '  _ ^ .
120.00 s
%& ' (
J%& !
2 TORQ RAMP DOWN
0.00 s ...
0 ' _ ^ .o
120.00 s

+Q fg
3 TORQ STEP
-300.00 %
DriveWindow

 %& +QE
300.00 %


)
!

J%& ' u_


_ ^ ]J .
1 TORQ RAMP UP '(E
0


)
!

J%& 0 ' _ _ ^ ]J .


2 TORQ RAMP DOWN '(E

 

XZx_  Master/Follower T  _ x \D\
Note:
B_ %& '(E _ "` '  + .
!
E
o

_ %& '
( +Q
. Q , DriveWindow +Q ^ fg
3 TORQ STEP uS ^
 i ^s  .

6-24

XZx

24.

ul + . 6-9 ]J

B  + . # ]*

/ Q

.0/1/3254547689:<;>=?@A

6.2.10

26

T
,-YXZx

xT -Motor Control (   s L  + .)


6-10 ]J / Qo _ ]J uE XZx ` B  +
# * w E  + .

6- 10

XZx

26.

/ Q

3 IR COMPENSATION

  T
XZx_
 + .

3 IR COMPENSATION

0 % ... 30 %

]
B#  L .
s 
(  

   s ]J u l + .

  J 

0 XL

30%

' ]Ji L




P 6-8 IR B#* 

  (  x 
  ) ` 
\  M| Umax _ &E    E  + .

.0/1/3254547689:<;>=?@A

6-25

T
,-YXZx


&  -Brake Chopper
6.2.11  27
6-11 ]J / Qo _ ] JuE XZx ` B +
# * w E   + .

6-11

XZx

27

/ Q

1 BRAKE CHOPPER

OFF; ON

2 BR OVERLOAD FUNC

NO; WARING;
FAULT

3 BR RESISTANCE

0.00 100.00

4 BR THERM TCONST

0.000

]

&  T
T N  

10000.000 s
5 MAX CONT BR

0.00 10000.00

POWER

kW

6 BC CTRL MODE

AS GENERATOR;
COMMON DC

1 BRAKE CHOPPER

OFF

2 BR OVERLOAD
FUNC

&  T  a


&  T  
a

ON

T 

T ^ JL
m S T 
 


&  T 


) 

&   T

&   u ] R 
. NOTE:
N  T ( XZx 20.6) u _' ^ .

&  N B
 a .  u
XZx 27.03, 27.04,
 + .
27.05 u

 a

NO

N  B
 
a

WARNIG

N  B
 a
6-26





Nu '

u fg +

.0/1/3254547689:<;>=?@A

T
,-YXZx
FAULT

N  B
 a

Nu  '
 J'
+ .


o
E . * N  B  + . X Zx 27.02
3 BR RESISTANCE T

E^ .


o
 ^JL . * N  B   + . XZx 27.02
4 BR THERM T

 ^ .
TCONST E


  o ` j
mS T  . * N
5 MAX CONT BR T
  + . XZx 27.02 E ^ .
POWER B


&  T  .
6 BC CTRL MODE
AS GENERATOR





 ( x fg _ N x


  J
) T T
E` )

N i j y
+  . * J #
\ O* ! q  fg _
#z #

 y` l + . } ^
 
 #z
DC 

*  ` l + .
DC

COMMON DC


u 


DC

.0/1/3254547689:<;>=?@A

T ET 
` )
N   #  u y
+ .   x
m
_ D  l + .
DC 

6-27

T
,-YXZx
6.2.12

28

x  -Motor Model
6-12 ]J / Qo _ ] JuE XZx ` B +
# * w    + .

6-12

XZx

28

/ Q

1 LONG DISTANCE

OFF; ON

MODE
2 TR TUNE

-60 +200 %

]
}

 

 K
 ^JL J

 o *   \ 


  &R
  x
 
 X

_ 
+ .  XZx_ 690V x  
\
MODE L

a + .  ,   V
  u D  
+ .

1 LONG DISTANCE

OFF

}
ON

}
2 TR TUNE

6-28

 
 
a
 
 
a

 L_  
  
 K
  ^JL  "` Z)  +
* x 
  o   T  #  S   '`
D   + .
S   
B+ T
, x  

 10% O`D  XZx +10% L` ]Jl + .( ^
_ 
  990 rpm( d^ 1000 rpm  )  989 rpm Su  
 j 10 rpm  w  o 11 rpm   + .)
~  ^ s  i L  + .
Note:  XZx_ 

.0/1/3254547689:<;>=?@A

T
,YXZx
6.2.13

30

  -Fault Functions

 XZx_ ACC 800     ! ul + .
Q
_ ]Ju  Xo Zx ` B + .
# * w "   + .

6-11

XZx

30

/ Q

2 PANEL LOSS

FAULT; NO

4 MOTOR THERM

FAULT;

PROT;

WARNING NO

5 MOT THERM P

DTC; USER

MODE

MODE;
THERMISTOR

6 MOTOR THERM

256.0 s ... 9999.8 s

TIME
7 MOTOR LOAD

50.0 % ... 150.0 %

CURVE
8 ZERO SPEED LOAD

25.0 % ... 150.0 %

9 BREAK POINT

1.0 Hz ... 300.0 Hz

10 MOTOR PHASE

NO; FAULT

LOSS;
11 EARTH FAULT

NO; FAULT

12 MASTER FAULT

FAULT; NO;

FUNC

WARNING

13 COMM FLT TIME-

0.10 s ... 60.00 s

OUT

.0/1/3254547689:<;>=?@A

 ]J

6-11

]

& #o   $ % 


T  T
\
]J # &  #
^ y .
 N '^ y .
 N ' B ]J
 u 63%
! '
#z ij ^ .
 
  T R

 
0 S
 ( .
  (

& ') .


h #^ y

'* fg^ y .


   ^
fg .
!
 ^ 'm .

6-29

T
,YXZx


$%

T o u T
 J  l +

2 PANEL LOSS

\ ]J^

  J'

ACC 800

$%

 : sH NOq \ ]J+ T


    ` ,# ^
FAULT

$%

-&#

 T fg^
stop + set brake) + .

LCD

` j y


)+

 # fg
D _ 

 ^

)
|

ACC 800

* J'

( coast

NO

]J q

B `
4 MOTOR THERM
PROT

 N' B ` ]Jl +


FAULT

 '^
l + .

|   #z R

100%

^

ACC800

* J'

WARNING


 #z  R

95%

^  '^

NO

B ` ] J q .

o
 o  u  ^
  XZx
Note:
T B
 a ^ .

6-30

NO

\ !i D  

.0/1/3254547689:<;>=?@A

T
,YXZx
5 MOT THERM P
MODE

Zx J   (Thermal) `    N ' B  ]J .


&#  _  +G
N .* uJ    #z`   l + .
0/1 24357689 :
h 
#&   _ 30C
   u) ' *  ( P 6-9 .+ ) uJ . u  (
 ; 

J#  #\ u #z w  
+
J#  \ <  + .  #z
N => * XZx MOTOR
]J ! + .


THERM TIME
 #z ? @A\ Q  `   j  u BS
mSC \ 4j D' r  J'  L  + . BRAKE POINT
B+ BS mS   D _ E
 =>F` ]R ^ .
 : G ' HI\ #   =>
Nu B4 D  B \
_  N'` Bi L  J+ .
DTC

(*  o # z`  ?i j K L


JS + . o   ^JL_    M NL O \  K =P QR
 \ J
OR J+ .

sH T ]

T o u 
+ DTC U (* XVZ
x 30.7 MOTOR LOAD CURVE \ &  JiL  30.6 MOTOR THERM
TIME, 30.8 ZERO SPEED LOAD
30.9 BREAK POINT _ ]JiL  J
+ .
DTC (Direct Torque Control)

W ] J  800A Bo + X D K


 (DTC) *  K i L J+ .  USER MODE K UY^ .

Note: 99.6 MOTOR NOM CURRENT

USER MODE

 T_ XVZx

Z
J+ .

30.8 ZERO SPEED LOAD

B ` KiL

30.9 BREAK POINT

THERMISTOR

  N' B_  4W Zx 


LJ+ .
.0/1/3254547689:<;>=?@A

30.6 MOTOR THERM TIME, 30.7 MOTOR LOAD CURVE,

]J U  N'

[' \ ]\ ^w y

6-31

T
,YXVZx

6 MOTOR THERM
TIME

  KU U_  Zx  )a [' \ ] DI6 +24


m  l J+ . sH Zxu _` m
K + , ['\
V T
] DI6 _ ) BRu 4k b\ bzi j 
a L J+ . XVZx 30.4 u
V  _ J'i J+ .  Zx4W BRu 0 T
FAULT \
1.5k # DT_ DI6 _ 0 \ ZcdLJ+ .

o
 ! IEC
U V W [' \ ] 6 T Zx mi j ,
664 eJT W

 Zx T fm g


a u LJ+ . fm g
)a _ 8mmW h)

lJ+ .(400/500 VAC% i ) Zxu T s j ' r ]R
+k I/O xZ  o ` )T   )a Zx lu [
ACS800W
'\ ]\x Zx m ZU  K lJ+ .
 !)a \ & #K V W ['\ ] o 6  Fast stopW n\

J+ . X VZx 30.5 MOT THERM P MODE THERMISTOR \ !
a Tp  ]J` !U Y^S . o , XVZx 30.5 MOT THERM) P MODES .*
 XVZxT W  ['\ ] 6 u n\ K ' W 
lJ+ .
4S W S bz  R4W 63% ' S ij 'dW ^ h\ P 6-9)
+ _ ^JL US  (J+ .   N' B aDTC
 \ ]J
+  ^JL ^h*  XVZx\x q ) a | _ XVZ
x 30.5 MOT THERM P MODE u USER MODE \ ]J s ! ul J
+ .
U_  NEMA mT W    N'B 4W S ^JL
UL 
_ t6 x 35 .S q J+ (t6 _  T u T^ ^ h\  u J4W
Ur i L _ ^ h` U| Q
\ ^ lJ
6 r  T
+ .) s (T4W ^JL_ Class 10 : 350 s, Class 20 : 700 s , Class 30 :
1050 s J+ .

P
6-32

6-9

 S ^JL

.0/1/3254547689:<;>=?@A

   U(* dW  u  KU ]J l J+ .

100% ]J^  KU_  t x XVZx 99.5 MOTOR NOM

S
S
H lJ+ . 4W  u Jb
++
CURRENT ]JR
U (u` J UY^ .

7 MOTOR LOAD
CURVE

P
8 ZERO SPEED
LOAD

T
,YXVZx

6-10

 U(

  U(T J4W

9 BREAK POINT

10 MOTOR PHASE
LOSS

S S T  4W  K ]J

  U ( XVZx 30.7 MOTOR LOAD CURVE ]JRT


30.8 ZERO SPEED LOAD ]JR\ nU  ^yU_ ')| P
 U (` " J+ .
U _

bdW   b fg^ y` ]J lJ+

6-10



FAULT

 '^ 
y .)

ACC800

* J'4L J+

  S S u

+/- 40rpm

 b^

NO

B  K q
.0/1/3254547689:<;>=?@A

6-33

T
,YXVZx
  T `' b '^ y ]J

11 EARTH FAULT

FAULT

 '^ 

ACC800

* J' LJ+

NO

B  ] J q .

   T  b '^ y ]J
12 MASTER FAULT V

FUNC

FAULT

 '^

COMM MODULE

v^' 

ACC800

* J' L J+

NO

 ]J q

WARNING

 '^
13 COMM FLT
TIME-OUT

6-34

COMM MODULE

 ^4LJ+

fgT  'm ^h ]J .( X VZx

.
30.12

"

.0/1/3254547689:<;>=?@A

T
,YXVZx
6.2.14

50

  ~ -Pulse Encoder
)
 XVZx_ ~  ) aRTAC
NTAC u ] R XVZx 98.01
` o js B| J l J+ .
ENCODER MODULE  
a
 50W  XVZx_ ~4W  !dwU ~ RATC/NTACW
U T ACS800W y` J4WlJ+ .

6-12

XxVZx

50

/ Q

1 PULSE NR

1 29999

2 SPEED MEAS MODE

A_-B DIR; A_-_;

]
~  L
1 y 
~ 4 W  @ A

A_-_B DIR; A_-_B_-_

1 PULSE NR
2 SPEED MEAS
MODE

3 ENCODER FAULT

WARNIG; FAULT

4 ENCODER DELAY

5 50000 ms

5 SPEED FEEDB USED

True; False

 X VZx_ 1
 y ~ L

~  )+ ~ 
W  u ' ` j
V W y
~ ^dW 'm^h
( XVZx 50.03 ENCODER
FAULT " )
S S  K

]Jz J+

 X VZx_ ~ dW @A` ]JlJ+


S S R `  J@{ |' K
Ch B: @ { .

A_-B DIR
Ch A:

A_-_
Ch A:

S S q R `  J / } @{ |'K


.
Ch B: K

S S R `  J / } @{ |'K


Ch B: @ { .

A_-_B DIR
Ch A:

S S R  `

A_-_B_-_

.0/1/3254547689:<;>=?@A

4W ~ |' K

6-35

T
,YXVZx
 X VZx_  )+ ~ RTAC NTAC

 ,  _ RTAC/NTAC
T  u  ' ` j V  W y` Jd
W lJ+ .

3 ENCODER FAULT

RMIO

+G u' T yi D ~ ^ 


a LJ+ .

S ~ T J
S S  20%  b4W

T






S
1. V 
 u j .
T #  q T o  ^ X VZx 50.4 ENCODER DELAY T
2.   %&u
]J
^ hT ~dW  ^' ` j .

fg . V _ 


S S \ 4  J+

WARNING

FAULT

fg . V _ 

J'^bJ+

 ^  ~ ^`  'm^ h .



( XVZx 50.03 ENCODER FAULT " )  
i

a LJ + .

4 ENCODER DELAY

5 SPEED FEEDB

 ^ *

a
S
S
m
~ \x  _ T S * S / % & T T  K4L J

USED True

0ms

False

a
)
S
S
m
~ \x  ) _ T S  * S / %& T T K '
J+ .( Q , RJ`  K _ RATC _ NTAC T )

6.2.15

6-36

51

 -Comm module


o
 X VZx T  JB_ +GdW ] B Y^ : >>4W T _
ACS800 FIELDBUS adapter RxxA-01 Installation & Start-up Guide ) a
b& K_  ]4W 5.6.12 T ]a
J+ .
Note:  (K
.* AnyBus T &# V ) n s4 T_ Vendor
RPBA-01N
' J+ .)
specific mode s '
hL J+ .(Generic mode _ '
h
.0/1/3254547689:<;>=?@A

T
,YXVZx
6.2.16

60

\x -Locall operation



6-13W o ]J
/ Q _ ]Ju XVZx ` BJ+ . 
b 
* w "  J+ .

6-13

XxVZx

60.

/ Q

1 LOC OPER INH

True ; False

2 LOC SPEED MAX

0-100%

3 LOC ZERO SPEED TD

0....300 s

]
\  y S ' .
\  S S .
\ 0 S ' m^h

1 LOC OPER INH


True

a n Ts   u o lJ+ . S $%


T W  V
 U~V
T_
Note: T
False

M \T
2. LOC SPEED MAX

a $ %
(

T   ulJ+

\ ^  S S '(

 ^dLJ+

\T  X VZx T ] J ^ h T u d


   _ n4L J
ZERO SPEED _ 0  |

3. LOC ZERO SPEED TD

.0/1/3254547689:<;>=?@A

6-37

T
,YXVZx
6.2.17

61

S S  ^ -Speed monitor

b 
6-14wW o ]J"
/ Q J_ .]Ju XVZx ` BJ . 

6-23

XVZx

61.

/ Q

3 MOT OVERSPEED LEV

0 200 %

4 SPEED LIM 1

0 200%

]
 S 4W
N SL
S T 1 W

 4W S S u oMOT OVERSPEED LEV T  J


L `
N` j
V _ MOT OVERSP ^U| JdL J .
XVZx 69.1 SPEED SCALING RPM T ] J
 S S T
100% ]J
lJ .
l ?] ^ SPEED LIM 1(  14 T  ) _  S S W f 
 L bH j a LJ .

3. MOT OVERSPEED LEV

4 SPEED LIM 1

6-38

.0/1/3254547689:<;>=?@A

T
,YXVZx
6.2.18

62

x^ -Torque monitor



b 
6-15wW o ]J"
/ Q J_ .]Ju XVZx ` BJ . 

6-15

XxVZx

62.

/ Q

1 TORQ MON SEL

True ; False

2 SP DEV LEV

0...100 %

3 TORQ FLT TD

0...60000 ms

4 SP DER BLK LEV

0...100 % / s

]
S ^  .
S
u .
S  m ^ h .
S Zm Q  u

1 TORQ MON SEL True

^ y 
a

False

^ y 

  b4W L S S  u cd _ ` WZlJ .


S    SP DEV LEV ]JR B  TORQ FLT TD ]J ^ hB
3 TORQ FLT TD S
j TORQ FLT ^   J L J .
S  u OK b& T S S W Zm SP DER BLK LEV
4 SP DER BLK LEV S
]J B X j u / S T_ B    LJ .
P : 100/(RTx1.5)%/s, RT= u } uS ^ h .
2 SP DEV LEV

.0/1/3254547689:<;>=?@A

6-39

T4YXVZx
6.2.19

63

SJx -Fast stop



b 
6-16wW o ]J"
/ Q J_ .]Ju XVZx ` J . 

6-25

XxVZx

63.

/ Q

1 FAST STOP TYPE 11

NOT USED; FAST STOP 1;


FAST STOP 2; FAST STOP 3

2 FAST STOP TYPE 12

NOT USED; FAST STOP 1;


FAST STOP 2; FAST STOP 3

]
 SJ

11

SJ

12

  SJ y4W RP `  X VZxJ .  


  KT FAST STOP 11 u True H j
 aL J .
q .
NOT USED = y]J

1 FAST STOP TYPE 11 PLC

FAST STOP 1 =

T  T@ P4W SJ

FAST STOP 2 =

 C TR M T @P4W SJ

FAST STOP 3 =

 C TR T T W SJ

.
.

Q  T4W  SJ  y4W RP  .


[\ ] DI6 T W 4y | X V Zx 63.1 ]JK` "U Y^

2 FAST STOP TYPE 12

6-40

dd dd

T4YXVZx
6.2.20

64

x# -Crane

b 
6-17wW o ]J "
/ Q J_ .]Ju XVZx `  J . 
Q   Ts  yl J
Note: X VZx
64.3 64.6N
64.8 64.16
.( o , 64.1 = True H j )

6-17

XxVZx

64.

/ Q

1 STAND ALONE SEL

True; False

2 CONTIN GEAR

True; False

3 HIGH SPEED LEVEL 1

0.0 ... 100.0 %

4 DEADZONE A

0 ... 100 %

5 DEADZONE B

0 ... 100 %

6 REF SHAPE

0 ... 100

7 SLOWDOWN

0 ... 100 %

]
Q q   .
K .
Su 1
i
 } A
i
S  } B
S R (S R& .
SM S R .

8 ZERO POS OK TD

0.0 ... 60.0 s

9 TORQUE REF SCALE

0 ... 4.00

10 CONTROL TYPE

JOYSTICK; RADIO

SPEEDREF

CTRL; MOTOR POT;

RTdW m^h
a R J .
T   .

STEP JOYST; STEP


RADIO; FB JOYSTICK
11 MINIMUM REF

0.0 ... 100.0 %

12 JOYSTICK WARN TD

0 ... 5000 ms

13 STEP REF LEVEL 1

0.0 100.0 %

14 STEP REF LEVEL 2

0.0 100.0 %

15 STEP REF LEVEL 3

0.0 100.0 %

16 STEP REF LEVEL 4

0.0 100.0 %

n R .
  m^ h
Q  1
Q  2
Q  3
Q  4

1 STAND ALONE True


SEL

Q  

False

  
dd dd

6-41

T4YXVZx
2 CONTIN GEAR
3. HIGH SPEED

 XVZx_

bT_  K4 J .

o
o
S
?] ( : AI1)W S  ? ]
Ca 
LEVEL 1 
 J .
SPEED \
ACC

nsd

5.2

@ {\ ` #u U  4W  i


 } ]J
( J@{ : b @ { )

4 DEADZONE A A

@ {\ ` #u U  4W  i


 } ]J
( }@{ : U @ { )
S ` H (\ ]J .
6 REF SHAPE S
0 = _ .
20 = X (
100 = X (

+
` j4W S S R S]J .
7 SLOWDOWN S  ( :DI5=0)  y
5 DEADZONE B B

HIGH

SPEEDREF

J , S SJ ,   T4W J U 


W U_ m^h .
TD 0 RT

 J a . : TORQUE REF SCALE ` 2.0


9 TORQUE REF `  (AI.2)  R4W
T 200%  R\ #P
SCALE \ ]J^ 100 %  R_  T
LJ .
8 ZERO POS OK

10 CONTROL TYPE JOYSTICK

Q  T S [ a \ ]T ma Zero Pos(DI2), Dir A(DI3) Dir B(DI4)
`a) _ AI1( S T ), AI2(  aT ) T m
w\ R T
W
T _  ` K T J .
RADIO CONTROL

Q  T DI3 DI4(Zero Pos _ a p  ) T m


Dira A ,o Dir B 
N
T W T _ PLC dT  K
AI1 _a AI2 T m

T J .

6-42

dd dd

T4YXVZx
MOTOR POT

Q  T DI2 T m


a uS DI3
a o DI4 T m  Dira A , Dir B
W  @{ ]JT W T _ F s T  K
T J .
STEP JOYST

Q  T Zero Pos(DI2), Dir A(DI3), Dir B(DI4) `)


N Xa VZx 10.8
a T o 
[ \ a ]T m
QR P4W \ T _ 
F s
10.10
T  K  T J .  ^_ 
a LJ .
STEP RADIO

Q  T DI3 DI4 T m  Dir A , Dir B


N X a VZx
[\ ]a T m QR PdW \ T
_
10.10 T a o 
dT  K T J .
FB JOYSTICK(=

 xx

10.8
PLC

Q T Dir


a A , Dir B,o Zero Pos  a    t x 
s
 \ T _ PLC K T J .( K  5.6.5
W m` " U Y^ .)
a
S
 T4W n S  . IC\ MOTOR POT T R
P N
11 MINIMUM REF Q
 KdLJ .
  ^  m^h .
a
 ^ a _ Q dW S S  . o
RP` K^ Dir A Dir B.
RADIO T

12 JOYSTICK WARN TD
13 STEP REF
LEVEL 1
14 STEP REF
LEVEL 2
15 STEP REF
LEVEL 3
16 STEP REF
LEVEL 4

STEP JOYST

XVZx 10.8
] J [ \ ]
STEP REF2 SEL T 
S
Q4W S   .(     
b& )
XVZx 10.9
] J [ \ ]
STEP REF3 SEL T 
S
Q4W S   .(Step Ref2  
b& )
XVZx 10.10
] J
[ \ ]
STEP REF4 SEL T
S
Q4W S   .( Step Ref3  
b& )

dd dd

a
a
a

_

STEP

` j4W 
` j4W 
` j4W 

6-43

T4YXVZx
6.2.21

65

\x_xJx -Logic handler



b 
6-18wW o ]J"
/ Q J_ .]Ju XVZx ` J . 


XxVZx

6-18

65.

2 OFF TD

6-44

]

True ; False

ON

b & S .
2 OFF TD
0.0 ... 10000.0 s
Off m^h .

XVZx CONTIN
o ON = True    J T S ^h T    _
K ( Ka ) b& lJ .
o

 J T K b& i L _ ^h` ]J lJ .


1 CONTIN ON

1 CONTIN ON

/ Q

dd dd

T4YXVZx
6.2.22

66

xx -Torque proving



b 
6-19wW o ]J"
/ Q J_ .]Ju XVZx ` J . 

6-19

XxVZx

66.

/ Q

1 TORQ PROV SEL

True ; False

2 TORQ PROV FLT TD

0.0 ... 100.0 s

3 TORQ PROV REF

0.0 ... 200.0 %

]
  .
  m^ h
  R .

1 TORQ PROV SEL True

 y  (  ~ 

).

False

 y  q
2 TORQ PROV FLT TD TORQ PROV FLT
3 TORQ PROV REF

 R

dd dd

  m^h

6-45

T4YXVZx
6.2.23

67

xxCx# xx T -Mechanical brake contr.



b 
6-20wW o ]J"
/ Q J_ .]Ju XVZx ` J . 

6-20

XxVZx

67.

/ Q

1 BRAKE FALL TIME

0.0 ... 60.0 s

2 BRAKE FLT TD

0.0 ... 60.0 s

4 BRAKE REOPEN TD

0.0 ... 60.0 s

5 BRAKE LONG FT TD

0.0 ... 60.0 s

6 ZERO SPEED LEV

0 100 %

7 ZERO SPEED TIME

0 10000 ms

8 SPEED REF TD

0.05 10.00 s

9 START TORQ SEL

NOT USED;
AUTO TQ MEM;

]
TR y ^h .
TR  m^ h
TR @ m^ h .
TS R  y m^h
u .
0 S
S
0 S
SS ^ h m^h .
    .

LOAD MEAS;
PAR 67.10
10 START TORQ REF

0 300 %

11 MOTOR TYPE

STANDARD;
CONICAL

1 BRAKE FALL
TIME

12 RED FLUX LEVEL

25 100 %

13 START FLUX LEVEL

100 140 %

14 START FLUX TIME

0.0 10.0 s

  
 J x  
n
K S u .
^ K S u .
^ K S4W S^ h

  T oRdW T ^h . T ^h` ]J U  u  dW


T  fd lJ .(   _ C\
h Q b & )

2 BRAKE FLT TD BRAKE FAULT

 m^ h

 4W  @ 4q W n^ h .     a@` a

TD MUT n  ^h 
BRAKE LIFT _ I^ False \
lJ .

  y ^ m^ h .


5 BRAKE LONG FT TD
S \ #Pi S S ` ]Jl J .

6 ZERO SPEED LEV 0 S


 ! 0% \ ]JU
u yU ` L J .
dd dd
6-46
4 BRAKE REOPEN

T4YXVZx
  S S u ZERO SPEED LEV Uj ZERO SPEED u 1 \ 
] J
4W m^ h . o X VZx 67.11 MOTOR TYPE ` CONICAL \ ]JU n
KS\ ^d J^{   m^ h KdLJ .
o
S
^ uS  T S R dW m^h .

7 ZERO SPEED TIME

8 SPEED REF TD

9 START TORQ SEL NOT USED =

uC #   

K   v Z 
 v Z4W n\  K4L J .

AUTO TQ MEM =

LOAD MEAS =

 

. Note:

67.10

T ]J

(DS5.2)

x ^_  

X VZx
a

\ T J
 b T \

X VZx 67.10 MIN START TQ REF T ] J


 u` 
 K
 ` JlJ .
+
` j  K4_   
R
10 MIN START TQ REF XVZx 67.9 u PAR 67.10 \ ]J4
PAR 67.10 =

J  x 
a . J^ X VZx 67.12 T ]JT W K
S` n ^ L 
|  ^T_ KS`  u ^ L J .( XVZx
x  dW K  5-31 5.6.8   C# 
67.13a&o 67.14) J 
T
Y^ .

11 MOTOR TYPE CONICAL =

STANDARD =

J x dW i


a

X VZx 67.11W J x `


KSuo K4L J . J ^ 4W
J x _  # 75% o
KS   
Note: J ^ n

Q #xu lJ .

12 RED FLUX LEVEL


a ^{  J ^ T n

n u i j O K dW b K
` Kl J .
u^bJ . V I C\

XVZx 67.11W J x  ` 
a q ^{ ^ u 
K S
u` Kl J . X VZx 67.14 T ] J
^ h u KSu 
a LJ .


K

S

u
]J

14 START FLUX TIME ^ u

( XVZx 67.13) START FLUX TIME T


q
^h 
a LJ .
13 START FLUX LEVEL

dd dd

6-47

T4YXVZx
6.2.24

68

?x]Ca -Power optimisation



b 
6-21wW o ]J"
/ Q J_ .]Ju XVZx ` J . 

6-21

XxVZx

68.

/ Q

1 POWOP SELECT

True ; False

2 BASE SPEED

1.0 ... 100.0 %

3 POWOP AUTOTUNE SEL

True ; False

4 INERTIA TOTAL UP

0.00 ... 100.00


KGM2

5 INERTIA TOTAL DWN

0.00 ... 100.00


KGM2

6 TQLIM UP

0.0 ... 200.0 %

7 TQLIM DWN

0.0 ... 200.0 %

8 POWOP RESET LEV

0 ... 100 %

9 T MAX

0 2000 %

10 LOAD TORQ FILT TC

0 32000 ms

11 SLACK ROPE TQ LEV

-400 % 400 %

12 LOADCORR FACT UP

0.00 100.00

13 LOADCORR FACT DWN

0.00 100.00

]
? ]
CS a  .
BS ]J .
?]
Ca K J 
b^  R .
U^  R

b^ ? ]
Ca
TR .
U^ ? ]
Ca
TR .
?]
Ca Zc u .
  K .
U   x ^JL
\ Z 
^u
b^ UJ L
U^ UJ L

1 POWOP SELECT True

?]
Ca a

False

?]
Ca i

a
2 BASE SPEED

6-48

?]C
a  S `  ) . X VZx 69.1 SPEED SCALING RPM T s
\ ]J .  S b T_ XV Zx 68.6 & 68.7 T ]J u T  U_
J?]` ` L J .
IS Co \ K }T4W N    ?] S Ru Jij4W
S
lJ .   C\ u U _  S T  J .
dd dd

T4YXVZx
3 POWOP True
AUTOTUNE SEL

J y a .
> > 
T  XVZx_ False \ Z c4LJ .
Note:  

 No. 1.24 TOTAL INERTIAW T T L J .


>>4W @{ T 2~3   INERTIA TOTAL UP N INERTIA TOTAL DWN
T >> ]4_   J .
False

K J i
a
4 INERTIA TOTAL UP

b^ J
 R

a
+
 Xa VZx_  4W n s4
i  ! 4 a J
Note: dW
.( # CK o n sd  ACAA7020N
 )  4o W n  s4
4W V 
  U XVZx 68.4 & 68.5 4W P\
J UY^ .
 = ((8363 * Pnom) / (nmax * nnom)) * xW  .
.
-Pnom = X VZx 99.9 MOTOR NOM POWERW
.
-nmax = XVZx 69.1 SPEED SCALING RPMW
.
-nnom = XVZx 99.8 MOTOR NOM SPEEDW

5 INERTIA TOTAL DWN

U^ J
 R

6 TQLIM UP

b^  K U 

.(=

7 TQLIM DWN

U^  K U 

.(=

8 POWOP RESET
LEV

K ? ] T 

K ? ] T  )
o
q

S
? ]
C
a R T4W S u u S 
\  i
  u\ ZcdL J .

x \ S T k    K .(Pull-out torqea _ Breakdown


 ) jj\ Tmax/Tn = 2.5 (=250 %) \ J .
torque V
\bT #X
h ( _^ ) T   Tmax ` ]
Note: I C\
a

o
UY^ .
#x X VZx ]J T e Tmax/Tn a ` a K U XVZx 68.9
]JU T
` I^ 0.7 \ lJ .( Z T
100 ` U Y^ .)
dd dd
6-49
9 T MAX

T4YXVZx
10 LOAD TORQ
FILT TC
11 SLACK ROPE
TQ LEV

12 LOADCORR
FACT UP

  

2.31 LOAD TORQUE %(5-32

"

 x ^JL

\ Z u .(  a 4 W b  5-33 " ) U 


U\ < V  _ \ Z o \ # PU Fast
(2.31) u  u
]J kJ y^{ `
stop type 1 ` ylJ .  -400%W
J .
o
b^  2.31 LOAD TORQUE %  UJ L . J U\ b^4W
 Kk ( o ,  U^  y x ) S s wJ V s xT W
4 _  s  dW C  (  y ) 4L J .
: Eff. 0.9 * Util. 1.0 = 0.90.

13 LOADCORR
FACT DWN

6-50

 U @{4W UJ L


: 1/0.9 =1.10.

. Note:

U^ 

1/

C  \ 4L J

dd dd

T4YXVZx
6.2.25

69

x Jx -Reference Handler



b 
6-22wW o ]J "
/ Q J_ .]Ju XVZx ` J . 

6-22

XxVZx

69.

/ Q

1 SPEED SCALING RPM

0 ... 10000 RPM

2 ACC TIME FORW

0.1 ... 60.0 s

3 ACC TIME REV

0.1 ... 60.0 s

4 DEC TIME FORW

0.1 ... 60.0 s

5 DEC TIME REV

0.1 ... 60.0

6 S-RAMP TC

0.0 s...10.0 s

7 RAMP SCALE LOCAL

0.5 ... 100.0

10 RAMP RATE=1

True ; False; AI3

1 SPEED SCALING RPM 100 %

] S
 S .
J @{^dW uS
} @{^dW uS
J @{^dW S
} @{^dW S
S-ramp ^JL .
\TdW uS
uS i 

S S R T4W  4W S S ]J

^h
^ h
^ h
^ h

.
.
.
.

 J

S S 0 ~ +100 %( X VZx 69.1 T  U_ 100%) 4W J@{ uS ^h


]J .
S 0 ~ -100 %( XVZx 69.1W R ) dW } @{ uS ^h ]J .
3 ACC TIME REV S
S +100 ~ 0 %( XVZx 69.1W R ) dW J@{ S ^h ]J .
4 DEC TIME FORW S
2 ACC TIME FORW

5 DEC TIME REV


6 S-RAMP TC

S S -100 ~ 0 %( XVZx 69.1W  R ) dW }@{ S ^h ]J


S S  R uS ^ hT4W s- ( ^JL ]J .

\ ^ uS ^h  J L .


a

\x4W RAMP RATE u . V T 


10 RAMP RATE=1  T PLC T
` j o  .  Q  T uS i\ w\ ]
U  i L J .
(AI3) a

7 RAMP SCALE LOCAL

True

 \ xdW


dd dd

RAMP RATE

u i

a LJ

. 1.0

\ J

6-51

T4YXVZx
False

 

(DS3.1)

\ x4W

RAMP RATE

u 
a LJ

AI3

W rL L _ w \ ] 3 T mdLJ . rLL 1.0


T U_  u 4mA(0 4mA) U  rLL 1.0 10.0 T U
_   u 4mA 20mA | i[l J . : 12mA = 5.5.

RAMP RATE

6.2.26

70

RJ -Position measurement



6-23W o ]J
/ Q _ ]Ju XVZx `  J b 
w " J .

1 POS SCALE


XxVZx

6-23

70.

/ Q

]
R  J .
1 POS SCALE
1 ... 32767 PPU

a  .
2 SYNC COND
Pos; Neg
o

 y L L . R x4W  J L ]JlJ .


L /mm.(RJ POSACT=  x / POS SCALE.)
: 

2 SYNC COND Pos


DI3

]

T

  j Ud

Neg
DI3

6-52

]

T

  j Ud

 
a y

 
a y

dd dd

T4YXVZx
6.2.27

71

  -Fieldbus Comm



6-24W o ] J
/ Q _ ]Ju XVZx `  J b 
w " J .

6-24

XxVZx

71.

/ Q

1 COMTEST FLT TD

0 ... 32767 ms

2 RESET POWER ON TD

0 ... 32767 ms

3 CHOPP/EXT MON TD

0. .. 4000 ms

4 ADVANT COMM TYPE

ENG DRIVE;
STD DRIVE

5 DSET BASE ADDRESS

1; 10

6 FIELDBUS R-TYPE

NO; RPBA-01

]
  m^ h .

h#u Zc m^ h .


 & a  ^ m^h .
b
T    .
  T
PLC
K4 _  tx s4W
tx s  .
 J   .


a
b T  bhT _    i su
1 COMTEST FLT V 
]J ^ hT 4 _ , V  _ MAS OSC
TD COMTEST FLT TD T

 J lJ .
FLT ^

V W Z c RESET POWER ON TD T


2 RESET POWER h#u # u 1 
^h  T ulJ .
ON TD ]J

  ( XVZx 10.7 T  )  ( XVZq x 30.3 T  )W


3 CHOPP/EXT
h #u^ CHOPP/EXT MON TD T ]J
^h yU J .
MON TD ^_
a
b
T o   s a (AC70, AC80, AC800M,
a AC410 with FCL
o _
4 ADVANT COMM 
  I 4W b
T  dW   .
TYPE AC450 with FCL)
ENG DRIVE

uK .( : ACS 600 Eng, DRIENG . b T   )  10 4W


tx s / @{ u , o , ~ ACC800W t x s (1 12) u u .

STD DRIVE

a o

 R .( : ACS600 Std, DRISTD . b


T   ) 

s / @{ u , o , ACC800 tx s 1 4 s u .

dd dd

4W tx
6-53

T4YXVZx
5 DSET BASE
ADDRESS

b
T ^dW  `
K4 _  tx a  s4W 
t 
x s  .  XVZxT ]J t x su V T _ 

tx s |  tx su  V \x _ t  x s
J .( . @P\ I )
1

tx s  : 1 12. tx s a 1,3,5,7  V \ 


\x PLC \ J .
2,4,6,8,12 _ V 
10

6 FIELDBUS
R-TYPE

tx s  : 10 21.
tx s 10,12,14,16
a
V \ 
V  \x PLC \ J .
11,13,15,17,21


J  (R-type)
` KU  51 a X VZx W   ]o J`
Z Z Ji L J . ] 5.6.12 T ]4
_   
s\ ]Ji L J .
RPBA-01

W \ XVZxdW  ]J 


N . !4L J

51

51.05=3, 51.06=6, 51.07=7, 51.08=10, 51.09=8, 51.10=11, 51.11=9, 51.12=12,


51.13=13,

51.14=16,

51.15=14,

51.16=17,

51.17=15,

51.18=18,

51.19=19,

51.20=22.

6-54

dd dd

T4YXVZx
6.2.28

72

x /  \x -Master/Follower

b 
6-25wW o ]J"
/ Q J_ .]Ju XVZx ` J . 

6-25

XxVZx

72.

1 MAST/FOLL MODE

/ Q

]
 x /  \  ]J

OFF; MASTER;
FOLLOWER

\
^Ts ]J u

(M/F CTRL
2 TORQUE SELECTOR

ZERO; SPEED;
TORQUE; MINIMUM;
MAXIMUM; ADD

3 LOAD SHARE

U m

0.0 % ... 400.0 %

\
^Ts ]J u

(M/F CTRL
4 WINDOW SEL

OFF; ON

5 WINDOW WIDTH POS

0.0 rpm...1500.0 rpm

6 WINDOW WIDTH NEG

0.0 rpm...1500.0 rpm

7 DROOP RATE

0.0 % ... 100.0 %

8 TORQ REF A FTC

0 ms ... 32767 ms

\
^Ts ]J u

(M/F CTRL
9 M/F FAULT TD

0 ms ... 32767 ms

\
^Ts ]J u

(M/F CTRL
10 M/F COMM ERR TD

0 ms ... 32767 ms

\
^Ts ]J u

(M/F CTRL
11 MF BROADCAST

NO; YES

MODE

1 MAST/FOLL MODE

x /  \  

OFF

   ]J

a
S
S T ]J .
S + ]J .
]J .
 i
 R4W A x
^JL .
x / \
 m^h

x / \
 m^ h
x /  \
Broadcast 

x _ \  i
a .  E \ T s ulJ
dd dd

6-55

T4YXVZx
MASTER

T x\ ]J

M/F

FOLLOWER
M/F

2 TORQUE SELECTOR

T \\ ] J .

\ V TdW  

ZERO

a
S
  o  X VZx i

a . S S a T  IC\
  ]JdL J .(  = S T )

I/O

SPEED

SS T a  | , M/F ctrl \u 


a (M/Fo   K^ ) 
x
S
VS  \x S R (Speed_ref3
ramp ?] ) ^J . Note: \4 W
S u^h x V
. r ]Jl J .

TORQUE

 T  |o M/F ctrl \u  a (Torq ref A) o x V \


x   R ^ J . o , x \  T U m lJ .
MINIMUM

S
  _  R S a T 4W ?]` iU C
   R\ S  Kd J . M/F
o ctrl \u 
a
x V \x S
 R ^J .  _ xI C\
x#xK xVx T_ xKxJx !

MAXIMUM

S
  _  R S a T 4W ?]` iU O
   R\ S  Kd J . M/F
o ctrl \u 
a
x V \x S
 R ^J .  _ xI C\
x#xK xVx T_ xKxJx !

6-56

dd dd

T4YXVZx
ADD

a
S
  _  a ]JRT S T  ? ]` ~U| R_ Jb
}T_  T \ ydLJ .
a
o
a
S
S
 T _ \ V
 S ^  # T

 U 
N .  y LJ :
ADD `

JbC #  }T \ V _  R (TORQ REF A) T


W dLJ .
a

S T a _ S T S S  ( S S R T S S ) u vw _


 S S T dW ? ]` 0 \  lJ .
o S
a S
a



S
S
S
S a
 S }` a T _ S
o S
T \ #uU S S T a 4 W ?]   R u
n^{| TS u < Vu_ ` @l J .

dd dd

6-57

T4YXVZx
3 LOAD SHARE

4 WINDOW SEL

\  V  4W ]J  x  \ 4W  U m ` JlJ


 x    J \ 
|  _ 50/50W
100% ]J
U m` WZlJ .
a
S
XVZ x 72.2 TORQUE
a
W S ADD 
N  Kd _ T
SELECTOR
 T _ V W S ^ ` l J .
OFF

a
S
T  K q

ON

a
S
T+  K . _ X VZx 72.2S TORQUE
a SELECTOR
u ADD
\


S
S
]J ` S Ts K ulJ . T _ S S a (S S a R
S ) ` T U| JS ba }T4W T _ S T dW
T
]` 0 \ lJ . S T _ N . Ts ydLJ .


S

S
u X VZx 72.5 WINDOW WIDTH POS `
NU
S S  W f  XVZx 72.6 WINDOW WIDTH NEG `
N .
SS  u S 4W
a o a
o a S S  a  S S T a
T #u4LJ . S S T _ S ]
N o R T S S T dW i[ 
S R gU|  _  T
( XVZx 23.1 GAIN) T 

 R\ ~|
N #K V  W   R
\ K LJ .
oa

S W


U


n

b

&

T


V
a

W



R
a
_





S
N S  bz` @ S U
tS J . s S T u y4 _
4W S _ V W S TR  bzi S J o . XVZx
MINIMUM SPEED 20.2 MAXIMUM SPEED T S T R ]Ji L
20.1
J .
a

S
T u 
a b& Ts K4 | ]J u
5 WINDOW WIDTH  XVZx
POS
_ 0 T 1500 rpm J .
SS T a dW ] + S S   WINDOW WIDTH POS `
Ni j
 0 \ dLJ .
6-58

dd dd

T4YXVZx

S
T u 
a b& Ts K4 | ]J u
6 WINDOW WIDTH  XVZx
NEG
_ 0 T 1500 rpm J .
SS T a 4W ] - S S  4W f  WINDOW WIDTH NEG `
N i j  0 \ 4LJ .
a

S
\ u S T _ b &Ts ]Ji u
7 DROOP RATE  X VZx_ x
J .
a
S
W ! \ S T _  x \ 4W    C
\ QQ l b& T_ K4J .( : !S R   )
 x \ 4S W o U m ` h U U
uT  V V  W S
 a Sl J . >>4W ]iT   J4,
 i ]iT r > > ]Jd a lJ . s  ` K
 i` ]JU  J .
x \ V T

S
S
 i V  S  a S W % \ ]J4LJ . T S V
W   R ( S T  ?] )  i ]JT V J
}\ n Ur L J .

a
+
S
S T  ? ]T   i  \ ]J
100 %W
. V ) dW
N _ U4W n 
( o , DROOP RATE
S
i[U| 0 S \ n LJ .

V \x #u


\4W TORQ REF A  R4W 
x
8 TORQ REF A FTC x
^JL .
dd dd

6-59

T4YXVZx

\ V u x V \x  o ` ^`j T_ o


TD ^h T RUNNING=1
 ) l J . s  
M/F FAULT

^ U MF RUN FLT ^  J 4LJ .


W J T V x V  _ J LJ .
Note: \ V
\ u yd o KK ( X VZx 72.1 MAST/FOLL
o MODE)
10 M/F COMM x
_ V  u_    i s q ^ U ^yl
ERR TD V
J . s M/F COMM ERR TD T ]J
^h  } ^h  isu
Q4 MF COMM ERR ^  J LJ .
K^T_ MF COMM ERR `  m
Note; x / \ Broadcast 
^h y U  J .

\ V  u   T_ x / \ Broadcast 


11 MF BROADCAST o 4W
 KlJ . x \  T YES \ ]JlJ . Broadcast  u
MODE
4S x V  _ \ \ ]J
(XVZx 72.1) % ~ o V T
S V \ m  Ras` lJ . J N . ONx _ \_ ^ o I/O 2  \
   K^ , X a VZx 64.1) \ s wJ V
( Q
S
xT >>dW V  T _ ` mda s lJ .  ~ V W
dW ^_ ^ T  lJ .
9 M/F FAULT TD

NO

x / \
s u .

Broadcast

 i
a . C# x /  \4W  

Broadcast

dW a

YES

x /  \

6-60

dd dd

T4YXVZx
6.2.29

73

xx -Electric Shaft



b 
6-26wW o ]"
/ Q J_ .]u XVZx ` J . 

6-26

XxVZx

73.

/ Q

1 ELSHAFT MODE SEL

OFF; MASTER;
SLAVE

1 ELSHAFT MODE
SEL

2 ELSHAFT GAIN

0.0 100.0

3 GEAR NUMERATOR

1 32000

4 GEAR DENOMINATOR

1 32000

5 POS ERROR LIMIT

0 1000 pos units

6 ELSH CTRL MIN SPD

0 100 %

 V 

OFF

x 
MASTER

 

V  W  T

]
    .
a
a T i[ .
 a   m .
     m .
R
a  TS .
 T nS .

i
a

 T T x\ Ki V  W  .  X VZx 99.2


]s
Application macro = M/F CTRLN 72.1 Mast/Foll mode = MASTER \
lJ .
SLAVE

 T T   \ Ki V W  .  XVZx 99.2


Application macro = M/F CTRLN 72.1 Mast/Foll mode = FOLLOWER, 72.2 Torque
selector = SPEED \ ] s lJ .
a
a

 ( i[ T  )W i[  . Q ,   V  T s y  .


2 ELSHAFT GAIN  T
= 0.1  S x  T R
 2.26)
Elshaft Gain
( 
u 1unit  a -0.1%WS   o  V T KdLJ .
 T T  ]
"UY^ .
5.5.14

XVZxS _ XVZx 73.4 Gear DenominatorS  x  


3 GEAR NUMERATOR 
h4W  C S i` TU_ t K4LJ . S i x /   a _
+

. J . S  i #_  T u


Gear Numerator/Gear
Denominator

a ` jTs  V W S N RT J .
dd dd

6-61

T4YXVZx

S
x   V  W b _  S
 XVZx
: 
rpm T . S \ ]S lJ . !S4W i \
69.1 Speed scaling
x VS W  S S _ \ S 3.6m/min T  U   VS
W S _ \ S 6.4m/min T i j x  h4W S
i 3.6/6.4 = o0.5625 u LJ .S
4W Va 
. \ S (0 (+/-)3.6 m/min) \  U  
b & ) XVZx 73.3 Gear Numerator = 36, XVZx 73.4 Gear
(  T

a
\ ]U XVZx 70.1 POS SCALE
Denominator
= 64 (36/64 = 0.5625)
V u  Ur ] 4 lJ .
V  Ts 
a LJ
NOTE: X VZx_  
XVZx 73.3W ]` " UY^ .
a
a

u 
a
_ b &T  x  V h T R
 (  T 2.26)
u  `
N U V _ ELECTR SHAFT  ^
  U x  V T_ FOLL

J .
FAULT  ^4
x V W Z c V  T CKd J . Q
_
XVZx 70.1 POS SCALE
T ]
T W pos units( :mm) J .
 XVZx_  V Ts a LJ .
a
 T _  S S u   n S S u S b j s 
a LJ .
 u   o a ^ . a 0 S T u j T o _ 
a
  J .  TR T dW ?] s !
a
 fg4 | >> T S LJ .( o , ^ u S` u^{ ^
S TS R U T  ( :  ^ ) T C

0 \ st J .) 


R _ a  u n S T ELSH CTRL MIN SPD b 


i J .

0 \ T
 XVZx_  V Ts a LJ .

4 GEAR DENOMINATOR
5 POS ERROR
LIMIT

6 ELSH CTRL
MIN SPD

6-62

dd dd

T4YXVZx
6.2.30

74

x#  -Crane Lifetime



6-27o ] / Q_ ] u  XVZx ` J . b 
w " J .

6-27

XxVZx

74.

/ Q

1 NOMINAL LOAD

0.00 32767.00 ton

2 CRANE LIFETIME

0 12500 hrs

3 START LIFETIMEMON

OFF; ON

1 NOMINAL LOAD 100%


2 CRANE LIFETIME

U  ( 

2.31)

]
 b U .
 #4W  .
#  ^4W ^y

T U_ # s4W

ton

Q
 ( ) 
U

^hQW  # s4W ]    C#  .  LIFETIME


V _ LIFETIME>90% V_
LEFT  o 1.35 u 10% Uu
v 
J .
W  T W  # ^_ X VZx
^ ydLJ .

START LIFETIMEON = ONW ] T W


^^ ON  \  ]4 
K T
Note:  XVZx_ V
W Zci J .

3 START LIFETIMEMON Load spectrum factor Km

dd dd

6-63

T4YXVZx
6.2.31

90

txx x s W xn -Dataset REC Addr



6-28o ] / Q_ ] u  XVZx ` J . b 
w " J .

6-28

XxVZx

90.

/ Q

1 DATASET 7 WORD 1

0 9999

2 DATASET 7 WORD 2

0 9999

3 DATASET 7 WORD 3

0 9999

 90 txs
4W lJ .
1 DATASET 7 WORD 1



13

]
t x s
tx s
tx s
T e V

XVZx

W n
n
2W
n
3W
1

.
.
.

  txs 7  1W o \x _ 4 W T 


V a X VZx . n X VZx \dW  n4W T
W J . : X VZx 69.2 = 5.0 sec _ 50W 4 .J .
RP : xxyy,  xx = Vx  (10 99), yy = Vx 
( b 2  K , o , 1 = 01).
:   2001 = V 20.1 MINIMUM SPEED.
t 
s 7  1  ^ )
( 

2 DATASET 7 WORD 2

V

90.1 DATASET 7 WORD 1

"

3 DATASET 7 WORD 3

V

90.1 DATASET 7 WORD 1

"

6-64


7 
7 
7

dd dd

7V
6.2.32

92

tx 
xs xn -Dataset TR Addr

J . 
b

6-29W  "  /  J . V

6-29

xV 

92

 /  

1 DATASET 4 WORD 1

0 9999

2 DATASET 4 WORD 2

0 9999

3 DATASET 4 WORD 3

0 9999

4 DATASET 6 WORD 1

0 9999

5 DATASET 6 WORD 2

0 9999

6 DATASET 6 WORD 3

0 9999

7 DATASET 8 WORD 1

0 9999

8 DATASET 8 WORD 2

0 9999

9 DATASET 8 WORD 3

0 9999

  92  
 !U
1 DATASET 4 WORD 1

2 DATASET 4 WORD 2
3 DATASET 4 WORD 3
4 DATASET 6 WORD 1
5 DATASET 6 WORD 2
6 DATASET 6 WORD 3
7 DATASET 8 WORD 1
8 DATASET 8 WORD 2
9 DATASET 8 WORD 3

 
t 
s
t
s
t
s
t
s
t
s
t
s
t
s
t
s
t
s

T     t  s
 dK LJ .
swichbox

15

4, 6, 8


4 
4 
6 
6 
6 
8 
8 
8 
4



W n
n
2W
n
3W
n
1W
n
2W
n
3W
n
1W
n
2W
n
3W
1

13

.
.
.
.
.
.
.
.
.



&n'( .
) ":#t $ t
s 4
 s 4 1T 1* W  %4  dW SPEED
REF3  !U+,
V 92.1 = 202( % 2,  02)   UY- .

V 92.1 DATASET 4 WORD 1 ". .

V 92.1 DATASET 4 WORD 1 ". .

V 92.1 DATASET 4 WORD 1 ". .

V 92.1 DATASET 4 WORD 1 ". .

V 92.1 DATASET 4 WORD 1 ". .

V 92.1 DATASET 4 WORD 1 ". .

V 92.1 DATASET 4 WORD 1 ". .

V 92.1 DATASET 4 WORD 1 ". .

dd dd

6-65

7V
6.2.33

98

/ 2 0 1 -Option modules

 7J . b

26-30W 8 "3.  9/ : J .45 V 6
2 6-30 % 98
xV 
3 / 
 ; 
 01 '(
NTAC; NO;


<

=
>
/
1 ENCODER MODULE
RTAC-SLOT1;
3 CH3 NODE ADDR

RTAC-SLOT2;
RTAC-DDCS
NO; FIELDBUS;
ADVANT
1 254

4 CH0 NODE ADDR

0 125

5 DI/O EXT MODULE 1

NDIO; NO;
RDIO-SLOT1;
RDIO-SLOT2;
RDIO-DDCS
NDIO; NO;
RDIO-SLOT1;
RDIO-SLOT2;
RDIO-DDCS
NAIO; NO;
RAIO-SLOT1;
RAIO-SLOT2;
RAIO-DDCS

2 COMM. MODULE

6 DI/O EXT MODULE 2

7 AI/O EXT MODULE

?  / 01 '( .
@ 3 A# &n
@ 0 A# &n 0 1
[\ BC] DE

'(

[\ BC] DE 01

'(

F BC] 01 '(

/ 01G dH  I / 01 F%   J5 G V KL .



b
 / 01 MT NOP QR S.9:L .

;

0
1


GZ  [\P
?



W

<

=
>
J
T

U
V

W

X


. #Y
1 ENCODER MODULE /
]^ _ ` a P ]^   Rb cBLd .
F% 50 ENCODER MODULEe Y f ` # WX- .
?  TUV . 01 g : NTAC-02 01 . ! hi G : ?  DDCS jk
01 e @ 1 ` ! ). NTAC-02e A# &l 16    .
(RDCO /
NTAC

m TUV

NO

01 g
?  
T

U
V
.
q # )e /r st 1.

: RTAC.

01u g
?  
T

U
V
.
q # )e /r st 2.

: RTAC.

RTAC-SLOT1

RTAC-SLOT2

6-66

! hi G : # Y GZ n op

(RMIO

! hi G : # Y GZ n op (RMIO


dd dd

v E7Y
?  
T UV . 01 u ? g : RTAC.? ! hGZi G :?  ?   DDCS jk ( /r 001 1
@ 1 5 )  5 #Y
e
W /r BC
RDCOe
n  (AIMA).
A# ID '( (S1)  # 0   n KLd .(= 6 )
Note: RTACe
GZ e @ 0 ` NMBA-01 G !P c /r 01 ? G Gn ,
2 COMM. MODULE #Y
`  n KLd .





W

X





Y






f


FIELDBUS 
. F% 51e
 ABB ADVANT n AC70, AC80, AC410(CI810), AC450(CI810), AC800M
e ?  01 $ AC80 #Y GZ $  #Y GZ e RDCO-01 @ 1 `
!Hd, ADVANT  WX` - .
NOTE: Y 98.2  ADVANT M FIELDBUS  W+, Y 98.4
 # 1  WX- .
 PC-tool ?  ( j  `  !' ) ` 7_e #Y GGZ Z 
3 CH3 NODE ADDR DriveWindow
! H I e DDCS @ 3 _5 A# &l #Y
d
d KLd .



n


0
1
`
?

$  AC80 Drivebus !H I RDCO
4 CH 0 NODE ADDR ADVANT
`
@ 0 _5 A# &l K` Ld .(98.2 = ADVANT)
NOTE: Y 98.2  ADVANT M FIELDBUS  W+, Y 98.4
 # 1  WX-G.Z`
@ 0G e A#&l #Y
RJ 01 $ POSITION 6 ` Y d
b Ld G: Z
I #Y
@ 0 A# &l 98.4  y*16+zw  [\
POSITION = yzw
) Ld .
G , Y 98.4  1*16+01 = 17 G Ld .
: POISTION = 101
RTAC-DDCS

101

17, 102

18, 112

28

201
:
701

33, 202

34, 212

44

113, 702

114, 712 124

`




R

W
,


@


0 A# &l AC80e ACSRX 4


P #Y GZ   KLd .
01 $ ` !b I Y 71.5 DSET BASE ADDRESS  S.
AC800M
WX- .




0
1

01 e u g
?

B

C

J
D
E
J
T

U
V




5 DI/O EXT MODULE 1 /r


1e
! hi G  eJK` Ld . G c B Ce   DEb I R
KLd . R45 ! _M Y F% 10 14  S.WX- .
AC80 Drivebus

wyxzx|{~}~}

6-67

v EY
01 . ! hi G : ?  DDCS jk (RDCO
?  
T01 UV . 01` u g : NDIO
/0r1
 @ 1 ! ). 01 A# &l 2  WX- .(  ` _M
 M S. )


4 : EXT DI1.1, EXT DI1.2, EXT1 DO1, EXT1 DO2.

NDIO

m TUV

NO

?  
T UV . 01u g : RDIO. ! hi G : #Y GZ n op (RMIO q #
e /r st  1.
R4
: EXT DI1.1, EXT DI1.2, EXT DI1.3, EXT1 DO1, EXT1 DO2.

RDIO-SLOT1

?  
T UV . 01u g : RDIO. ! hi G : #Y GZ n op (RMIO q #
e /r st  2.
R4
: EXT DI1.1, EXT DI1.2, EXT DI1.3, EXT1 DO1, EXT1 DO2.

RDIO-SLOT2

?  
T UV . 001 1u g : RDIO.
 ? ! hiGGZ : ?  ?  DDCS jk 0? 1
W /r BC
(RDCO /r
n  (AIMA). e @ 1 ) #Y
n KLd .

A
#
Note: RDIOe
ID '( (S1)  # 2(= 6 )  
R4  : EXT DI1.1, EXT DI1.2, EXT DI1.3, EXT1 DO1, EXT1 DO2.


0
1
01 e u g



?

B

C

J
D
E
J
T

U
V




2e
6 DI/O EXT MODULE 2 /r
! hi G  eJK` Ld . G c B Ce   DEb I R
KLd . R45 ! _M Y F% 10 14  S.WX- .
RDIO-DDCS

01 . ! hi G : ?  DDCS jk


?  
T01 UV . 01` u g : NDIO
/r `  @ 1 0!1 ). 01 A# &l 3  WX- .
_M
M S. )
( 



4 : EXT DI2.1, EXT DI2.2, EXT2 DO1, EXT2 DO2.
NDIO

m TUV

(RDCO

NO

?  
T UV . 01u g : RDIO. ! hi G : #Y GZ n op (RMIO q #
e /r st  1.
R4
: EXT DI2.1, EXT DI2.2, EXT DI2.3, EXT2 DO1, EXT2 DO2.
wyxzx|{~}~}

RDIO-SLOT1

6-68

v EY
?  
T UV . 01u g : RDIO. ! hi G : #Y GZ n op (RMIO q #
e /r st  2.
R4
: EXT DI2.1, EXT DI2.2, EXT DI2.3, EXT2 DO1, EXT2 DO2.
RDIO-SLOT2

?  
T UV . 001 1u g : RDIO.
 ? ! hiGGZ : ?  ?  DDCS jk 0? 1
W /r BC
(RDCO /r
n  (AIMA). e @ 1 ) #Y
n KLd .

A
#
Note: RDIOe
ID '( (S1)  # 3  
R4  : EXT DI2.1, EXT DI2.2, EXT DI2.3, EXT2 DO1, EXT2 DO2.


0
1

01 e u g !
?

B

C

J
D
E
e

T

U
V




7 AI/O EXT MODULE /r F


hi 0 G   eKLd0 . 0 F +/- 10V` ]^ q   Ext AI1( 
f # "#$ #
R4 !  q F 0 ` 10V W
a
 Ext AI2( Y 67.9 START TORQ SEL X- .) !
I RKLd .
RDIO-DDCS

01 . ! hi G : ?  DDCS jk


?  
T UV . 001 1u g : NAIO-02
` ! ). 01 A# &l 5   WX- .
e


@
(RDCO /r
1
` _M 01 M S. )
( 
NAIO

m TUV

NO

?  
T UV . 01u g
e /rst 1.

: RAIO.

! hi G : # Y GZ  n o p

(RMIO

q #

?  
T UV . 01u g
e /rst 2.

: RAIO.

! hi G : # Y GZ  n o p

(RMIO

q #

RAIO-SLOT1

RAIO-SLOT2

?  
T UV . 001 1u g : RAIO.
 ? ! hi GG Z : ?  ?  DDCS jk ?01
W /r BC
(RDCO /r
n  (AIMA). e @ 1 ) #Y
A# ID '( (S1)  # 5   n KLd .
Note: RAIOe
G  -Start-up Data
6.2.34 F % 99
G Y ` _5 q  3 E  G  SWX- .
RAIO-DDCS

wyxzx|{~}~}

6-69

v EY
G i G  e ^    HLd

6-70

wyxzx|{~}~}


7.1

#Y GZ  , [ h E G q  P  q . I ` 
`e  no L ? W P G Z
E M CDP 312R @ khR #Y e -g
W KLd .
0  -g  ( R eJ F 45 -g 4  )
e  ` _5 2. 
h ` _5  G q 2 7-1 7-2 ` 2 2 W` 
^Ld 2 . - g n Ld e .   Y `     h  LY &   - g e M
 0 e  Ld .
 h o q
 G Ee   `  n Ld .

khR G
W  G
L d .

_e  -g  G n M ` ` P q ` DJhW  n.


 m e . G
b W  ^ cBLLd .d .FG  ,  `   n ABB

n  n M
e ` _! , " # oL $%5 & 'U ( ) R
* +,  -Ld .
56 F G 4q 5 `.g/* 6 Ee F n 0 30 ` M 1 2 3 4
F0 5( ) oLe l87 9 Dhb Ld .
:
e=^!^ e ;!= , [a , M m = # G = M ` NOm  n< 2
B e W X . . F= 2 q >@ ? C E b ^ ? LRd e . @ , A3

wyxzx|{~}~}

7-1

ED EF.g FG o q
! H   q h  o q I ` 7 E ` M  Gb nKcBLd . 7 E
L.,g H M G o G H JN OP Qe Ie Mb  ` :: 8K L d Q . "
W == 3 RLd . EMC S  TY GZ E`  UG ` M 8  Q"
W 3 RLd . ACC 800
e VX= W Y) ( OXP X% )` EMC
S

 = e Y QX" W
X . . E= J Q " 2 Z g &J n ) 2 [
e  ) 5  d?X . . ACC 800 \J`e ` &:
)^a ]2 _G ob = L d . oL5 I b 
2G e^
KLd . 2 QR b W  !e  ce Jh 
KLd .
!` h 9^ Qe &J q T * IC(  &J ) d * `  4 ` e 
 G f ^ g h K` Ld .: oL  e I > b I
& 
' h
 
2 e KLd .
7.2

ikj

n l qt u s mn ^o p .gq =  =* n r s d . .gq =


d .  v n /2  =  s Y 30.4
e h
w x WARNING 4   p q ` d .  n v  s /2
30.12e
.g/ *e w    A- Y   qt : d .

q s 7-1  =
_e h * ` v q ?t : /2 s y z
 d .
d .   e 2 g v{ 7-1
 q = .
n< h9 ` ^  h s    s d . x   ^  n l
2  | = Y d s . W
 }x V^~x o
1 (
 d  c d .
_"1 a 2 `   ` .g q e = )^] ( fW q d n
v   X . .
/2 

L }
_ > `^ 'W  ]8 d  ABB m  `
e WX = . .
wyxzx|{~}~}
v{

7-2

7-1.

e`

EDF.g FG o q
q

7-1 ACC

  
h

ACS 800 TEMP

BRAKE L FT

BR OVERHEAT

DRV ID CHG

ID DONE

ID MAGN
ID RUN FAIL

LIFETIME>90%

}
:
^ ^E  .


e _  Jh .
ACC 800e

^
x  h9 He s 125 e  e  h .
 p  d .
 )2 ` O  h .
s
o nE _ 2 He
E h .
Z xk  h .
 ` Z xke  = x
  1 e Z xk

BRAKE LONG FT TD (Parameter 67.5)


q d p h9 .g W   y h .
  q = . " , Watchdog n
56 V  khe m  `
 s d .
 e ^ .
TYx Z Z q 6   .
/e Y
 W
 h ( Y v 0 27 BRAKE
:
CHOPPER).
  + 2 `
Jh .
Z
6
Z
T`Y x e ID TYx nl`H T [DRIVE]  = | TY x Z  B
HT 6 X . . [ENTER] 
=q 1 sdE) . ( x
Z ID 1 =   L l
L ID 6 I ` 1  [ENTER]
5 . .  x

^

n


l
4 ZQ Z 85   s Tx` x n 4
TYx
b ~ c d . 2 6  s c 1
 d .
ID
T m x ID_RUN  > t f b Txe f  = . .
h 
` Q s d . . x 
He ID_RUN x > .
Tx= d B q = p
d ? . .

H ID_Run x  4 ^
 h .(  20.2).

 .
ln2 Hs J8 80 % x
6 x8  x ( k xkE  .( m  99.8).
a .
S
 = /  = )  74.3
k }I! 8 .
wE 90%
CRANE LIFETIME
.

wyxzx|{~}~}

7-3

EDF. FG o q
MOTOR TEMP
(programmable
Fault Function
30.4 .. 30.10)
NO MOT DATA
THERMISTOR
(programmable
Fault Function
30.4 ... 30.5)
USER MACRO
WARNING
JOYSTICK

7-4

HE  b  (
) 

b  ).
x  , H  , 2
 , s  x (start-up data )
^ .
H  x  - 9
x^ q 6  .
H
HT THERMISTOR
  ^o p .

    .
TL x  x  .
, " HT (  64.1 = True)
x   (Par 64.10) x } x
p :
- START DIR A = 1 x START DIR B=1
x =
- SPEED REF > 1V x TORQUE REF
> 2mA v? ZERO POS =1.
"  HT (  64.1 = True)
x s  (par 64.10) x FB } x
x 
FB Stoplim Sel(  10.14)
DI3+DI4  . DI3 & DI4
s A & B 
Stoplimits A & B  
 E^  8 .

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ACS 800 TEMP

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BC SHORT CIR
BRAKE FLT

BR BROKEN

BR OVERHEAT

BR WIRING
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7-6

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:  U1max 500V s .
500V
E  _ .     
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x 500V  877Vdc .
E&8 DC _ x   . x
: E . Vt W
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2 0.65 *U1min,

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.
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ST9 l  M x
y ^o
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0
^ .
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:

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^ .

7-7

EDF. FG q
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EARTH FAULT
(programmable
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30.11)
ELECTR
SHAFT

ENCODER
ERR

EXTERNAL FLT
(programmable
Fault Function
30.3)
FOLL FLT

INV
OVERLOAD

I/O COMM ERR

7-8

k:
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H sM x N H8  ^2
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LIMIT

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RATE
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MF COMM ERR

MF RUN FLT

MOTOR
PHASE
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30.10)
MOT OVERSP

MOTOR
TEMP
(programmable
Fault Function
30.4... 30.9)
NO
COMMUNICATI
ON (X)

k
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FLT TD
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C * W2 EQ . XY U Broadcast
HT HQ T x N=O* PH
MC P* W100ms
x Z 
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d
p q =js .
Running gh
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OVERSPEED LEV (61.3)
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PHASE .
( o 6 ). =
6
x   / d pJ . .
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[ENTER]

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OVERFREQ

20.1

3000/(

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(DTC

40Hz

20.1

20.2(DTC

20.9(

20.8

PANEL/DW COM

DriveWindow

PPCC LINK

RMIO

INT

INT

97.7

False

97

: 5600)

SHORT CIRCUT

SUPPLY PHASE

DC

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CDP312R

DriveWindow

PC

. DriveWindow tool

PANELL LOSS
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30.2

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(+

RPBU

2.28)

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PPCC
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17%

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30.4... 30.5)
TORQ FLT

SP DEV LEV(62.2)

.
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DI6

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30.6

THERMISTOR

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30.5 MOT THERM P MODE

DTC

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1 SPEED ESTIMATED

SP ESTIM

rpm

20000 = par. 69.01

2 MOTOR SPEED FILT

SPEED

rpm

20000 = par. 69.01

3 FREQUENCY

FREQ

Hz

100 = 1 Hz

4 MOTOR CURRENT

CURRENT

5 MOTOR TORQUE FILT

TORQUE

6 POWER

POWER

10 = 1 A
10000 =
100 %
1000 =
100 % (par..99.09)

7 DC BUS VOLTAGE V

DC BUS V

1=1V

8 MAINS VOLTAGE

MAINS V

1=1V

9 OUTPUT VOLTAGE

OUT VOLT

1=1V

10 ACS 800 TEMP

ACS TEMP

11 APPLICATION MACRO

MACRO

CRANE; M/F CTRL; USER 1 LOAD; USER 2 LOAD

10 = 1 %
1=1
(1 6 acc. par. 99.02)

12 SPEED REF

SPEEDREF

rpm

20000 = par. 69.01

13 CTRL LOCATION

CTRL LOC

LOCAL; I/O CTRL; FIELDBUS; M/F CTRL

14

14 OP HOUR COUNTER

OP HOUR

1=1h

15 KILOWATT HOURS

KW HOURS

kWh

1 = 100 kWh

16 IDENTIF RUN DONE

ID RUN

True, False

65535 = True, 0 = False

17 DI7-1 STATUS

DI7-1

18 AI1 [V]

AI1 [V]

10 = 1 V

19 AI2 [mA]

AI2 [mA]

mA

10 = 1 mA

20 EXT AI1 [V]

EXT AI1

10 = 1 V

21 RO3-1 STATUS

RO3-1

22 AO1 [mA]

AO1 [mA]

mA

10 = 1 mA

23 AO2 [mA]

AO2 [mA]

mA

10 = 1 mA

24 TOTAL INERTIA

INERTIA

kgm2

10 = 1 kgm2

25 EXT DI6-1 STATUS

EXT DI6-1

1 = 1 (0 63)

26 EXT RO4-1 STATUS

EXT RO4-1

1 = 1 (0 15)

27 MOTOR RUN-TIME

RUN-TIME

28 MOTOR TEMP EST

MOT TEMP

C (deg Celcius)

1 = 1 deg C

29 CTRL BOARD TEMP

CTRL B T

C (deg Celcius)

1 = 1 deg C

30 FAN ON TIME

FAN TIME

1 = 10 h

31 AI3 [mA]

AI3 [mA]

mA

10 = 1 mA

32 TOTAL OPER TIME

OPERTIME

hrs

10 = 1 h

33 LOAD TORQUE ton

LOAD ton

ton

100 = 1 ton

34 LOAD SPEC FACT Km

FACT Km

35 LIFETIME LEFT %

LIFETIME

ACTUAL SIGNALS (Group 1)

0213154767698:;<>=@?AC

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1 = 1 (0 7)

h (Hours)

1 = 10 h

100 = 1
%

1=1%

A-1

 -,/. GW 0^  

 
INT SIGNALS (Group 2)

 
/

1 SPEED REF 2

rpm

2 SPEED REF 3
3 SPEED REF 4

rpm
rpm

4 SPEED ERROR NEG

rpm

5 TORQUE PROP REF

6 TORQUE INTEG REF

7 TORQUE DER REF

8 TORQ ACC COMP REF

9 TORQUE REF1

10 TORQUE REF2

11 TORQUE REF3

12 TORQUE REF4

13 TORQUE REF

14 TORQ USED REF

15 MOTOR TORQUE

16 FLUX ACT

17 SPEED MEASURED
18 POS ACT PPU

Rpm
+/- 32767

19 START
20 RUNNING

True; False
True; False

21 BRAKE LIFT
22 FAULT
23 not used

True; False
True; False

24 SPEED CORR
25 POWOP SPEEDREF

Rpm
%

26 ELSHAFT POS ERROR


27 LIMIT WORD 1
28 FAULTED INT INFO
29 TORQUE SELECTOR

30 dV/dt
31 LOAD TORQUE %
32 LIMIT WORD INV
33 INT SC INFO

A-2

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20.2)

rpm/s
% Tn (Integer
scaling: 10=1%)
0 FFFF Packed
boolean (Hex)
0 FFFF Packed
boolean (Hex)

20.1 &

20000 = par. 69.01

.=

20000 = par. 69.01


20000 = par. 69.01

"$#
$" #
$" #
$" #
$" #
$" #
$" #
$" #
$" #
$" #
$" #

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TORQUE REF 3 +

TORQUE REF 4 +

.
72.2

TORQUE REF 5)
.
.

(RTAC

NTAC)
70.1

.(

65535 = True, 0 = False


65535 = True, 0 = False
65535 = True, 0 = False
65535 = True, 0 = False

(High speed

INT

0 = 0
1=
2=
3=
4=
5=

4.3
4.3

(2.11)

(TORQUE REF 2)
(TORQUE REF 3)
(Torq ref 1
2
(Torq ref 1
2
(Torq ref 1
2
.

(
68.1
)
2.27 TORQ INV CUR LIM
.
4.3
.
4.3

,)

1=1
.
.

1=1

(0 65535)

1=1

(0 65535)

1 = 1 (0 5)

1 = 1 rpm
1000 = 100 %

&''(
&''(
&''(
&''(
&''(
&''(
&''(
&''(
&''(
&''(
&''(

20000 = par. 69.01


1=1

.
.(

!%
! %
! %
! %
! %
! %
! %
! %
! %
! %
! %

20000 = par. 69.01


10000 =
100 %
10000 =
100 %
10000 =
100 %
10000 =
100 %
10000 =
100 %
10000 =
100 %
10000 =
100 %
10000 =
100 %
10000 =
100 %
10000 =
100 %
10000 =
100 %
1000 = 100 %

70.1 POS SCLAE

0 FFFF Packed
boolean (Hex)
0 FFFF Packed
boolean (Hex)
ZERO; SPEED;
TORQUE; MIN;
MAX; ADD

 !

20000 = par. 69.01

%.

1000 = 100 %

1=1

(0 65535)

1=1

(0 65535)

0213154767698:;<>=@?AC

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FB REC WORDS
(Group 3)
1 FB COMMAND WORD
2 FB SPEED REF
3 FB TORQ REF
4 FB RAMP RATE
5 FB SPEED CORR
6 FB POS PRECOUNT
7 FB AUX COMM WORD
8 FB LOAD MEAS REF
9 FB DS5 WORD3

 
/

0 FFFF Packed
boolean (Hex)
%
%

%
(mm)
0 FFFF Packed
boolean (Hex)
%

10 FB DS7 WORD1

0 FFFF Packed
boolean (Hex)
Integer +/- 32767

11 FB DS7 WORD2

Integer +/- 32767

12 FB DS7 WORD3

Integer +/- 32767

 
FB TRA WORDS
(Group 4)
1 FB STATUS WORD
2 FB FAULT WORD 1
3 FB FAULT WORD 2
4 FB ALARM WORD
5 FB AUX STATUSWORD

)1 2
'H:$ :M' 'X2'? ''
T
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'M'$'X': ;< 3 H:T'
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'M'$'X': E' 2'? ' T
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v k'  
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'`'$P 7::m
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:
7
m

'`'$P :
M'a E X''>' P '  'T
:
7
m
'`'$P :
M'a E X' '>' P '  'T
7:m

, Dataset 1 Word 1,
5.6.12
.
., Dataset 1 Word 2
., Dataset 1 Word 3
, Dataset 3 Word 1,
5-5
.
, Dataset 3 Word 2
, Dataset 3 Word 3
, Dataset 5 Word 1,
5.6.12
.
, Dataset 5 Word 2
PLC
DriveWindow
)
(
Dataset 5 Word 3 (8ms
PLC
DriveWindow
16
.
Dataset 7 Word 1,
6.2.29
(
PLC
DriveWindow
)
Dataset 7 Word 2,
6.2.29
(
PLC
DriveWindow
)
Dataset 7 Word 3,
6.2.29
(
PLC
DriveWindow
)

 

1)2

0 FFFF Packed
boolean (Hex)
0 FFFF Packed
boolean (Hex)
0 FFFF Packed
boolean (Hex)
0 FFFF Packed
boolean (Hex)
0 FFFF Packed
boolean (Hex)

'H:$ :M' 'M)X'| ''


'H:$ :M' 'iXj' ''
'H:$ :M' 'iXj' ''
'H:$ :M' 'XE' ''
'H:$ :M' 'EX' M$'| '

 

 
/

INFORMATION (Group 5)

1 SW PACKAGE VER

ACXR7100

2 APPLIC SW VERSION

3 TEST DATE

ddmmyy (Day Month Year)

: ACAR7100

4 INVERTER TYPE

5 ACS800 -

CraneDrive

: SR0040_3

0213154767698:;<>=@?AC

 !
1=1

(0 65535)

10000 = 100 %
10000 = 100 %
1000 = 1
10000 = 100 %
1=1
1 = 1 (0 65535)
10000 = 100 %
1=1

(0 65535)

1 = 1 (-32768 32767)

1 = 1 (-32768 32767)

1 = 1 (-32768 32767)

 !
T
T
T
T
T

, Dataset 2 Word 1,
5.6.12
.
1, Dataset 6 Word 1,
5.6.12
2, Dataset 6 Word 2,
5.6.12
, Dataset 6 Word 3,
5.6.12
, Dataset 12 Word 1,
5.6.12

)1 2
'] 6
'' v G '> v :]
'K Y '' G :]
v
$'#  *'U'k ' 
$'# [j
K'Y ['j
ACC800

ACC800

1=1

(0 65535)

1=1

(0 65535)

1=1

(0 65535)

1=1

(0 65535)

1=1

(0 65535)

ACS800

ACS800

A-3

 -,/. GW 0^  


J

A-2

A)BC#

 GW ^ 

1!

1!

 !

ENGLISH

1 = 1 (0 13)

CRANE

1 = 1 (1 6)

99.3 APPLIC RESTORE

ENGLISH; ENGLISH AM; DEUTSCH; ITALIANO; ESPANOL;


PORTUGUES; NEDERLANDS; FRANCAIS; DANSK; SUOMI;
SVENSKA; CESKY; POLSKI; PO-RUSSKI
CRANE; M/F CTRL; USER 1 LOAD; USER 1 SAVE; USER 2
LOAD; USER 2 SAVE
NO; YES

NO

99.4 MOTOR CTRL MODE

DTC; SCALAR

DTC

99.5 MOTOR NOM VOLTAGE


99.6 MOTOR NOM CURRENT
99.7 MOTOR NOM FREQ
99.8 MOTOR NOM SPEED
99.9 MOTOR NOM POWER
99.10 MOTOR ID RUN
99.11 DEVICE NAME
10 DIGITAL INPUTS
10.1 BRAKE ACKN SEL
10.2 ZERO POS SEL
10.3 SLOWDOWN-N SEL

* UN of ACS 800 ... 2 * UN of ACS 800 (


1/6 * Ihd of ACS 800 ... 2 * Ihd of ACS 800 (
8 Hz ... 300 Hz (
)
1 rpm ... 18 000 rpm (
)
0 kW ... 9000 kW (
)
ID MAGN; STANDARD; REDUCED
, :. Main Hoist

0V
0.0 A
50.0 Hz
1 rpm
0.0 kW
ID MAGN

0 = NO
65535 = YES
0 = DTC
65535=SCALAR
1=1V
10 = 1 A
100 = 1 Hz
1 = 1 rpm
10 = 1 kW
1 = 1 (1 3)

DI1
DI2
DI5

1 = 1 (1 6)
1 = 1 (1 6)
1 = 1 (1 12)

DI6

1 = 1 (1 10)

NOT SEL

1 = 1 (1 12)

NOT SEL

1 = 1 (1 12)

NOT SEL

1 = 1 (1 12)

NOT SEL

1 = 1 (1 12)

NOT SEL

1 = 1 (1 12)

NOT SEL

1 = 1 (1 12)

NOT SEL

1 = 1 (1 10)

NOT SEL
NOT SEL

1 = 1 (1 8)
1 = 1 (1 10)

NOT SEL
NOT SEL

1 = 1 (1 4)
1 = 1 (1 12)

NOT SEL
NOT SEL
NOT SEL

1 = 1 (1 8)
1 = 1 (1 9)
1 = 1 (1 8)

1.000
0.02 s
1.000
0.02 s
0.000
0.02 s
0.0 V

1000 = 1
100 = 1 s
1000 = 1
100 = 1 s
1000 = 1
100 = 1 s
10 = 1 V

BRAKE LIFT

1 = 1 (1 14)

WATCHDOG-N
FAULT-N
NOT USED
NOT USED
NOT USED
NOT USED

1=1
1=1
1=1
1=1
1=1
1=1

99 START-UP DATA
99.1 LANGUAGE

99.2 APPLICATION MACRO

"$# 2: 7 e:
"$# ")# 2 2:7 7 e'e: 
$ B :Nv 1'! 

")# :2 7 e '
"$# :2 7 :e '

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


NOT SEL; DI1; DI2; DI5; DI6; DI_IL
NOT SEL; DI1; DI2; DI5; DI6; EXT DI1.1; EXT DI1.2; EXT
DI2.1; EXT DI2.2; DI5+DI6; DI1.1+DI1.2; DI_IL
10.4 FAST STOP-N SEL
NOT SEL; DI1; DI2; DI5; DI6; EXT DI1.1; EXT DI1.2; EXT
DI2.1; EXT DI2.2; DI_IL
10.5 POWER ON ACKN SEL
NOT SEL; DI1; DI2; DI5; DI6; EXT DI1.1; EXT DI1.2; EXT
DI2.1; EXT DI2.2;
EXT DI1.3; EXT DI2.3; DI_IL
10.6 SYNC SEL
NOT SEL; DI1; DI2; DI3; DI4; DI5; DI6; EXT DI1.1; EXT DI1.2
; EXT DI2.1; EXT DI2.2; DI_IL
10.7 CHOPPER FLT-N SEL
NOT SEL; DI1; DI2; DI3; DI4; DI5; DI6; EXT DI1.1; EXT DI1.2;
EXT DI2.1; EXT DI2.2; DI_IL
10.8 STEP REF2 SEL
NOT SEL; DI1; DI2; DI5; DI6; EXT DI1.1; EXT DI1.2; EXT
DI2.1; EXT DI2.2; DI1.3; DI2.3; DI_IL
10.9 STEP REF3 SEL
NOT SEL; DI1; DI2; DI5; DI6; EXT DI1.1; EXT DI1.2; EXT
DI2.1; EXT DI2.2; DI1.3; DI2.3; DI_IL
10.10 STEP REF4 SEL
NOT SEL; DI1; DI2; DI5; DI6; EXT DI1.1; EXT DI1.2; EXT
DI2.1; EXT DI2.2; DI1.3; DI2.3; DI_IL
10.11 HIGH SPEED SEL
NOT SEL; DI1; DI2; DI5; DI6; EXT DI1.1; EXT DI1.2; EXT
DI2.1; EXT DI2.2; DI_IL
10.12 SNAG LOAD-N SEL
NOT SEL; DI1; DI2; DI3; DI4; DI5; DI6; DI_IL
10.13 ACCELERATE SEL
NOT SEL; DI1; DI2; DI5; DI6; EXT DI1.1; EXT DI1.2; EXT
DI2.1; EXT DI2.2; DI_IL
10.14 FB STOPLIM SEL
NOT SEL; DI3+DI4; DI5+DI6; DI1.1+DI1.2
10.15 ELSHAFT ON SEL
NOT SEL; DI1; DI2; EXT DI1.1; EXT DI1.2; EXT DI2.1; EXT
DI2.2; EXT DI1.3; EXT DI2.3; DI5; DI6; DI_IL
10.16 FAULT RESET SEL
NOT SEL; DI1; DI2; DI3; DI4; DI5; DI6; DI_IL
10.17 USER MACRO CH SRC NOT SEL; DI1; DI2; DI3; DI4; DI5; DI6; COMM MODULE; DI_IL
10.18 EXTERNAL FAULT
NOT SEL; DI1; DI2; DI3; DI4; DI5; DI6; DI_IL
13 ANALOGUE INPUTS
13.1 SCALE AI1
0 ... 4.000
13.2 FILTER AI1
0 s ... 4.00 s
13.3 SCALE AI2
0 ... 4.000
13.4 FILTER AI2
0 s ... 4.00 s
13.5 SCALE EXT AI1
0 ... 4.000
13.6 FILTER EXT AI1
0 s ... 4.00 s
13.7 AI1 0% REF LEV
0.0 ... 10.0 V
14 RELAY OUTPUTS
14.1 RELAY RO1 OUTPUT
NOT USED; READY; RUNNING; FAULT; FAULT-N; CONTROL
LOC; BRAKE LIFT; WATCHDOG-N; USER 1 OR 2; REVERSE;
OVERSPEED; RDY FOR RUN; SPEED LIM 1; LIFETIME>90%
14.2 RELAY RO2 OUTPUT
14.1
.
14.3 RELAY RO3 OUTPUT
14.1
.
14.4 EXT1 DO1 OUTPUT
14.1
.
14.5 EXT1 DO2 OUTPUT
14.1
.
14.6 EXT2 DO1 OUTPUT
14.1
.
14.7 EXT2 DO2 OUTPUT
14.1
.

A-4

TT
TT
T
T

(1 14)
(1 14)
(1 14)
(1 14)
(1 14)
(1 14)

0213154767698:;<>=@?AC

-,/. W 0^
A)BC#

1!

1!

 !

SPEED

1 = 1 (1 11)

15.2 INVERT AO1

NOT USED; MEAS SPEED; SPEED; FREQUENCY; CURRENT;


SIGN TORQUE; POWER; DC BUS VOLT; OUTPUT VOLT; SIGN
POSACT; SIGN SP REF
NO; YES

NO

15.3 MINIMUM AO1

0 mA; 4 mA

0 mA

15.4 FILTER ON AO1


15.5 SCALE AO1
15.6 ANALOGUE OUTPUT2

0.10 s
100%
TORQUE

15.7 INVERT AO2

0.00 s ... 10.00 s


10 % ... 1000 %
NOT USED; SIGN SPEED; SPEED; FREQUENCY;
CURRENT; TORQUE; POWER; DC BUS VOLT; OUTPUT
VOLT; TORQUE REF; SIGN SP REF
NO; YES

0 = NO
65535 = YES
1 = 0 mA
2 = 4 mA
100 = 1 s
1=1%
1 = 1 (1 11)

15.8 MINIMUM AO2

0 mA; 4 Ma

0 mA

15.9 FILTER ON AO2


15.10 SCALE AO2
16 SYST CTR INPUTS
16.2 PARAMETER LOCK

0.00 s ... 10.00 s


10 % ... 1000 %

2.00 s
100%

OPEN; LOCKED

OPEN

16.3 PASS CODE


16.8 FAN SPD CTRL MODE
16.9 FUSE SWITCH CNTR

0 ... 30 000
CONST 50HZ; RUN/STOP; CONTROLLED
OFF; ON

0
CONST 50HZ
OFF

16.10 INT CONFIG USER


20 LIMITS
20.1 MINIMUM SPEED
20.2 MAXIMUM SPEED
20.3 MAXIMUM CURRENT A
20.4 MAXIMUM TORQUE
20.5 MINIMUM TORQUE
20.6 OVERVOLTAGE CTRL

0 Int config (

- 18 000/(
) rpm ... MAXIMUM SPEED (par. 20.2
)
MINIMUM SPEED (par. 20.1
) ... 18 000/(
) rpm
0.00 Amp ... Imax Amp
0.0 % ... 600.0 %
-600.0 % 0.0 %
ON; OFF

(calculated)
(calculated)
Imax Amp
200.0 %
-200.0 %
OFF

20.7 UNDERVOLTAGE CTRL

ON; OFF

ON

20.8 MINIMUM FREQ

- 300.00 Hz ... MAXIMUM FREQ Hz (par 20.9


)
(
)
MINIMUM FREQ Hz (par 20.8
) ... 300.00 Hz
(
)
0.0 % ... 100.0 %
0.0 % ... 600.0 %
-600.0 % 0.0 %
0.0 % max % (

15 ANALOGUE OUTPUTS
15.1 ANALOGUE OUTPUT1

20.10 SPEED LIMIT AI3


20.11 P MOTORING LIM
20.12 P GENERATING LIM
20.13 TORQ RISE T LIM
21 START/STOP
21.1 START FUNCTION

R8i

" v 'g
v V

)

0 = OPEN
65535 = LOCKED
1=1
1 = 1 (0 2)
0 = OFF
65535 = ON
1 = 1 (0 12)

-50.00 Hz
50.00 Hz

100 = 1 Hz

100.0 %
300.0 %
-300.0 %
max %

10 = 1 %
100 = 1 %
100 = 1 %
100 = 1 %

30.0 ms ... 10000.0 ms

CNST DC
MAGN
500.0 ms

3 = CONST DC
MAGN
1 = 1 ms

0.0 ... 200.0


0.01 s ... 1000.00 s
0.0 ms ... 9999.8 ms
0.00 s ... 1000.00 s
0.0 % ... 400.0 %
NO; YES

10.0
2.50 s
0.0 ms
0.00 s
100.0%
NO
4.0 ms
0.00 rpm

100 = 1.0
1000 = 1 s
1 = 1 ms
10 = 1 s
1=1%
0 = NO
65535 = YES
1 = 1 ms
20000 = p.69.1

0.00 s
0.00 s
0.00 %

100 = 1 s
100 = 1 s
100 = 1 %

0%

100 = 1 %

v V

v V

Z):V' e# p "$# v  7 8'B'!

.)

CNST DC MAGN

21.2 CONST MAGN TIME


23 SPEED CTRL
23.1 GAIN
23.2 INTEGRATION TIME
23.3 DERIVATION TIME
23.4 ACC COMPENSATION
23.5 SLIP GAIN
23.6 AUTOTUNE RUN ?

23.7 FEEDB FILTER TIME


0.0 ... 999.9 ms
23.8 SPEED STEP ( ,DW ) -1500.00 1500.00 rpm
24 TORQUE CTRL
(par 72.1 MAST/FOLL MODE = FOLLOWER
24.1 TORQ RAMP UP
0.00 s ... 120.00 s
24.2 TORQ RAMP DOWN
0.00 s ... 120.00 s
24.3 TORQ STEP ( ,DW )
-300.00 300.00 %
26 MOTOR CONTROL
( SCALAR
)
26.3 IR COMPENSATION
0 % ... 30 % ( SCALAR

Int config

0 = NO
65535 = YES
1 = 0 mA
2 = 4 mA
100 = 1 s
1=1%

20000 = p.69.1
20000 = p.69.1
10 = 1 A
100 = 1 %
100 = 1 %
0 = OFF
65535 = ON
0 = OFF
65535 = ON
100 = 1 Hz

'$B:"' :7 m$ )E
'$B:"' :7 m$ )E

20.9 MAXIMUM FREQ

)B : N 7 's \
'
v V

NO

$

 E : 

")# x G " )" # R$Sx k 7'"' $E $R Sk E)


G
7'

A-5

-,/. 0
27 BRAKE CHOPPER
27.1 BRAKE CHOPPER CTL

A)BC#

1!

1!

  !

OFF; ON

27.2 BR OVERLOAD FUNC


27.3 BR RESISTANCE
27.4 BR THERM TCONST
27.5 MAX CONT BR POWER
27.6 BC CTRL MODE

NO; WARNING; FAULT


0.01 100.00 ohm
0.000 10000.000 s
0.00 10000.00 kW
AS GENERATOR; COMMON DC

OFF
(R2&R3=ON)
NO
100.00 ohm
0.000 s
0.00 kW
AS
GENERATOR

0 = OFF
65535 = ON
1 = 1 (0 2)
1 = 1 ohm
1=1s
1 = 1 Kw
0 = AS GENERATOR
65535 = COMMON DC

28 MOTOR MODEL
28.1 LONG DISTANCE MOD

OFF; ON

OFF

0 = OFF
65535 = ON
1=1%

28.2 TR TUNE
30 FAULT FUNCTIONS
30.2 PANEL LOSS
30.4 MOTOR THERM PROT
30.5 MOT THERM P MODE
30.6 MOTOR THERM TIME
30.7 MOTOR LOAD CURVE
30.8 ZERO SPEED LOAD
30.9 BREAK POINT
30.10 MOTOR PHASE LOSS

-60.0 % +200.0 %

0.0 %

FAULT; NO
FAULT; WARNING; NO
DTC; USER MODE; THERMISTOR
256.0 s ... 9999.8 s
50.0 % ... 150.0 %
25.0 % ... 150.0 %
1.0 Hz ... 300.0 Hz
NO; FAULT

FAULT
FAULT
DTC
(
)
100.0 %
74.0 %
45.0 Hz
FAULT

30.11 EARTH FAULT

NO; FAULT

FAULT

30.12 MASTER FAULT FUNC

50 PULSE-ENCODER
50.1 ENCODER PULSE NR
50.2 SPEED MEAS MODE
50.3 ENCODER ALM/FLT

FAULT; NO; WARNING


(COMM MODULE
0.10 ... 60.00 s
(COMM MODULE
(
98.1 ENCODER MODULE
1000 4096
A_-B DIR; A_-_; A_-_B DIR; A_-_ B_-_
WARNING; FAULT

50.4 ENCODER DELAY


50.5 SPEED FEEDB USED

5 ms ... 50000 ms
True; False

51 COMM MODULE
51.1 MODULE TYPE
51.2 ... 51.15
60 LOCAL OPERATION
60.1 LOC OPER INH

(
(
(

True; False

False

60.2 LOC SPEED MAX


60.3 LOC ZERO SPEED TD
61 SPEED MONITOR
61.3 MOT OVERSPEED LEV
61.4 SPEED LIM 1
62 TORQUE MONITOR
62.1 TORQ MON SEL

0.0 % ... 100.0 %


0.0 s ... 300.0 s

10.0 %
120.0 s

0 = False
65535 = True
10 = 1 %
10 = 1 s

0 ... 200 %
0.0 ... 200.0 %

110 %
20.0 %

1=1%
10 = 1 %

True; False

True

0...100 %
0...60000 ms
0...100 %/s

10 %
600 ms
13 %/s

0 = False
65535 = True
1=1%
1 = 1 ms
1 = 1 %/s

NOT USED; FAST STOP 1; FAST STOP 2; FAST STOP 3


NOT USED; FAST STOP 1; FAST STOP 2; FAST STOP 3

NOT USED
NOT USED

1 = 1 (0 4)
1 = 1 (0 4)

30.13 COMM FLT TIME-OUT

62.2 SP DEV LEV


62.3 TORQ FLT TD
62.4 SP DER BLK LEV
63 FAST STOP
63.1 FAST STOP TYPE 11
63.2 FAST STOP TYPE 12

A-6

100 = 1 s

1024
A_-_ B_-_
FAULT

1=1
1 = 1 (0 3)
0 = WARNING
65535 = FAULT
1 = 1 ms
0 = False
65535 = True

)
)

A$: B'C'# '$ ; '" '[ j


a R$Sk E$
\
: \ '$ "' [')j A)B'C'#
98.2

1.00 s

n'o'

 R$S:O):  E$
 R$S:O):   E$
$R SO$:  E$

A$B'C'#

FAULT

1 = 1 (1 2)
1 = 1 (1 3)
1 = 1 (1 3)
1=1s
1=1%
1=1%
100 = 1 Hz
0 = NO
65535 = FAULT
0 = NO
65535 = FAULT
1 = 1 (1 3)

COMM MODULE
)

1000 ms
True
)

"' [j

"'"' $1$1 22 m TT


m

$

.
.

-,/. 0
A)BC#

64 CRANE
64.1 STAND ALONE SEL

1!

1!

 !

True; False

True

64.2 CONTIN GEAR

True; False

False

64.3 HIGH SPEED LEVEL 1


64.4 DEADZONE A
64.5 DEADZONE B
64.6 REF SHAPE
64.7 SLOWDOWN SPEEDREF
64.8 ZERO POS OK TD
64.9 TORQUE REF SCALE
64.10 CONTROL TYPE

0.0 % ... 100.0 %


0.0 % ... 100.0 %
0.0 % ... 100.0 %
0 ... 100
0 % ... 100 %
0.0 s ... 60.0 s
0 ... 4.00
JOYSTICK; RADIO CTRL; MOTOR POT; STEP JOYST;
STEP RADIO; FB JOYSTICK
0.0 % ... 100.0 %
0 ms ... 5000 ms
0.0 % ... 100.0 %
0.0 % ... 100.0 %
0.0 % ... 100.0 %
0.0 % ... 100.0 %

98.0 %
0.0 %
0.0 %
20
25 %
0.3 s
1.00
JOYSTICK

0 = False
65535 = True
0 = False
65535 = True
10 = 1 %
10 = 1 %
10 = 1 %
1=1
1=1%
10 = 1 s
100 = 1.0
1 = 1 (0 6)

0.0 %
400 ms
10.0 %
25.0 %
50.0 %
100.0 %

10 = 1 %
1 = 1 ms
10 = 1 %
10 = 1 %
10 = 1 %
10 = 1 %

True; False

False

65.2 OFF TD
66 TORQUE PROVING
66.1 TORQ PROV SEL

0.0 s ... 10000.0 s

180.0 s

0 = False
65535 = True
10 = 1 s

True; False

False

66.2 TORQ PROV FLT TD


66.3 TORQ PROV REF
67 MECH BRAKE CONT
67.1 BRAKE FALL TIME
67.2 BRAKE FLT TD
67.4 BRAKE REOPEN TD
67.5 BRAKE LONG FT TD
67.6 ZERO SPEED LEV
67.7 ZERO SPEED TIME
67.8 SPEED REF TD
67.9 START TORQ SEL
67.10 MIN START TQ REF
67.11 MOTOR TYPE

0.0 s ...100.0 s
0.0 % ... 200.0 %

0.5 s
20.0 %

0.0 s ... 60.0 s


0.0 s ... 60.0 s
0.0 s ... 60.0 s
0.0 s ... 60.0 s
0.0 % ... 100.0 %
0 ... 1000 ms
0.00 s ... 10.00 s
NOT USED; AUTO TQ MEM; LOAD MEAS; PAR 67.10
0 300 %
STANDARD; CONICAL

1.0 s
1.0 s
0.0 s
0.5 s
1.0 %
200 ms
0.20 s
NOT USED
0%
STANDARD

64.11 MINIMUM REF


64.12 JOYSTICK WARN TD
64.13 STEP REF LEVEL 1
64.14 STEP REF LEVEL 2
64.15 STEP REF LEVEL 3
64.16 STEP REF LEVEL 4
65 LOGIC HANDLER
65.1 CONTIN ON

67.12 RED FLUX LEVEL


67.13 START FLUX LEVEL
67.14 START FLUX TIME
68 POWER OPTIMIZE
68.1 POWOP SELECT

A$B'C'#
A$B'C'#
A$B'C'#

25 ... 100 %
(
67.11
100 ... 140 %
(
67.11
0.0 ... 10.0 s
67.11
(




CONICAL
CONICAL
CONICAL

True; False

a 1'!
a 1'!
a 1'!

\ '
\ '
\ '

E$
E$
E$

75 %

10 = 1 s
10 = 1 s
10 = 1 s
10 = 1 s
10 = 1 %
1 = 1 ms
100 = 1 s
1 = 1 (0 4)
1=1%
0 = STANDARD
65535 = CONICAL
1=1%

100 %

1=1%

1.0 s

10= 1 s

False

0 = False
65535 = True
10 = 1 %
0 = False
65535 = True
100 = 1 kgm2
100 = 1 kgm2
10 = 1 %
10 = 1 %
1=1%
1=1%
1 = 1 ms
1=1%
100 = 1.0
100 = 1.0

)
)
)

68.2 BASE SPEED


1.0 % ... 100.0 %
68.3 POWOP AUTOTUNE SEL True; False

100.0 %
False

68.4 INERTIA TOTAL UP


68.5 INERTIA TOTAL DWN
68.6 TQLIM UP
68.7 TQLIM DWN
68.8 POWOP RESET LEV
68.9 T MAX
68.10 LOAD TORQ FILT TC
68.11 SLACK ROPE TQ LEV
68.12 LOADCORR FACT UP
68.13 LOADCORR FACT DWN

3.00 kgm2
30.00 kgm2
100.0 %
75.0 %
12 %
500 %
150 ms
-400 %
0.90
1.10

0.00 kgm2 ... 100.00 kgm2


0.00 kgm2 ... 100.00 kgm2
0.0 % ... 200.0 %
0.0 % ... 200.0 %
0 % ... 100 %
0% 2000%
0 ms ... 32000 ms
-400 % ... 400 %
0.00 ... 100.00
0.00 ... 100.00

$

0 = False
65535 = True
10 = 1 s
10 = 1 %

A-7

-,/. 0
A)BC#

1!

1!

 !

0 rpm ... 10000 rpm


0.1 s ... 60.0 s
0.1 s ... 60.0 s
0.1 s ... 60.0 s
0.1 s ... 60.0 s
0.0 s ... 10.0 s
0.5 ... 100.0
True; False; AI3

1500 rpm
5.0 s
5.0 s
5.0 s
5.0 s
0.0 s
2 .0
True

1 = 1 rpm
10 = 1 s
10 = 1 s
10 = 1 s
10 = 1 s
10 = 1 s
10 = 1.0
1 = 1 (1 3)

1.00 ... 32767.00 PPU


Pos; Neg

100.00 PPU
Pos

100 = 1 ppu
0 = Pos
65535 = Neg

71 FIELD BUS COMM


71.1 COMTEST FLT TD
71.2 RESET POWER ON TD
71.3 CHOPP/EXT MON TD
71.4 ADVANT COMM TYPE

0 ms ... 32767 ms
0 ms ... 32767 ms
0 ms ... 4000 ms
ENG DRIVE; STD DRIVE

300 ms
2000 ms
1000 ms
ENG DRIVE

71.5 DSET BASE ADDRESS

1; 10

71.6 FIELDBUS R-TYPE


72 MASTER / FOLLOWER
72.1 MAST/ FOLL MODE

NO; RPBA-01

NO

1 = 1 ms
1 = 1 ms
1 = 1 ms
0 = ENG DRIVE
65535 = STD DRIVE
0=1
65535 = 10
1 = 1 (1 2)

OFF

1 = 1 (1 3)

ZERO
100.0 %
OFF

1 = 1 (1 6)
10 = 1 %
0 = OFF
65535 = ON
20000 = p.69.1
20000 = p.69.1
10 = 1 %
1 = 1 ms
1 = 1 ms
1 = 1 ms
0 = NO
65535 = YES

69 REFERENCE HANDLER
69.1 SPEED SCALING RPM
69.2 ACC TIME FORW
69.3 ACC TIME REV
69.4 DEC TIME FORW
69.5 DEC TIME REV
69.6 S-RAMP TC
69.7 RAMP SCALE LOCAL
69.10 RAMP RATE=1
70 POS MEASURE
70.1 POS SCALE
70.2 SYNC COND

:a' R$S:  E$
'a' R$S'  E)

72.2 TORQUE SELECTOR


72.3 LOAD SHARE
72.4 WINDOW SEL ON

OFF; MASTER; FOLLOWER


(M/F CTRL
)
ZERO; SPEED; TORQUE; MINIMUM; MAXIMUM; ADD
0.0 % ... 400.0 % (M/F CTRL
OFF; ON

72.5 WINDOW WIDTH POS


72.6 WINDOW WIDTH NEG
72.7 DROOP RATE
72.8 TORQ REF A FTC
72.9 M/F FAULT TD
72.10 M/F COMM ERR TD
72.11 MF BROADCAST MODE

0.0 rpm ... 1500.0 rpm


0.0 rpm ... 1500.0 rpm
0.0 % ... 100.0 %
0 ms ... 32767 ms (M/F CTRL
0 ms ... 32767 ms (M/F CTRL
0 ms ... 32767 ms (M/F CTRL
NO; YES

73 ELECTRIC SHAFT
73.1 ELSHAFT MODE SEL
73.2 ELSHAFT GAIN
73.3 GEAR NUMERATOR
73.4 GEAR DENOMINATOR
73.5 POS ERROR LIMIT
73.6 ELSH CTRL MIN SPD
74 CRANE LIFETIME
74.1 NOMINAL LOAD
74.2 CRANE LIFETIME
74.3 START LIFETIMEMON

A-8

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OFF; MASTER; SLAVE


0.0 100.0 (
1 32000 (
1 32000 (
0 1000 (
0 100 % (
0.00 32767.00 ton
0 12500 hrs
OFF; ON

)
)
)

)
)

 E$
 $E$E

)
)
)

0.0 rpm
0.0 rpm
0.0 %
0 ms
200 ms
200 ms
NO

OFF
0.1
1
1
10
20 %

1 = 1 (1 3)
100 = 1.0
1=1
1=1
1=1
1=1%

0.00 ton
100 hrs
OFF

100 = 1 ton
1 = 1 hr
0 = OFF
65535 = ON

$

-,/. 0
90 DATASET REC ADDR
90.1 DATASET 7 WORD 1
90.2 DATASET 7 WORD 2
90.3 DATASET 7 WORD 3

A)BC#

1!

1!

 !

0 9999
0 9999
0 9999

0
0
0

1=1
1=1
1=1

92 DATASET TR ADDR
92.1 DATASET 4 WORD 1
92.2 DATASET 4 WORD 2
92.3 DATASET 4 WORD 3
92.4 DATASET 6 WORD 1
92.5 DATASET 6 WORD 2
92.6 DATASET 6 WORD 3
92.7 DATASET 8 WORD 1
92.8 DATASET 8 WORD 2
92.9 DATASET 8 WORD 3

0 9999
0 9999
0 9999
0 9999
0 9999
0 9999
0 9999
0 9999
0 9999

202
218
104
402
403
404
109
107
106

1=1
1=1
1=1
1=1
1=1
1=1
1=1
1=1
1=1

98 OPTION MODULES
98.1 ENCODER MODULE
98.2 COMM. MODULE
98.3 CH3 NODE ADDR
98.4 CH0 NODE ADDR
98.5 DI/O EXT MODULE 1
98.6 DI/O EXT MODULE 2
98.7 AI/O EXT MODULE

NTAC; NO; RTAC-SLOT1; RTAC-SLOT2; RTAC-DDCS


NO; FIELDBUS; ADVANT
1 ... 254
0 125
NDIO; NO; RDIO-SLOT1; RDIO-SLOT2; RDIO-DDCS
NDIO; NO; RDIO-SLOT1; RDIO-SLOT2; RDIO-DDCS
NAIO; NO; RAIO-SLOT1; RAIO-SLOT2; RAIO-DDCS

NO
NO
1
1
NO
NO
NO

1=1
1=1
1=1
1=1
1=1
1=1
1=1

$

(0 4)
(1 3)

(1 5)
(1 5)
(1 5)

A-9

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A-10

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ABB Automation Technologies AB


Crane Systems
ABB Korea
Telephone

+82 2 528 2381

Fax

+82 2 528 2338

Internet

www.abb.com

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