K10616_V01 35 00_English_111208_HK.pdf

SM-DCP Elevator Module K1061-6

Document part number : 0178-6521

Drive Family:

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UNIDRIVE SP Software number SM-Application:

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BV 80 – M1061 – 6 Version :

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V01.35.XX Function :

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DCP(Drive Control & Position) Drive Control for geared and gearless elevators Variants :

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DCP3 and DCP4

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Warning The drive components are with electrostatic sensitive construction units built. With the handling, and of the devices during their examination, the following of references are to be considered absolutely, since otherwise it can to a destruction of these circuits come. With service work, first the equalization of potential (static loading) between equipment, tools, measuring instruments and personnel must be provided. Of the assembly components, only at the edges touch, and with the elements within and their connections do not affect.

Safety References: The drive manual Unidrive SP User Guide contains safety information that should be read and considered.

© Control Techniques GMBH Without our previous agreement this document may neither be multiplied nor otherwise third copy be made. It may not by the receiver or third party also in other way be copied or by EDP be transcribed. The manufacturer reserves itself this right, without changing previous publication contents of this documentation, and/or the technical specifications of the product, in order to be able to supply the optimum product.

To the equipment the guarantee of regulation of the manufacturer in existence at the time of the purchase the valid version does apply.

Module type SM-Application Plus BV – No. 80 – M1061 - 6 Bin – File Name M10616_V0135XX.BIN Art. No. Software 9671 – 7061 Art. No. Documentation 0178 – 6521 Version 01.35.XX Author Dr. H. König Drive Center Control Techniques / Hennef / D/A Stand 11.12.2011 C:\Daten\1_Software\SMA\K1061_6\DOC\V135\K10616_V01.35.00_English_111208_HK.DOC

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Agreement over the supply of application software for the technology building groups MD29, MD29AN, UD7x and SM Applications of CT drives Supplier:

Fa. Control Techniques GmbH, Meysstraße 20, 53773 Hennef

Article:

Software and software documentation for the technology of automatic controllers MD29, UD70, SM Applications as well as the technology for automatic controller developing on the MD29 and/or UD70 (MD29AN, UD73, UD74 etc..)

With the delivery the following agreements step the software or the software documentation at the customers into strength: 1.Scope of supply: The scope of supply is limited depending upon contractual agreement to the delivery of the software in the form of source text, compiled program or as programmed option module and the software description electronic or printed form. 2. Guarantee: If substantial deviations from the associated software description should arise in the case of the regulation-fair use of the software as a result of the customer, then the company Control Techniques is entitled and obligated to the rework. The right for changing or reducing is impossible. The warranty claim is limited to substitution of the scope of supply described above. Travel expenses and journey even costs are excluded from the warranty claim. The warranty engagement exists only, if the customer places verifiable documents over kind and occurrence of the deviation from the software description to the order. Warranty claims are impossible, if the customer changes him, the elevator software, or their documentation. The guarantee period amounts to 6 months and begins with the supply of the software and the description. 3. License conditions: The software is copyright property of the company Control Techniques GmbH of software source texts, compiled program files or their descriptions may neither completely nor in part without previous written agreement of the company Control Techniques GmbH be multiplied or third party be passed on on. Copying of the source text and the executable programs is permissible only for the purpose of the data protection. 4. Adhesion

Although the software with largest care was developed and tested, the company Control Techniques GmbH does not take over adhesions for the suitability of the software for possibly a certain purpose. It lies in the responsibility of the customer to examine the software before the passing on of the machine for intended application. Requirements for compensation, same from which argument, are impossible, as far as they are not based on a deliberate or roughly negligent behaviour of the company Control Techniques. The non-liability applies in particular to escaped profit and all adhesion and/or requirements for product liability, which refer to the product of the user of the software, as well as to indirect and/or direct damages, directly from which argument. If any of the regulations specified in the adhesion and license conditions should be due to any applicable regulation or a law ineffective or applicable, then thereby the effectiveness of the remaining conditions is not affected. These conditions are considered as addition of the "general terms of delivery to products and achievements of the electrical industry" and must be agreed upon during placing of order additionally.

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1

GENERAL ...............................................................................................................................................8

2

MECHANICAL INSTALLATION .............................................................................................................9

2.1

IDENTIFICATION ..........................................................................................................................................9

3

FEEDBACK SYSTEMS.........................................................................................................................10

3.1 3.2 3.3

RESOLVER CONNECTION ..........................................................................................................................10 TTL OR SINCOS ENCODER........................................................................................................................10 ENCODER SIMULATION (OUTPUT)..............................................................................................................11

4

CONTROL INTERFACE .......................................................................................................................12

4.1 CONTROL OF MOTOR CONTACTORS ...........................................................................................................12 4.2 CONTACTOR RELEASE MONITORING..........................................................................................................12 4.3 SWITCHING OF THE INVERTER OUTPUT .......................................................................................................12 4.4 FAST DISABLE INPUT OF UNIDRIVE SP FROM FIRMWARE V1.10 ..................................................................13 4.5 UNIDRIVE SP AS ELEVATOR DRIVE WITHOUT MAIN CONTACTORS .................................................................13 4.5.1 Contactor less Safety Circuit without shorting contactors............................................................................13 4.5.2 Contactor less Safety Circuit with shorting contactors.................................................................................13 4.5.3 Monitoring functions by the drive .................................................................................................................14 4.6 BRAKE CONTACTS MONITORING .................................................................................................................17 4.7 SELECTION OF THE CONTROL INTERFACE ...................................................................................................17 5

DCP INTERFACE..................................................................................................................................18

5.1 DCP OVERVIEW.......................................................................................................................................18 5.2 DCP INTERFACE CONNECTIONS ................................................................................................................19 5.3 DCP COMMUNICATION .............................................................................................................................19 5.3.1 DCP command and status byte .....................................................................................................................19 5.3.2 DCP Speed Selection.....................................................................................................................................20 5.3.3 Extended Status from inverter .......................................................................................................................20 5.3.4 Enable 16 Bit Distance Format.....................................................................................................................20 5.3.5 Enable Travel Distance Transmission for Slip Monitoring...........................................................................20 5.3.6 Diagnostic of the DCP Telegram content in real time ..................................................................................21 5.4 EXTENDED DATDATA EXCHANGE OVER THE COMMUNICATION CHANNEL ......................................................21 5.4.1 I0 – Telegram : Initialising ...........................................................................................................................21 5.4.2 I1 – Telegram: Data – Information type .......................................................................................................21 5.4.3 I3 – Telegram : Date/ Time ...........................................................................................................................21 5.4.4 I6 – Telegram : Rescue supply and Energy saving level...............................................................................21 5.4.5 I7 – Telegram : Start parameter....................................................................................................................21 5.4.6 I8 – Telegram : Cabin Load ..........................................................................................................................21 5.4.7 I9 – Telegram : Position................................................................................................................................21 5.5 DCP TRAVEL SEQUENCE..........................................................................................................................22 5.5.1 DCP3 Mode (lift controllers without absolute encoder) ...............................................................................22 5.5.2 DCP4 Mode (lift controllers with absolute encoder) ....................................................................................23 5.5.3 DCP4 Positioning .........................................................................................................................................24 5.6 DCP MONITORING ...................................................................................................................................24 5.6.1 DCP Wire Proof Detection and Protocol Monitoring...................................................................................24 5.6.2 Monitoring the direction control ...................................................................................................................24 5.6.3 Monitoring DCP4 remaining distance error.................................................................................................24 5.7 DCP- CONNECTION DIAGRAM ...................................................................................................................25 6

TERMINAL INTERFACE.......................................................................................................................26

6.1 GENERAL OVERVIEW ................................................................................................................................26 6.2 CONTROL CONNECTIONS ..........................................................................................................................26 6.3 I/O CONFIGURATION .................................................................................................................................27 6.4 SPEED SELECTION ....................................................................................................................................28 6.4.1 Binary speed selection...................................................................................................................................28 6.4.2 Priority speed selection (1 of n) ....................................................................................................................28 6.5 TERMINAL CONTROL SEQUENCE ...............................................................................................................29 6.5.1 Brake control provided by the Unidrive SP ..................................................................................................29 6.5.2 Brake control provided by the elevator controller ........................................................................................30 4/81

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6.6 DIRECTION CONTROL (TERMINALS 27 AND 28) ..........................................................................................30 6.7 PROFILES TERMINAL CONTROL ..................................................................................................................31 6.7.1 Positioning with creep speed.........................................................................................................................31 6.7.2 Direct-to-floor positioning ............................................................................................................................32 6.7.3 Floor sensor correction.................................................................................................................................33 6.8 TERMINAL CONTROL .................................................................................................................................35 7

SETUP THE PARAMETERS ................................................................................................................36

7.1 HANDLING OF THE DISPLAY .......................................................................................................................36 7.2 REMOTE KEYPAD OPERATION WITH THE LIFT CONTROLLER (DCP) ..............................................................37 7.3 PARAMETER STRUCTURES ........................................................................................................................38 7.3.1 Arrangement of the Parameters in the Unidrive SP......................................................................................38 7.3.2 F- Menu Operation........................................................................................................................................38 7.3.3 Menu 0 Structure:..........................................................................................................................................39 7.4 MODE EXAMPLES AND HANDLING ...............................................................................................................40 7.4.1 SM Keypad after power up............................................................................................................................40 7.4.2 Select Parameter ...........................................................................................................................................40 7.4.3 Edit parameter...............................................................................................................................................40 7.4.4 Edit Parameter in another Menu 0 level .......................................................................................................41 8

SETTING AND OPTIMISATION FUNCTIONS .....................................................................................42

8.1 NOMINAL ELEVATOR RPM CALCULATION AND ADJUSTMENT ..........................................................................42 8.1.1 Fine adjustment of the operational rpm and operational speed with DCP4.................................................42 8.1.2 Additional speed limit via #01.06..................................................................................................................42 8.1.3 Display of cabin position #20.38...................................................................................................................42 8.2 PROFILE OPTIMISATION .............................................................................................................................43 8.2.1 Start profile optimisation...............................................................................................................................43 8.2.2 Deceleration and stopping distance calculation ...........................................................................................43 8.2.3 Profile optimisation - Peak curve operation .................................................................................................44 8.2.4 Fast Stop........................................................................................................................................................45 8.2.5 Fast Start .......................................................................................................................................................46 8.3 SPEED LOOP OPTIMISATION......................................................................................................................47 8.3.1 Speed loop optimisation ................................................................................................................................47 8.3.2 Separate speed loop gains for start and run (#18.48 = 1) ............................................................................47 8.3.3 Separate Speed Loop Gains for all travel sections (#18.48 = 1 und #19.48 = 1) ........................................48 8.3.4 Position controller for brake release ............................................................................................................49 8.3.5 Inertia compensation.....................................................................................................................................49 8.3.6 Load cell compensation.................................................................................................................................50 8.3.7 Automatic Brake Load Compensation...........................................................................................................51 8.3.8 Following error detection .............................................................................................................................51 8.4 SAVING DRIVE SETTINGS WHEN CHANGING THE DRIVE MODE .......................................................................53 8.5 LOAD MEASUREMENT FOR EMERGENCY RESCUE ........................................................................................53 8.6 ELECTRICAL EMERGENCY RESCUE USING UPS ..........................................................................................54 8.7 ENERGY SAVING MODE FOR UPS EMERGENCY SUPPLY ..............................................................................55 8.7.1 Switching off of energy consuming comfort functions...................................................................................55 8.7.2 Current Limit Control ...................................................................................................................................55 8.7.3 UPS Power Control.......................................................................................................................................55 8.8 MOTOR PHASE LOST DETECTION ..............................................................................................................56 8.9 CABIN RELEASE FUNCTION .......................................................................................................................56 8.10 LONGLIFE CONTROL .............................................................................................................................56 8.11 STABILISING MOTION USING SWITCHING FREQUENCY MODULATION .........................................................56 8.12 ELECTRONIC NAMEPLATE ENP .............................................................................................................57 8.12.1 Programming the Drive with the Electronic Nameplate ...............................................................................57 8.12.2 Parameter of the Electronic Nameplate ........................................................................................................57 8.12.3 Diagnostic of the Electronic Nameplate........................................................................................................58 8.13 DISPLAY ENERGY SAVING LEVEL ............................................................................................................58 8.14 SERVO MOTOR OFFSET TUNING AT STANDSTILL......................................................................................59 8.14.1 Activation of the des Servo Motor Offset Tuning at standstill.......................................................................59 8.14.2 Diagnostic of the Servo Motor Offset Tuning at standstill............................................................................59 8.15 TESTING OF THE UNINTENDED CAR MOVEMENT MONITORING UNIT EN81-1/A3.......................................60 9

SET UP OF THE LIFT DRIVE ...............................................................................................................61 5/81

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9.1 SMART CARD PARAMETER SETTING ..........................................................................................................61 9.2 MANUAL PARAMETER SETTING .................................................................................................................62 9.2.1 Operation Hints.............................................................................................................................................62 9.2.2 Changing the operating mode .......................................................................................................................62 9.2.3 Setting the Lift Controller Interface ..............................................................................................................62 9.2.4 Set-Up with Electronic Nameplate ................................................................................................................62 9.3 CONFIGURING THE FEEDBACK DEVICE (CLOSED LOOP AND SERVO MODES ONLY) ........................................63 9.3.1 Configuring the feedback device for Closed Loop Vector mode ...................................................................63 9.3.2 Configuring the feedback device for Servo mode..........................................................................................63 9.4 SETTING OF MOTOR AND ELEVATOR PARAMETERS ....................................................................................64 9.5 AUTOTUNING ............................................................................................................................................65 9.5.1 Open Loop Vector – Induction motor without speed feedback .....................................................................65 9.5.2 Closed Loop Vector – Induction motor with speed feedback ........................................................................65 9.5.3 Servo – Permanent magnet synchronous motor with speed feedback...........................................................65 9.6 FIRST START WITH EMPTY CAR ..................................................................................................................66 9.6.1 Activate the first start: ...................................................................................................................................66 9.6.2 Adjustment of the speed loop gains (only Closed Loop and Servo) ..............................................................66 9.6.3 Adjust motor contactor delay ........................................................................................................................66 9.6.4 Adjust deceleration distances (DCP3 or Terminal control): ........................................................................66 9.6.5 Fine Trimming of Operational Speed (DCP4) ..............................................................................................66 9.7 OPTIMISE ELEVATOR PERFORMANCE (CLOSED LOOP AND SERVO) ..............................................................67 9.7.1 Optimise start ................................................................................................................................................67 9.7.2 Optimise constant speed................................................................................................................................67 9.7.3 Optimise stop.................................................................................................................................................67 9.7.4 Following error detection set up ...................................................................................................................67 9.8 DCP 3 SEQUENCE ....................................................................................................................................68 9.9 DCP4 SEQUENCE ....................................................................................................................................69 9.10 TERMINAL CONTROL SEQUENCE.............................................................................................................70 10

ELEVATOR COMMISSIONING SOFTWARE ......................................................................................71

11

DIAGNOSTIC ........................................................................................................................................72

11.1 11.2 11.3 11.4 12 12.1 12.2 12.3 12.4 12.5 12.6 12.7 12.8 12.9

TRIP CODES AND CORRECTIVE ACTIONS.................................................................................................72 AUTO – RESET .....................................................................................................................................74 CONTROL INTERFACE DIAGNOSTICS .......................................................................................................74 DIAGNOSTIC OF TRAVEL INTERRUPTS #20.39 .........................................................................................75 PARAMETER OVERVIEW....................................................................................................................76 MENU 18 PARAMETER ..........................................................................................................................76 MENU 19 PARAMETER ..........................................................................................................................77 MENU 20 PARAMETER ..........................................................................................................................78 MENU 02 – DECELERATION DISTANCES .................................................................................................79 MENU 03 – DCP4 POSITION AND SPEED WINDOW ..................................................................................79 MENU 04 – CURRENT LOOP PARAMETER ...............................................................................................79 MENU 21 – PARAMETER .......................................................................................................................79 MENU 70 – INTERNAL PARAMETERS ......................................................................................................80 F- MENU PARAMETER ...........................................................................................................................81

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Safety information The safety informations and the SM DCP Manual should be read carefully and should be followed The drive must be installed by professional assemblers who are familiar with the requirements for safety and EMC. The assembler is responsible for ensuring that the end product or system complies with all the relevant laws in the country where it is to be used. The ground loop impedance must conform to the requirements of local safety regulations. The drive must be grounded by a connection capable of carrying the prospective fault current until the protective device (fuse, etc.) disconnects the AC supply. The ground connections must be inspected and tested at appropriate intervals. The AC supply to the drive must be fitted with suitable protection against overload and short-circuits. The recommended fuse ratings can be found in the Unidrive SP User Guide. Failure to observe this requirement will cause risk of fire. The drive contains capacitors that remain charged to a potentially lethal voltage after the AC supply has been disconnected. These drive voltages can cause severe electric shock and may be lethal. If the drive has been energised, the AC supply must be isolated at least ten minutes before work may continue. Normally, the capacitors are discharged by an internal resistor. Under certain, unusual fault conditions, it is possible that the capacitors may fail to discharge, or be prevented from being discharged by a voltage applied to the output terminals. If the drive has failed in a manner that causes the display to go blank immediately, it is possible the capacitors will not be discharged. In this case, consult Control Techniques or their authorised distributor. The AC supply must be disconnected from the drive using an approved isolation device before any cover is removed from the drive or before any servicing work is performed. The voltages present in the following locations can cause severe electric shock and may be lethal: • AC supply cables and connections • DC and brake cables, and connections • Output cables and connections • Many internal parts of the drive, and external option units Unless otherwise indicated, control terminals are single insulated and must not be touched. Incorrect adjustment of some parameter can affect the safety of the system, and damage the drive and or external equipment. Before attempting to adjust any of these parameters, refer to the Unidrive SP Advanced User Guide. A motor contactor is required to be fitted between the drive and motor for safety purposes. The recommended motor contactor is the AC3 type. Switching of an output contactor should only occur when the output of the drive is disabled. Opening or closing of the contactor with the drive enabled will lead to: 1. OI.AC trips (which cannot be reset for 10 seconds) 2. High levels of radio frequency noise emission 3. Increased contactor wear and tear Braking resistors can reach high temperatures. Locate braking resistors so that damage cannot result. When an external braking resistor is used, it is essential that an overload protection device is incorporated in the braking resistor circuit; this is described in the Unidrive SP User Guide Only type B ELCB / RCD are only suitable for use with 3 phase inverter drives. The ground leakage current depends upon whether the internal EMC filter is fitted. The drive is supplied with the filter fitted. The ground leakage current is 28mA AC at 400V 50Hz (proportional to supply voltage and frequency) 30µA DC (10M.) Ensure that no damage or safety hazard could arise from the motor starting unexpectedly. The values of the motor parameters affect the protection of the motor. The default values in the drive should not be relied upon. It is essential that the correct value is entered in Pr 0.46 Motor rated current. This affects the thermal protection of the motor. Under following conditions motor chokes are recommended: • AC-supply voltage over 500V • Usage of old motors (pole switched motors or Darlander motors), which are not designed for inverter operation In doubt please contact the supplier.

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1

General

The DCP Lift Module is an extension module for Unidrive SP. It realises the DCP interface (DCP3 and DCP4), creates a position / velocity motion profile and includes elevator application specific functions. It can be used for geared or gearless elevators. Brushless synchronous motors with encoders and induction motors with or without encoders can be controlled. The software also provides creep to position (DCP3) and direct-to-floor positioning (DCP4) capability. The Unidrive SP is a high performance drive making it an excellent choice for elevators applications. The following additional Elevator functions are provided with the SM- DCP Module. Elevator software features • Speed profile with separately adjustable jerk, acceleration and deceleration • 7 – 10 speeds with priority or binary selections • 3 speed thresholds • Integrated brake control • Following error detection • Separate speed loop gains for brake release and elevator in motion • Start Position controller • Acceleration feed forward control and load measurement • Peak curve operation • Dedicated Unidrive Menu 0 • Conventional data input units (mm/s, mm/s2,) • Text display with elevator terms

Advantages ⇒ Separate optimisation for the start characteristic, deceleration and the stop distance ⇒ Flexible interface, sufficient number of reference values to optimise elevator performance ⇒ Applicable for the functions like entry with open doors or over speed monitoring ⇒ Simplified elevator interface ⇒ Protection against motor and feedback cable break, loss of feedback, incorrect parameter setting ⇒ The optimisation of the load and in motion drive characteristics ⇒ High ride comfort at start with gearless elevators ⇒ Movement quality optimisation of the load behaviour, and positioning accuracy ⇒ Automatic Profile Optimisation ⇒ Simplified operation, reduced parameter sets ⇒ No calculation required to set-up the elevator drive ⇒ Commissioning without User Guide is possible

The application software provides the special functions required for an elevator drive. The elevator drive is controlled by a digital interface from the elevator controller. The elevator controller provides direction and speed commands to the drive. The elevator controller software interprets the calls and produces the speed and direction signals for the elevator drive. The complex algorithms for motor control and profile generation are done by the elevator drive. The elevator controller provides the safety related functions in this system configuration. Using the DCP Lift module the lift inverter Unidrive SP can be controlled via terminal interface as well as via DCP interface. The DCP- Interface (Drive Control and Position) is a serial connection between the lift inverter and the lift controller. It supports both protocol types DCP3 (Positioning with creep speed) and DCP4 (Direct to Floor). DCP is not only another kind of control interface, but offer additional advantages like: • Reduction of installation time • Easier setup • 1mm positioning accuracy • Brake control • High Robustness • Operation of drive parameters over the lift controller Using terminal control the lift drive is controlled over the control terminals of the drive.

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2 Mechanical Installation The SM-DCP module consists of an SM Applications Module Plus with this software preloaded. The Unidrive SP must be powered down when the module is installed. To fit the Solutions Module press down until it clicks into place. If an SM Resolver or SM I/O Plus Module is required, they also have to be installed while the Unidrive SP is powered down. It is recommended that the Solutions Module slots be populated in the following order: slot 3, slot 2 and then slot 1. Figure 1: Fitting of a Solutions Module

2.1

Slot 1 SM-CANopen

Slot 2 SM-Resolver Slot 3 SM-Applications Plus

Identification

The following labelling is applied to the SM- Applications Module after the application software has been loaded. The Module is then labelled as follows:

BV 80-M1061-6 V01.35.XX Unidrive SP DCP- Aufzugssteuerung SMA / Control Techniques GmbH

• The Software Version and Identity number are displayed in parameter #20.01 (Version) and #20.02 (Identity number) • A number of settings are necessary in order to use this software. To simplify adjustment, an additional function is included to provide default settings for the initial run.

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3 Feedback systems 3.1

Resolver Connection

0V

0V

0V

REF Low

SIN High

REF High

10 11 12 13 14 15 16 17 COS High

9

COS Low

8

SIN Low

7

Z

6

0V

5

B\

4

B

3

0V

A\

2

A

1

Function

T.

Z\

Alternatively to the TTL- or Sincos Encoder a Resolver as Motor Feedback system. It offers encoder also outputs on terminals A, /A, B, /B. The Resolver connection is done at the 15 wire screw terminals as follows:

Resolver

Figure 2: Resolver connection Unidrive SP

Unidrive SP SM R esolver

C onnection to A-bracket

Shield connection to connector housing

15 14 13 12 11 10 9

m ax . 5 cm not shielded

D ouble shield with tw isted pairs

Inner Shield

3.2

Resolver on M otor

Resolver

C onnection to 0V

SM Resolver

O verall shield

O verall shield

Inner Shield

TTL or Sincos Encoder

The universal encoder connection is the 15 wire SUB D connector on the base drive as follows: Pin

TTL Sincos Sincos with Sincos with Sincos with Encoder Encoder Hiperface Endat SSI Feedback Type: AB SC SC.Hiper SC.Endat SC.SSI 1 A COS COS COS COS 2 A\ COS REF COS REF COS REF COS REF 3 B SIN SIN SIN SIN 4 B\ SIN REF SIN REF SIN REF SIN REF 5 Z* DATA DATA DATA 6 Z\* DATA\ DATA\ DATA\ 7 U ** 8 U\ ** 9 V ** 10 V\ ** 11 W ** CLOCK CLOCK 12 W\ ** CLOCK \ CLOCK \ 13 + 5V + 5V + 8V + 5V + 5V 14 0V 0V 0V 0V 0V 15 TH TH TH TH TH * Z is optional ** The commutation signals U, V, W are only needed for operation of Servomotors with TTL Encoders Figure 3: Universal Encoder connector of Unidrive SP 10/81

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Unidrive SP O verall Shield Connection to Abracket

Connection to 0Volt


Encoder

Encoder SUB D-15

14 13 6 5 4 3 2 1

m ax . 5 cm not shielded

U nidrive SP

Connection to 0Volt

Double shielded with twisted pairs

SinC os on M otor

O verall shield

O verall shield

C onnection to 0Volt

C onnetion to ABracket

SinCos- Encoder


Encoder SUB D-15

14 13 6 5 4 3 2 1

m ax . 5 cm N ot shielded

C onnection to 0Volt

D ouble shield w ith tw isted pairs

Inner Shields

3.3

Encoder on M otor

O verall Shield

Inner Shield

Encoder Simulation (Output)

The optione module „SM Encoder Output Plus“ offers encoder outputs on terminals A, /A, B, /B of connector PL2:

8

9

Z\

Encoder Output Plus

Z

0V

B\

B

A\

PL2 Encoder Output 3 4 5 6 7

A

2

0V

1

0V

8

+Ub

7

0V

Z\

Z

B\

B

A\

1

A

Funktion

Kl.

PL1 Encoder Input 2 3 4 5 6

Figure 3: SM Encoder Ouput Plus Unidrive SP

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4 Control Interface For safe stopping of the elevator usually 2 motor contactors are placed between the drive and the motor. The TUV certified safety function of the SD input allows the operation without motor contactors by using 2 safety relays in the SD input circuit.

4.1

Control of motor contactors

The motor contactors could be controlled by the drive over terminal 41/42 or by the lift controller. The interface is designed, that both control modes are possible. The condition for the correct control is the control of the T.31 by the contactor feedback signal or an accelerated signal by a fast relay control by the safety circuit. The following sequence is initiated as before by the Enable signal. The control of the motor contactors follows: 1. Close of the motor contactors: if a Start command is detected (Speed selection and valid direction or Start command over DCP) and the contactor feedback not yet active. 2. Open of the motor contactors: If the travel completed, the current reduced to zero and drive disabled. From software version 1.26 onwards a new function „Contactor release delay“ is available. This function is especially needed for high inductance servo motors for gearless elevator drives to allow current decay before switching the motor contactors after stop. The setting of the contactor release delay is done in Parameter #20.40 in ms. The default setting is 100ms.

4.2

Contactor Release Monitoring

The contactor release monitoring according EN81-1 could be done by the Unidrive SP inverter. To activate the release monitoring one digital input terminal 24 to 29 of the base drive has to be assigned to this function by setting the terminal function 8.2X = 19.33. The digital input terminal is monitored to be “ON” (+24V) when contactors are released and to be “OFF” (0V), when contacts are closed. If the state does not follow inside 3 sec Trip 78 will be caused at the next stop. The function can be checked by interrupting the Contactor Release signal at Standstill for more than 3 sec.

4.3

Switching of the inverter output

Switching the motor contactors with the inverter output enabled can lead to high overvoltages especially with gearless winch motors considering their high inductances. A result of this can be damage to the motor windings or an induced disturbance in the encoder signals. An auxiliary contact of the motor contactor has to be placed in the SD input control of T.31. The software enable of the inverter’s output is delayed by about 100msec after drive enable at terminal 31. OI.AC trips, which could be caused by chatter of the motor contactor, are prevented by this delay. After stopping following normal run, the inverter output is additionally disabled after the brake-apply delay (figure 5). The delay between the internal drive disable and contactor opening is shown by #20.20 in milliseconds. A negative value means that a contactor was opened while the inverter output was enabled, which should be prevented. If the delay time is negative the brake apply delay #18.24 should be reduced not to be less than the value of #20.20. When using a short cut contactor for servo motors to hold the motor at low speed without the brake, the interruption of the enable signal by the auxiliary contacts is not sufficient. An advanced contact is needed, which can be produced by a fast relay (Finder) controlled by the safety circuit. Because of the delay of the SD input, the fast disable function should be used (see below). Further the motor windings should be protected by suitable MOV’s.

Elevator Controller

Auxillary Contact Motor Contactor or Fast relay (Finder) Unidrive SP

Enable

T. 31

Figure 4: Enable circuit

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4.4

Fast Disable Input of Unidrive SP from Firmware V1.10

With the „EN81-1“- issue of the Unidrive SP the SD- Input was changed in a way, that a dynamic checking by fast test signals < 1 ms is possible. To prevent unwanted function of the drive, a filter was introduced. Therefore the reaction time of the SD input is about 8…20ms. This is no problem when using induction motors. Using high induction gearless servo motor with short circuit contactors can lead to OIAC during inspection or after stopping when switching of the contactor, if the following recommendations are disregarded. To prevent this an additional Fast Disable (FD) Input was introduced into Unidrive SP from Firmware V01.10.00 onwards, which has a reaction time of < 0.5ms. Normally terminal 26, but any digital input of the drive (Term. 24 – 29) could be used. The destination parameter of the input has to be programmed with the FD function 6.29. When using shorting contactor with servo motors the FD function has to be used.

4.5

Unidrive SP as Elevator drive without main contactors

The Secure Disable (SD) function of the Undive SP prevents with a very high degree of reliability, the torque is produced in the motor controlled by the inverter. The SD function is failsafe. This function of Unidrive SP allows the operation of the elevator without main contactors, which has normally to be used according EN81-1. Attention: The SD funktion does not protect the motor, the contacts ort he cables from electrical voltage. Before working on the installation, isolate from line voltage and wait for capacitors discharged. Die SD function is a basic function of the Unidrive SP and is available from production datecode P07 (KW7/ 2006). All this inveters are marked with the symbol „EN81-1“ at the rating label. The Unidrive SP has an IP rating of IP20 and is intended to build into a cubicle. The installation has to follow pollution degree 2 (dry, non-conducting pollution). Because of it’s constrction the usage of the SD function does not demand an IP5X housing. The installation has to follow today’s technical rules. The wiring of SD input has to use protected wiring. This can be achieved by placing into a cubicle or using screened or armed cables, with the screen connected to earth.

4.5.1

Contactor less Safety Circuit without shorting contactors

According the requirements of EN81-1 the energy flow has to be interrupted by 2 independant devices. This is met by using 2 safety relais with guided contacts and a self monitoring safety device according the following principle wiring diagrams. The coils of the relais are supplied by the safety circuit of the elevator. If the safety circuit detects an error, the contacts of the relais will open, which interrupts the power supply to the power switches (IGBT’s). This prevents torque in the motors. The relais have to meet EN60664-1. The isolation between coil and contacts has to designed for 4kV voltage, the air gapes > 3 mm and creepages > 4mm. Note 1: Note 2:

The energy supply to the brake has to be switched with 2 independent devices. These could be the same devices interrupting the energy supply to the motor. The monitoring function has to be checked with the recurrent inspection of the elevator.

The function of the relais contacts is monitored by a elevator controller. Does the contact not open after the travel, a start after a change of the direction has to be prevented.

4.5.2

Contactor less Safety Circuit with shorting contactors

With the use of PM servo motors as lift motors shorting contactors are often used. With the shorting of the motor winding an additional braking torque is produced during standstill or to limit the speed during emergency rescue. One auxiliary contact of the shorting contactor is used as the travel relay replacing the 2nd travel relay. The auxiliary contacts of the shorting contactor have to meet the requirements described above. To monitor the contactor release a NC auxiliary contact of the shorting relay is connected in series with the forciblyguided NC contact of the travel relay to an input of the LC or FC. As the result, drop-off of the contactor can be clearly detected.

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When closing the shorting contactor after the travel a over current trip could be caused if the drive is not completely disabled. To disable the drive very fast the Unidrive SP contains beside the SD input a non safety related Fast Disable function the FD input (see 4.4) has to be used and controlled via a fast relay (Finder). This circuit does not need safety requirements. Note 3:

4.5.3

The Fast Disable function FD is available from Firmware V01.10.00 des Unidrive SP (Mai 2006).

Monitoring functions by the drive

The opening of the relay contacts is monitored by the elevator controller or other suitable device. If one relay does not open after the travel, the next travel after direction change has to be prevented. Additional to the monitoring device the DCP option with software V1.26 or higher of the Unidrive SP does monitor these signals after each start and each stop as follows: 1. After each start initiated by speed selection over parallel or DCP interface inside 6 sec: a. the SD- Eingang is closed and b. if used the FD- input is closed. 2. After each stop after the travel initiated by zero speed inside 4 sec: a. the SD- Eingang is opened and b. if used the FD- input is opened. c. the current in the motor is decreased to < 25% If one of these conditions are not met, the drive will trip and show a trip code identifying the cause and save it to the trip log. With the trip the drive is disabled, and could only be activated after reset The trip codes are: a. „Trip 75“: No correct control of the SD-input or failed control of the spped selection b. „Trip 74“: No correct control of the FD-input or failed selection of terminal 26 function 6.29 (FD) c. „Trip 72“: No current decay or failure of the internal disable function

Note 4:

The monitoring of the SD input is available from Firmware V01.14.00 of Unidrive SP (July 2007).

Note 5:

The wiring can be checked by applying the SD or SSP for more than 6 sec, which will cause Trip74 or Trip75 if corrected wired.

Note 6:

The monitoring functions may be switched off when 2 contactors are used by setting parameter 70.65 = 1001001

Note 7:

The input Fast Disable FD is according the last TÜV approval and certificate not relevant for safety. Therefore the monitoring function can be switched off setting Parameter #70.65 = 74 even when no motor contactor used.

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4.6

Brake contacts monitoring

The monitoring of 2 mechanical brake feedback contacts could be done by the Unidrive SP. There are 2 terminal functions available. To activate the brake contacts monitoring one or two digital input terminal(s) of terminal 24 to 29 of the base drive has to be assigned to the function by setting the terminal function 8.2X = 19.34 (for Brake contact 1) and / or setting the terminal function 8.2X = 19.36 (for Brake contact 2). The digital input terminal is monitored to follow the brake output state 18.31. If the state of the activated brake monitoring contacts do not follow the brake control output inside 3 seconds the drive will cause a trip Trip 83. If one contact is missing, the trip will be initiated at the next stop. If both contacts do not follow the trip will be initiated immediately.

4.7

Selection of the control interface

Before version 01.34.04 the control interface for terminal control was selected as follows: #19.26 = 0

Terminal control with 1 Direction signal - 1 Direction signal connected to Term. 28 - #18.42 speed selection by #18.42 = 0: “binary”, #18.42 = 1 : “1 of n”

#19.26 = 1

Terminal control with 2 Direction signals - 2 Direction signals connected to Term. 28 and Term. 27 - #18.42 speed selection by #18.42 = 0: “binary”, #18.42 = 1 : “1 of n”

From version 01.34.04 Parameter #19.26 the control interface type could be selected as follows. #19.26 = -1

Terminal control with 1 Direction signal and “1 of n” speed selection - 1 Direction signal connected to Term. 28 - Term. 27 is Speed Selection Bit 2

#19.26 = 0

Terminal control with 1 Direction signal and binary speed selection - 1 Direction signal connected to Term. 28 - Term. 27 is Speed Selection Bit 2

#19.26 = 1

Terminal control with 2 Direction signals and binary speed selection - 2 Direction signals connected to Term. 28 and Term. 27 - Term. 27 is Direction Up

#19.26 = 2

Terminal control with 2 Direction signals and “1 of n” speed selection - 2 Direction signals connected to Term. 28 and Term. 27 - Term. 27 is Direction Up

The selection of the DCP interface is unchanged as follows: #19.26 = 3

DCP3 Interface (Default) - Creep to floor- Positioning with serial control over DCP.

#19.26 = 4

DCP4 Interface - Direct to floor- Positioning with serial control over DCP.

Change of the control interface To become a change of the control effective the following procedure must be followed: • store parameters in drive by setting parameter #01.00 = 1000 and press Reset button • cycle the power of the drive so that the display disappears when switched off

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5 DCP Interface 5.1

DCP Overview

The DCP Module allows the control of the Unidrive SP lift drive over a serial interface. The bidirectional, serial interface allows to control and to monitor the drive from the controller, the master of the communication, over a 3 wire cable. The wiring is dramatically reduced:

DCP Interface Encoder Lift Controller

Lift Drive U, V, W

Remote Operation DCP

Motor

RS485 Position

Counter Weight

Floor calls

Floor calls

Cabin Cabin calls Remote Operation Floor calls

Shaft

Figure 5: DCP Overview The lift controller transfers all control signals to the lift drive over the DCP interface. The lift drive transmits the status signals to the lift controller.

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5.2

DCP Interface connections

The DCP Interface is connected to the SM- Applications Options Module as follows: Screened twisted pair signal cables

5 4 3 2 1

Lift Controller

120 Ohm A B 0V Screen connected to earth at inverter

Optional 0V connection

Figure 6: DCP connection Control Techniqu. Unidrive SP

Kollmorgen Control MPK400

Osma Controller BMPS SUB-D9

Böhnke & P. BP304 / BP306

NEW Control. FST SUB-D9

Strack SLC 4 Controller

3, 5 - Signal A

87 Klemmleiste

Pin 6

Kl. 7 DCP Plug

Pin 4, Pin 7

L4 (weiß)

2, 4 - Signal B

88 Klemmleiste

Pin 7

Kl. 6 DCP Plug

Pin 8, Pin 9

L5 (schwarz)

1 - 0V

-

Pin 5

Kl. 5 DCP Plug

Pin 5

Table: DCP Connection to Controllers

5.3

DCP Communication

The communication telegram uses 6 Bytes in both directions. The master is the lift controller and is sending the master telegram. The inverter responses with the Slave telegram. Telegrammtyp Master telegram Slave telegram

1. Byte Command byte Status byte

2. Byte Data byte 2 Data byte 2

3. Byte Data byte 3 Data byte 3

4. Byte Comm.byte 1 Comm.byte 1

5. Byte Comm.byte 2 Comm.byte 2

6. Byte CRC CRC

Please refer to the DCP description on the website of the DCP Newsgroup: http://www.kollmorgen.de/DCP-news.aspx for a detailed description of the DCP protocol.

5.3.1

DCP command and status byte

Using the DCP interface the control of the lift drive is completely done over a serial interface. Command Byte #20.03 Bit B0: Drive controller enable Bit B1: (DCP3) 1 = Travel command; Bit B1: (DCP4) 0 = Remaining / 1 = actual distance Bit B2: Stop switch Bit B3: Transfer of travel commands in the 3rd byte Bit B4: Direction of travel Bit B5: Speed change Bit B6: Desired distance / actual distance Bit B7: Error in last replay message

Status Byte #20.05 Bit S0: Drive controller ready Bit S1: Travel active Bit S2: Advance warning active Bit S3: General fault active Bit S4: Motor speed below levelling v < 0,3 m/s (#18.21) Bit S5: Speed accepted Bit S6: Mechanical brake Bit S7: Error in last message received

Except the safety related control with the Secure Disable input (T. 31) no other digital in- or output has to be connected. The sequence is controlled over the command bytes B0…B7. The inverter feeds back the drive state via the status byte S0…S7.

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5.3.2

DCP Speed Selection

The speeds are set before the start of the travel using the speed byte, which initiates the sequence to close contactors and magnetise the motor. Each bit of the speed byte represent a speed, which could be adjusted by the following parameters: Speed Byte #20.06

Speed Parameters

G0: Creep Speed V1 G1: Releveling Speed Vn G2: Used for Fast Start / Fast Stop G3: Intermediate Speed G4: Inspection Vi G5: Low Speed V1 G6: Medium Speed V2 G7: Fast Speed V3 G8: V4 Additional Speed 1 G9: V5 Additional Speed 2 G10: V6 Additional Speed 3

5.3.3

Menu 0

Source

Display #18.10

#0.15 #0.16 0 #0.17 #0.18 #0.19 #0.20 #0.21

#18.11 #18.12

1811 1812 1810 1813 1814 1815 1816 1817 2022 2023 2024

#18.13 #18.14 #18.15 #18.16 #18.17 #20.22 #20.23 #20.24

Extended Status from inverter

The data bytes 2 and 3 from the inverter could show the the extended status or braking distance from the actual speed and acceleration to the next possible stop. Extended Status word #20.04 Byte 3 Byte 2 Bit 0: Below Speed threshold 2, d.h. v < V_G2 (#18.22) Bit 8: reserved Bit 1: Below Speed threshold 3, d.h. v < V_G3 (#20.07) Bit 9: Emergency rescue supply active (#19.38 = 1) Bit 2: Below Over Speed, d.h. v < 1,1 * V3 (#18.30) Bit 10: Recommended direction for rescue (#19.37) Bit 3: reserved Bit 11: Maximum temperature Motor reached *) Bit 4: reserved Bit 12: Maximum temperature Inverter reached *) Bit 5: reserved Bit 13: reserved Bit 6: reserved Bit 14: reserved Bit 7: reserved Bit 15: = 1 Extended Status / = 0 Braking distance *) Added in Version V01.35.00 according DCP Specification V1.0.0.8

5.3.4

Enable 16 Bit Distance Format

The position format according the DCP specification is limited to 15 Bit = 32767mm. For higher speeds of more than 6 m/s the deceleration distance could exceed 32 meters. Therefore the following extension was made: Setting #70.85 = 1 allows deceleration and braking distance in 16 Bit format = 65535 mm. Because parameter 19.09 for display of braking distance and 19.10 for display of remaining distance are limited to 15 Bit plus sign, the 16 bit wide parameters 70.60 (remaining distance controller), 70.61 (remaining distance inverter) and 70.62 (braking distance inverter) were added to display the full range. In Version V01.35.00 the setup of the 16 Bit Format of the distances using the I1- Protocol by sending the Data information type according DCP Specification V1.0.0.8 added: Daten Information type 0

Receive data Byte 2 & 3 15 Bit remaining distance

1 2 3

15 Bit remaining distance 15 Bit remaining distance 16 Bit remaining distance

5.3.5

Transmit data Byte 2 & 3 15 Bit braking distance/ Status word alternating 15 Bit braking distance Status word 16 Bit braking distance

Enable Travel Distance Transmission for Slip Monitoring

In Version V01.35.00 the transmit of the measured travel distance from the inveter to the lift controller using the I1- Protocol by sending the Protocol type for the extended communication according DCP Spezifikation V1.0.0.8 was added. extended communication 0 Base protocol 1 Extended protocol

I9 Response telegramm from the inverter I9 Response without additional information I9 Response with measured travel distance

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5.3.6

Diagnostic of the DCP Telegram content in real time

The DCP telegram content is entered in the parameters 70.51 - 70.58 in real time and could be monitored via the LiftSP PC Lift Setup software using a Ethernet Modul. The following parameters are available: #70.51: #70.52: #70.53: #70.54: #70.55: #70.56: #70.57: #70.58:

5.4

from the Lift controller from the Lift controller from the Lift controller from the Lift controller from the drive (inverter) from the drive (inverter) from the drive (inverter) from the drive (inverter)

Command Byte Data bytes (Speed setpoint or remaining distance) Communication bytes CRC checksum Status byte Data bytes (Extended Status or Stopping distance) Communication bytes CRC checksum

Extended DatData Exchange over the communication channel

Beside remote operation and error messages the DCP Modul supports the following telegrams of the DCP communication channel:

5.4.1

I0 – Telegram : Initialising

The lift controller and the drive controller start the communication with the following initialisation messages. After that both controller could check and adjust their settings. The drive controller receives the language settings from the lift controller and switch to the same language. Didn’t the drive controller support the received language setting, it need to switch to English speech as a default setting.

5.4.2

I1 – Telegram: Data – Information type

By transmitting this message during the initialisation it is determined: • if the lift controller transmits the remaining distance in 15bit- or 16bit-mode • if the drive controller transmits the deceleration distance in 15bit- or 16bit-mode or not at all • if the drive controller transmits the extended status • if the drive controller alternately transmits the extended status and the 15bit-deceleration distance • if the drive’s response message to the message (‘I’ ‘9’) should be transmit with or without additional Information

5.4.3

I3 – Telegram : Date/ Time

The lift controller can transmit the current time and date to the drive controller. This can be used by drive controllers without a real time clock to synchronise their calculated clock.. This telegram will be answered, but no function is supported.

5.4.4

I6 – Telegram : Rescue supply and Energy saving level

After switching on the emergency supply, the drive controller is sending an information to the drive controller. With this information the drive controller is able to execute the travel with reduced energy consumption. Further the Unidrive SP responds with the energy saving state.

5.4.5

I7 – Telegram : Start parameter

Before starting a travel the lift controller transmit the desired travel distance and the allowed maximum lift speed to the drive controller. After calculating the optimal speed the drive controller answers with the minimum distance to travel and the needed deceleration distance regarding the calculated speed.

5.4.6

I8 – Telegram : Cabin Load

To improve the drive’s starting behaviour, optionally the lift controller can send the percentage value of the car’s load weight before starting a travel.

5.4.7

I9 – Telegram : Position

The actual position of the lift car will be send after each stopping from the lift controller to the drive controller. It will be the distance in mm between the actual position and the lowest floor level. If the extended protocol mode was activated by the message (‘I’ ‘1’) before the drive controller transmits the travel distance in its response message. This information can be used by the lift controller to calculate the slip.

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5.5 5.5.1

DCP Travel Sequence DCP3 Mode (lift controllers without absolute encoder)

In most cases the creep speed positioning (DCP3) is used. Therefore the default setting of the DCP module is #19.26 = 3 for DCP3. The speeds are selected from the lift controller according the floor level. The change from run speed to creep speed is generated as well from the lift controller depending on the distance to the target floor level. The DCP3 mode is the translation of the terminal control to a serial communication. The lift controller sends the command byte B0…B6 and the speed byte G0…G7. The drives response is the status byte S0…S6. For each individual section of the travel different profile parameters for acceleration and jerk could be used. This allows the individual optimisation of each section of the travel as shown in the figure 7. The profile parameters are location in the application menus 18 – 20 of the drive. Additionally the deceleration distances dependant on the speed and the profile setting are calculated and displayed for the actual set speed in #19.08 in mm. To adjust the deceleration distances in the lift controller activate the speed and read out the value in #19.08 and adjust the distance in the lift controller. The deceleration distance depends on the load, as it is not possible to control the distance. The measured deceleration distance is displayed after every travel in #19.10 in mm. #19.15

#19.15 #18.11 - #18.17 #0.04

#0.03 #19.15

#19.16

#19.14 #18.11

#19.13

#19.08

Speed Current motor contactor control #19.32 motor contactor closed T. 31 motor magnetised #18.43 B0: Drive controller enable B1: Travel command B2: Stop switch B3: Travel commands B4: Direction of travel B5: Speed change B6: Desired distance S0: Drive controller ready S1: Travel active S2: Advance warning active S3: General ault active S4: v < 0,3m/s S5: Setpoint accepted S6: Mechanical brake

Figure 7: DCP3- control sequence

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5.5.2

DCP4 Mode (lift controllers with absolute encoder)

For using DCP 4 mode „direct to floor positioning” the setting is #19.26 = 4. The lift controller transmit the distance to the next floor to the lift drive. During the travel the distance to travel is updated. If no call for the next floor is active at the point of deceleration the distance to travel is elongated by the lift controller to the next floor. The limit for the remaining distance extension was reduced in version V01.34.00 from 100 mm to 10 mm. With this method the lift drive controls the complete travel from acceleration during constant travel to starting the deceleration and positioning. Independent of reaching the speed the lift drive starts to decelerate if it detects that deceleration for reaching the next floor should be started. Thereby the adjusted values or the jerk will be kept. For each individual section of the travel different profile parameters for acceleration and jerk could be used. This allows the individual optimisation of each section of the travel as shown in the figure 8. The difference to other solutions is that the profile is permanent updated. With this method a high position accuracy with a very good performance can be ensured. An adjustment of the travel profile because of a distance to travel which depends to a sensor will be avoided.

Figure 8: DCP4- control sequence

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5.5.3

DCP4 Positioning

With direct to floor positioning the target floor has to be reached without position error and to zero decreased acceleration and spped. Because this is not realistic, the folowing termination condition for „in position“ werde defined: • • •

Position error < Position window Speed < Speed window Settling time in window

#03.06 in mm #03.07 in mm/s #20.36 in ms

Default: 5 mm Default: 5 mm/s Default: 500 ms

Additionally the transfer time of the position information to the drive has to be compensated. This is done by the following setting: •

Compensation of the transfer of the position

#20.37 in ms

Default: 50 ms

If this value iss et to small the acceleration with increase during constant acceleration phase of the deceleration to the floor.

5.6 5.6.1

DCP Monitoring DCP Wire Proof Detection and Protocol Monitoring

The Quality of the Communication may be checked in Parameter #18.01 = Number of telegrams per sec. With correct Communication this value varies between 65 and 67. When communication lost for more than 100ms the drive will trip with Trip81. The wire proof detection is active (#19.40 = ON) in default setting and may be switched off by setting #19.40 = OFF. To prevent a trip during reset of the lift controller the wire proof detection is only enabled during travel from software version 1.29 onwards. According the DCP description until V1.31 after 10 faulty (wrong CRC) or 10 missing (wire break) consecutive telegrams the drive was switched off with Trip 81. For better diagnostic from V1.33 after 10 consecutive telegrams with wrong CRC Trip 68 is initiated. For wire break stays Trip 81. Additional the error bit B7 of the command byte is monitored. After 10 consecutive telegrams with Bit B7 = 1 Trip 69 is initiated. Additional DCP4 Protocol errors are monitored. If a protocol error is detected, command byte, velocity byte and number of errors are stored in parameter 70.77 in the following formate. Drive trips are prevented to contain compatibility:. #70.77 = Number of errors + 2^16 * DCP_Commandbyte% + 2^24 * DCP_Speedbyte%

5.6.2

Monitoring the direction control

The direction control signal is monitored during the travel. If a change of the direction signal Bit B4 of the command byte is detected after the setting of the direction with the speed telegram, Trip 67 will be caused. To continue the operation the motor contactors have to be opened and after that a new travel initiated.

5.6.3

Monitoring DCP4 remaining distance error

Trip 65 is detected during DCP4 operation, if the actual speed exceeds von 50 mm/s and the remaining distance does not decrease for more than 500 ms.

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Secure Disable from PLC or sefety chain

DCP Interface

Fast Disable (Servomotor)

L1 L2 L3 PE

Optional connection for Moto rthermistor

DCP- Connection diagram Thermal protection braking resistor

5.7

0V lift controller


+24V K0

EMV gerechte Verlegung

U

V

Encoder or Resolver option

Motor contacter control1) 41

0V

W

30

26

42

31

Seperate routing of the signal and motor cables

Secure Disable SD

SMApplication

Unidrive SP

8

Fast Disable FD

3

BR

Analogue input 3

+

PE L1 L2 L3

KF

0V

~

1) only if the lift drive controls the motor contactors

K1 K0

EMV gerechte Verlegung

K0

K0

K1

Motor contactor Safety circuit

Figure 9: DCP- Connection diagram

M 3∼ 25/81

K0

KF

Finder- Relays or other solution for switching the motor contactor with zero current

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K1

Motor contactor feedback controlled by the lift controller


6 Terminal Interface 6.1

General overview

The elevator drive is controlled by a digital interface from the elevator controller. The elevator controller provides direction and speed commands to the drive. The complex algorithms for motor control and profile generation are done by the elevator drive.

Control Techniques Elevator drive Solution Unidrive SP

Shaft Copy Shaftposition

Elevator Controller

Enable, Direction, Speeds

Absolute Encoder

Cage

Elevator Shaft

SM-DCP

Digitale Interface:

⎫ ⎬ ⎭

Motor control Servo or Closed Loop

BrakeControl device

Calls

M

Figure 10: The control system including the Elevator Controller

6.2

Control connections

The following connection table shows the terminal connection recommendations according to default:

Medium Speed Releveling Speed

Motor Thermistor

External Function 0V +10 V ← Speed select Bit 3 → → Speed select Bit 4 → → ← ← 0V

24 V Output 0V Entry w. open doors V - Threshold 1 Brake apply Brake control Inspection Speed Speed select Bit 1 Nominal Speed Speed select Bit 2 Direction 1 = up / 0 = down Creep Speed Speed select Bit 0 0V Enable Contactor Feedb. Contactor control Drive healthy (isolated contact) Figure 11: Unidrive SP Terminal Layout

← ↔ ↔ ↔ → → → → → ←

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Terminal 3 4 5 6 7 8 9 10 11 21 22 23 24 25 26 27 28 29 30 31 41 42

Display

#07.01 #07.02 #07.03

#08.08 #08.01 #08.02 #08.03 #08.04 #08.05 #08.06 #08.09 #08.07

Internal Function 0V - common +10 V Reference voltage Analogue input not inv. Analogue input inverted Analogue input 2 Analogue input 3 Analogue output 1 Analogue output 2 0V - common Not used +24V supply ( 200mA ) 0V - common F1 Digital I/O F2 Digital I/O F3 Digital I/O F4 Digital input F5 Digital input F6 Digital input 0V - common Controller enable Relay output 1 Relay output 1

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+ -


1) Depending on the driver circuit of the lift controller and the noise level on site, a 4,7kOhm pull-down resistor is recommended. (Internal 100kOhm pull-down resistor present) 2) To use T. 22 to control the motor contactors, change Parameter #08.28 = 19.32 und #08.18 = 0 and save it. This terminal assignment is an example only and can be changed if required. To change from this configuration refer to menus 7 (Analogue I/O) and 8 (Digital I/O) of the Unidrive SP. Information on parameter settings can be found in the Unidrive SP User Guide.

6.3

I/O Configuration

The functions of all terminals of the Unidrive SP except terminal 31 are configurable. The elevator software uses the following functions and parameters: Bit No. Function In/ Out Associated parameters Fast Disable FD Input Switch off Drive power output in 0.5ms 06.29 Drive healthy Output 10.01 Brake Output 18.31 Apply time #18.24 / release time #19.25 Speed threshold V1 Output 18.32 Adjust threshold in #18.21 Speed threshold V2 Output 18.33 Adjust threshold in #18.22 Standstill Output 18.34 Short distance Input 18.35 Adjust distance in #18.20 Speed select Bit 0 Input 18.36 Adjust speed in #18.11 Speed select Bit 1 Input 18.37 Adjust speed in #18.12 Speed select Bit 2 Input 18.38 Adjust speed in #18.13 Speed select Bit 3 Input 18.39 Adjust speed in #18.14 Speed select Bit 4 Input 18.40 Adjust speed in #18.15 Speed select Bit 5 Input 18.41 Adjust speed in #18.16 Motor magnetised Output 18.43 Threshold for induction motors #18.23 Direction/ “DOWN” Input Down direction input 18.44 Motor contactor control Output To control the motor contactors over the inverter. 19.32 Contactor release monit. Input To check contactor release after travel according EN81 19.33 Brake feedback 1 Input To check brake feedback contact 1. 19.34 Motor over temperature Output Display thermistor state connected to T. 8 19.35 Brake feedback 2 Input To check brake feedback contact 2. 19.36 Load direction Output Used for emergency rescue 19.37 Emergency supply active Input For DCP message to the lift controller 19.38 Speed select Bit 6 Input 19.41 Adjust speed in #18.17 Direction “UP” Input 19.44 Up (available with 2 direction signals when 19.26 = 1 or 2) Fast Start Input Input Terminal Interface, opening the brake when doors closing 19.46 Source or destination parameters are used for mapping of I/O terminals to specific functions. The signal for every terminal can be inverted with a dedicated bit parameter. Terminals 24 – 26 can be configured as inputs or outputs. Furthermore the status of every terminal can be monitored, which is helpful for diagnostics and troubleshooting. The following table shows an overview of the I/O configuration parameters: Terminal Status Source or destination Invert Direction input or output # # Value*) # Value*) # Value*) 24 08.01 08.21 18.32 08.11 OFF 08.31 ON (output) 25 08.02 08.22 18.31 08.12 OFF 08.32 ON (output) 26 08.03 08.23 06.29 08.13 OFF 08.33 OFF (input) 27 08.04 08.24 18.38 08.14 OFF Only input 28 08.05 08.25 18.44 08.15 OFF Only input 29 08.06 08.26 18.36 08.16 OFF Only input Rel. 41, 42 08.07 08.27 10.01 08.17 OFF Only Relay 22 08.08 08.28 00.00 08.18 OFF Only output 31 08.09 Hardware input, not configurable Only input 5 07.01 07.10 18.39 07.09 0 Only input 7 07.02 07.14 18.37 07.13 0 Only input 8 07.03 07.18 00.00 07.17 0 Only input Value*) - Value of the default setting

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The 3 analogue input channels, terminals 5, 7 and 8 can be configured as digital inputs. It is recommended to use 4.7kOhm pull-down-resistors. Terminal 22 (+24V user output) can be configured as a digital output. To use T. 22 to control the motor contactors, change Parameter #08.28 = 19.32 und #08.18 = 0 and store it. Adding a SM I/O Plus Module can provide additional terminals. The SM I/O Plus Module increases the I/O count by adding the following to the existing I/O in the drive: 3 digital inputs, 3 digital I/O, 2 analogue inputs, and 2 relay contacts. For further information refer to the SM I/O Plus User Guide

6.4

Speed selection

The speed selection can be binary (up to 10 speeds) or priority (up to 6 speeds). The default setting is binary selection. In this case, the following table applies:

6.4.1

Binary speed selection

To select Binary speed selection set parameter #18.42 = 0 (before Software V01.34.04) or #19.26 = 0 or 1 (from Software V01.34.04): Binary Selection Preset speed # Displayed Speed Bit 0 Bit 1 Bit 2 Bit 3 Menu 0 # # T. 29 T. 26 T. 27 T. 5 (Advanced #) 18.10 Zero speed 0 0 0 0 = 1810 1 0 0 0 #0.15 (#18.11) = 1811 V1 (Creep Speed) 0 1 0 0 #0.16 (#18.12) = 1812 V2 (Inspection) 1 1 0 0 #0.17 (#18.13) = 1813 V3 (Nominal 1) 0 0 1 0 #0.18 (#18.14) = 1814 V4 (Medium 1) 1 0 1 0 #0.19 (#18.15) = 1815 V5 (Releveling) 0 1 1 0 #0.20 (#18.16) = 1816 V6 (Medium 2) 1 1 1 0 #0.21 (#18.17) = 1817 V7 (Additional 1) 0 0 0 1 #0.31 (#20.22) = 2022 V8 (Additional 2) 1 0 0 1 #0.32 (#20.23) = 2023 V9 (Additional 3) 0 1 0 1 #0.33 (#20.24) = 2024 V10 (Additional 4) 1 1 0 1 = 1810 Speed = 0 0 0 1 1 = 1810 Speed = 0 1 0 1 1 = 1810 Speed = 0 0 1 1 1 = 1810 Speed = 0 1 1 1 1 = 1810 Speed = 0 Table 1: Binary Speed Selection

6.4.2

Priority speed selection (1 of n)

To switch to priority speed selection (1 of n) set parameter #18.42 = 1 (before Software V01.34.04) or #19.26 = -1 or 2(from Software V01.34.04): Priority Selection „1 of n“ Preset Speed # Display Speed Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Menu 0 # # T. 29 T. 26 T. 27 T. 5 T. 7 T. 8 (Advanced #) 18.10 Zero Speed 0 0 0 0 0 0 = 1810 1 0 0 0 0 0 #0.15 (#18.11) = 1811 V1 (Creep Speed) x 1 0 0 0 0 #0.16 (#18.12) = 1812 V2 (Inspection) x x 1 0 0 0 #0.17 (#18.13) = 1813 V3 (Nominal 1) x x x 1 0 0 #0.18 (#18.14) = 1814 V4 (Medium 1) x x x x 1 0 #0.19 (#18.15) = 1815 V5 (Releveling) x x x x x 1 #0.20 (#18.16) = 1816 V6 (Medium 2) Table 2: Priority Speed Selection “1 of n” To use terminal T. 8* the following setting has to be done: 07.18 = 18.41 and save parameters.

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6.5

Terminal Control Sequence

6.5.1

Brake control provided by the Unidrive SP

After setting defaults, the internal Brake controller can be used. The Brake is controlled via terminal 25. The parameter setting for this function is #08.22 = 18.31. The timing sequence is shown below. The brake apply delay is adjusted in #18.24 and the brake release delay in #19.25. If the Unidrive trips the brake will be forced to close.

#0.04 #0.24

#0.25

#19.17 #0.15 Ve Creep Speed

#0.23 #18.18

#0.25

#0.22

Interlock Delay > 50 ms

#0.24

#0.16 V1 Speed 1

#0.03

Terminal 28,26,27,29 = 0V Terminal 25 = 0V Output at zero current Terminal 31 = 0V

Motor contactor delay measured #20.20

#0.18 V3 Nom. Speed

Terminal 28,26,27,29=24V Terminal 25 = 24V

Deflux Motor (200 ms)

#0.24

Terminal 31 = 24V

Brake apply delay #18.24

Time for Start Optimiser #19.28

Brake release delay #19.25

Load measuring time #20.08

Speed

Flux Motor ( t > 100ms )

MagnetisingThreshold #18.23

Debounce contactors (100 ms)

1. The elevator controller closes the motor contactor and enables the elevator drive. 2. The drive filters the input signals and enables the inverter output. 3. The elevator CONTROLLER applies the direction and speed signals. 4. The drive controls the magnetising of the motor and opens the brake. 5. The drive holds zero speed until the brake-release delay and load measurement time has elapsed. Then the elevator drive starts to run. 6. The elevator controller receives the speed signals. 7. After the motor has stopped the elevator drive activates the brake. 8. After brake-apply delay, the elevator drive disables the inverter output. 9. The elevator controller waits for brake-apply delay and opens the motor contactor and the drive enable.

t5

t6

t7

t0

Current Inverter active Direction T. 28 Main contactor Enable T. 31 Speeds

V1 (T.26), V2 (T.27), V3 (T.5), Vn (T.7)

Creep Speed (T.29) Brake output T. 25 0,3 m/s T. 24 KP Position Control:

#19.20

KD Position Control

#19.12

KP Speed Control:

#18.27

KI Speed Control:

#18.28

Current Filter

#19.11 #18.25 #18.26 #4.12

#19.34: 0 / #4.12

KP Current Contol

#4.13

KI Curent Control

#4.14 t0

t1

t2

t4

t3

Figure. 12: Control Sequence

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6.5.2

Brake control provided by the elevator controller

If the elevator controller is controlling the brake, set #08.22 = 18.43. This setting changes the function of terminal 25 to be “motor magnetised”. The control sequence is as follows: 1. The elevator controller applies drive enable without a speed command. 2. The elevator drive is magnetising the motor and sets the signal „motor magnetised“ output. 3. The elevator controller releases the brake and waits for brake release delay. 4. After brake release delay the elevator controller applies the speed signals. 5. After the motor has stopped the elevator controller deactivates the speed signals. 6. After that the elevator drive applies the signal “stand still“. 7. The elevator controller applies the brake. 8. After brake apply delay the elevator controller deactivate the output. The elevator controller deactivates the enable and opens the motor contactor.

Terminal 31 = 24V Terminal 25 = 24V

Terminal 28,26,27,29=24V Terminal 28,26,27,29 = 0V Terminal 24 = 24V Terminal 25 = 0V Terminal 31 = 0V

It is recommended to set the brake release delay, #19.25, to a non zero minimum value (=100).

6.6

Direction Control (Terminals 27 and 28)

Before version 01.34.04 the control interface for terminal control was selected as follows: #19.26 = 0 Terminal control with 1 Direction signal - 1 Direction signal connected to Term. 28 - #18.42 speed selection by #18.42 = 0: “binary”, #18.42 = 1 : “1 of n” #19.26 = 1

Terminal control with 2 Direction signals - 2 Direction signals connected to Term. 28 and Term. 27 - #18.42 speed selection by #18.42 = 0: “binary”, #18.42 = 1 : “1 of n”

From version 01.34.04 Parameter #19.26 the control interface type could be selected as follows. #19.26 = -1 Terminal control with 1 Direction signal and “1 of n” speed selection - if terminal 28 is active / not active, the direction “DOWN” / “UP” is selected #19.26 = 0

Terminal control with 1 Direction signal and binary speed selection - if terminal 28 is active / not active, the direction “DOWN” / “UP” is selected

#19.26 = 1

Terminal control with 2 Direction signals and binary speed selection - if terminal 28 / 27 is active, the direction “DOWN” / “UP” is selected

#19.26 = 2

Terminal control with 2 Direction signals and “1 of n” speed selection - if terminal 28 / 27 is active, the direction “DOWN” / “UP” is selected

Change of the control interface To become a change of the control effective the following procedure must be followed: 1. store parameters in drive by setting parameter #01.00 = 1000 and press Reset button 2. cycle the power of the drive so that the display disappears when switched off The demanded direction can be inverted by setting #18.45 = 1. The applied direction is controlled during the travel. If there is a change of the demanded direction, the elevator will be stopped and the brake will be applied. If the demanded direction remains the same, the travel can be continued at any time. The opposite direction will only be accepted if the motor contactor has opened terminal 31 that will disable the drive.

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6.7

Profiles Terminal control

There are two different profiles that are selectable: 1. Positioning with creep speed 2. Direct-to-floor positioning For both profiles an additional floor sensor can be use, which provides the following benefits: a) The accuracy of the direct-to-floor positioning can be increased if the sensor is detected shortly before reaching the intended stop position. b) A quasi direct-to-floor positioning mode using creep speed positioning can be realised if the sensor is detected before creep speed would be activated. c) A distance controlled positioning at creep speed can be realised, if the sensor is detected during positioning. The functions of start optimisation, peak curve operation and short distance landing are available to optimise the different segments of the velocity profile.

6.7.1

Positioning with creep speed

Positioning with creep speed is used in most applications. Therefore it is also the default setting of the elevator software #20.13 = 0. The speed is applied according to the selected floor distance. The elevator controller controls the start of deceleration and then switches to creep speed and then the stop at the floor. The elevator controller selects speeds depending on the distance called for the by applying signals to the terminals of the Unidrive SP. #19.15 V

V: #18.12...#18.17

#19.15 #0.04

#0.03

#19.15 #18.11

#19.14

Calculated deceleration distance: #19.08

#19.16

#19.13

Speed signals Creep speed signal Level sensor Figure 13: Velocity profile with creep speed positioning including profile parameters. For the several profile segments, independent parameters for acceleration and jerk are available, with which the performance can be optimised. The relevant parameters are shown above. In additional to controlling the velocity profile, the required deceleration distance, dependent on the speed and profile settings, can be calculated and displayed in mm for the activated speed in #19.08. For setting the deceleration points, the speed has to be activated and the value displayed in #19.08 has to be set in the elevator controller. The deceleration distance depends on the load because it is not possible to control the distance. The measured deceleration distance is displayed after every travel in #19.10 in mm. In this mode the real time demand on the elevator control system is low due to the compensation functions available. With a typical cycle time of the elevator controller (5 ... 20 ms) and the elevator drive (8 ms) the minimal positioning distance with creep speed is calculated as: The max creep speed distance is: positioning distance [m] >= VNominal [m/s] * 30 ms The stop accuracy is: accuracy [mm]<= Vcreep speed [m/s] * 30 ms The time required for creep speed is: time creep speed [s]= positioning distance [m] / Vcreep speed [m/s]

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6.7.2

Direct-to-floor positioning

For some applications, especially those with high-speed elevators and long travel distances, direct-to-floor positioning control is often used. With this function, the speed is applied according to the selected floor distance. As a function of the distance to the desired final position, the elevator controller will disable the speed signal and the direct deceleration to the target position will take place. Creep speed positioning is not executed nor required. The following graph shows the characteristics of this motion profile: For the several profile segments, different parameters for acceleration and their associated jerk are available, with which the performance can be optimised. The relevant parameters are shown above. To go directly to the target, the deceleration is dependent on the required stopping distance. The maximum deceleration is limited to 2 * #0.04. If the correction of the deceleration rate is not sufficient, it is possible that the car will stop too late.

#19.15 V

V: # 18.12...# 18.17

#19.15

# 0.03 # 0.04 #19.14

Calculated deceleration distance: #19.08

#19.16

Speed signals Stop signal** Floor sensor ** Only if direct-to-floor positioning with stop signal Figure 14: Direct-to-floor positioning profile The distance to be controlled, in direct-to-floor positioning mode, uses as a reference the speed and profile settings to calculate the deceleration distance in #19.08 in mm. To set the deceleration points, the speed has to be activated and the value displayed in #19.08 must then be set in the elevator controller. During operation, the deceleration distance is controlled to this value independent of the load. The actual distance moved is displayed in #19.10 in mm The direct-to-floor positioning mode is enabled with parameter #20.13. The following settings can be selected: 1. #20.13 = 0 – Direct-to-floor positioning disabled, i.e. positioning with creep speed 2. #20.13 = 1 – Activate the direct-to-floor positioning with Stop signal via Analogue input 1 (T.5) 3. #20.13 = 2 – Activate direct-to-floor positioning with Stop signal via Analogue input 2 (T. 7) 4. #20.13 = 3 – Activate direct-to-floor positioning with Stop signal via Analogue input 3 (T. 8) 5. #20.13 = 4 – Activate the direct-to-floor positioning with disable the speed control signals

6.7.2.1 Position accuracy The deceleration distance is calculated from the activated speed. If the speed signal is deactivated (#20.13 = 4), then the stop signal is activated (#20.13 = 1...3) and the calculated deceleration distance will be controlled independent of the load level. At higher travel speeds the actual position where the car will stop is highly dependent on the time when deceleration begins. For example, if the I/O read cycle time of the drives inputs is 1msec, and if the cycle time of the elevator controller is 1msec the position accuracy is: Accuracy [mm] = Vnominal [m/s] * 2 mm. Because of this, the usage of direct-to-floor positioning is limited to about 1m/sec. At higher speeds, additional distance control for accurate stopping has to be used. For these higher speeds, an additional Floor Sensor should be used to control the final distance moved. This is explained in the following section.

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6.7.3

Floor sensor correction

Independent of the selected profile an additional floor correction sensor can be utilised. Accurate distance correction is possible if a floor sensor can be detected in the range of 50-500mm before the flush or level with floor target position. Given this: a) Rope slip can be compensated for as long as the normal stopping distance would be short without the additional compensation provide by the direct-to-floor positioning mode. b) A quasi direct-to-floor positioning can be realised if the additional sensor is detected before positioning travel at creep speed, in the creep-speed positioning mode. c) A Floor sensor correction can be utilised if detected during the positioning travel at creep speed, in the creep-speed positioning mode.

#19.15

V (1)

(2)

(3)

#0.04 max. 2 * #0.04[0]

#18.11

Target correction Distance: #18.19

max. #19.16

Speed signal Floor sensor signal** Creep speed Floor sensor ** only if available Figure 15: Floor sensor correction profiles The floor sensor correction uses as a reference, the floor sensor target distance in #18.19 in mm. The floor sensor target distance is controlled independent of the load to the value of the remaining distance to the floor sensor in mm as displayed #18.09. Additionally #19.09 displays the distance relative to the flush or level sensor, in mm, at which the floor sensor signal was recognized.

If the Stop distance is too low, or the floor sensor signal was given at too high speed, it is possible that the car will not be able to stop smoothly and a hard stop will occur (see Figure 15 profile (3)). Using parameter #20.14 the source of the floor sensor signal can be selected: 1. #20.14 = 0 – Floor sensor correction disabled 2. #20.14 = 1 – Floor sensor correction via Analogue input 1 (T. 5) 3. #20.14 = 2 – Floor sensor correction via Analogue input 2 (T. 7) 4. #20.14 = 3 – Floor sensor correction via Analogue input 3 (T. 8) 5. #20.14 = 4 – Distance controlled creep speed

Note

The Floor sensor correction or the distance controlled creep speed can only be used in closed loop or servo mode. In open loop mode, a normal deceleration with the ramp parameter will occur.

To enable the Floor sensor correction, set #19.42 = 1. If #19.42 = 0, the function of the floor sensors can be checked. All measured values depending on the floor sensor like the deceleration distance, time from floor sensor and speed at floor senor will be displayed. This means, that the function of the floor sensor correction can be proofed, before it is activated.

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6.7.3.1 Mode 2, 3, 4: Floor sensor correction via analogue input (#20.14 = 1...3 – curve 2) If the floor sensor correction signal is activated, the floor sensor controls the target distance. Because of direct deceleration from a higher speed, the real time demand on the control system is high and highly dependent on the parameter settings and I/O speed. For example, if the cycle time of the elevator controller is 1msec and of the drives inputs is also 1msec the position accuracy is: Accuracy [mm] = vabstell [m/s] * 2 mm. It should be noted that the Floor sensor correction signal should be activated instantaneously at that position which is #18.19 (Floor sensor target distance) millimeters away from the floor sensor. The stop signal can be used for all speeds. The creep speed signal can be deactivated at any time after the floor sensor correction signal is activated. If the creep speed signal is still active at standstill the motor will accelerate to creep speed. 6.7.3.2 Mode 5: Distance controlled with creep speed (#20.14 = 4 – Curve 1) If the creep speed signal is deactivated, the controlled stop distance #18.19 will be controlled. The relevant profile parameters are #19.13 (deceleration) and #19.16 (jerk). In this case, because the deceleration is from creep speed, the real time demand to the elevator controller is low. For example if the cycle time of the elevator controller is 10ms and the elevator drive 1ms, the accuracy can be calculated and the stop accuracy would be: Accuracy [mm] <= vcreep speed [m/s] * 11 mm

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Terminal control

2

4

Medium 1

Medium 2

V2 RL V4

Br

En

V0

V3

V1

UP / DOWN

Creep speed

OK 0V 0,3 VI

5

Drive enable

3

Brake

1

Nominal

V < 0,3 m/s K1

Releveling

ELEVATOR CONTROLLER

L1 L2 L3 PE

Inspection

6.8

NC contact to switch of K1

6

13

K2

*

14

Line filter

13

KF

Rb 14 22

PE L1 L2 L3

+

BR

11 A4

-

Kl. 26 Kl. 27 Kl. 29

Unidrive SP

24

0V

= = =

26

27

E/A1 E/A3

28

E4

7

E5

Inspection speed Nominal speed Creep speed

25

A2

30

E/A2

Kl. 5 Kl. 7 Kl. 8

31

0V

= = =

29

E7

E6

V

W

A 1

/A 2

B 3

/B 4

Z 5

/Z 6

U 7

/U 8

V 9

/V 10

A1+

Medium speed 1 Releveling speed Medium speed 2

ENCODER SUB-D15 U

5

W

11

/W +5V 0V

12

13

8 A3

6

3

A1-

0V

Motor contactor control 1) 41

If sincos encoder with 1Vss signals are used a double screened encoder cable is recommended. The inner shield is connected double sided to 0V and the overall shield is connected double sided to the housing/ PE. ** The U, /U, V, /V, W, /W commutation signals are required with an incremental type encoder when used with a servo motor

42

14

13 21 31 43 1

3

5

2

4

6

1

3

5

2

4

6

K2 K2

14 22 32 44

KF

13 21 31 43

K3 14 22 32 44

M 3∼

K3

ENCODER** SINUSGEBER*

Ua1 /Ua1 Ua2 /Ua2 Cos /Cos Sin

/Sin Dat /Dat

U

/U

V

/V

W

/W +5V 0V

Clk /Clk +5V Only Endat

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0V

Safety circuit

Finder- Relays or other solution for switching the motor contacter with zero current


7 Setup the parameters There are several possibilities to setup the parameters. For setting the parameters directly at the Elevator drive two different Displays are available. The SM Keypad with a LED display and the SM-Keypad Plus a keypad with an alpha-numeric LCD display with Help function. Both displays can be fitted or removed with drive powered up. The drive can also be used without keypad. It is also possible to setup the drive via the DCP Protocol. The parameter of the elevator drive will be displayed in the display of the elevator drive. The setup of the elevator drive can be done with the elevator controller keypad. So it is not necessary to have a keypad fitted to the drive. The setup and the display of the parameter directly at the drives display or with the elevator plc is similar. This makes it possible to use in the following chapters the same representation of functions and settings.

7.1

Handling of the display Status mode:

Help button

Drive status und value

Edit mode: Parameter and value

Status mode:

Parameter text or Helptext

Scroll up and down in the selected menu

Mode button

Change parameter value

Edit mode:

Change between Status and edit mode

Status mode: Select menu

Reset

Edit mode: Scroll right and left

Figure 16: SM Keypad Plus

Status mode: Drive status

Parameter value

Edit mode: Parameter

Figure 17: SM Keypad NOTE:

The LCD Display is recommended for set up the parameter. It has the capability to display helptext for the different parameter. Furthermore are the displayed text in the LCD Display similar to the displayed text in the elevator plc. Only one of these two operator panel is required. After the commissioning the LCD Keypad can be removed and can be used for the commissioning of the next elevator drive.

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7.2

Remote keypad operation with the Lift Controller (DCP)

If DCP- Interface is used it is possible to set up the parameters via the remote keypad operation of the lift controller keypad The set up of the parameters with the lift controller keypad is similar to the Unidrive SP keypad. After enable the remote keypad operation the parameter displayed at power up is #0.10. This is the same behaviour like the Unidrive SP. With the evaluation of the keycode the parameters of the Unidrive SP are selected and changed. The following figure shows the available buttons of the lift controller:

The handling of the remote keypad operation is as follows: Button / Aktion Enable remote keypad operation M key ⇑ key ⇓ key ⇐ key or ⇒ key

Action in status mode (Static display) Display Status of the drive and #0.10 Increase Parameter number Decrease Parameter number a) F- Menu (>V1.25 mit #19.47 = 1): ⇒ No function else (if < V1.26 or #19.47 = 0 b) Menu 0 operation (#19.50 = 0): ⇒ Change Menu 0 assignment c) Menu 1 – 22 access (#19.50 = 1): ⇒ Change menu number Enter edit mode

Action in edit mode (Digit is flashing) -- : -Increase Parameter value Decrease Parameter value Increase / Decrease digit

Return to Status mode M key or ⇑ und ⇓ together (Böhnke / Osma / Strack) Leave remote keypad operation ESC for 3s (MPK400) / END for 3s (BP306) / ESC+CR (SLC4) / ESC+RET (BMPS) For the remote keypad operation 4 lines with 16 characters are used for the simulation of the Unidrive SP display. Display line left-aligned right-aligned 1. line: Status (INH, RUN, READY, FAULT, …) Typ of the Parameters (RW or RO) 2. line Parameter number (mm.pp) Parameter value 3. line Parameter name 1. line Parameter name 2. line 4. line

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7.3

Parameter structures

7.3.1

Arrangement of the Parameters in the Unidrive SP

The parameters of the Unidrive SP are arranged in menus according their function. Following groups of menus exists: Menu 0: Menu 1 – 13: Menu 14 – 17: Menu 18 – 20: Menu 21 – 22: Menu 40 – 41:

Basic Menu 0 Parameters Basic Drive Functions Parameters Drive Option Parameters Available Application Parameters 2nd motor map / Menu 0 Settings LCD Keypad Parameters

The Elevator software uses the application menus 18 – 20 mainly. Functions are described in this document. To simplify the operation for the elevator application, the main drive and elevator function parameters were arranged in Menu 0 with 6 different configurations, switched over by parameter 0.12 according menu 0 chapter. Because switching between 6 configurations could become confusing, a new feature of the LCD keypad was introduced in V1.26, which allows the setup of the most used functions over 1 menu, the F(ast setup)- Menu.

7.3.2

F- Menu Operation

The F- menu consists of 50 free selectable parameters, which was ranged in the order of the setup to guide the user. The arrangement of the parameters shows the F-Menu parameter list at the end of this manual.

7.3.2.1

F-Menu of the LCD Keypad SM-Keypad Plus

ATTENTION: The Elevator F- menu and functions are only supported by a SM-Keypad Plus programmed with correct LCD text file. Pls find at the end of this manual the arrangement of the parameters of the F-menu of a LCD Keypad SMKeypad Plus programmed with Elevator text file parameters. The display could be changed between F-menu mode or expert mode with access to all parameters using parameter F51 / #41.51 as follows. • Activate F-Menu display: • Activate Expert –Mode display:

7.3.2.2

#41.51 = Filter + new parameter > Display changes to F- Menu F51 = Normal + new parameter > Display changes to Unidrive SP

F-Menu over Remote Keypad operation

ATTENTION: The following described function is only available from SW V1.26 of the DCP Elevator Software K1061-6. The arrangement of the F-menu parameters is pre-selected according the F-menu parameter list at the end of this manual. The arrangement is over Menu 74 (Open Loop) and 75 (Closed Loop Vector/ Servo) with up to 100 parameters free programmable. The programming is done by entry of the parameter number #ab.cd as number abcd. The parameter F-1 is defined by #74.01 (OL) and #75.01 (CL). Parameter numbers from 0.01 to 71.99 are valid. Incorrect or not available parameter numbers are not displayed. The end of the list is defined by value of 0 in the parameter and the following parameters until #74.99 or #75.99. The display could be changed between F-menu mode or expert mode with access to all parameters using parameter F51 / #41.51 as follows: • Activate F-Menu display: #19.47 = 1 (Filter) > Display changes with next keystroke to F-Menu • Activate Expert –Mode display: F- 51 = 0 (Normal) > Display changes with next keystroke to Unidrive SP-Menus

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7.3.3

Menu 0 Structure:

The menu 0 of the Unidrive SP is structured as follows: The parameters #0.00 - #0.12 and #0.31 - #0.50 are fixed and have a single meaning but the #0.13 - #0.30 can be selected in sets or groups by the user. Menu 0, parameter #0.12, can be changed to select different sets or groups of elevator parameters. These are: [0] [1] [2] [3] [4] [5]

Basic Parameters Installation Parameters Control Parameters Distance Parameters Diagnostic Parameters DCP Parameters

After power-up or the saving of parameters, the standard configuration for #0.13 - #0.30 is loaded automatically. By setting parameter #0.12 to the predefined codes 1, 2, 3 or 4, other configurations of #0.13 - #0.30 are selected as shown in the following figure: Using Menu 0 initiates Auto- Save of parameters changes, so it is not neccesarry to select #0.00 = 1000 and press Reset Button for parameter save! In this documentation the value of #0.12 is shown in square brackets after the menu zero parameter to indicate which configuration is selected. For example: • Parameter #0.26 of the elevator parameters #0.12 = 1: • To select parameter #0.18[2]

⇒ ⇒

#0.26[1] Set #0.12 = 2 and select #0.18 #0.12 = 5 #0.12 = 4

Fixed Assignment #0.00 #0.01 ... #0.12

Switched Assignment #0.13 #0.14 ...

#0.12 = 3 #0.12 = 2 #0.12 = 1 #0.12 = 0: [0] Basic Parameter #0.13[0] = nB #0.14[0] = VB ...

#0.37

#0.12 = 1: [1] Installation Parameter #0.13[1] = VSchwelle1 #0.14[1] = VSchwelle2 ...

#0.12 = 2: [2] Control Parameter #0.13[2] = L1SIGMA #0.14[2] = I-Filter ...

#0.12 = 3: [3] Distance Parameter #0.13[3] #0.14[3] ...

#0.12 = 4: [4] Diagnostic Parameter #0.13[4] #0.14[4] ...

#0.12 = 5: [5] DCP Parameter #0.13[5] #0.14[5] ... #0.30[5]

#0.30[4]

#0.30[3]

#0.30[2]

#0.30[1]

#0.30[0] = Strichzahl Fixed Assignment #0.38 #0.39 ...

Remote operation via Lift controller

#0.50 #0.51

Figure 18: Menu 0 Structure

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7.4 7.4.1

Mode examples and handling SM Keypad after power up

Status

Display

Keypad Plus

Initialising

Initialising Ver: 01.00.00

Keypad Plus

Only first power up

READING DATABASE

Drive

Keypad Plus

Only first power up

PROGRAMMING FLASH

Drive Display operating Mode

inh SErVO Operating mode

inh 0.0 Motor speed

Initialising finished Drive ready

7.4.2

trip

Enc3

If the drive has tripped the display is flashing. See diagnostic.

Select Parameter inh 0.0 Motor speed

Status For Parameter Mode press the M one of the arrow keys .

key or

M 0.10 0.0 Motor speed

Upper display flashing

Use key or parameter for editing.

key to select a 0.14 800 [0] Nominal elevator speed in mm/s

7.4.3

Edit parameter

To enter Edit Mode press the Parameter value is flashing.

M

M

key.

0.14 800 [0] Nominal elevator speed in mm/s Select a character with

key or

Change parameter values using or key.

key. key 0.14 900 [0] Nominal elevator speed in mm/s

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To exit Edit Mode , press the

M key.

To return to Status Mode press M after a delay time of 240s the display returns to Status Mode.

0.14 900 [0] Nominal elevator speed in mm/s

key or

7.4.4

Edit Parameter in another Menu 0 level For Parameter Mode press the M key or

M

one of the arrow keys. 0.14 900 [0] Nominal elevator speed in mm/s Select Parameter #0.12 with UP DOWN key.

key or

0.12 0 Menu Selector To enter Edit Mode press the M Parameter value is flashing.

key.

M 0.12 0 Menu Selektor

Change parameter value using or key.

key 0.12 1 Menu 0 Selector

To exit Edit Mode , press the M

key. 0.12 1 Menu 0 Selector

Use key or parameter for editing.

key to select a

To enter Edit Mode press the M Parameter value is flashing.

0.15 480 [1] Sheave Diameter in mm

M

key.

Select a character with key or Change parameter values using key.

0.15 480 [1] Sheave Diameter in mm key key or 0.15 320 [1] Sheave Diameter in mm

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8 Setting and Optimisation Functions 8.1

Nominal elevator rpm calculation and adjustment

The ratio is set by nominal elevator rpm parameter #0.13[0] (#18.29), and the nominal elevator speed #0.14[0] (#18.30). The nominal elevator rpm is defined by the mechanical conditions as follows: i / Gz G

#0.13[0] (#18.29) [nNominal ] = #0.14[0] (#18.30) [vNominal] * iG * Z * 60 / (π * D * GZ) vNominal With:

nNominal vNominal Z D iG GZ

D

nNominal

#0.13[0] (#18.29) in min-1 #0.14[0] (#18.30) in mm/s #20.10 (1=1:1 / 2=2:1 / 3=3:1 / 4=4:1) #19.29 in mm #19.30 #19.27

- Nominal elevator rpm - Nominal elevator speed - Roping (1, 2, 3 or 4) - Sheave Diameter - Gear Ratio Numerator - Gear Ratio Denominator

After adjustment of these parameters, the nominal elevator speed is displayed by parameter #18.03 in rpm but could be further adjusted in #0.13[0] (#18.29). Although the calculations are exact, manual corrections may be necessary. This is achieved by changing the value of parameter #0.13[0] (#18.29) as follows: • If the speed of the elevator is too high, the nominal rpm #0.13[0] (#18.29) must be reduced. • If the speed of the elevator is too low, the nominal rpm #0.13[0] (#18.29) must be increased.

8.1.1

Fine adjustment of the operational rpm and operational speed with DCP4

The control interface DCP4 (Absolute encoder present) allows a fine adjustment of the ratio using the measurement of the travel distance of the drive and the controller, if the controller supplies the I9- telegram. Up to V1.29 a corrected operational speed is calculated and displayed in parameter #20.35. The value has to be transferred into parameter #18.30 to take effect. To prevent a correction of the operational rpm #18.29, which will cancel the correction, the automatic calculation of the operational rpm #19.31 = 1 is automatically reset in DCP4 mode. From V1.31 onwards a new sheave diameter D is calculated from the measured distances and displayed in parameter #20.35 in mm. This value is then to put into Parameter #19.29. The advantage of this changed method is that the automatic calculation of the operational rpm (#19.31 = 1) could be activated. It will not be automatically cleared in V1.31. If the automatic calculation is not activated (#19.31 = 0), the calculated operational rpm has to be taken out from #18.03 and to be adjusted in #18.29 to take effect.

8.1.2

Additional speed limit via #01.06

In Version V1.31 an additional speed limit was introduced using Parameter #01.06, which will limit as well the speed setpoint as the operational rpm #18.29 and so the ratio and the acceleration.

8.1.3

Display of cabin position #20.38

In Version V1.34.XX an additional display of the cabin position with parameter #20.38 was added. There are 2 operation modes possible, which can be changed with parameter #70.63 as follows: #70.63 = 0: #70.63 <> 0:

#20.38 = Display of the position relative to the last stopp in mm (as before) #20.38 = Display of the absolute position of the cabine in the shaft. The reference to the absolute position can be done by setting #20.38 at stopp to the absolute position. The position change will be calculated from the motor encoder when the drive is powered. The absolute position can be used as a SSI output using the option module SM Universal Encoder Plus. For more information pls refer to the manual SM Universal Encoder Plus. Because of rope slip the position reference can be lost after some time.

Default setting of parameter #70.63 = 0 so that parameter 20.38 behaves as before.

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8.2

Profile optimisation

8.2.1

Start profile optimisation

To overcome static friction or difficult starting problems a starting optimiser function is available. This function is activated by setting #19.28 > 0. Also, #18.18 must be set > 0. Jerk in mm/s3 for starting optimisation Time in ms for starting optimisation Target speed in mm/s for starting optimisation

#19.17 #19.28 #18.18

Setting from 10 up to 20 (must be less than the acceleration jerk #0.22, smaller values give smoother but also slower acceleration Setting between 500...800ms Setting between 2...5mm/s

V

#19.17

#19.28 #18.18

Figure 19: Start profile optimisation If the target speed #18.18 is not reached during the time #19.28 there is a continuous transition to the nominal acceleration.

8.2.2

Deceleration and stopping distance calculation

If the speed or profile parameters are changed then the deceleration or stopping distances will probably change. The elevator controller could compensate for these changes. To change the parameters in the elevator controller correctly, the drive calculates the deceleration and stop distances and displays them in the following parameters: Display #18.09 #19.05 #19.08 #19.09 #19.10

Creep speed positioning Remaining floor sensor distance Stopping distance (from v1 to v=0) in mm Calculated deceleration Distance from vset to v1 in mm Speed at floor sensor activation in mm/s Measured deceleration Distance from vset to v1

Direct-to-floor positioning Remaining floor sensor distance Stopping distance in mm Calculated deceleration Distance from vset to 0 in mm Speed at floor sensor activation in mm/s Measured deceleration Distance from vset to 0 in mm

The profile parameters and the creep speed setting are used for calculating distances. At a default setting, the creep speed in parameter #0.15[0] (#18.11) is used. This assignment can be changed with #20.12. The calculated deceleration distance for speeds #18.12 - #18.17 will be displayed in parameters #02.13 #02.18 and for speeds #20.22 - #20.24 in parameters #02.23 - #02.25 according the following table: Speed in mm/s Distance in cm

#18.12

#18.13

#18.14

#18.15

#18.16

#18.17

#20.22

#20.23

#20.24

#02.13

#02.14

#02.15

#02.16

#02.17

#02.18

#02.23

#02.24

#02.25

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8.2.3

Profile optimisation - Peak curve operation

This function guarantees a constant stopping distance, independent of the moment when the signal to stop occurs. This allows the use of a single speed for different floor levelling distances. The Peak curve operation is enabled by setting #18.47 = 1 (Default = 0) and for SW version < 1.29 only when priority speed selection #18.42 = 1 is also enabled. Depending on the speed when the speed signal is disabled, 3 different results can occur: 1. If the final speed is achieved ⇒there is no influence on the speed profile. 2. If increasing or constant acceleration ⇒braking occurs with normal profile parameters in the calculated time. 3. If decreasing acceleration: ⇒ transition to stop, the profile parameters are automatically adjusted Calculated Braking Distance #19.08 Set-point Peak curve Distance #19.06 V1...V3 Vs Figure 20:

Normal run

Peak curve operation

The reference speed before and after speed reduction is used as the calculation base for the controlled stopping distance. The set-point Peak curve Distance is calculated from the profile parameters and displayed in #19.06. This value is equivalent to the deceleration distance for the applied speed. The braking distance is measured during peak curve operation and displayed in #19.07. Attention: Condition for correct function of peak curve operation is the correct assignment of the creep speed. Preset setting is parameter #18.11. If any other set-point speed is used as creep speed e.g. #18.14, this can be assigned using parameter #20.12 (eg. #20.12 = 1814) Attention: The activation of speed curve operation is caused by transition from run speed to creep speed during acceleration. If the transition is not definite eg. with binary selection intermediate speed selections could occur. To exclude the influence of the intermediate speed selections a new filter time #70.87 was introduced in V1.29, which has to be adjusted to the time of the intermediate states. Parameter #70.87 can be adjusted using the LCD Keypad or the PC Software LiftSP.

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8.2.4

Fast Stop

The Fast Stop function was introduced in V1.26 to allow a faster but controlled stop of the elevator in inspection mode. The Fast Stop function is activated depending of the selected control interface as follows: a) Parallel or terminal interface (#19.26 = -1, 0, 1 or 2) If during the travel a speed (preferred speed V3 #18.13) is selected which is programmed to 0 mm/s, the Fast Stop function is selected as long as this selection is active. b) DCP interface (#19.26 = 3 or 4) If during the travel a speed change telegram (Command Byte Bit 5 = 1) selects speed V_G2 = 0 (Speed byte Bit 2 = 1), the Fast Stop function is selected until stop. In Version V01.35.00 the activation of the Fast Stop Function according DCP Specification V1.0.0.8 using the Speed telegram (DCP3: B3=1, B2=1, B1=1, B0=1; DCP4: B3=1, B2=1, B1=0, B0=1) with speed VF (0x0004) in the data bytes was added. If the Fast Stop function is active, the elevator is stopped with the Fast Stop deceleration ramp #21.05 until standstill. Parameter #21.05 was added as Fast Stop ramp (Closed Loop in m/s2 / Open Loop in cm/s2). The change of the acceleration is fixed with 200ms to prevent jerk althrough fast deceleration.

Fast Stop #21.05

Fig. 14: Fast Stop operation

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8.2.5

Fast Start

In Software Version V1.29 is a new Fast Start function available, which allows to magnetise the motor and open the brake when the doors are closing. The car is hold in the position and could immediately start moving when the doors are completely closed, which saves a lot time. Attention: The Fast Start function should only be used in the door zone region. The safety cicuit has to be bridged in a suitable way. The requirements of EN81-1 has to be followed. The activation of the Fast Start function depends on the used control interface as follows: a)

Parallel or terminal interface (#19.26 = -1, 0, 1 or 2) Activation of the Fast Start function: The Fast Start is activated by activation of the Fast Start input controlling #19.46 with no speed selection (#18.10 = 1810). Transition from Fast Start to normal Travel: The Fast Start function is completed, if a speed selection is activated (#18.10 > 1810) and a normal travel is started with the selected speed. Travel interruption from Fast Start with „Electric Hold“: If the Fast Start input is de-activated before a valid speed selection is applied, the Fast Start function is aborted. The brake will be closed immediately. After completing the brake sequence, the motor will be de-magnetised and the main contactor opened.

b)

DCP interface (#19.26 = 3 or 4) Activation of the Fast Start function: The Fast Start is activated by a speed selection telegram (Command Byte Bit 0 and 3 = 1) with speed selection V_G2 = 0 (Speed Byte Bit 2 = 1). Transition from Fast Start to normal Travel: The Fast Start is completed, if a new speed selection telegram (Command Byte Bit 0 and 3 = 1) or a speed change telegram (Command Byte Bit 5 = 1) is applied. The travel will start immediately with the speed selected in the Speed Byte. Travel interruption from Fast Start with/ without „Electric Hold“: The Fast Start function can be aborted without “Electric Hold” by Command Byte = 0 or with “Electric Hold” by Command Byte Bit 0 = 1. The brake will be closed immediately. After completing the brake sequence, the motor will be de-magnetised and the main contactor opened.

For more information about DCP Fast Start sequence and abort see DCP Specification www.kollmorgen.de.

8.2.5.1

Fast Start Monitoring

To monitor the movement during Fast Start a new feature was introduced in V01.34.00. The Fast Start Monitor causes the drive to Trip immediately if the motion during Fast Start exceeds the distance in #70.59 in mm and distance #70.59 is set > 0. If Fast Start not used or the monitoring function is not needed the monitoring function can be disabled by setting #70.59 = 0. After default setting the function is disabled (#70.59 = 0).

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8.3 8.3.1

Speed Loop Optimisation Speed loop optimisation

With common speed loop gains the following parameters can be used for optimisation the speed loop. P –Gain Higher values improve the smooth running and the stiffness #0.07 (#03.10) Use values between 0.100 (Incremental Encoder) and 0.500 (Sincos). I -Gain Higher values decrease the effect of the load; smaller values #0.08 (#03.11) reduce the overshoot of the speed loop. Usually adjust the value between 1.00 and 5.00 D –Gain Operates as a feed forward term in the speed loop; #0.09 (#03.12) Increased values reduce overshoot of the speed loop However, normally not used: set to 0. Speed feedback Used with high inertia loads and high gains to smooth the torque #03.42 filter in msec demand and prevent latch up effects of the speed loop Torque demand Acts in the speed loop output, reduces acoustic noise caused by #04.12 filter in ms high speed loop gains Typically user values are between 0 and 5

8.3.2

Separate speed loop gains for start and run (#18.48 = 1)

The default setting of the gain control is separate speed loop for starting and running, which is needed for gearless winches or winches with planetary gearboxes. This feature is activated with #18.48 = 1. This offers different speed loop gains for run #18.25 / #18.26 and brake release #18.27 / #18.28. The parameters #0.07 (#03.10) and #0.08 (#03.11) are only display parameters and cannot be changed. If common gains are selected by #18.48 = 0, both sets of P- gain and I- gain get their values from #03.10 and #03.11. The transition from starting gains to the normal run gains starts after the brake released and is linear the transition time #19.11, to prevent transitional effects. When the brake releases gain values 2 times or 3 times higher can be used. As a result the position error caused by the load can be reduced to ¼ or 1/9. To prevent roll-back the I-gain for Starting #18.28 has to be increased.

#18.27

#19.11

#18.28 #18.25 #18.26

#04.23

#04.12

Figure 20: Standard transition speed loop gains 47/81

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The following parameters are available to optimise the speed loop: #18.25

P- Gain run

#18.26

I-Gain run

#18.27

P- Gain start

#18.28

I- Gain start

#19.11

gain transition time in msec Current demand filter run Current demand filter start

#04.12 #04.23

8.3.3

Higher values improve the smoothness during run Use values between 1000 (Encoder) and 20000 (Sincos) Higher values decrease the effect of the load, smaller values reduce the overshoot. Typically use values between 25% and 50% in #18.25 Higher values improve the smoothness during run and stiffness Use values between 1000 (Encoder) and 20000 (Sincos) Higher values decrease the effect of the load and hence the amount of jerk when the brake opens. Use values between 50% and 200% of #18.27 Change of the speed loop gains from brake opening to normal run beginning with the ramp start. Default 500 = 0.5 s. Reduction of control noise caused by high speed loop gains or low encoder resolution (< 4096) Reduction of control noise caused by high speed loop gains or low encoder resolution (< 4096) during start

Separate Speed Loop Gains for all travel sections (#18.48 = 1 und #19.48 = 1)

Using this mode each section of the travel can get it’s own gain setting. This mode can be used for critical lifts, if the approaching gains have to be separated from the running gains. The transition between the gains is proportional controlled with the speed. The running gains for constant speed are reached at nominal speed. The following parameters can be used: Travel Section

Start

P- Gain Speed Loop I- Gain Speed Loop Current Demand Filter P- Gain Current Loop I- Gain Current Loop

# 18.27 # 18.28 # 04.23 # 20.25 # 20.26

Run at constant Speed # 18.25 # 18.26 # 04.12 # 04.13 # 04.14

Approach # 20.27 # 20.28 # 21.16 # 21.22 # 21.23

#18.27 #20.27 #18.28 #20.25 #20.26

#20.28

#18.25 #18.26 #04.13

#21.22 #21.23 #21.16

#04.14 #04.23

#04.12

Figure 21: Separate Speed Loop Gains for all travel sections

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8.3.4

Position controller for brake release

The position controller is especially suitable for gearless elevator winches or elevator winches with planetary gear boxes to assume control of the load when the brake opens. This control has the same aim as the separation of the gains for brake opening and normal run. Both methods can be used at the same time. The position controller uses a PD- controller, which tries to hold the car in the position, when the brake opens. The position controller is only active until the ramp starts – it acts against the movement of the car when the brake is released. If the P- gain #19.20 > 0, then the car is drawn back to the position where it had been before the brake was opened. The maximum position difference is determined by the value of #19.20. Settings from 3 up to 30 are recommended. The D- gain #19.12 prevents a fast movement of the car. It provides a soft reaction and minimal position error. Settings from 10 up to 100 are recommended. The effects of the gains are limited by the stiffness of the speed loop. The encoder type mainly determines the maximum speed loop gains possible. Sincos encoders provide the highest performance. #19.20

P- gain start locking

#19.12

D- gain start locking

Note

8.3.5

Values > 0 hold the sheave in the position, when the brake opens, higher values reduces the jerk. Use values between 3 and 30 Values > 0 prevents a movement of the sheave, when the brake opens and reduces the jerk. Use values between 10 and 100

This function is only active if a speed #18.10 > 1810 is selected. A speed is selected if the drive displays “run”. If “STOP” is displayed by the drive this function is inoperative.

Inertia compensation

This function controls the dynamic acceleration torque for movement of the lift car in parameter #04.09. This allows to reduce the speed loop gains without loosing the dynamic performance. This is especially important when the encoder is not ideally backlash free mounted to the motor shaft. The inertia compensation is enabled with #18.49 = 1 and writes then on parameter #04.09 as shown in control diagram – Figure 8.

Fig. 8: Logikstruktur der Lastmessung und der Trägheitskompensation

The setting of the gain #19.19 should be adjusted so that the changes in #04.09 are identical to the changes of the speed controller output #03.04. This results in a nearly constant speed controller output #03.04 as shown in Fig. 9 when the torque feed forward #04.09 is enabled with #04.10 = 1.

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Without Inertia Compensation

With Inertia Compensation

Acceleration Torque #04.09

Speed Loop Output #03.04

Fig. 9: Setting. Activation and Effect of the Inertia Compensation

8.3.6

Load cell compensation

The load cell compensation is enabled by parameter #18.46 = 1. It realises the torque compensation of the cabin load. The following load signals could be used: a) a voltage signal +/-10V proportional to the cabin load connected to terminal 7 and 11 (0V) displayed in parameter #07.02 in percent or b) a load value in the I8- protocol of the DCP interface (from SW V01.35.00) proportional to the cabin load and displayed in parameter #12.43 in percent To scale the load signal into motor torque a load offset parameter #19.22 (1000 = 100%) and a load gain parameter #19.21 (1000 = 100% Tn) can be adjusted. The load value will be measured until the start and frozen for the travel. The tuning of gain and offset could be done by scope function or with measurements with different loads at standstill. The standstill could be achieved by increasing the brake release time #19.25 to 10000 msec. For this measurement the load cell compensation should be enabled #18.46 = 1, but the effect should be disabled with #04.10 = 0. The following measurements are done: Load Empty cabin Half Load Full Load

#4.09 X1 X2 X3

#4.20 Y1 Y2 should about 0.0 Y3

Die setting of gain and offset could be calculated as follows: 1. Offset #18.22 = 10 * X2 2. Gain #18.21 = 1000 * (Y3 - Y1) / (X3 - X1) After correct adjustment the value of #04.09 and #04.20 after brake release should be identical. The torque feed forward #04.09 is enabled with #04.10 = 1. If inertia compensation was disabled to adjust gains it should be re-enabled with #18.49 = 1.

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8.3.7

Automatic Brake Load Compensation

The automatic brake load compensation does measure the brake load at stopping and applies the value as torque feed forward for the next start. This allows to compensate a twist of the motor shaft caused by a wear out brake to prevent the noise when releasing the brake at the next start if tension built up in the brake. The automatic load compensation is enabled with the following parameters: #71.62 = 1 1 = Enable Automatic Load Compensation #71.63 = xx Measured Load when stopping in 0.01% After enabling the automatic load compensation the correction can be enabled with #04.10 = ON.

8.3.8

Following error detection

The Following error detection is used to protect against the following failures: • Errors in the motor connection and phase co-ordination • Errors in the encoder connection and encoder functionality • Errors in the motor model including feedback phase angle (brushless synchronous motors) To provide maximum protection the following speed and position error detection functions are provided. Trip 70 – Speed error The speed error is calculated from the difference between the ramp speed #19.03 to the actual speed of the motor #19.02. This error is compared with the setting of the threshold #19.24. If threshold is exceeded for more than 100msec an error trip 70 is generated. If #19.24 = 0 the function is deactivated. The maximum speed error during one travel is displayed in #18.07 independent of the activation of the error detection. The display is set to 0 on each start. Trip 71 - Distance error The position error is the integral of the difference between the ramp speed #19.03 and the actual speed of the motor #19.02. The error is compared with the threshold given by #19.18. If the value is exceeded the trip 71 is generated. If #19.18 = 0 the function is deactivated. The maximum speed error during one travel is displayed in #18.07 independent of the activation of the error detection. The display is set to 0 with each start.

8.3.8.1 Open Loop Mode Trip 70 - Speed error If the current limit active (#10.09 = ON) longer than the time in #19.24 the trip 70 is activated.

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Load timeconst.

Load Input

Load scaling #19.19 1000

#07.02 TF: #19.23

Load Offset

Inertia scaling

#19.22

#19.19 1000

#19.04

Set Acceleration #19.03

#18.08

Ratio Speed Loop Gain Switch

#18.29 #18.30

Set Speed

#18.49 = 1 & #0.10 = 0 (Stop)

#04.09

Run Gains

Current Demand Filter

#01.21

Position Loop KP: #18.25 KI : #18.26 #03.19

#03.01

0

#05.02

1 1

Start Gains

KP: #19.20 KD: #19.12

Speed Loop Output

x -1

KP: #04.13 KI : #04.14 TF: #04.23

KP: #18.27 KI : #18.28

KD: #03.12

#04.02

1 Second

dt

Trip 70

Ratio inverted #18.30 #18.29

#19.24

#18.30 100

Voltage

0

#03.04

#03.03

Current Loop

TF: #04.12

Active Current

Speed Error Trip

Trip 71

0 1

Position Error Trip

Actual Speed

#19.18 #03.02

Figure Pic. 22: Overview over the control loops structure

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8.4

Saving drive settings when changing the drive mode

The motor, interface and elevator parameters are stored in the non-volatile ram in the SM-ELV option module. The configuration can completely restored after a drive mode change provided the following procedure is followed: 1. #01.00 = 1255 (EUR) or 1256 (US) 2. #00.48 = Set drive mode 3. Press the reset button –the drive mode change will then be executed The following parameters are restored after drive mode change: # 02.11 # 02.21 # 03.34 # 03.36 # 03.38 # 04.09 # 05.06 # 05.07 # 05.08 # 05.09 # 05.10 # 05.11 # 08.21 # 08.11 # 08.31 # 08.22 # 08.12 # 08.32 # 08.14 # 08.25 # 08.15 # 08.26 # 08.16 # 08.27 # 12.27

# # # #

04.13 # 04.14 05.18 08.23 # 08.13 # 08.33 # 08.24 08.17 # 12.06 # 12.07 # 12.26

If step 1: setting #01.00 = 1255 (EUR) or 1256 (US) is not executed, the factory default settings will be restored to the drive without saving the application parameter settings. When the drive mode is changed from Open to Closed Loop or Servo, the following parameters are restored: # 04.12 # xx.10

# xx.15

# xx.13

# xx.16

# 03.25

Using this function the elevator can be operated without any additional settings after a mode change to Closed Loop or Servo has occurred.

8.5

Load measurement for emergency rescue

The load measurement determines the load difference between the cabin and the counterweight. It can be used to decide the direction for emergency rescue or to generate an overload signal. The measurement is activated by setting #20.08 <> 0 and is executed after the brake release delay #19.25 has passed. The result is displayed in #20.19 as % of nominal torque Mn. The length of time for load measurement can be set by the absolute value of #20.08 in msec. For an exact load measurement, a time of 500msec is recommended. The default setting of 200msec is sufficient to determine the load direction. There are 2 measurement methods implemented, which are selected by the sign of the parameter #20.08. For positive values #20.08 > 0 the measurement will be done at starting only, which is suitable for gearless motors. If #20.08 is negative, the measurement will be continuously repeated at constant speed, which gives better results for geared motors. The direction of the load is displayed in #19.37. This signal should be given via a programmable digital output #08.xx = 19.37 or Bit 10 Status Word (DCP) to the elevator controller to use as a direction with lowest power consumption. This allows to limit the UPS power for emergency rescue supply. The direction of the load could be inverted #19.39 = 1. The elevator controller derives from that the direction for the rescue operation. An efficiency parameter #70.86 was introduced in V1.29, which allows adjusting the mechanical efficiency of the lift in %. The default setting of the efficiency is 85% (#70.86 = 85). The load measurement can be improved by adjusting the efficiency parameter #70.86 during empty car up and down tests to get identical load values.

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8.6

Electrical emergency rescue using UPS

The selection of the UPS depends on the power required for emergency rescue operation. It will be the summation of motor power and the other necessary electrical loads (light, door drives, etc.). For this calculation please contact your supplier:

Output load direction

Input load direction

Elevator drive Unidrive SP

Elevator Controller

Motor 3∼ 400V

230V AC Q1

A)

Start

UPS Power dependent on the Elevator data

Figure 23: Recommended connections for evacuation

Q2

> 40 Ohm > 1 kJ 230V

Q1 Contactor for UPS- supply

480V

Autotransformer

Recommendations for control: 1. An autotransformer can be used, to increase the voltage from 230V to 480V. 2. With Q1 the UPS supply for the elevator drive is switched on. 3. The start signal for the emergency rescue has to be applied by the elevator controller, after the contactor Q2 has been opened. 4. The contactor Q2 has to be applied 1 s after start of the emergency rescue A) ATTENTION: For Unidrive SP >= 30kW (from UNI4401) the supply from the UPS has to be connected over a rectifier directly to the DC link (+DC, - DC). 54/81

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8.7

Energy saving mode for UPS Emergency supply

The activation of the Energy saving mode for UPS emergency supply can be done in two ways: a) activation of a digital input programmed with the function #19.38 (see section 6.3.) b) activation over the DCP communication via the I6- telegram (from SW version V01.35.00) The activation of the Energy saving mode for UPS emergency supply will be messaged to the controller via status bit 9 of the extended status word or via response to the I6- telegram (from SW version V01.35.00).

8.7.1

Switching off of energy consuming comfort functions

If the Energy saving mode for UPS emergency supply is activated the following energy consuming comfort functions are disabled: - Position controller (#19.12 and #19.20 = 0) - Following error detection (#19.18 and #19.24 = 0) - Soft Start Function (#19.28 = 0) - Load Measurement (#20.08 = 0)

8.7.2

Current Limit Control

To protect the UPS from overloading and switching into standby a DC link voltage control of the current will be activated with activation of the Energy Saving mode. If the DC link voltage decreases below UU_Resetvoltage + 60V (= 510V for 400V drives), the current limit will be decreased linear from the normal value #21.28 at low load for 510VDC linear to the reduced value #21.29 at full load for 450VDC. The function could be disabled by starting the drive with disabled Energy Saving mode with #19.38 = OFF.

8.7.3

UPS Power Control

The control of the power consumtion from the UPS could be limited to the maximum active power of the UPS by Parameter #20.15. The power control is only active, if the Energy Saving mode is active and if the max. UPS power Parameter #20.15 is set > 0. If the power consumption of the drive exceeds the max UPS power in #20.15, the speed will be reduced by setting the speed setpoint to 0. The max. UPS power parameter should be set to the max. active power of the UPS, which is very often only 70% of the power in VA, reduced by other consumers like light, brakes and the lift controller supplied by the UPS. Active Power

Current Limit DC voltage

Active Current Speed

Picture. 21: Control of the supply power from the UPS 55/81

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8.8

Motor Phase Lost Detection

The Motor Phase Lost Detection was introduced into software version V1.26. This function will be activated by setting #19.43 = ON. If a phase lost error is detected, the drive will trip with code trip 77. The default setting is #19.43 = OFF, so the phase lost detection is not active. The phase lost detection is only active in the operation modes Closed Loop Servo (Servomotor with encoder) or Closed Loop Vector (Induction motor with encoder). The detection acts from start until 10% of the nominal speed. If the output voltage exceeds an internal limit for more than 200ms, trip 77 will occur.

8.9

Cabin Release Function

The Cabin Release Function was introduced into software version V1.26. This function is used to release the cabin after the TUV test. The cabin release function is activated with cabin release parameter #19.45 = ON. If this function was enabled, the lift should be operated with inspection mode to release the cabin from sticking. The drive will start with a fast ramp and maximum allowed current. If the cabin could not be released, the drive will try to shake it as long as the inspection switch is active. During cabin release the drive will run the motor with creep speed (#18.11) independent from the selected speed. During cabin release soft start function and following error detection is de-activated. ATTENTION: If the inspection switch is released the drive will stop the motor and the cabin release parameter will be reset to #19.45 = OFF.– If cabin still sticking reactivate #19.45 = ON and restart.

8.10 Longlife Control The Unidrive SP calculates the IGBT temperature in Parameter #07.34 using a thermal model of the inverter. This is used in the firmware of the base drive to prevent excessive junction temperature by reducing the switching frequency. This prevents very effective a thermal distortion of the IGBT’s. Beside the maximum junction temperature also the temperature change is important for the lifetime of the power electronic. The new function „Longlife Control“ of the lift software allows to ensure a long lifetime of the power electronic independent from the setting of the switching frequency and load. This fuction is enabled as default by #70.74 = 1, which will control the switching frequency so, that a temperature change of 40 degrees will not be exceeded. This value ensures a lifetime of 10 years for a lift with 500 travels a day. Especially with lean sized drives there may be a short increase of the acoustic noise at low speeds. If the low speed noise is too high, the temperature threshold #70.76 may be increased against the 40 degrees for elevators with low travels per day. It has to be considered, that the life time will be halved if the temperature change is increased by 10 degrees. The actual temperature change of the last travel may be checked by parameter #70.70. Further #70.71 shows the travel count and #70.73 the average temperature change to consider the lifetime expectation.

8.11 Stabilising motion using Switching Frequency Modulation With some motors vibrations can be caused during constant speed by non symmetric power devices. This function can be selected alternativelys to the Longlife function with the setting #70.74 = 2. If the function is activated the half switching frequency from setting in #05.18 will be used until the speed threshold #71.76 (in % of the operation speed #18.30). Above the speed threshold #71.76 the switching frequency will be modulated as follows. The full switching frequency will be used fort he time #71.77 alternating with the half switching frequency for the time of #71.78.

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8.12 Electronic Nameplate ENP The electronic nameplate ENP allows to pre- program the drive with all data needed for immediate operation after selecting the control interface. These are motor data, mechanical data but also control loop gains, so that it can start immediately. Attention: This function is only available, if an encoder of type SC.Endat is used and the encoder was programmed at the supplier of the motor with the electronic nameplate.

8.12.1 Programming the Drive with the Electronic Nameplate The programming with the electronic nameplate can be done immediately in the delivery state in the operation mode Open Loop. The programming sequence will change the operation mode to Servo and change the encoder type to SC.Endat automatically. To program the drive only the 2 following entries are needed:

• •

F02 = -1 bis 2 Setting the Interface- Type F00 = 24006 and wait for 10 – 15s, until F00 = 0 Reading the electronic Nameplate - Automatic setting of the operation mode Servo - Automatic setting of the encoder type SC.Endat - Reading the electronic Nameplate

The reading of the electronic nameplate will only be executed, if the drive is not enabled (#10.02 = 0). This could be checked n the display state „inh“. The Reading takes about 10s – 15s. If the reading was not successful a trip will be caused and displayed. Any trip display could be chaecked with the diagnostic chapter. For some trips an additional trip code may be displayed in parameter 71.58 for deeper diagnostic. Attention: If the operation mode is not set to Servo before activating trip „th“ and/or „EnC2“ may be displayed during the reading of the ENP. If the operation mode has to be changed the trip log will be cleared and show one trip „EnC2“.

8.12.2 Parameter of the Electronic Nameplate With the electronic nameplate the following parameter could be read: Servo 11,31 1,06 5,07 5,09 5,11 0,45 0,43 5,18 19,29 19,27 19,30 18,30 4,07 2,11 2,21 19,25 18,24 18,27 18,28 18,25 18,26 4,13 4,14

Parameter description Operation Mode (OPEn LP, CL VECt or Servo) Maximum Motor rpm Nominal Motor current in A Nominal Motor voltage in V Motor Pole count CL = Nominal rpm / Servo = Thermal Timeconst. CL = Motor cos phi / Servo = Phase angle in ° Switching frequency 0 - 5 = 3 - 16 kHz Nominal Motor Frequency in Hz Sheave Diameter in mm Gear numerator Gear denominator Operational speed in mm/s Current limit in % Acceleration in mm/s2 Deceleration in mm/s2 Brake release time in msec Brake apply time in msec P- Gain Speed Loop 1 Start I – Gain Speed Loop 1 Start P- Gain Speed Loop 2 Run I – Gain Speed Loop 2 Run Current Loop P-Gain Current Loop I-Gain -

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Unit 1 - OL / 2 = CL / 3 = SV u/min A V p u/min / s - / grad 0 - 5 = 3 - 16 kHz Hz mm mm/s % mm/s2 mm/s3 msec msec -

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8.12.3 Diagnostic of the Electronic Nameplate If a trip was caused during reading the electronic nameplate the following messages could be displayed: t050 t051 t052 t054

Wrong ENP Data Wrong Motor type Wrong encoder type Trip during operation

Wrong ENP data Type, will be generated if the ELNP is not programmed or of a wrong type. Will be generated if the electronic Nameplate is not programmed for the operation mode Servo F01 (#11.31). Will be generated, if wrong encoder type F03 (#03.38) is used. Will be generated if an error occurs during the ENP is read. The detailed error code is stored in #71.58. #71.58 = 1 ok. #71.58 = -3 Checksum error, Encoder defect #71.58 = -4 Parameter range exceeded, wrong inverter #71.58 = -5 ENP not supported from Encoder #71.58 = -6 Encoder error #71.58 = -7 Encoder detected checksum error in data transfer #70.58 = -8 Timeout, Encoder does not respond #70.58 = -9 Wrong encoder option slot selected or no SMUniversal Enc Plus present #70.58 = -10 Encoder not connected If no transfer error parameter #70.58 = 1

8.13 Display Energy saving level With the I6 – telegram of the DCP communication the Unidrive SP displays the actual energy saving level. These levels are defined as follows: Energy saving level 0: The drive is ready to start or just stopped and cooling down. The energy consumption depending on the drive size shows table below. There is no delay for a next start. Energy saving level 1: The inverter output is not active and the automatic standby operation has started. There is no delay for a next start. The energy consumption depending on the drive size is: Drive Types

Power range

SP1404 – SP1406 SP2401 – SP2494 SP3401 – SP3403 SP4401 – SP4403 SP5401 – SP5402

2,2 – 4,0 kW 5,5 – 15 kW 15 – 22 kW 30 – 45 kW 55 – 75 kW

Energy saving level 1 16W 18W 28W 40W 47W

Energy saving level 0 18W 21W 37W 71W 105W

Energy saving level 2: The mains voltage is disconnected with an energy saving contactor (main contactor). If the control board is supplied with 24V the energy consumption is about 12W, else 0W. A next start is after 4 seconds possible. This switch on is limited to 20 times per hour which means every 3 minutes.

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8.14 Servo motor Offset Tuning at standstill The measurement of the commutation offset is the condition of the usage of servo motors as traction drives for elevators. The usage of the autotune function of Unidrive SP with mode 2 (#0.40 = 2) is only possible if the is not loaded. For an elevator this means removal of the ropes by settling of the counterweight on the ground and fixation of the cabin. Using the standstill tuning the commutation offset could be measured under load with the brake applied. The condition is a suitable fixation of the motor by the brakes, which have to withstand an additional motor torque of about 20% of the nominal torque. Because of the fixation this measurement can’t identify wrong motor cable connection and wrong adjustment of the pole count of the motor or of the number of lines of the encoder. Attention: The servo motor offset tuning at standstill is only available, if the motor is fixed with the mechanical brake and a high resolution sincos encoder of the following types is used: SC.Endat, SC.Hiper or SC.SSI. During the measurement an additional torque of 20% - 100% of the nominal will be applied. Correct motor and encoder cable connection, correct setting of the motor pole count and the number of encoder lines is the condition of a correct result.

8.14.1 Activation of the des Servo Motor Offset Tuning at standstill To activate the tuning at standstill the following procedure has to follow: 1. Adjustment of parameter #0.40 = 1 2. Start inspection – State display will change to „run“ 3. Automatic change of parameter #0.40 = 4 4. Current loop autotune of about 3 sec – after automatic change of parameter #0.40 = 0 5. Start of Servo Motor Offset measurement for the time set in #12.47 (Default 10 sec) 6. If drive display will change to “inh“ – Stopp inspection (Phase offset measurement completed) 7. The servo motor offset will be stored and displayed in Parameter #03.25 / F15 If the motor is not fixed enough and the motor starts to turn or if the resolution of the encoder is not high enough to estimate the servo motor offset a trip will be caused. The old servo motor offset before the test will restored and hence stay unchanged. Attention: The stationary PM servo motor phase offset measurement should be carried out a minimum of 3 times to ensure a consistent accurate value is derived. The maximum deviation between tests is 5 degrees, where the value is greater the test should be repeated with increased test current Pr 21.27 (Default 20[%]) ensuring the brake is securely closed.

8.14.2 Diagnostic of the Servo Motor Offset Tuning at standstill If a trip is caused by the Servo Motor Offset Tuning at standstill, the following message will be displayed: t055

Forbidden Movement

t056

Insufficient Encoder Resolution

t057

Abort StandstillAutotune

Will be caused, if the motor is insufficient fixed and has turned by 1/16th motor turns. Please check mechanical brakes to be applied during the complete test. . Will be caused if the encoder resolution is not sufficient to detect the phase angle. Please try again or check encoder resolution and setting. . Will be generated, if the drive will be disabled via the STO input disable during Autotune. Pls check the setting of the lift controller for time setting of the starting. Reduce Time in #12.47.

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8.15 Testing of the Unintended Car Movement Monitoring Unit EN81-1/A3 For testing of the monitoring and ptrotection device against Unintended Car Movement (UCM) according EN81-1/A3 in Version V01.25.00 a function was added, which allows to start the car with the maximum acceleration in the given direction. To get the maximum acceleration, some comfort functions as soft start and load measurement will be switched off. Further the following error diction of speed and position are switched off to allow the test of the UCM monitoring unit. The testing is executed as a spezial travel, which has to be activated by 2 settings. These settings are not stored and therefore are not active during switch on. Further both settings are disabled after each travel. If a new test is to be executed, the settings have to be repeated. All settings are disabled after 60 seconds. The activation of the UCM test travel are as follows: 1. Parameter #13.21 = 3333 and 2. Parameter #01.44 = 1 The following travel is axecuted as simulation of the UCM movement. From start of the car will be accelerated with the maximum current in #04.07 in the selected direction. To measure the maximum distance the travels with maximum should be tested: 1. Travel with empty cabin Upwards 2. Travel with full load Downwards The torque level for the acceleration can be adjusted by Parameter #04.07. Starting with 100% load the maximum adjustable value in #04.07 has to be checked. This can be calculated using a servo motor as follows: MAX(#04.07) = 175% * Nominal inverter current / Nominal motor current The over speed detection of the inverter could lead to over speed trips if the threshold of #01.06 + 10% is exceeded. To prevent drive tripping the parameter #01.06 has to be increased for the testing. The activation of parameters #01.44 could also be done using a digital input terminal. Pls see 6.3 I/O Configuration. If the terminal activated only the code 3333 has to be entered in parameter #13.21 to activate the special UCM simulation travel. To prevent a movement with open cabin doors the activated of the Fast Start is not accepted, if UCM simulation mode is selected, and will not lead to a start of the travel. Attention: This function must only be used, if it is ensured, that no person is in the cabin or can enter the lift. Further it must be ensured, that the mechanics of the lift and the braking devices are suitable for the high acceleration of 3 – 6 m/s2 and there must be a sufficient travel distance in both directions.

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9 Set up of the lift drive Unidrive SP with DCP option module can operate geared and gearless motors for lifts. With the 1st start of DCP option module software it does a basic set up of the drive depending of the operation mode, which has to be adjusted in advance. The most effective parameter set up is the use of the smart card as follows:

9.1

Smart Card Parameter Setting

To program the drive with the smart card using the drive keypad or DCP remote keypad operation: 1. Save drive parameters to the Smart Card: • Erase Data Block x by #0.00 = 700x (7001 for Data Block 1, x = Number) • Reset by #0.51 = 1 (DCP remote keypad operation) or by pressing the Reset-Button • Save Data Block x by #0.00 = 400x (4001 for Data Block 1) • Reset by #0.51 = 1 (DCP remote keypad operation) or by pressing the Reset-Button • Check #0.00 = 0 (Save complete) •

If trip C.Chg (179) the Data Block is already in use, then erase as described above

#0.00 = 700x #0.51 = ON or Reset-Taste #0.00 = 400x #0.51 = ON or Reset-Taste

2. Programming the drive with a Smart Card Data Block Attention: For programming the drive from the Smartcard, it has to be disabled and the elevator to be out of operation. • • • • •

Select Data Block x by #0.00 = 600x (6001 for Data Block 1, x = Number) Reset by #0.51 = 1 (DCP remote keypad operation) or by pressing the Reset-Button Save Parameters by setting #0.00 = 1000 Reset by #0.51 = 1 (DCP remote keypad operation) or by pressing the Reset-Button trip C.rtg (186) indicate, that the source data block was created from a drive with another power rating. Motor data and current limit will not be programmed. Manual adjustment: - #0.06: Current Limit 175...250 - #0.41: Switching Frequency 6 – 16 kHz - #0.46: Motor current

#0.00 = 600x #0.51 = ON or Reset-Taste #0.00 = 1000 #0.51 = ON or Reset-Taste

Attention: When transferring the parameter set from one drive to the other, also the encoder phase angle #03.25 will be copied. If the phase angle was already adjusted using autotune, it should be noted before and restored after the Smartcard transfer. Attention: In V1.31 and earlier the transfer of a setting using multiple speed loop gains will result in gains set to starting gains. To prevent this, the programming sequence has to be changed according the right block. This is not needed for V1.34.00 or higher.

#17.13 = 0 #17.19 = 1 #xx.00 = 600x Wait 10 sec until #xx.00 = 0 cycle power

Programming the drive with a data block from the Smart Card will set operation mode, motor and feedback encoder parameters as well as the basic parameters for the lift drive operation. After Smart Card operation the set up could be continued directly with 9.6 First Start with empty car. 61/81

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9.2

Manual Parameter Setting

The manual parameter setting could be done using a display on the drive, which could be removed after finishing. Furthermore parameters could be adjusted using remote operation of the drive from the lift controller display.

9.2.1

Operation Hints

• Change operating mode: - Operating mode, induction motor without encoder - Operating mode, induction motor with encoder - Operating mode, synchronous motor with encoder • Access to all menus: • Save settings: • Load standard defaults: • Change drive mode without defaults setting • Reset DCP Remote Operation over the lift controller

9.2.2

#0.00 = 1253 / adjust # 0.48 / Reset- Button Open Loop Vector (OL) Closed Loop Vector (CL) Servo (SV) #0.49 = L2 and M- Button #0.00 = 1000 and red Reset- Button #0.00 = 1233 and red Reset- Button #0.00 = 1255 and red Reset- Button # 0.51 = 1

Changing the operating mode

• The drive enable signal terminal 31 must be open. • Apply power to the drive. • At delivery the drive is set to operate an induction motor without encoder in OPEN LOOP (OL). If the motor has an encoder the operating mode has to be changed, as follows: • Enable drive mode change #0.00 = 1253 • Induction motor operation with speed feedback #0.48 = Cl. Vect. (CL) and RESET- button • Permanent magnet motor with feedback #0.48 = SERVO (SV) and RESET- button • With the change of the operation mode the default setting of the elevator software occurs • To verify that the software is running monitor: #20.02 = 10616 and -10616 (toggles 1s) • Note the Software Version from : #20.01 = 13404 for Version 1.34.04

9.2.3

Setting the Lift Controller Interface

DCP3 Interface • At delivery the Interface of the Lift drive is set to DCP3 (#19.26 = 3) DCP4 or Terminal Interface (from Software V01.34.04) • Set DCP4 #19.26 = 4 • Parallel – 1 Directions – 1 of n

#19.26 = -1

• Parallel – 1 Direction – binary

#19.26 = 0

• Parllel – 2 Directions – binary

#19.26 = 1

• Parallel – 2 Directions – 1 of n

#19.26 = 2

Change of the control interface • Save settings: • Reset SM- Applications

9.2.4

#0.00 = 1000 #0.00 = 1070

and red Reset- Button and red RESET Button

Set-Up with Electronic Nameplate

To set-up the inverter with the data of the electronic nameplate following steps : • F00 = 24006 and wait 5sec until F00 = 0 Read Electronic Nameplate All motor- and encoder data as well as basic parameters of the lift are set-up by the Elektronic Nameplate. The elevator could start immediately and the setup continued with 9.6 First Start with empty cabin. Attention: This function is only available, if the encoder type is SC.Endat and the encoder was programmed at the motor manufacturer with the electronic nameplate. 62/81

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9.3

Configuring the feedback device (Closed Loop and Servo modes only)

It is possible to use different encoder types. The following settings must be performed.

9.3.1

Configuring the feedback device for Closed Loop Vector mode

Feedback Encoder

Setting Parameter #03.26 = drv (0) #03.34 = ... #03.36 = ... #03.38 = Ab (0) #03.39 = 0 /1 /2

Default drv(0) 1024 5V Ab(0) 1

SinCos

#03.26 = drv (0) 03.34 = ... #03.36 = ... #03.38 = SC (6)

drv 1024 5V Ab

Resolver

#03.26 = Slot2 (2) #03.40 = 0 #16.13 = ... #16.24 = xx.05 #16.25 = ... xx = 15 (Slot 1), 16 (Slot 2) or 17 (Slot 3)

9.3.2

Configuring the feedback device for Servo mode

Feedback Encoder

SinCos

Resolver

drv 1 2:1 0.00 0.25

Note Speed feedback selector => drive Drive encoder lines per revolution Drive encoder supply voltage: 5V(0) / 8V(1) / 15V(2) Drive encoder type: Ab(0) => Incremental encoder If encoder supply voltage is 8V or 15V then set drive encoder termination selection #03.39 = 0 Speed feedback selector => drive Drive encoder lines per revolution Drive encoder supply voltage: 5V(0) / 8V(1) / 15V(2) Encoder type SC => SinCos-encoder with no serial communication Speed feedback selector via Slot 2 => adjustment in Menu 16 Deactivate drive encoder error detection Resolver excitation: 3:1(0), 2:1(1 or 2) Source Encoder simulation Scaling of the Encoder simulation

Setting Parameter #0.43(#03.25) = ... #03.26 = drv (0) #03.34 = ... #03.36 = ... #03.38 = Ab.Servo #03.39 = 0 /1 /2

Default drv 1024 5V Ab.Servo 1

#0.43(03.25) = ... #03.26 = drv (0) #03.34 = ... #03.35 = ... #03.36 = ... #03.38 = SC.HiPEr (7) #03.38 = SC.EndAt (9) #03.38 = SC.SSI (11) #03.41 = 1 #0.43(03.25) = ... #03.26 = Slot x (x) #03.40 = 0 #16.13 = … #16.24 = xx.05 #16.25 = ...

drv 1024 16 5V Ab.Servo Ab.Servo Ab.Servo Ab.Servo Ab.Servo 0 1 2:1 1 0

Note Encoder phase angle Speed feedback selector => drive Drive encoder lines per revolution Drive encoder supply voltage: 5V(0) / 8V(1) / 15V(2) Encoder type Ab.Servo(3) If encoder supply voltage 8V and 15V then set drive encoder termination selection #03.39 = 0 Encoder phase angle Speed feedback selector => drive Drive encoder lines per revolution Drive encoder single turn comms resolution Drive encoder supply voltage: 5V(0) / 8V(1) / 15V(2) Encoder type: SC.HiPEr Stegmann SC.EndAt Heidenhain SC.SSI Drive encoder auto-configuration / SSI binary format select Encoder phase angle, if known (EPM300= 0, ECD100= 180) Drive encoder auto-configuration / SSI binary format select Deactivate drive encoder error detection Resolver excitation: 3:1(0), 2:1(1 or 2) Deactivate drive encoder error detection Resolution

*Note: If a Resolver is used and “EnC2“ is displayed, please check that #3.40 = 0.

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9.4

Setting of Motor and Elevator Parameters

Before the initial start, the data for the winch motor and the elevator must be entered. Refer to the motor nameplate and elevator calculations. Parameter No. Unit Open Lp Servo Setting recommendation Wittur- Winches Alpha- Winches Cl. Vect EPM100/ WSG06 WSG18 EPM300 EPM500 Default Default -1 Max. rpm: Max. Speed #00.02 min 1500 3000 2000 2000 2 Acceleration #00.03 m/s 0,500 0,500 2 Deceleration #00.04 m/s 0,800 0,800 Current limit #00.06 % 150 175 Speed loop P-Gain #00.07 0.01 0.01 0.5000 0.5000 0.1000 0.1000 Speed loop I- Gain #00.08 1.00 1.00 10.00 10.00 4.00 4.00 Nom. elevator rpm ∗ Nom. elevator speed V1 (Creep speed) V2 (Inspection) V3 (Nominal 1) V4 (Medium 1) V5 (Releveling) V6 (Medium 2) V7 (Additional 1) Stop- Deceleration Start- Jerk Run- Jerk Stop- Jerk Encoder lines V8 (Additional 2) V9 (Additional 3) V10 (Additional 4) Current loop P-Gain Current loop I- Gain Switching frequency Motor poles: Power Factor/ Encoder phase angle Motor voltage: Nom.rpm / Therm. TC Motor current: Motor frequency: Current dem. filter

#00.13 #00.14 #00.15 #00.16 #00.17 #00.18 #00.19 #00.20 #00.21 #00.22 #00.23 #00.24 #00.25 #00.29 #00.31 #00.32 #00.33 #00.38 #00.39 #00.41 #00.42 #00.43

min-1 mm/s mm/s mm/s mm/s mm/s mm/s mm/s mm/s mm/s2 mm/s3 mm/s3 mm/s3 mm/s mm/s mm/s kHz -

1500 1000 50 300 500 0 10 0 0 1000 1000 1600 2000 1024 50 400 800 150 2000 9 4 Pole 0,92

#00.44 #00.45 #00.46 #00.47 #04.12

V min-1 A Hz ms

400 1450 In Motor 50 0

From the elevator calculation From the elevator calculation

3000 1000 50 300 500 0 10 0 0 1000 1000 1600 2000 4096 50 400 800 130 1200 9 6 Pole Autotune

300 8000 8 - 16 24 Pole See Label

7 In Motor 0

300 8000 8 - 16 24 Pole See Label

130 1200 8 - 16 18 Pole

130 1200 8 - 16 12 Pole

0

180.0

40 120 See Nameplate

20 / 25

30

1

1

2

2

(x) Display in CTLift or in the Lift Controller (Remote Operation) ∗ The adjustment of the speed to rpm ration is done via operational speed and operational rpm. The calculation of the operational rpm is done using the following equation: #18.03 = #18.30 * Ratio numerator * Roping * 60 / (π * Ratio dominator * Sheave diameter [mm]) with: #20.10 = Roping #19.29 = Sheave diameter [mm] #19.30 = Ratio numerator #19.27 = Ratio denominator

For Synchronous motors only the number of motor poles and the motor current is required. Do not enter the motor data that is greyed out. For the initial test run, only the motor data and the elevator data that is listed in the examples must be adjusted. For winches with induction motors, with or without encoders, the full motor map must be set. Further settings will be done in later steps of this set-up.

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9.5

Autotuning

For the first set-up of a winch, adjustment of the control loops for the motor must be carried out. This is performed by the drive through automatic self-tuning techniques. During self-tuning the elevator must be operated manually, therefore the inspection command has to be provided. • Reconnect Terminal 31 If inspection is active and the drive is not enabled or motor does not run, please refer to Setting of terminal functions.

9.5.1

Open Loop Vector – Induction motor without speed feedback

Measurement of motor characteristics • For the vector control mode it is necessary to measure the stator resistance, which is automatically done by the drive at the start of the motor • To measure the stator resistance ⇒ #0.40 = 1 – start inspection run ⇒ wait until #0.40 = 0 then stop inspection run ⇒ Save parameters

9.5.2

Closed Loop Vector – Induction motor with speed feedback

Current controller autotune • This measurement is very convenient, because it is done at stop with closed brakes. • For optimisation of the elevator drive measures the stator resistance, stator inductance • Leakage inductance measurement ⇒ #0.40 = 1 – start inspection speed ⇒ wait until #0.40 = 0 then stop inspection speed • Note setting of #0.38 / #0.39 ⇒ Save parameters Current controller autotune and motor characteristic measurement • This measurement is needed for the adaptation of the motor model to the motor temperature • It is necessary to remove the ropes, because the motor will be running for several seconds. • Stator inductance measurement ⇒ #0.40 = 2 – start inspection speed ⇒ wait until #0.40 = 0 then stop inspection speed • Activate automatic speed optimiser ⇒ #05.16 = 1 and Save parameters

9.5.3

Servo – Permanent magnet synchronous motor with speed feedback

It is necessary to adjust the commutation offset of the motor. Also the current loop gains can be adjusted. Manual setting of the phase angle parameter for known winches • If the value is known proceed as follows: • Typ XA (LS), WSG (Wittur) ⇒ Phase Offset #0.43 = 0 • Setting the phase angle ⇒ set #0.43 = Offset and Save parameter Automatic measurement of the phase angle • If the commutation offset is not known, it can be measured automatically by the drive as follows: • To get exact values it is necessary to remove the ropes from the sheave. (balanced load may be ok) • Activate high precision phasing • if trip ENC1occurs • check Offset in # 0.43

⇒ #0.40 = 2 – start inspection speed and maintain for 30s ⇒ wait until #0.40 = 0 then stop inspection speed ⇒ swap motor cables U with V at the drive ⇒ must have changed, if not, check motor contactor

Current controller autotune • This measurement is very convenient, because it is done at stop with closed brakes. • For optimisation of the elevator drive measures the stator resistance, stator inductance • Leakage inductance measurement ⇒ #0.40 = 4 – start inspection speed ⇒ wait until #0.40 = 0 then stop inspection speed • Note setting of #0.38 / #0.39 ⇒ Save parameters Servomotor – Phase offset Standstill Tuning • This measurement is very convenient, because it is done at stop with closed brakes. • Phase Offset measurement ⇒ #03.09 = 1 – Inspection start – State „run“ ⇒ wait 10s until State „inh“ – Stop Inspection 65/81

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9.6 9.6.1 • • • • • • • • • • • • •

9.6.2 • • • • •

9.6.3

First start with empty car Activate the first start: Make sure, that Enable (Terminal 31) is connected and active current #0.11 is displayed Start Inspection and check the active current display and the shaft rotation If status display doesn’t change to ”run“ ⇒ Check logic polarity, terminals and motor conductors If the motor current #0.11 = 0.00 ⇒ Check logic polarity, terminals and motor conductors Following error trip (trip 70 or trip 71) ⇒ Check Motor connections and phase angle The motor shaft does not turn ⇒ Check setpoint selection #18.10 (run command applied) If #18.10 = 1810 instead of 1812: ⇒ Check terminal functions and terminal state If Trip It.AC occurs ⇒ Check load balance, phase angle and motor connection If motor turns shortly / stops with current ⇒ Check pole count #0.42 and encoder lines #03.34 If motor turns opposite direction ⇒ Set: #18.45 = ON For CL / SV and poor motor running ⇒ Check encoder, cable connection and screening Other trips ⇒ See Diagnostics If no trip ⇒ Continue with adjustment of speed loop gains

Adjustment of the speed loop gains (only Closed Loop and Servo) With recommend gain values (→ 3) only a few adjustments will be necessary Adjustment of the speed loop P- Gain ⇒ Increase #18.25 in steps of 0.01 until noisy or unstable If it produces regulation noise ⇒ Increase current filter #04.12 from 0 to 1...max. 3 (ms) If unstable ⇒ Reduce #18.25 to 60% of the instability value Adjustment of speed loop I- Gain ⇒ Increase #18.26 to 20...50% of #18.25

Adjust motor contactor delay

The delay between the drive output disable and the opening of the motor conductors is displayed in #20.20 in ms. A negative value indicates that the motor contactor opened under current flow, which should be prevented. In this case the brake apply time, #18.24, must be increased. • Start normal floor level runs

9.6.4 • • • • •

⇒ Check the measured conductor delay in #20.20 in ms ⇒ Increase #18.24 in ms if a negative values is in #20.20 ⇒ Positive values of 50...100 ms in #18.24 are acceptable.

Adjust deceleration distances (DCP3 or Terminal control): ⇒ Set in the lift controller ⇒ Set in the lift controller (! cm) ⇒ Set in the lift controller (! cm) ⇒ Set in the lift controller (! cm) ⇒ Check measured creeping distance #0.13[3] >50mm

Read stopping distance V0 #19.05 Read deceleration distance V3 #02.16 Read deceleration distance V2 #02.17 Read deceleration distance V1 #02.18 Start test runs #0.04 #19.15

Deceleration distance #02.16 #02.17 #02.18

Stopping dist. #19.05 #18.11

#19.16

Figure 24: Deceleration and stopping distance

9.6.5

Fine Trimming of Operational Speed (DCP4)

• After DCP4 Travel ⇒ Read #20.35 and set #19.29 to the displayed value Attention: Use only, if the lift controller supports I9 Telegrams (MPK4000)

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9.7

Optimise elevator performance (Closed Loop and Servo)

During this step the elevator performance is optimised so that the travel is fast and comfortable. Therefore the designed speeds and accelerations have to be achieved. In addition to the subjective test of the elevator performance, it is advisable to use the scope function included in the PC elevator set-up software SPLift

9.7.1

Optimise start

• If car lurches at start separate the start ⇒ Increase brake release delay #19.25 to 2500ms • If car lurches or rotation at brake release ⇒ Activate separate speed gains #18.48 = 1 ⇒ P- Gain start controller #18.27 = 2 x #18.25 (harder) ⇒ I- Gain start controller #18.28 =2 x #18.26 (stiffer) and / or ⇒ Enable P-gain position loop: #19.20 = 3 30 ⇒ Enable D-gain position loop: #19.12 = 10 100 • If jerk is to high at start of ramp profile ⇒ Reduce start jerk #0.23...300 mm/s3 (softer) and / or ⇒ Activate start optimiser by setting #18.18 > 0 ⇒ Set Speed for start optimiser #18.18 e.g.: 10 mm/s ⇒ Set time for start optimiser #19.28 e.g.: 800...1000 ms ⇒ Set jerk for start optimiser #19.17 e.g.: 10...20 mm/s3 • Check elevator starts ⇒ If OK, reduce brake release delay as follows • Adjustment of brake release delay ⇒ Reduce #19.25 to 300ms as long as no lurch at start

9.7.2

Optimise constant speed

• Vibration of gearless motors • If OI.AC- trip or instability occurs

⇒ Increase I- gain of the current controller #0.38 (max. 10000) ⇒ Increase P- gain of the current controller #0.39 (max. 1000) ⇒ Stop if regulation noise increases ⇒ Reduce by 60% (for example) the chosen, P, I, values

• Over/ undershoot during acceleration ⇒ Reduce run jerk level #19.15, e.g.: ...500 mm/s3 (softer) ⇒ Consider increased deceleration distances and / or ⇒ Activate inertia compensation 18.49 = 1 • Check speed loop output #03.04 ⇒ Adjust #19.19, so that #03.04 nearly constant

9.7.3

Optimise stop

• Lurch at stop from creep speed

⇒ Reduce stop jerk #19.16 ...500 mm/s3 (softer) ⇒ Reduce zero speed threshold #03.05 = 2...4 rpm

• Unwanted rotation at brake engage

⇒ Increase brake apply delay #18.24 ⇒ Check motor contactor delay to #20.20 > 0

9.7.4

Following error detection set up

• Check speed error of travel #18.07

⇒ Set max speed error #19.24 = 10 x #18.07 (200 mm/s)

• Check position error of travel #18.06 ⇒ Set max position error #19.18 = 10 x #18.06 (200 mm)

• Save Setting: #0.00 = 1000 and RESET (#0.51 = 1)

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9.8

DCP 3 sequence

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9.9

DCP4 sequence

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9.10 Terminal control sequence

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10

Elevator Commissioning Software

For elevator commissioning a PC program SPLift has been developed which is easy to use. It is possible to set up the parameter for elevators and the winches. Furthermore the adjustment and control of the elevator can be optimised with the integrated scope function.

Figure 25:

PC- Commissioning Software for elevators with scope function

Unter the point Interface / Setting adjust the COM- Port of the adapter, the used protocol according #11.24 and the Baud rate #11.25 of the inverter. The address #11.23 is entered in the address box right on bottom of the start page. This address contains the slot number of the SM-Application module as and extension with „.3“ for slot 3. In most cases slot 3 is used, therefore address „1.3“ is adjusted. If not errors can be caused. If the function of the serial interface is correct the status field will change to Online and the field software version will contain the version and field Software Variante will contain the Identy number 10617 with alternating sign.

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11 Diagnostic 11.1

Trip Codes and corrective actions

The Unidrive protects itself, the control environment and motor by many monitoring many functions and operating levels. If the monitor system detects a problem, a trip is initiated. To identify the causes of a trip refer to the following table: Trip Trip 50

Trip 51

Trip 54

Trip 55

Trip 56

Trip 57

trip 61

trip 62

trip 63 trip 65

trip 67

trip 68 trip 69

Trip type ENP Data file

Trip cause • Encoder not programmed

Corrective actions Is detected during reading from the encoder, if the Electronic Nameplate ENP was not programmed or from another type. ENP Motor type • Wrong Motor type Is detected during reading from the encoder, if the Electronic Nameplate ENP is not for the motor type F01 (#11.31) selected. ENP Trasfer Error • Encoder defect Will be generated if an error occurs during the ENP is read. The detailed error code is stored in #71.58. • Encoder type #71.58 = 1 ok. • Encoder cable #71.58 = -3 Checksum error, Encoder defect #71.58 = -4 Parameter range exceeded, wrong inverter #71.58 = -5 ENP not supported from Encoder #71.58 = -6 Encoder error #71.58 = -7 Encoder detected checksum error in data transfer #70.58 = -8 Timeout, Encoder does not respond #70.58 = -9 Wrong encoder option slot selected or no SM-Universal Enc Plus present #70.58 = -10 Encoder not connected If no transfer error parameter #70.58 = 1 Will be caused, if the motor is insufficient fixed and has Forbidden • Encoder defect turned by 1/16th motor turns. Please check mechanical Movement • Encoder type brakes. Insufficient Will be caused if the encoder resolution is not sufficient to • Encoder type Encoder detect the phase angle. Please try again or check encoder Resolution resolution and setting. . Is generated, if the STO Input is disabled before completing Abort • Controller the autotune. Check controller settings (Start monitoring). Stillstandstune • Operator Reduce time for standstill tuning #12.47. Current Limit • Wrong setting of Trip initiated at standstill if setting of nominal current #05.07 Error exceeds the drive HD current #11.32 and the maximum #05.07 allowed nominal current #21.07. After correction of #05.07 the current limit #04.07 has to be corrected, because it was reduced automatically. Switch off by setting of #21.07 to the higher value with consideration of the current limit reduction. Trip if the motion during Faststart exceeds the distance in Faststart • Encoder error #70.59 and #70.59 is set > 0. Check setting of #70.59 monitoring • Inverter error and/or disable the trip if needed with #70.59 = 0. Start einer Fahrt über DCP Schnittstelle ohne Initialisierung. DCP without • Controller Initialisition • Protokollfehler During DCP4 operation detected, if speed exceeds von 10 DCP4 remaining • Controler error mm/s and remaining distance does not decrease for more distance error • Absolut position than 500 ms. encoder DCP direction • EMC disturbance During DCP3 or DCP4 operation, if direction command (Bit B4) change after speed setting telegram detected. change during • Control error travel • Protocol error DCP checksum • EMC disturbance During or DCP4 operation, if 10 consecutive telegrams with CRC error detected. error • Protocol error DCP Timeout • EMC disturbance During or DCP4 operation, if 10 consecutive telegrams with Error Bit B7 set from controller detected. Error Bit B7 • Protocol error 72/81

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Trip trip 70

Trip type Speed error

trip 71

Position error

trip 72

Current decay after stop Protection against • Ambient Freeze temperatur too low FD Fast Disable • FD input control control error wrong

trip 73

trip 74

Trip cause • Encoder, motor connection • Gain setting

Corrective actions Check motor and encoder connection, as well as gain setting and phase angle, Increase threshold #18.07 if necessary. Disable following error detection by setting #19.24 = 0. Check motor and encoder connection, as well as gain • Encoder, motor setting and phase angle. Increase threshold #18.06 if connection necessary. Disable following error detection by setting • Gain setting #19.18 = 0. • Control electronic Check IGBT’s. Change controller.

trip 75

SD Secure Disable control error

• SD input control error

trip 77

Motor phase lost

• Motor phase interrupted

trip 78

Contactor release • Contactor monitoring contacts • Contactor function

trip 79

Version check

• Software version

trip 80

Phase sequence error

• Motor connection • Encoder cable

trip 81

DCP Timeout

trip 82

DCP Sequence error Brake contact monitoring

• • • •

trip 83

It.AC

Motor overload

OI.AC

Overload drive output

Enc1

DCP cable Termination Distortion Start without Speed setting • Brake • Contacts

• Motor overload • Disturbance in encoder signals

• • • • Overload Encoder • Supply • •

Short circuit ground fault motor winding Encoder fault Encoder cable Enc. Connection Encoder supply 73/81

Check temperature display in #7.04, #7.05 und #7.06 to greater than min. temperature defined in #70.81. Add Heating in cubicle. If Fast Disable FD input not active 3sec after Start by Speed selection or still active 3sec after stop. Check control signal. Check programming of terminal 26. Disable the monitoring function with #70.65 = 74 or if 2 motor contactors used #70.65 = 1001001. If Secure Disable SD input not active 3sec after Start by Speed selection or still active 3sec after stop. Check SD control signal. Check if constant speed selection. Disable the monitoring function if 2 motor contactors used #70.65 = 1001001. If at start phase losdt detected during start. Check motor windings, motor terminals and contactor. De-activate with #19.43 = 0. Checks the serial connection of the NC contacts of the motor contactors after activation on a terminal (T. 24 – 29) of the drive. If the input does not confirm the state change inside 3 sec after motor contactor switched via 19.32 the trip will be activated. Disable monitoring by reset of the terminal function from 19.33 to 0.00. If FD input used and firmware not suitable. Check #11.29 > 1.10. Firmware 1.10 onwards needed. Update Firmware. Only active if following error det6ection activated. If following error detected which could be caused by wrong phase sequence. Change 2 motor phases or encoder connection. Disable following error detection. Check transmission quality in #18.01 Check wiring and screening of the DCP cable. Switch off protection #19.40 = OFF Telegram error, Inform lift PLC manufacturer. Checks the brake contacts after activation on 1 or 2 terminals of the base drive (T. 24 – 29). If the contact does not follow the brake output 18.31 inside 3 sec the drive will trip. Deactivation via change of the terminal function from 19.34 / 19.36 to 0.00. Check brake release. Check load balancing. Check Sincos encoder disturbance1), if yes check shielding of the encoder. Check setting of thermal time constant #04.15. Check commutation offset of servomotors. Caused if output current > 210% of nominal current. Check insulation of the motor winding. Check encoder signals. Check Encoder connection and Encoder supply, Check Setting of Encoder supply.

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Trip Enc2

Trip type Encoder wire break Encoder commutation Error

Enc3

Trip cause • Wire Break • Encoder cable • Commutation offset incorrect • Encoder disturbance • No serial comms • Wrong Baud rate • Connection wrong • Braking power • Motor earth fault

Corrective actions Check Encoder connection to be complete. Check Setting of Encoder supply. Check serial interface setting. - SSI encoder with gray code: #03.41 = OFF Check serial interface connection.

Enc4

Encoder communication Error

Check encoder supply. Check encoder type and baud rate. Check Encoder connection.

OU

Over voltage

PH

Phase lost

• Mains fuse

UU

Under voltage

OI.br

Overload brake resistor

• Mains connection Caused at every switch off of the mains. If generated during normal operation check fuses and supply. • Earth fault brake Check insulation of the dynamic brake resistor. Check resistance value to specification. resistor

Check insulation of the dynamic brake resistor and resistive value. Check insulation of the motor winding. Check fuses and mains supply.

11.2 Auto – Reset The Auto- Reset function is used to clear trips automatically. The Auto- Reset is only active, if parameter #10.34 > 0 (Auto- Reset trials) and parameter #10.35 > 0 (Auto- Reset delay). If the Auto- Reset function is active, every trip will be reset after the reset dealy #10.35. If a further trip occurs, the reset will work maximum for #10.34 times. If the maximum trip count is reached, the next trip will not be reset anymore. If no trip occurs for 5 minutes, the trip counter will be cleared.

11.3

Control interface diagnostics

If the normal run command is applied and the elevator does not start or a trip is generated, then proceed as follows:

State Dispay

"run" (enabled)

Speed selected ? # 18.10

"inh" (disabled)

= 1810 (no speed selected)

state Terminal 31 #08.09

# 08.03 OR # 08.04 OR # 08.06

=1 (active)

= 0 (not active) Check Logic Polarity #08.29 and Signal at Terminal 31

Figure 26:

> 1810 (Speed selected)

Selected speed #18.1x

>0

Brake output # 08.02

=1

Motor magnetised # 18.43

=0

=0 (active)

=0 (not active)

Adjust the speed selected

Check external brake control circuit

Check state of the motor conductor

=1 (aktiv)

=0 (not active) Check SM Applications present and program is running #20.02

Check Control Signals at the Terminals

Ckeck Terminal function programming

Diagnostic control interface

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11.4 Diagnostic of travel interrupts #20.39 To diagnose the travel sequence pof a travel interrupt by opening of terminal 31 occuring Version V1.24 offers an additional diagnostic display #20.39 which can have the following values: -

#20.39 = 0 = no external travel interrupt #20.39 = 2 = Travel interrupt during motor magnetising #20.39 = 3 = Travel interrupt during brake opening #20.39 = 4 = Travel interrupt during normal travel #20.39 = 5 = Travel interrupt during brake applying #20.39 = 6 = Travel interrupt during defluxing the motor

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12 Parameter Overview 12.1 Menu 18 Parameter Parameter Process data cycles No. of 1F-Telegrams Calcul. nom. elevator rpm Terminal Status Terminal Status Distance error last travel Speed error last travel Torque for inertia comp Remaining floor sensor distance Reference value selector Creep Spped V1 Releveling Speed Vn Intermediate Speed Vz Inspection Vi Low Spped V1. Medium Speed V2 Fast Speed V3 Speed for start optimizer Floor sensor target distance Short distance v- threshold 1 v- threshold 2 OL+CLV: Magnetising threshold SRV: Demagnetisation Time Brake apply delay speed loop P- gain run speed loop I- gain run speed loop P- gain start speed loop I- gain start Nominal elevator rpm Nominal elevator speed Brake output 1: n < v- threshold 1 1: n < v- threshold 2 1: n < v- threshold 3 Start short distance landing Reference Select Bit 1 Reference Select Bit 2 Reference Select Bit 3 Reference Select Bit 4 Reference Select Bit 5 Reference Select Bit 6 Reference selector type Motor magnetised CCW direction INVERT direction Load measurement Peak curve operation Enable switch gain Inertia compensation Default setting

Menu 18 #18.01 #18.02 #18.03 #18.04 #18.05 #18.06 #18.07 #18.08 #18.09 #18.10 #18.11 #18.12 #18.13 #18.14 #18.15 #18.16 #18.17 #18.18 #18.19 #18.20 #18.21 #18.22 #18.23

Type RO RO RO RO RO RO RO RO RO RO R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W

#18.24 #18.25 #18.26 #18.27 #18.28 #18.29 #18.30 #18.31 #18.32 #18.33 #18.34 #18.35 #18.36 #18.37 #18.38 #18.39 #18.40 #18.41 #18.42 #18.43 #18.44 #18.45 #18.46 #18.47 #18.48 #18.49 #18.50

R/W R/W R/W R/W R/W R/W R/W R/O R/O R/O R/O R/W R/W R/W R/W R/W R/W R/W R/W R/O R/O R/W R/W R/W R/W R/W R/W

Range ± 32000 ± 32000 ± 32000 ± 32000 ± 32000 ± 32000 ± 32000 ± 32000 ± 32000 ± 32000 +10000 +10000 +10000 +10000 +10000 +10000 +10000 +10000 ± 32000 ± 32000 ± 32000 ± 32000 + 990 +5000 <10000 ± 32000 ± 32000 ± 32000 ± 32000 ± 32000 ± 32000 OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON

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Default

Unit 66 cycles per sec for TA = 15 ms

50 10 100 300 500 800 1000 10 0 0 300 800 500 200 1000 500 500 1000 1000 1000 1000

1/min 1/min ms mm mm/s 0,1%Mn mm mm.nn mm/s mm/s mm/s mm/s mm/s mm/s mm/s mm/s mm mm mm/s mm/s 0,1% ms ms

1/min mm/s

T. 24/ 25/ 1/ 28/ 30 (s. 7.3) T. 29/ 26/ 27/ 5/ 7 (see 7.3)

OL/CL: Threshold to release the brake SRV: Demagnetise after brake applied

Closed loop / Servo

0

0: Binary / 1: Priority

0 0 0 0 1

1: Enable 1: Enable 1: Enable 1: Enable 1: Setting Lift Defaults done

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12.2 Menu 19 Parameter Parameter

Menu 19

Type

Speed set-point

#19.01

RO

± 32000

Range

Default

mm/s

Unit

Actual speed

#19.02

RO

± 32000

mm/s

Ramp speed

#19.03

RO

± 32000

mm/s

Reference acceleration

#19.04

RO

± 32000

mm/s

Stopping distance

#19.05

RO

± 32000

mm

Set-point peak curve distance

#19.06

RO

± 32000

mm

Measured peak curve distance

#19.07

RO

± 32000

mm

Calculated deceleration distance DCP4: Byte 2 & 3 from control Speed at floor sensor active DCP4: Brake distance to control Remaining Distance to go

#19.08

RO

± 32000

#19.09

RO

± 32000

#19.10

RO

± 32000

Mm mm mm/s mm mm

Gain transition time

#19.11

R/W

D-Gain start locking Stop deceleration

#19.12 #19.13

R/W R/W

± 32000 + 32000

Start jerk

#19.14

R/W

Run jerk

#19.15

Stop jerk Jerk for start optimiser

Comment

2

500

ms

± 32000

0 1000

2 mm/s

± 32000

500

mm/s

3

R/W

± 32000

1000

mm/s

3

#19.16

R/W

± 32000

500

mm/s

3

#19.17

R/W

± 32000

10

mm/s

3

Max. Distance error

#19.18

R/W

± 32000

200

mm

Scaling Accel. FF

#19.19

R/W

1000

0,1%

P-Gain start locking Scaling load measurement

#19.20 #19.21

R/W R/W

± 32000 + 32000 ± 32000

0 1000

0,1%

Offset load measurement

#19.22

R/W

± 32000

0

0,3125mV

Filterconst. Load meas.

#19.23

R/W

± 32000

100

ms

Max. speed error

#19.24

R/W

200

mm/s

Brake release delay Control Interface type

#19.25 #19.26

R/W R/W

± 32000 <10000

ms

± 32000

1000 0

Gear ratio denominator Time for start optimiser

#19.27 #19.28

R/W R/W

ms

calculate #0.13[1] (18.03)

± 32000

1 0

Sheave Diameter

#19.29

R/W

± 32000

480

mm

calculate #0.13[1] (18.03)

Gear Ratio numerator

#19.30

R/W

-

calculate #0.13[1] (18.03)

Operational RPM setting Brake contact 2 Monitoring Contactor Release Monitoring Brake contact 1 Monitoring Thermistor error display Brake contact 2 Monitoring Load direction for evacuation Status evacuation Invert direction of evacuation Enable DCP Timeout Protection Reference Select Bit 7 Floor sensor correction enable Motor phase lost detection CW direction Cabin release function

#19.31 #19.32 #19.33 #19.34 #19.35 #19.36 #19.37 #19.38 #19.39 #19.40 #19.41 #19.42 #19.43 #19.44 #19.45

R/W R/O R/W R/W RO R/W R/O R/W R/W R/W R/W R/W R/W R/W R/W

± 32000 OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON OFF/ON

31

Terminal Fast Start DCP Remote Display F-Menu Speed Controller gain switching in sections Reset Drive Remote control menu access

#19.46 #19.47 #19.48

R/W

OFF/ON

#19.49 #19.50

0 / 1 = Term., 3 = DCP3, 4 = DCP4

OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF -

OFF = Manual / ON = Auto #18.29 ON = close contactor Trip 78 if error detected Trip 83 if error detected ON = Thermistor error Trip 83 if error detected OFF = UP / ON = DOWN OFF = Inactive / ON = Active ON = Invert #19.37 ON = DCP Timeout protection ON = enable ON = enable OFF OFF

1= Release cabin at next start, cleared automatically 1= Fast Start active ON = F-Menu / OFF = Modus #19.50 ON = separate gains start, run and stop

R/W

OFF/ON

OFF

0

R/W

OFF/ON

ON = Reset, geht nach 1s auf 0

OFF/ON

OFF OFF

0

R/W

0

OFF = Menu 0 / ON = all Menus 0- 22

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12.3 Menu 20 Parameter Parameter Software Version Software Ident No. DCP Command byte DCP Status word DCP Status byte DCP Speed byte

Menu 20 #20.01 #20.02 #20.03 #20.04 #20.05 #20.06

Type RO RO R/W R/W RO RO

Range ± 32000 ± 32000

Default

DCP V-Threshold 3

#20.07

RO

± 32000

500 200

Unit

-

32000 ± 32000

Comment

See Table 12.5.6 See Table 12.5.6 See Table 12.5.6 See Table 12.5.6

mm/s

Time for Load measurement

#20.08

R/W

± 32000

Max. Overload

#20.09

R/W

Roping Program status Par. No. Creep speed

#20.10 #20.11 #20.12

R/W

± 32000 4

1

-

calculate #0.13[1] (18.03)

Direct-to-Floor Sensor Source

#20.13

RW

± 32000 0...2

0

-

Floor sensor correction source

#20.14

RW

0...4

0

-

1: T.5 / 2: T.7 / 3: T.8 / 4: with speed selection 1: T.5 / 2: T.7 / 3: T.8 / 4: Distance controlled creep speed

USV nominal active power

#20.15

RW

32767

Menu 0 Select Type last 1F-Telegram

#20.16 #20.17

RW RO

0...4 9

Overload Threshold Value load measurement Motor contactor delay

#20.18 #20.19 #20.20

RW RO RO

+ 32000 + 32000

Creep Distance V8 (Additional speed 2) V9 (Additional speed 3) V10 (Additional speed 4) Current controller P-Gain Start Current controller I-Gain Start Speed controller P- Gain positioning Speed controller I- Gain positioning DCP Remote control lang. I7 Brake Distance I7 Total Distance I7 Set Distance I9 Distance Drive I9 Distance Controller V1.29: Sheave Diameter calc. DCP4 Settling Time DCP4 Time delay comp. DCP4 Actual Position

#20.21 #20.22 #20.23 #20.24 #20.25 #20.26 #20.27

RO RW RW RW R/W R/W R/W

10000 10000 10000 30000 30000 30000

#20.28

R/W

30000

#20.29 #20.30 #20.31 #20.32 #20.33 #20.34 #20.35

RW RO RO RO

1 + 32000 + 32000 + 32000

RO RO RO

100000 100000 10000

0 -

#20.36 #20.37 #20.38

RW RW RO

2000 100 100000

Diagnostic Travel Interrupt Contactor Apply Delay

#20.39 #20.40

RO RW

0-6

R/W

± 32000 + 32000

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ms % Mn

W

Setpint for Energy saving mode during UPS Emergency supply

0 -

-

120 -

% % ms

Switching Menu 0 (see 8.4) 0 = Initialisation, 1 = Def. Byte2/3 7 = Travel type, 9 = Act. Position Hoist load in % of Mn Hoist load in % of Mn „- / +„ : contactor to early / late

mm

Measured any travel

mm/s mm/s mm/s -

Only if #19.48 = ON Only if #19.48 = ON Only if #19.48 = ON

50 400 800 150 2000 100

100 -

Only if #19.48 = ON

cm cm cm

0 = German / 1 = English calculated from profile settings calculated from profile settings From lift controller Last travel, by Lift-drive Last travel, by Lift-controller For fine tune of ratio

500 10 -

mm mm mm/s mm ms ms mm

100

ms

delay of the brake apply after Stop transmission time for actual Distance #70-63 = 0 – relative to last stopp #70-63 = 1 – absolute in the shaft

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12.4 Menu 02 – Deceleration Distances Parameter Acceleration

Menu 02 #02.11

Type Range R/W 3200.00

Default Unit 2 0.500 m/s 50.0 cm/s2

Normal Deceleration

#02.21

R/W

3200.00

Deceleration Distance von V2 auf 0 Deceleration Distance von V3 auf 0 Deceleration Distance von V4 auf 0 Deceleration Distance von V5 auf 0 Deceleration Distance von V6 auf 0 Deceleration Distance von V7 auf 0 Deceleration Distance von V8 auf 0 Deceleration Distance von V9 auf 0 Decelerat. Distance von V10 auf 0

#02.13 #02.14 #02.15 #02.16 #02.17 #02.18 #02.23 #02.24 #02.25

RO RO RO RO RO RO RO RO RO

3200.00 3200.00 3200.00 3200.00 3200.00 3200.00 3200.00 3200.00 3200.00

cm cm cm cm cm cm cm cm cm

Movement at Standstill Autotune

#02.29

RO

3200,00

Increm.

2

0.800 m/s 80.0 cm/s2

Comment

CL OL CL OL

1 turn = 65536 Increm.

12.5 Menu 03 – DCP4 Position and Speed window Parameter Position window Speed window

Menü 03 #03.06 #03.07

Type RW RW

Range 1000.0 1000.0

Default Unit 5.0 mm 5.0 mm/s

Range 25.0 30000 30000 25.0

Default Unit 175.0 % 2.0 150 2000 2.0 - % 10,0 s

If both conditions are met, the travel will be terminated after 20.36!

12.6 Menu 04 – Current Loop Parameter Parameter Global Current Limit Current Filter 2 Travel P-Gain Current Loop 2 Travel I- Gain Current Loop 2 Travel Current Filter 1 Start

Menu 04 #04.07 #04.12 #04.13 #04.14 #04.23

Type RW RW RW RW RW

DCP cabin load value Time for Servo Standstill Tuning

#12.43 #12.47

RO RW

150% 25,0

#01.44 Activation bit for A3 Test EN81-1 Activation code for A3 Test EN81-1 #13.21

Bit RW

1 3200.00

0 0 -

Default Unit 2 2.0 m/s 200.0 cm/s2

Comment

Only if #18.48 = ON

= 1 for Test / = 0 after pwr on/ travel = 3333 Test / = 0 after pwr on/ travel

12.7 Menu 21 – Parameter Parameter Fast Stop Deceleration

Menu 21 #21.05

Type RW

Range 3200

Current filter positioning Current Loop P-Gain positioning Current Loop I-Gain positioning Test Current Standsstill tuning

#21.16 #21.22 #21.23 #21.27 #21.28 #21.29

R/W R/W R/W R/W RW RW

25,0 30000 30000 175,0 175% 175%

Current Limit Rescue charged Current Limit Rescue discharged

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Comment

CL OL

2,0 ms 150 2000 -

Only if #19.48 = ON Only if #19.48 = ON Only if #19.48 = ON

20 % 110 % 80 %

DC link full charged DC link discharged

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12.8 Menu 70 – Internal Parameters Parameter DCP Command Byte DCP Data bytes (Speed setpoint or remaining distance) DCP Communication bytes DCP CRC checksum DCP Status byte DCP Data bytes (Extended Status or Stopping distance) DCP Communication bytes DCP CRC checksum Fast start – Monitoring

Menu 70 #70.51 #70.52

Type RO RO

Range 255 65536

Default -

#70.53 #70.54 #70.55 #70.56

RO RO RO RO

65536 255 255 65536

-

from the Lift controller from the Lift controller from the drive (inverter) from the drive (inverter)

#70.57 #70.58 #70.59

RO RO RW

65536 255 10000

0 mm

from the drive (inverter) from the drive (inverter) =0: Monitoring not aktiv >0: If exceeding Trip 62

Remaining Distance from Control Remaining Distance in Inverter Braking Distance to Control Mode Position dispaly #20.38

#70.60 #70.61 #70.62 #70.63

RO RO RO RW

2 * 109 2 * 109 2 * 109 1

0

Monitoring Remaining distance

#70.64

R/W

10000

0 ms

#70.65

R/W

Code last trip option module DPL line last trip option module Last IGBT Temperature change Travel counter Medium IGBT temperature change Enable Longlife Control DCP4 Interpolation Remaining Distance

#70.66 #70.67 #70.70 #70.71 #70.73 #70.74 #70.79

RO RO RO RO RO R/W RW

135 2 * 109 135 0/1 0/1

0 0

Threshold Freeze Protection Enable 16 Bit DCP Distance Format Shaft Efficiency

#70.81 #70.85

RO RO

-15…0 0/1

0 °C 0 -

#70.86 #70.87

R/W R/W

100 200

85 % 0 ms

#71.58 #71.62 #71.63 #71.67

RO

-10…1

0

1 = OK, < 0 See Trip 54

RW RO RW

0/1 20000 1

0 - 0.01% 0 -

1 = Enable % of nominal load = 0: End Jerk Accel. = #19.15 = 1: End Jerk Accel. = #20.18

Disable 0-contactor monitoring

Filter Time speed selection control

Diagnostic ENP Function Brake Load Compensation Measured Load when stopping Enable End Jerk Acceleration

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Unit

mm mm mm -

°C °C -

Comment from the Lift controller from the Lift controller

0 – Position relative to last stopp 1 – Position absolute in the shaft >0 Monitoring time in ms =0 no monitoring Trip 74, 75 OFF if 70.65 = 1001001 Trip 74 OFF. If 70.65 = 74 Memory for 17.50 Memory for 17.48 Should not exceed 40°C ni Should not exceed 40°C ni 1 = activation 0 – No interpolation between distance transfer every 15ms 1 – Interpolation between remaining distance transfer every 4 ms For remaining and deceleration distance (only with Boehnke Contr.) For correct load measurement For correct peak curve operation with binary speed selection

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12.9 F- Menu Parameter F-Menu

Drive- Menu

0 1 2 3 4 5 6

01.00 11.31 19.26 03.38 03.41 03.34 03.36 05.06 Cl.Lp. Servo 05.07 05.09 05.11 00.45 00.43 05.18 04.07 05.12 19.29 20.10 19.27 19.30 18.30 19.31 18.29 01.06 18.45 18.11 18.12 18.13 18.14 18.15 18.16 18.17 19.28 02.11 02.21 19.14 19.15 19.16 19.25 18.24 04.23 04.12 04.13 18.27 18.28 18.25 18.26 19.20 04.20 19.02 18.10 41.51 / 19.47 20.29 20.01 20.02 19.49

7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52*) 53*) 54*) 55*)

Parameter description

Setting

Parameter 00 for Code entry Operation Mode Drive (OPEn LP, CL VECt oder Servo) Interface (0 = Kl., 3 = DCP3, 4 = DCP4, 5 = CAN) Encoder type Encoder Auto configuration Encoder Counts Encoder Supply Voltage Nominal Motor Frequency in Hz Nominal Motor current in A Nominal Motor voltage in V Motor Pole count CL = Nominal rpm / Servo = Thermal Timeconst. CL = Motor cos phi / Servo = Phase angle in ° Switching frequency in Hz Current limit in % Autotuning Sheave Diameter in mm Roping Gear denominator Gear numerator Operational speed in mm/s Enable Calculation operational RPM Actual operational RPM Maximum Speed in rpm (CLV + SRV) / Hz (OL) Direction invert Creep Spped V1 Releveling Speed Vn Intermediate Speed Vz Inspection Vi Low Speed V1. Medium Speed V2 Fast Speed V3 Soft Start time in msec 2 Acceleration in mm/s 2 Deceleration in mm/s 3 S-Ramp Start Jerk in mm/s 3 S-Ramp Run Jerk in mm/s 3 S-Ramp Stop Jerk in mm/s Brake release time in msec Brake apply time in msec Current demand filter 1 Start Current demand filter 2 Run P-Gain Current Loop P- Gain Speed Loop 1 Start I – Gain Speed Loop 1 Start P- Gain Speed Loop 2 Run I – Gain Speed Loop 2 Run P-Gain Lock control Start Actual active current in % Actual Speed in mm/s Parameter number selected speed Change F-Menu <-> Drive Menu (LCD / Remote keypad.) Remote keypad operation: Englisch / Deutsch Software version Software veriante Remote keypad operation: Reset

*) Parameter 52 – 55 are only available with Remote Keypad Operation over the lift controller display.

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K10616_V01 35 00_English_111208_HK.pdf

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