EN / ACS880 tower crane control program (option +N5650 ...List of related manuals You can find manuals and other product documents in PDF format on the Internet. See section Document

— ABB INDUSTRIAL DRIVES

ACS880 tower crane control program (option +N5650)Firmware manual

—List of related manuals

You can find manuals and other product documents in PDF format on the Internet. See section Document library on the Internet on the inside of the back cover. For manuals not available in the Document library, contact your local ABB representative

Drive hardware manuals and guides Code (English)ACS880-01 drives 9AKK105408A7004ACS880-04 drive modules (200 to 710 kW, 300 to 700 hp) hardware manual

3AUA0000128301

ACS880-04 single drive module packages hardware manual

3AUA0000138495

ACS880-07 drives (45 to 630 kW, 50 to 700 hp) 9AKK105408A8149ACS880-07 drives (560 to 2800 kW) hardware manual

3AUA0000143261

ACS880-17 drives 9AKK106354A1499ACS880-37 drives 9AKK106354A1500ACS880-104 inverter modules hardware manual 3AUA0000104271ACS880-107 inverter units hardware manual 3AUA0000102519

Drive firmware manuals and guidesAdaptive programming application guide 3AXD50000028574Drive (IEC 61131-3) application programming manual

3AUA0000127808

SynRM motor control program (+N7502) supplement

3AXD50000026332

Option manuals and guidesACX-AP-x assistant control panels user’s manual 3AUA0000085685Drive composer Start-up and maintenance PC tool User’s manual

3AUA0000094606

Manuals and quick guides for I/O extension modules, fieldbus adapters, encoder interfaces, etc.

http://search.abb.com/library/ABBLibrary.asp?DocumentID=3AUA0000128301&LanguageCode=en&DocumentPartId=1&Action=LaunchDirecthttp://search.abb.com/library/ABBLibrary.asp?DocumentID=3AUA0000138495&DocumentPartId=1&Action=LaunchDirecthttp://search.abb.com/library/ABBLibrary.asp?DocumentID=9AKK105408A8149&DocumentPartId=1&Action=LaunchDirecthttp://search.abb.com/library/ABBLibrary.asp?DocumentID=3AUA0000143261&DocumentPartId=1&Action=LaunchDirecthttp://search.abb.com/library/ABBLibrary.asp?DocumentID=9AKK106354A1499&DocumentPartId=1&Action=LaunchDirecthttp://search.abb.com/library/ABBLibrary.asp?DocumentID=9AKK106354A1500&DocumentPartId=1&Action=LaunchDirecthttp://search.abb.com/library/ABBLibrary.asp?DocumentID=3AUA0000104271&DocumentPartId=1&Action=LaunchDirecthttp://search.abb.com/library/ABBLibrary.asp?DocumentID=3AUA0000102519&DocumentPartId=1&Action=LaunchDirecthttp://search.abb.com/library/ABBLibrary.asp?DocumentID=3AXD50000028574&DocumentPartId=1&Action=LaunchDirecthttp://search.abb.com/library/ABBLibrary.asp?DocumentID=3AUA0000127808&DocumentPartId=1&Action=LaunchDirecthttp://search.abb.com/library/ABBLibrary.asp?DocumentID=3AXD50000026332&DocumentPartId=1&Action=LaunchDirecthttp://search.abb.com/library/ABBLibrary.asp?DocumentID=3AUA0000085685&DocumentPartId=1&Action=LaunchDirecthttp://search.abb.com/library/ABBLibrary.asp?DocumentID=3AUA0000085685&LanguageCode=en&DocumentPartId=1&Action=Launchhttp://search.abb.com/library/ABBLibrary.asp?DocumentID=3AUA0000094606&DocumentPartId=1&Action=LaunchDirect

3AXD50000194452 Rev AEN

EFFECTIVE: 2018-02-08

2018 ABB Oy. All Rights Reserved.

Table of contents

2. Quick start-up guide

Firmware manual

ACS880 tower crane control program (option +N5650)

Table of contents 5

Table of contents

1. Introduction to the manualContents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Applicability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Target audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Licensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Parameter access levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15Contents of the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16Related documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17Cybersecurity disclaimer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

2. Quick start-up guideContents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Before you start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Drive start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22Tower crane control start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Control through I/O interface using a joystick . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30Control through I/O interface using step reference logic . . . . . . . . . . . . . . . . . . . . . . . . . . 33Control through fieldbus interface using the fieldbus control word . . . . . . . . . . . . . . . . . . 36Control through fieldbus interface using the crane control word and a joystick . . . . . . . . 40Slew control through I/O interface using a joystick with torque reference . . . . . . . . . . . . . 44Slew control through I/O interface using a joystick with speed reference . . . . . . . . . . . . . 48Slew control through fieldbus interface using torque steps . . . . . . . . . . . . . . . . . . . . . . . . 52Slew control through fieldbus interface using torque reference with speed limitation . . . . 57

Configuring control program features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62Configuring Mechanical brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62Configuring Slowdown inputs and limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64Configuring speed feedback using a HTL encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65Configuring Lifetime monitor function in hoist drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66Configuring Lifetime monitor maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

3. Using the control panel

4. Tower crane program featuresContents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71Overview of tower crane control program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Supported features Vs Crane motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72Start/stop control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Common crane control interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74Overview diagram of a crane drive and its control interfaces . . . . . . . . . . . . . . . . . . . . . . 75Emergency control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Safety

6 Table of contents

Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77Start/stop interlocking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Joystick zero position interlocking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78Joystick reference interlocking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79Pending start interlocking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Slew control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80Why is slew control needed? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80Overview of slew control function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80Slew acceleration and deceleration times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81Slew control reference handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Slew torque reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83Slew acceleration torque steps with speed limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83Slew braking torque steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85Selecting the slew torque step reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86Slew torque reference acceleration and deceleration times . . . . . . . . . . . . . . . . . . . . . . 87

Slew speed reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88Slew speed step reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88Selecting slew speed step reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88Slew speed reference acceleration and deceleration time . . . . . . . . . . . . . . . . . . . . . . . . 90

Position counter initialization and scaling in crane application . . . . . . . . . . . . . . . . . . . . . . . . 91Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Master/follower communication in crane application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95Master/follower communication types in crane application . . . . . . . . . . . . . . . . . . . . . . . 95D2D-link configuration in crane application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Mechanical brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101Inputs of the brake control logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102Outputs of the brake control logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102Brake control timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103Wiring example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104Brake system checks – overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106Brake system checks – Torque proving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108Brake system checks – Brake slip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109Brake matching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111Brake opening torque selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115Brake safe closure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116Brake close command delay with slew control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117Extended run time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

Speed reference handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119Possible control devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119Step reference selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119Speed reference priorities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120Dead-band function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121Parabolic speed reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122Speed reference ramping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124External speed limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124Crane motor potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

Supervision and limit switch logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128End limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128Slowdown . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130Fast stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

Table of contents 7

Speed matching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132Motor overspeed monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135Inverter overload detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135Slack rope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136Watchdog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137Lifetime monitoring and maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

Conical motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141Hoist speed optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144Operation chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145Load margin calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147Auto calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148Weight calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149Load speed limit testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150

Smooth lifting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151Power on acknowledgement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

Function description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152Timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152Wiring example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

Crane warning masking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154Toggle bit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

Function description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155Timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156Example of Toggle bit function setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

Maintenance counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158Crane operating hours counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158Brake operated counts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158Number of power on counts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

5. Standard program featuresContents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161Local control vs. external control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162

Local control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162External control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

Operating modes of the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164General representation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165Speed control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165Torque control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

Drive configuration and programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167Programming via parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167Adaptive programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168Application programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

Control interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171Programmable analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171Programmable analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171Programmable digital inputs and outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172Programmable relay outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172Programmable I/O extensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172Fieldbus control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

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Master/follower functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174 External controller interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180Control of a supply unit (LSU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

Motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185Direct torque control (DTC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185Reference ramping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186Constant speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186Critical speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187Speed controller autotune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187Oscillation damping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191Rush control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193Encoder support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193Position counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196Scalar motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201Autophasing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203Flux braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206DC magnetization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207Hexagonal motor flux pattern . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209

Application control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210Motor potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210

DC voltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212Overvoltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212Undervoltage control (power loss ride-through) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212Voltage control and trip limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214Brake chopper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215

Safety and protections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216Emergency stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216Motor thermal protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217Thermal protection of motor cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220User load curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220Other programmable protection functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221Automatic fault resets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223

Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224Fault and warning messages, data logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224Signal supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224Maintenance timers and counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224Load analyzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225

Miscellaneous . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226User parameter sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226Parameter checksum calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226User lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227Data storage parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228Reduced run function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228du/dt filter support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230Sine filter support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230

6. Default control connections

7. ParametersContents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233

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Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233Summary of parameter groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235Parameter listing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238

01 Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23803 Input references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24104 Warnings and faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24205 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24906 Control and status words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25007 System info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26109 Crane application signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26410 Standard DI, RO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27011 Standard DIO, FI, FO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27712 Standard AI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28313 Standard AO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28714 I/O extension module 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29115 I/O extension module 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31116 I/O extension module 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31519 Operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31920 Start/stop/direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32121 Start/stop mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33722 Speed reference selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34523 Speed reference ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35924 Speed reference conditioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36525 Speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37126 Torque reference chain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38130 Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39531 Fault functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40332 Supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41433 Generic timer & counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42135 Motor thermal protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43136 Load analyzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44337 User load curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44843 Brake chopper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45244 Mechanical brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45346 Monitoring/scaling settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46247 Data storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46549 Panel port communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46850 Fieldbus adapter (FBA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47051 FBA A settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47852 FBA A data in . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47953 FBA A data out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48054 FBA B settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48055 FBA B data in . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48156 FBA B data out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48258 Embedded fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48260 DDCS communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49061 D2D and DDCS transmit data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50862 D2D and DDCS receive data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51274 Speed matching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51975 Hoist speed optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52076 Conical motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526

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83 Smooth lifiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52785 ACC interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52986 Slew control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53290 Feedback selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53691 Encoder module settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54692 Encoder 1 configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54993 Encoder 2 configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55695 HW configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55896 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56297 Motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57298 User motor parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57899 Motor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 580200 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 587

8. Additional Parameter dataContents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589Parameters list view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 590Fieldbus addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 590Parameter groups 1...9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 591Parameter groups 10...99 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 597

9. Fault tracingContents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 647Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 647Indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 647

Warnings and faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 647Pure events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 648Editable messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 648

Warning/fault history and analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 648Event logs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 648Factory data logger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 649Other data loggers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 649Parameters that contain warning/fault information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 649

QR Code generation for mobile service application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 650Warning messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 651Fault messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 671

10. Fieldbus control through the embedded fieldbus interface (EFB)What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 691System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 691Connecting the fieldbus to the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 692Setting up the embedded fieldbus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 693Setting the drive control parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 694Basics of the embedded fieldbus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 696

Control word and Status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 697References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 697Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 697

Table of contents 11

Data input/outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 697Register addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 698

About the control profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 699The ABB Drives profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 700

Control Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 700Status Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 702State transition diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 703References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 704Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 705Modbus holding register addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 706

The Transparent profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 707Modbus function codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 708Exception codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 709Coils (0xxxx reference set) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 710Discrete inputs (1xxxx reference set) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 711Error code registers (holding registers 400090…400100) . . . . . . . . . . . . . . . . . . . . . . . . . . . 713

11. Fieldbus control through a fieldbus adapterContents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 715System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 715Basics of the fieldbus control interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 717

Control word and Status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 718References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 718Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 719Contents of the fieldbus Control word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 721Contents of the fieldbus status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 723The state diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 724

Setting up the drive for fieldbus control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 725Parameter setting example: FPBA (PROFIBUS DP) . . . . . . . . . . . . . . . . . . . . . . . . . . . 726

12. Drive-to-drive link

13. Control chain diagramsContents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 731Speed reference source selection I . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 732Speed reference source selection II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 733Speed reference ramping and shaping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 734Tower crane speed reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 735Slew control elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 736Slew motion torque step reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 737Motor feedback configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 738Load feedback and position counter configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 739Speed error calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 740Speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 741Torque reference source selection and modification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 742Operating mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 743Reference selection for torque controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 744Torque limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 745Torque controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 746

12 Table of contents

Master/Follower communication I (Master) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 747Master/Follower communication II (Follower) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 748

Further informationProduct and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 749Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 749Providing feedback on ABB Drives manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 749Document library on the Internet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 749

Introduction to the manual 13

1Introduction to the manual

Contents of this chapterThis chapter describes the contents of the manual. It also contains information on the applicability, safety and intended audience.

ApplicabilityThis manual applies to the ACS880 tower crane control program (option +N5650), tower crane application version 1.00 (loading package ATCLC 1.00.0.0) or later, and primary control version 2.5x or later.

You can see firmware and loading package versions in parameters.

Example:

The tower crane application program is based on IEC standard 61131-3. It is an in-house application, therefore the application code is locked and cannot be modified by the user.

Target audienceThis manual is intended for people who design, commission, or operate the drive system.

Parameter Loading package version07.04 Firmware name AINFB or AINFC07.05 Firmware version 2.51.6.2207.06 Loading package name ATCLC (ZCON)07.07 Loading package version 1.00.0.0

14 Introduction to the manual

LicensingThe tower crane control program (+N5650), version ATCLx v1.00.0.0 or later comes with a license key on the ZMU-02 memory unit. The program activates only after recognizing the key and correspondingly registers itself with the crane software.

You can see the license information in the Drive Composer PC tool or in the ACS-AP-x control panel from System info → Licenses.

After the program is downloaded to the memory unit with the license key, the program remains there unless you remove it. This makes it possible for you to upgrade the tower crane application later on a separate crane loading package.

If the program was loaded to the memory unit without the license key, then the drive indicates a fault 64A5 Licensing fault. See the auxiliary fault code in the Event logger to know the plus code of the missing license, in this case N8015. For further assistance, contact your local ABB representative.

Safety instructionsFollow all safety instructions delivered with the drive.• Read the complete safety instructions before you install, commission, or use

the drive. The complete safety instructions are delivered with the drive as either part of the Hardware manual, or, in the case of ACS880 multidrives, as a separate document.

• Read the firmware function-specific warnings and notes before changing parameter values. These warnings and notes are included in the parameter descriptions presented in chapter Parameters.

Device License keyZMU-02 memory unit license key N8015 MU Interlock key – CraneCrane software (loading package) N8016 Licensed appl Crane


Parameter access levelsParameters in the control program are visible based on the following two access levels:

Short menu (pass code 1) – Most commonly used crane parameters. Parameters in this menu are visible only when you set parameter 96.02 Pass code = 1. For the list of short menu parameters, see the non-shaded parameter indexes in chapter Additional Parameter data (page 589).

Long menu (pass code 584) – Complete list of signals and parameters in the control program, for e.g. Smooth lifting. Parameters in this menu are visible only when you set parameter 96.02 Pass code = 584.

Note: ABB recommends you to create a backup of complete parameters list using the long menu. However, you can also access the complete parameters list in the offline mode.


Contents of the manualThis manual contains the following chapters:• Introduction to the manual contains information on the applicability, licensing, and

safety instructions. The chapter also includes the list of terms and abbreviations used in this manual.

• Quick start-up guide contains the basic start-up sequence of the drive and additional alternative checklists to start-up the tower crane control program and the slew control function.

• Using the control panel provides basic instructions on using the control panel.• Tower crane program features describes the features of ACS880 tower crane

control program.• Standard program features describes the control locations and operation modes,

as well as the program features that are not specific to tower crane application. • Default control connections presents the default connection diagrams.• Parameters describes the parameters of the drive.• Additional Parameter data contains additional information of parameters listed in

the chapter Parameters (page 233).• Fault tracing lists the warning and fault messages with possible causes and

remedies.• Fieldbus control through the embedded fieldbus interface (EFB) describes the

communication to and from a fieldbus network using the embedded fieldbus interface of the drive.

• Fieldbus control through a fieldbus adapter describes the communication to and from a fieldbus network using an optional fieldbus adapter module.

• Drive-to-drive link describes the communication between drives connected together by the drive-to-drive (D2D) link.

• Control chain diagrams shows the parameter structure within the drive.

Related documentsSee List of related manuals on the inside of front cover.


Terms and abbreviationsTerm/abbreviation DefinitionAC 800M Type of programmable controller manufactured by ABB.ACS800 A product family of ABB drivesACS-AP-I Type of control panel used with ACS880 drivesAI Analog input; interface for analog input signalsAO Analog output; interface for analog output signalsBCU Type of control unit used in ACS880 drives, primarily those with

parallel-connected inverter or supply modules.DC link DC circuit between rectifier and inverterDDCS Distributed drives communication system; a protocol used in

communication between ABB drive equipment.DI Digital input; interface for digital input signalsDIO Digital input/output; interface that can be used as a digital input or

outputDO Digital output; interface for digital output signalsDrive Frequency converter for controlling AC motors. The drive consists of a

rectifier and an inverter connected together by the DC link. In drives up to approximately 500 kW, these are integrated into a single module (drive module). Larger drives typically consist of separate supply and inverter units.ACS880 tower crane control program is used to control the inverter part of the drive.

DriveBus A communication link used by, for example, ABB controllers. ACS880 drives can be connected to the DriveBus link of the controller. See page 180.

DTC Direct torque control. See page 185.FAIO-01 Optional analog I/O extension moduleFBA Fieldbus adapterFCAN-01 Optional CANopen adapterFCNA-01 Optional ControlNet adapterFDCO-0x Optional DDCS communication moduleFDIO-01 Optional digital I/O extension moduleFDNA-01 Optional DeviceNet™ adapterFEA-03 Optional I/O extension adapterFECA-01 Optional EtherCAT® adapterFEN-01 Optional TTL encoder interface moduleFEN-11 Optional absolute encoder interface moduleFEN-21 Optional resolver interface moduleFEN-31 Optional HTL encoder interface moduleFENA-11 Optional Ethernet/IP, Modbus/TCP and PROFINET IO adapter


FENA-21 Optional dual-port Ethernet/IP, Modbus/TCP and PROFINET IO adapter

FEPL-02 Optional POWERLINK adapterFIO-01 Optional digital I/O extension moduleFIO-11 Optional analog I/O extension moduleFPBA-01 Optional PROFIBUS DP adapterFPTC-01 Optional thermistor protection module. Not released for sales at the

time of publication.FPTC-02 Optional ATEX-certified thermistor protection module for potentially

explosive atmospheres. Not released for sales at the time of publication.

FSCA-01 Optional Modbus adapterFSO-xx Optional safety functions moduleHTL High-threshold logicID run Motor identification run. During the identification run, the drive

identifies the characteristics of the motor for optimum motor control.IGBT Insulated gate bipolar transistor; a voltage-controlled semiconductor

type widely used in inverters and IGBT supply units due to their easy controllability and high switching frequency

INU-LSU Type of optical DDCS communication link between two converters, for example the Supply unit and the Inverter unit of a drive system.

Inverter unit The part of the drive that converts DC to AC for the motor.I/O Input/OutputISU An IGBT supply unit; type of supply unit implemented using IGBT

switching components, used in regenerative and low-harmonic drives.Line-side converter See Supply unit.LSU See Supply unit.ModuleBus A communication link used by, for example, ABB controllers. ACS880

drives can be connected to the optical ModuleBus link of the controller.Motor-side converter See Inverter unit.Network control With fieldbus protocols based on the Common Industrial Protocol

(CIPTM), such as DeviceNet and Ethernet/IP, denotes the control of the drive using the Net Ctrl and Net Ref objects of the ODVA AC/DC Drive Profile. For more information, see www.odva.org, and the following manuals:• FDNA-01 DeviceNet adapter module User’s manual

(3AFE68573360 [English]), and• FENA-01/-11/-21 Ethernet adapter module User’s manual

(3AUA0000093568 [English]).Parameter User-adjustable operation instruction to the drive, or signal measured

or calculated by the drive

Term/abbreviation Definition

www.odva.org


Cybersecurity disclaimerThis product is designed to be connected to and to communicate information and data via a network interface. It is Customer's sole responsibility to provide and continuously ensure a secure connection between the product and Customer network or any other network (as the case may be). Customer shall establish and maintain any appropriate measures (such as but not limited to the installation of firewalls, application of authentication measures, encryption of data, installation of anti-virus programs, etc) to protect the product, the network, its system and the interface against any kind of security breaches, unauthorized access, interference, intrusion, leakage and/or theft of data or information. ABB and its affiliates are not liable for damages and/or losses related to such security breaches, any unauthorized access, interference, intrusion, leakage and/or theft of data or information.

PID controller Proportional–integral–derivative controller. Drive speed control is based on PID algorithm.

PLC Programmable logic controllerPower unit Contains the power electronics and power connections of the drive (or

inverter module). The drive control unit is connected to the power unit.PTC Positive temperature coefficientRDCO-0x Optional DDCS communication moduleRFG Ramp function generator. RO Relay output; interface for a digital output signal. Implemented with a

relay.SSI Synchronous serial interfaceSTO Safe torque offSupply unit The part of the drive that converts AC to DC. An IGBT supply unit (ISU)

is also capable of feeding regenerative energy back into the supply network.

TTL Transistor-transistor logicUPS Uninterruptible power supply; power supply equipment with battery to

maintain output voltage during power failureZCU Type of control unit used in ACS880 drives (primarily in drive modules,

or inverter/supply units consisting of a single power module). Consists of a ZCON board built into a plastic housing.Depending on the type of hardware, the control unit may be integrated into or fitted onto the drive/inverter module, or installed separately.

Term/abbreviation Definition

Quick start-up guide 21

2Quick start-up guide

Contents of this chapterThe chapter contains the basic start-up sequence of the drive and additional alternative checklists for starting up the drive with the control program. It also contains configuration setups for specific control program features.

See following sections:• Drive start-up on page 22• Tower crane control start-up on page 29• Configuring control program features on page 62.

Note: In the start-up instructions, the drive is set up using the ACS-AP-I control panel. You can also set up the start-up sequence using the Drive composer PC tool.

Before you startMake sure that the drive is mechanically and electrically installed as described in the appropriate Quick installation guide and/or Hardware manual.

Safety

WARNING! All electrical installation and maintenance work on the drive should be carried out by qualified electricians only.

Never work on the drive, the brake chopper circuit, the motor cable or the motor when power is applied to the drive. Always make sure by measuring that no voltage is actually present.

22 Quick start-up guide

WARNING! Make sure that the machinery into which the drive with brake control function is integrated fulfills the personnel safety regulations. Note that

the frequency converter (a Complete Drive Module or a Basic Drive Module, as defined in IEC 61800-2), is not considered as a safety device mentioned in the European Machinery Directive and related harmonized standards. Thus, the personnel safety of the complete machinery must not be based on a specific frequency converter feature (such as the brake control function), but it has to be implemented as defined in the application specific regulations.

Drive start-up

SafetyWARNING! Obey all safety instructions for the drive.Only qualified electricians are allowed to start up the drive.

Check the installation. See the installation checklist in the appropriate Hardware manual.

Check that the starting of the motor does not cause any danger. De-couple the driven machine if• there is a risk of damage in case of an incorrect direction of rotation, or• a Normal ID run is required during the drive start-up, when the load torque is higher

than 20% or the machinery is not able to withstand the nominal torque transient during the ID run.

1 – Power-up, date and time settingsPower up the drive.Note: It is normal that warning messages appear at various points along the start-up process. To hide a message and to resume the start-up process, press .Hide any warnings now to enter the Home view (shown on the right).The two commands at the bottom of the display (in this case, Options and Menu), show the functions of the two softkeys and located below the display. The commands assigned to the softkeys vary depending on the context.

Remote 0.0 rpm

0.000.00

Motor torque %% 0.0Motor currentA

Motor speed usedrpm

Options 12:34 Menu


In the Home view, press (Menu).The main Menu (right) appears.

Highlight Settings on the menu using and and press (Select).

In the Settings menu, highlight Date & time (if not already highlighted) and press (Select).

In the Date & time menu, highlight Date (if not already highlighted) and press (Select).

Remote 0.0 rpmMenu

Parameters

Assistants

Energy efficiency

Event logExit 12:34 Select

Remote 0.0 rpmSettingsLanguageDate & time

Back 12:34 Select

Edit textsDisplay settings

Next daylight saving start 28.03.

Remote 0.0 rpmDate & timeDate

Back 12:35 Edit

TimeShow date as

01.01.198012:34:56

day.month.yearShow time as 24-hourDaylight saving EU

Remote 0.0 rpmDate

Cancel 12:35 Save

Day Month Year

Tuesday.01.198001


Set the correct date:• Use and to move the cursor left

and right.• Use and to change the value.• Press (Save) to accept the new

setting.Check/adjust all the remaining settings in the Date & time menu.The Show clock setting determines whether the time is shown at all times in the bottom pane of the display.After you have made the settings, press

(Back or Exit) repeatedly until the Home view (right) reappears.

2 – Supply voltage and motor data settingsSwitch to local control to ensure that external control is disabled by pressing the key. Local control is indicated by the text “Local” in the top pane.

Open the main Menu by pressing (Menu).

Remote 0.0 rpm

0.000.00


Motor speed usedrpm

Options 12:35 Menu

Loc/RemLocal 0.0 rpm

0.000.00


Motor speed usedrpm

Options 12:36 Menu

Local 0.0 rpmMenu

Parameters

Assistants

Energy efficiency

Event logExit 12:36 Select


Highlight Parameters and press (Select).

Highlight Complete list using and and press (Select).A listing of parameter groups is displayed.

Highlight parameter group 95 HW configuration and press (Select).Note that the list wraps around in either direction between groups 99 and 01. In this case, it is quicker to use to locate group 95 on the list.After selecting a group, a listing of parameters within the group is displayed.

Highlight parameter 95.01 Supply voltage (if not already highlighted) and press (Edit).The available parameter settings are listed.

Local 0.0 rpmParametersFavoritesBy function

Back 12:36 Select

Complete listModified

Local 0.0 rpmComplete list01 Actual values03 Input references04 Warnings and faults05 Diagnostics06 Control and status words07 System info

Back 12:36 Select

Local 0.0 rpm95 HW configuration95.01 Supply voltage

Back 12:36 Edit

95.02 Adaptive voltage limits95.04 Control board supply

Not givenDisable

Internal 24V

Local 0.0 rpm95.01 Supply voltage

[0] Not given[1] 208…240 V

Cancel 12:36 Save

[2] 380…415 V[3] 440…480 V[4] 500 V


Highlight the correct setting on the list and press (Save).

Press (Back) to display the list of parameter groups again. Select parameter group 99 Motor data, and set parameter 99.03 Motor type.Set parameter 99.04 Motor control mode.DTC = Direct torque control; ScalarDTC is suitable for most cases. Scalar mode is recommended if• the nominal current of the motor is less than 1/6 of the nominal current of the drive,• the drive is used for test purposes with no motor connected, or• the drive controls multiple motors and the number of motors connected is variable.

Refer to the motor nameplate for the following parameter settings. Whenever possible, enter the values exactly as shown on the motor nameplate.

Example of a nameplate of an induction (asynchronous) motor:

Example of a nameplate of a permanent magnet motor:

99.06 Motor nominal currentThe allowable range is• in DTC mode: 1/6 × IHd … 2 × IHd of the drive• in Scalar mode: 0 … 2 × IHdNote: With numerical parameter values:• Use and to change the value of a digit.• Use and to move the cursor left and right.• Press (Save) to enter the value.

Local 0.0 rpm95 HW configuration95.01 Supply voltage

Back 12:36 Edit

95.02 Adaptive voltage limits95.04 Control board supply

380…415 VDisable

Internal 24V

M2AA 200 MLA 4

147514751470147014751770

32.55634595459

0.830.830.830.830.830.83

3GAA 202 001 - ADA

180

IEC 34-1

6210/C36312/C3

Cat. no 35 30 30 30 30 3050

5050505060

690 Y400 D660 Y380 D415 D440 D

V Hz kW r/min A cos IA/IN t E/sIns.cl. F IP 55

NoIEC 200 M/L 55

3 motor

ABB Motors3 ~ motor M2BJ 280SMB 10 B3

No 3424522

ABB Motors

Ins.cl. F IP 55

V 400 D

Hz

50

kW

55

r/min

600

A

103

cos

0.97

IA/IN t E/s

Prod. code 2GBJ285220-ADA405445477

6316/C3 6316/C3 630kg

IEC 34-1

S1 SPEC INSUL.JK-21640-1


Make the following parameter settings in the same manner.99.07 Motor nominal voltageThe allowable range is 1/6 × UN … 2 × UN of the drive.With permanent magnet motors, the nominal voltage is the BackEMF voltage at nominal speed. If the voltage is given in volt/rpm (eg. 60 V per 1000 rpm), the voltage at a nominal speed of 3000 rpm is 3 × 60 V = 180 V. Note that nominal voltage is not the same as equivalent DC motor voltage (EDCM) given by some manufacturers. The nominal voltage can be calculated by dividing the EDCM voltage by 1.7 (or square root of 3).99.08 Motor nominal frequencyWith permanent magnet motors, if the nominal frequency is not shown on the nameplate, it can be calculated using the following formula:f = n × p / 60where n = nominal motor speed, p = number of pole pairs.99.09 Motor nominal speed

99.10 Motor nominal power

99.11 Motor nominal cos Φ99.12 Motor nominal torqueThese values are not required, but can be entered to improve control accuracy. If not known, leave at 0.99.13 ID run requestedThis parameter selects the mode of the identification run (DTC motor control mode only).Note: The drive must be in local control for the identification run.

WARNING! The identification run modes marked thus * will run the motor in the forward direction (see below for details). Make sure it is safe to run the motor

before choosing any of these modes.*Normal mode is recommended for hoist drives. The driven machinery must be de-coupled from the motor if• the load torque is higher than 20%, or• the machinery is not able to withstand the nominal torque transient during the

identification run.Note: In Normal mode, brake will open automatically when start command is given.*Reduced mode should be selected if the mechanical losses are higher than 20%, i.e. the load cannot be de-coupled, or full flux is required to keep the motor brake open (eg. with conical motors).The Standstill mode should be selected if neither the *Normal or *Reduced mode can be used. This mode is recommended in, for example, trolley and slew motions with which it is difficult or impossible to disconnect the motor from the mechanical system.Notes:• This mode cannot be used with a permanent magnet motor if the load torque is higher

than 20% of nominal.• Mechanical brake is not opened by the logic for the identification run.Make sure that the Safe torque off and emergency stop circuits (if present) are closed.


Start the identification run by pressing the (Start) button.

A warning will indicate that the identification run is in progress.

Check that the motor runs in the correct direction (forward direction shown below).With a positive speed reference, the motor has to run to the direction of lifting a load.

The identification run has completed when the drive stops and the value of parameter 99.13 reverts to None.If the motor ran in the wrong direction, correct the motor cabling or adjust parameter 99.16 Motor phase order.


Tower crane control start-upThis section contains following alternative control schemes for starting up a drive in different crane motions with tower crane control program:

Note: Disable Torque proving and Brake open torque functions in the following modes:

• scalar motor control• trolley motion• slew motion.

Crane motion

See topic See page

Hoist, trolley

Control through I/O interface using a joystick 30Control through I/O interface using step reference logic 33Control through fieldbus interface using the fieldbus control word 36Control through fieldbus interface using the crane control word and a joystick 40

Slew Slew control through I/O interface using a joystick with torque reference 44Slew control through I/O interface using a joystick with speed reference 48Slew control through fieldbus interface using torque steps 52Slew control through fieldbus interface using torque reference with speed limitation

57


Control through I/O interface using a joystick

This section describes how to set up hoist and trolley drives for control through I/O interface using a joystick. See control connections on page 32.

Note: For setting up a slew drive, see section Control through I/O interface using step reference logic (page 33) and Slew control through I/O interface using a joystick with speed reference (page 48).

SafetyWARNING! Obey all safety instructions for the drive. Only qualified electricians are allowed to start up the drive.

Preliminary actionsMake sure that you have completed the basic start-up sequence of the drive. See Drive start-up on page 22.Power up the drive and wait for 10 seconds. This is to make sure that all the boards are powered and the application is running. Switch to local control by pressing the key, or alternatively, use the Drive composer PC tool.

Brake circuit checkMake sure that you can safely do the brake circuit check. For example, make sure that the load is not hanging from a hook.Make sure the brake circuit is working.1. Open the brake temporarily by setting parameter 10.24 RO1 source = Energized. Note: Parameter 10.24 is locked for editing. To access, set parameter 96.02 Pass code

= 584.2. Set back par. 10.24 to its default value = P.44.210.0.

Control signal settingsSelect the signal sources for start and stop control.20.01 Ext1 commands = In1 Start fwd; In2 Start rev20.03 Ext1 in1 source = DI120.04 Ext1 in2 source = DI2Select the signal source for speed reference 1.22.11 Speed ref1 source = AI1 scaledDefine the analog input AI1 scales.12.15 AI1 unit selection = V12.17 AI1 min = 0 V12.18 AI1 max = 10 V12.19 AI1 scaled at AI1 min = The required maximum speed for reverse direction12.20 AI1 scaled at AI1 max = The required maximum speed for forward direction

Loc/Rem


Set the required ramp times.23.201 Crane ramp set selection23.201 Crane acc time 123.202 Crane dec time 123.203 Crane acc time 223.204 Crane dec time 2Set the speed limits.30.11 Minimum speed = The same value as for 12.19 AI1 scaled at AI1 min30.12 Maximum speed = The same value as for 12.20 AI1 scaled at AI1 maxSet the torque and current limits. 30.17 Maximum current = Nominal motor current [A]30.19 Minimum torque 1 = Nominal motor torque (for example, -100%)30.20 Maximum torque 1 = Nominal motor torque (for example, 100%)Note: After the trial run, you must set the above limits according to the application requirements.

Brake and limit switches settingsConfigure these functions:• Mechanical brake control (see page 62)• End limit 1, End limit 2 and Slowdown (see page 64).

Trial runDo a trial run with an empty hook.

Make sure that the brake and safety circuits are working.

Do a trial run with real load.


Control connections for hoist and trolley drives

This figure shows control connections for the joystick set-up described on page 30.

XPOW External power input 1 +24VI 24 V DC, 2 A2 GND

XAI Reference voltage and analog inputs1 +VREF 10 V DC, RL 1…10 kohm2 -VREF -10 V DC, RL 1…10 kohm3 AGND Ground4 AI1+ Speed reference

0(2)…10 V, Rin > 200 kohm5 AI1-6 AI2+ By default not in use.

0(4)…20 mA, Rin > 100 ohm7 AI2-XAO Analog outputs

1 AO1 Motor speed rpm0…20 mA, RL < 500 ohm2 AGND

3 AO2 Motor current0…20 mA, RL < 500 ohm4 AGND

XD2D Drive-to-drive link1 B

Drive-to-drive link2 A3 BGND

XRO1, XRO2, XRO3 Relay outputs1 NC Open brake command (Par. 44.210, b0)

250 V AC / 30 V DC2 A

2 COM3 NO1 NC Watchdog ok (Par. 32.227, b0)

250 V AC / 30 V DC2 A

2 COM3 NO1 NC Fault (-1)

250 V AC / 30 V DC2 A

2 COM3 NO

XD24 Digital interlock1 DIIL Power ackn. (par. 20.212) / Run enable (par. 20.12)2 +24VD +24 V DC 200 mA3 DICOM Digital input ground4 +24VD +24 V DC 200 mA5 DIOGND Digital input/output ground

XDIO Digital input/outputs1 DIO1 Output: Open brake command2 DIO2 Output: Not in use.

XDI Digital inputs1 DI1 Start forward (= positive speed = lifting load)2 DI2 Start reverse (= negative speed = lowering load)3 DI3 Fault reset4 DI4 Not in use.5 DI5 Not in use.6 DI6 Not in use.

XSTO Safe torque off circuits must be closed for the drive to start. See Hardware manual of drive.X12 Safety options connectionX13 Control panel connection

X205 Memory unit connection

External brake circuit

Auxiliary contact of main contactor


Control through I/O interface using step reference logic

This section describes how to set up hoist and trolley drives for control through I/O interface using the step reference logic. See control connections on page 35.

Note: For setting up a slew drive, see section Control through fieldbus interface using the fieldbus control word on page 36.





Control signal settingsSelect the signal sources for start and stop control.20.01 Ext1 commands = In1 Start fwd; In2 Start rev20.03 Ext1 in1 source = DI120.04 Ext1 in2 source = DI2Define the Step reference logic.22.203 Step reference mode = Enabled22.204 Step reference select 2 = Pointer xx.xx (DI4)22.205 Step reference select 3 = Pointer xx.xx (DI5)22.206 Step reference select 4 = Pointer xx.xx (DI6)22.207 Step reference 1 = Reference 1 according to the application speed22.208 Step reference 2 = Reference 2 according to the application speed22.209 Step reference 3 = Reference 3 according to the application speed22.210 Step reference 4 = Reference 4 according to the application speed

Loc/Rem


Set the required ramp times.23.201 Crane acc time 123.202 Crane dec time 123.203 Crane acc time 223.204 Crane dec time 2Set the speed limits so that they correspond to the step references 1…4.30.11 Minimum speed30.12 Maximum speedSet the torque and current limits. 30.17 Maximum current = Nominal motor current [A]30.19 Minimum torque 1 = Nominal motor torque (for example, -100%)30.20 Maximum torque 1 = Nominal motor torque (for example, 100%)Note: After the trial run, you must set the above limits according to the application requirements.







This figure shows control connections for the step reference set-up described on page 33.










250 V AC / 30 V DC2 COM3 NO1 NC Watchdog ok (Par. 32.227, b0)

250 V AC / 30 V DC2 A


250 V AC / 30 V DC2 A

2 COM3 NO


XDIO Digital input/outputs1 DIO1 Output: Open brake command2 DIO2 Output: Not in use

XDI Digital inputs1 DI1 Start forward (= positive speed = lifting load)2 DI2 Start reverse (= negative speed = lowering load)3 DI3 Fault reset4 DI4 Step reference 2 selection. See par. 22.204.5 DI5 Step reference 3 selection. See par. 22.205.6 DI6 Step reference 4 selection. See par. 22.206.

XSTO Safe torque off circuits must be closed for the drive to start. See Hardware manual of drive.X12 Safety options connectionX13 Control panel connectionX205 Memory unit connection




Control through fieldbus interface using the fieldbus control word

This section describes how to set up hoist and trolley drives for control through fieldbus interface using the fieldbus control word. See control connections on page 39.

Note: For setting up a slew drive, see section Slew control through fieldbus interface using torque reference with speed limitation on page 57.





Fieldbus communication settingsStart up the fieldbus adapter module. See the appropriate fieldbus adapter module user’s manual. An example of the FPBA-01 start-up procedure is given below.

50.01 FBA A enable = Option slot x50.02 FBA A comm loss func = Fault50.03 FBA A comm loss t out = 1 s50.04 FBA A ref1 type = Speed46.01 Speed scaling = According to the maximum speed of the applicationSet the adapter module configuration parameters in group 51. At the minimum, set the required node address in parameter 51.02 Node address and the communication profile in 51.05 Profile.

Loc/Rem


52.01 FBA A data in1 = SW 16bit52.02 FBA A data in2 = 1.1 [16]53.01 FBA A data out1 = CW 16bit53.02 FBA A data out2 = Ref1 16bit53.03 FBA A data out3 = Ref2 16bit46.01 Speed scaling = According to the maximum speed of the applicationSave the valid parameter values to the permanent memory.96.07 Parameter save manually = SaveValidate the settings made in parameter groups 51, 52 and 53.51.27 FBA A par refresh = RefreshSwitch power off and on.

Make sure that the settings in parameter group 51 are correct (type of the fieldbus adapter module, node address, and so on).Define the start and stop control sources.20.01 Ext1 commands = Fieldbus ASelect the source for the speed reference.22.11 Speed ref1 source = FB A ref1Set the required ramp times.23.201 Crane acc time 123.202 Crane dec time 123.203 Crane acc time 223.204 Crane dec time 2Set the speed limits.30.11 Minimum speed30.12 Maximum speedSet the torque and current limits. 30.17 Maximum current = Nominal motor current [A]30.19 Minimum torque 1 = Nominal motor torque (for example, -100%)30.20 Maximum torque 1 = Nominal motor torque (for example, 100%)Note: After the trial run, you must set the above limits according to the application requirements.




Make sure that the brake and safety circuits are working before.




This figure shows control connections for fieldbus control word set-up described on page 36.











250 V AC / 30 V DC2 A


250 V AC / 30 V DC2 A

2 COM3 NO


XDIO Digital input/outputs1 DIO1 Output: Open brake command2 DIO2 Output: Not in use

XDI Digital inputs1 DI12 DI23 DI3 Fault reset4 DI45 DI56 DI6

XSTO Safe torque off circuits must be closed for the drive to start. See Hardware manual of drive.X12 Safety options connectionX13 Control panel connectionX205 Memory unit connection




Control through fieldbus interface using the crane control word and a joystick

This section describes how to set up hoist and trolley drives for control through the fieldbus interface using the crane control word and a joystick. See control connections on page 43.

Note: For setting up a slew drive, see sections Control through fieldbus interface using the crane control word and a joystick(page 40) and Slew control through fieldbus interface using torque reference with speed limitation (page 57).





Fieldbus communication settingsStart up the fieldbus adapter module. See the appropriate fieldbus adapter module user’s manual. An example of the FPBA-01 start-up procedure is given below.

50.01 FBA A enable = Option slot x50.02 FBA A comm loss func = Fault50.03 FBA A comm loss t out = 1 s50.04 FBA A ref1 type = Speed or Frequency50.05 FBA A ref2 type = Speed or Frequency46.01 Speed scaling = According to the maximum speed of the applicationSet the adapter module configuration parameters in group 51. At the minimum, set the required node address in parameter 51.02 Node address and the communication profile in 51.05 Profile.

Loc/Rem


52.01 FBA A data in1 = SW 16bit52.02 FBA A data in2 = 1.1 [16]53.01 FBA A data out1 = CW 16bit53.02 FBA A data out2 = Ref1 16bit53.03 FBA A data out3 = Other -> 20.21646.01 Speed scaling = According to the maximum speed of the applicationSave the valid parameter values to the permanent memory.96.07 Parameter save manually = SaveValidate the settings made in parameter groups 51, 52 and 53.51.27 FBA A par refresh = RefreshSwitch power off and on.

Make sure that the settings in parameter group 51 are correct (type of the fieldbus adapter module, node address, and so on).Define the start and stop control sources.20.01 Ext1 commands = In1 Start fwd; In2 Start rev20.03 Ext1 in1 source = P.20.216.020.04 Ext1 in2 source = P.20.216.1

Contents of par. 20.216 Crane control word 1:

Select the source for the speed reference.22.11 Speed ref1 source = FB A ref1Set the required ramp times.23.201 Crane acc time 123.202 Crane dec time 123.203 Crane acc time 223.204 Crane dec time 2Set the speed limits.30.11 Minimum speed30.12 Maximum speed


Set the torque and current limits. 30.17 Maximum current = Nominal motor current [A]30.19 Minimum torque 1 = Nominal motor torque (for example, -100%)30.20 Maximum torque 1 = Nominal motor torque (for example, 100%)







This figure shows the control connections for the crane control word set-up described on page 40.











250 V AC / 30 V DC2 A


250 V AC

Documents

EN / ACS880 tower crane control program (option +N5650 ...List of related manuals You can find manuals and other product documents in PDF format on the Internet. See section Document