EN / ACS880 crane control program (option +N5050) firmware ... · This manual applies to the ACS880 crane control program (option +N5050), crane application version 4.00 (loading

ABB industrial drives

Firmware manualACS880 crane control program (option +N5050)

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.*A list of links to all manuals applicable to this product is available in the Document library:

Drive hardware manuals Code (English)*ACS880-01 drives hardware manual 3AUA0000078093ACS880-04 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) hardware manual

3AUA0000105718

*ACS880-07 drives (560 to 2800 kW) hardware manual 3AUA0000143261*ACS880-17 drives hardware manual 3AXD50000020436*ACS880-37 drives hardware manual 3AXD50000020437ACS880-104 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 3AUA0000127808SynRM 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.

Product CodeACS880-01 drives 9AKK105408A7004ACS880-04 drive modules (200 to 710 kW, 300 to 700 hp) 9AKK105713A4819ACS880-07 drives (45 to 630 kW, 50 to 700 hp) 9AKK105408A8149ACS880-07 drives (560 to 2800 kW) 9AKK105713A6663ACS880-17 drives 9AKK106354A1499ACS880-37 drives 9AKK106354A1500

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3AXD50000027678 Rev DEN

EFFECTIVE: 2017-03-15

2017 ABB Oy. All Rights Reserved.

Table of contents

4. Quick start-up guide

Firmware manual

ACS880 crane control program (option +N5050)

Table of contents 5

Table of contents

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

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

Control through the I/O interface using a joystick . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30Control through the I/O interface using the step reference logic . . . . . . . . . . . . . . . . . . . . 33Control through the fieldbus interface using the fieldbus control word . . . . . . . . . . . . . . . 36Control through the fieldbus interface using the crane control word and a joystick . . . . . 39Configuring Mechanical brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43Configuring Slowdown inputs and limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44Configuring speed feedback using a HTL encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45Configuring Lifetime monitor function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46Configuring Lifetime monitor maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

3. Using the control panel

4. Crane program featuresContents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51Overview of the crane control program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52Crane control interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Overview diagram of a crane drive and its control interfaces . . . . . . . . . . . . . . . . . . . . . . 53Emergency control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Start/stop interlocking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56Joystick zero position interlocking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56Joystick reference interlocking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57Pending start interlocking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Position counter initialization and scaling in crane application . . . . . . . . . . . . . . . . . . . . . . . . 58Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Safety

6 Table of contents

Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59Master/follower communication in crane application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Master/follower communication types in crane application . . . . . . . . . . . . . . . . . . . . . . . 62D2D-link configuration in crane application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Shaft synchro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69Synchro control - basic function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69Synchro control - full function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72Example 1: Parameter settings for Synchro control (Speed-speed+position) setup . . . . 73Example 2: Parameter settings for encoder mounted/ not mounted on motor shaft . . . . 75

Mechanical brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79Inputs of the brake control logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79Outputs of the brake control logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79Brake control timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80Wiring example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81Brake system checks – overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82Brake system checks – Torque proving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84Brake system checks – Brake slip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85Brake matching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86Brake opening torque selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90Brake safe closure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91Extended run time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Speed reference handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93Possible control devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93Step reference selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93Speed reference priorities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94Dead-band function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95Parabolic speed reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96Speed reference ramping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98External speed limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98Crane motor potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Supervision and limit switch logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102End limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102Slowdown . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103Fast stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105Speed matching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105Motor overspeed monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107Inverter overload detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108Slack rope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108Watchdog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109Lifetime monitoring and maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Conical motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113Hoist speed optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116Operation chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117Load margin calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119Auto calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120Weight calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121Load speed limit testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

Smooth lifting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123Antisway . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

Antisway functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

Table of contents 7

Antisway function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128Sway tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129Automatic ON switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129Ramp times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130Limit switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130Antisway communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131Fieldbus communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131Antisway commissioning instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132Measuring and calculating a real pendulum arm with an empty hook . . . . . . . . . . . . . . 133Determining pendulum arm offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

Power on acknowledgement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139Function description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139Timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139Wiring example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

Crane warning masking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141Toggle bit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

Function description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142Timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143Example of Toggle bit function setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

Maintenance counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145Crane operating hours counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145Brake operated counts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145Number of power on counts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146

5. Standard program featuresContents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147Local control vs. external control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

Local control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148External control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

Operating modes of the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150General representation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151Speed control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151Torque control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

Drive configuration and programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153Programming via parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153Adaptive programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154Application programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

Control interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157Programmable analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157Programmable analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157Programmable digital inputs and outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158Programmable relay outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158Programmable I/O extensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158Fieldbus control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159Master/follower functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160 External controller interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166Control of a supply unit (LSU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168

Motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171Direct torque control (DTC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

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Reference ramping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172Constant speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172Critical speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173Speed controller autotune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173Oscillation damping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177Rush control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179Encoder support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179Position counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182Scalar motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187Autophasing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188Flux braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191DC magnetization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192Hexagonal motor flux pattern . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194

Application control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195Motor potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195

DC voltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197Overvoltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197Undervoltage control (power loss ride-through) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197Voltage control and trip limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199Brake chopper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200

Safety and protections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201Emergency stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201Motor thermal protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202Thermal protection of motor cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205User load curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205Other programmable protection functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206Automatic fault resets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208

Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209Fault and warning messages, data logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209Signal supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209Maintenance timers and counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209Load analyzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210

Miscellaneous . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211User parameter sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211Parameter checksum calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211User lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212Data storage parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213Reduced run function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213du/dt filter support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215Sine filter support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215

6. Default control connections

7. ParametersContents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219Summary of parameter groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221Parameter listing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224

01 Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22403 Input references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228

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04 Warnings and faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22905 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23606 Control and status words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23807 System info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24809 Crane application signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25110 Standard DI, RO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25711 Standard DIO, FI, FO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26412 Standard AI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27013 Standard AO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27414 I/O extension module 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27815 I/O extension module 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29816 I/O extension module 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30219 Operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30620 Start/stop/direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30821 Start/stop mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32322 Speed reference selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32923 Speed reference ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34124 Speed reference conditioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34725 Speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35326 Torque reference chain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36330 Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37131 Fault functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37932 Supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39033 Generic timer & counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39735 Motor thermal protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40736 Load analyzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41937 User load curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42443 Brake chopper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42844 Mechanical brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42946 Monitoring/scaling settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43847 Data storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44149 Panel port communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44450 Fieldbus adapter (FBA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44651 FBA A settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45452 FBA A data in . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45553 FBA A data out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45654 FBA B settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45655 FBA B data in . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45756 FBA B data out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45858 Embedded fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45860 DDCS communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46661 D2D and DDCS transmit data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48462 D2D and DDCS receive data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48874 Speed matching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49575 Hoist speed optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49676 Conical motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50277 Antisway . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50378 External sway control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51682 Synchro control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51683 Smooth lifiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51985 ACC interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520

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90 Feedback selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52391 Encoder module settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53392 Encoder 1 configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53693 Encoder 2 configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54395 HW configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54596 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54997 Motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55998 User motor parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56499 Motor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 566200 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 573

8. Additional Parameter dataContents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575Parameters list view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576Fieldbus addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576Parameter groups 1...9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577Parameter groups 10...99 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 583

9. Fault tracingContents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 637Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 637Indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 637

Warnings and faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 637Pure events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 638Editable messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 638

Warning/fault history and analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 638Event logs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 638Factory data logger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 639Other data loggers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 639Parameters that contain warning/fault information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 639

QR Code generation for mobile service application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 640Warning messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 641Fault messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 661

10. Fieldbus control through the embedded fieldbus interface (EFB)What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 681System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 681Connecting the fieldbus to the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 682Setting up the embedded fieldbus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 683Setting the drive control parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 684Basics of the embedded fieldbus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 686

Control word and Status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 687References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 687Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 687Data input/outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 687Register addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 688

About the control profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 689

Table of contents 11

The ABB Drives profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 690Control Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 690Status Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 692State transition diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 693References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 694Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 695Modbus holding register addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 696

The Transparent profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 697Modbus function codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 698Exception codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 699Coils (0xxxx reference set) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 700Discrete inputs (1xxxx reference set) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 701Error code registers (holding registers 400090…400100) . . . . . . . . . . . . . . . . . . . . . . . . . . . 703

11. Fieldbus control through a fieldbus adapterContents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 705System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 705Basics of the fieldbus control interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 707

Control word and Status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 708References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 708Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 709Contents of the fieldbus Control word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 711Contents of the fieldbus status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 713The state diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 714

Setting up the drive for fieldbus control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 715Parameter setting example: FPBA (PROFIBUS DP) . . . . . . . . . . . . . . . . . . . . . . . . . . . 716

12. Drive-to-drive link

13. Control chain diagramsContents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 721Speed reference source selection I . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 722Speed reference source selection II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 723Speed reference ramping and shaping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 724Crane speed reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 725Motor feedback configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 726Load feedback and position counter configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 727Speed error calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 728Speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 729Torque reference source selection and modification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 730Operating mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 731Reference selection for torque controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 732Torque limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 733Torque controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 734Master/Follower communication I (Master) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 735Master/Follower communication II (Follower) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 736

12 Table of contents

14. Example circuit diagramsContents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 737ACS880 crane control: Hoist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 738ACS880 crane control: Trolley . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 739ACS880 crane control: Long travel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 740

Further informationProduct and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 741Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 741Providing feedback on ABB Drives manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 741Document library on the Internet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 741

Introduction to the manual 13

3Introduction 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 crane control program (option +N5050), crane application version 4.00 (loading package ACRLX 4.00.0.0) or later, and primary control version 2.5x or later.

You can see firmware and loading package versions in parameters.

Example:

This 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.

Parameter Loading package version07.04 Firmware name AINFB or AINFC07.05 Firmware version 2.51.6.207.06 Loading package name ACRLB (BCON) or ACRLC (ZCON)07.07 Loading package version 4.0.0.0

14 Introduction to the manual

LicensingThe Crane control program (+N5050), version ACRLx v4.00.0.0 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 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 levelsThe parameters in the Crane control program are visible based on the two access levels: Short menu and Long menu.

Short menu (pass code 1) – Lists the most common crane parameters. In this menu parameters are visible only when you set parameter 96.02 Pass code = 1. See also the parameter indexes marked in chapter Additional Parameter data on page 575.

Long menu (pass code 584) – Lists the complete signals and parameters in the control program, for example Synchro control, Smooth lifting, etc. These parameters are visible only when you set parameter 96.02 Pass code = 584.

Note: It is recommended that you create the backup of complete parameters list using the long menu. However, you can also access the complete parameters list in the offline mode.

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


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

safety instructions. The chapter aslo includes the list of 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 for starting up the drive with the control program.

• Using the control panel provides basic instructions on using the control panel.• Crane program features describes the program features specific to the crane

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

as well as the program features that are not specific to crane applications. • Default control connections presents the default connection diagram.• Parameters describes the parameters of the drive.• Additional Parameter data contains further information on the parameters.• 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.• Example circuit diagrams shows the circuit connections for the crane application

to use with hoist, trolley and long travel cranes.

Related documentsSee the List of related manuals on the inside of the 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 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 166.

DTC Direct torque control. See page 171.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 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


Cyber security 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 chapterThis chapter contains the basic start-up sequence of the drive and additional alternative checklists for starting up the drive with the control program. See following sections:• Drive start-up on page 22• Crane control start-up on page 29

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

Before you startMake sure that the drive has been 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 should be selected whenever possible. This 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%, ie. 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 for trolley and long travel motions with which it is very 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.Ensure 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.


Crane control start-upThis section contains the following alternative control schemes for starting up the drive with the control program:• Control through the I/O interface using a joystick (page 30)• Control through the I/O interface using the step reference logic (page 33)• Control through the fieldbus interface using the fieldbus control word (page 36)• Control through the fieldbus interface using the crane control word and a joystick

(page 39).

In addition, this section describes how to configure the following program features:• Configuring Mechanical brake control (page 43)• Configuring Slowdown inputs and limits (page 44)• Configuring speed feedback using a HTL encoder (page 45)• Configuring Lifetime monitor function (page 46)• Configuring Lifetime monitor maintenance (page 47).

Note: In scalar motor control or in trolley and long travel movements, disable Torque proving and Brake open torque. See Configuring Mechanical brake control on page 43.


Control through the I/O interface using a joystick

This section describes how to set up the drive for control through the I/O interface using a joystick.


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 that the brake circuit is working:1. Start the crane drive in LOCAL mode and check that the brake is open and motor is

running.2. If the brake does not open, check parameters 10.24 RO1 source = 44.210.0 and 44.06

Brake control enable = SelectedNote: Parameter 10.24 RO1 source is read only. To get access, set parameter 96.02 Pass code = 584.

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 tme 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 43)• End limit 1, End limit 2 and Slowdown (see page 44).

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

This figure shows the 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 the I/O interface using the step reference logic

This section describes how to set up the drive for control through the I/O interface using the step reference logic.



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 that the brake circuit is working:• Open the brake temporarily by setting parameter 10.24 RO1 source to Energized. • Set parameter 10.24 RO1 source back to its default value (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 = 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 speedSet the required ramp times.23.201 Crane acc time 123.202 Crane dec tme 123.203 Crane acc time 223.204 Crane dec time 2

Loc/Rem


Set 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.






Control connections

This figure shows the 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 the fieldbus interface using the fieldbus control word

This section describes how to set up the drive for control through the fieldbus interface using the fieldbus control word.




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.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 application

Loc/Rem


Save 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 tme 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.



Control connections

This figure shows the control connections for the 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 connection

X205 Memory unit connection




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

This section describes how to set up the drive for control through the fieldbus interface using the crane control word and a joystick.




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.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 application

Loc/Rem


Save 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 tme 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%)


Control connections

This figure shows the control connections for the crane control word set-up described on page 39.











250 V AC / 30 V DC2 A


25

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EN / ACS880 crane control program (option +N5050) firmware ... · This manual applies to the ACS880 crane control program (option +N5050), crane application version 4.00 (loading