User'S Manual: Lift Application
User'S Manual: Lift Application
User'S Manual: Lift Application
CX/CXL/CXS
FREQUENCY CONVERTERS
Lift
Application
USER'S MANUAL
Lift Application
Par. 0.1 = 0
INDEX
3 SYSTEM REQUIREMENTS....................................................................................................... 3
4 CONTROL I/O........................................................................................................................ 4
6 PARAMETER TABLES.............................................................................................................. 9
10 MOTION PROFILE................................................................................................................ 57
Application Smc126
1 Lift Application
With the lift application, the Vacon frequency converter can be integrated smoothly to the
modern lift system. In the application, there are functions included which are required to achieve
a smooth ride in a lift car. The I/O interface table includes the most commonly needed signals in
lift applications.
1 . 1 Linear speed
In the application, constant speeds are presentend in [m/s], acceleration and deceleration in
[m/s2] and jerks are presented in [ms].
1 . 2 Mechanical brake
To achieve smooth departures and landings from and to floor level, a mechanical brake control
designed specifically for lifting is included. The brake can be set to open and close in various
ways to meet the different requirements of lift motors and lift control logics.
1 . 3 Autotuning
Different motor parameters can be tuned by the frequency converter. For example, motor
magnetizing current, speed controller parameters can be identified by the frequency converter.
For the best result, identification should be done with unloaded motor.
3 System requirements
The hardware can be any Vacon CX/CXL/CXS frequency converter with or without the option
board CX107OPT installed. For installation of the option board please refer to the “Vacon
CX107OPT option board manual (ud00371a)” .
For the Lift application the following software modules must be installed in the frequency
converter:
System software: Sm00100_.bin or compatible.
Application: Smc126__.hex or compatible.
If closed loop control is used, the CX107OPT option board is needed.
Option board software: Smpb003_.bin or compatible.
For installation of software components, refer to the built-in help for the loading tool FCLoad.
4 Control I/O
Panel reference
Inversion
Filter Scaling Inverted DIB6
par.1.20
Offset
4 mA Inversion
Filter Inverted
AI 2 Scaling
par. 2.6
0 mA
Current 2.7
Not inverted
par. 2.5 par. 2.4 Select speed
par. 2.3 reference
DIB4
Selector
Activity Select speed
DIB5 reference
par. 1.17,
DIB6 1.18,
Activity 1.19,
reference with Prog. Button 2
1.20,
direction 1.21,
1.22,
par. 1.6
Motor direction 1.23,
Binary 1.24
reference
DIA 3
OR
Par. 2.2 =4 Motor control
Ramp selection Ramp set 1 mode selector
Internal ramp
>1 par. 1.3-4. ; 4.9-12.
Speed control.
switching Open or closed Output frequency
Start button
Stop button
Prog. button 2
Direction
Control place
selector
Programmable
Start / Stop and
Direction logic
AND
Start forward Start reverse Direction
DIA 1
Start / Stop
-
Reverse
-
Start / Stop
& Start
par. 4.2
DIA 3
External fault
Par. 2.2=(1 or 2)
DIB 3
OR
Par. 2.2=6
Reset button
1 Fault reset
Minimum
Selector output Inversion
Filter 4 mA Inverted
Output offset gain
frequency
(default)
par. 3.6 par. 3.5 AO 1
par. 3.2 0 mA Not inverted
Par. Current output
3.1
par. 3.4 par. 3.3
Selector Inversion
Delay Inverted
Fault
(default) DO 1
par. 3.9 Not inverted Digital output 1
Par. 3.7 par. 3.8
Selector Inversion
Delay Inverted
Run
(default) RO 1
par. 3.12 delay on Not inverted
Relay output 1
Par. 3.10 3.13 delay off
par. 3.11
Selector Inversion
Inverted
MecBrakeCont
(default) RO 2
Not inverted
Relay output 2
Par. 3.14
par. 3.15
6 Parameter Tables
Group 1, Basic Parameters
Code Parameter Range Step Default Custom Description Page
1.1 Minimum speed 0—vmin 0.01 0.00
m/s m/s m/s
1.2 Maximum speed vmin —vmax 0.01 1.00 Vmax corresponds to 120 Hz
m/s m/s m/s
1.3 Acceleration 1 0.20—2.00 0.01 0.70
m/s2 m/s2 m/s2
1.4 Deceleration 1 0.20—2.00 0.01 0.70
m/s2 m/s2 m/s2
1.5 Nominal Linear STOP
0.20 – 5.00 0.01 1.00 Speed at motor nominal frequency
Speed m/s m/s m/s
1.6 Speed Reference 0—4 0 = Activity reference
1 = Activity reference with
direction
2 = Binary reference
3 = Current reference
4 = Voltage reference
1.7 Current limit 0.1—2.0 x InCX 0.1 A 1.5 x InCX Output current limit [A] of the unit
1.8 U/f ratio selection 0—2 1 0 0 = Linear
STOP
1 = Not in use
2 = Programmable U/f curve
1.9 U/f optimisation STOP
0—1 1 0 0 = None
1 = Automatic torque boost
1.10 Nominal voltage of the 180—690 1V 230 V Vacon range CX/CXL2
motor 400 V Vacon range CX/CXL/CXS4
STOP 500 V Vacon range CX/CXL/CXS5
690 V Vacon range CX6
1.11 Nominal frequency of 25—120 Hz 1 Hz 50 Hz
the motor fn on the rating plate of the motor
STOP
1.25 Start of reference hold 0.00 — 1.00s 0.01 s 0.10 s Time from start command the speed
reference is set to hold.
1.26 Stop of reference hold 0.00 — 3.00s 0.01 s 0.50 s Time from start command the speed
reference is released from hold.
Note! STOP = Parameter value can be changed only when the frequency converter is stopped.
*) If 1.2 > motor synchronizing speed, check suitability for motor and drive system.
Note! STOP = Parameter value can be changed only when the frequency converter is stopped.
4.7 Acc Inc Jerk 1 0.01 —1.00s 0.01s 0.50s See Figure 14.
4.8 Acc Dec Jerk 1 0.01 —1.00s 0.01s 0.25s As parameter 4.7
4.9 Dec Inc Jerk 1 0.01 —1.00s 0.01s 0.25s As parameter 4.8
4.10 Dec Dec Jerk 1 0.01 —1.00s 0.01s 0.50s As parameter 4.9
4.11 Internal ramp switching 0—1 1 0 0 = No change
1 = Activate ramp set 2 at levelling
speed
4.12 Acceleration 2 0.20 — 2.00 0.01 0.20 m/s2 Second ramp time set is activated
m/s2 m/s2 according to P2.2 and P4.11.
4.13 Deceleration 2 0.20 — 2.00 0.01 0.20m/s2
As parameter 4.12
m/s2 m/s2
4.14 Acc Inc Jerk 2 0.01 —1.00s 0.01s 0.10s Second ramp time set is activated
according to P2.2 and P4.11.
See Figure 14.
4.15 Acc Dec Jerk 2 0.01 —1.00s 0.01s 0.10s As parameter 4.14
4.16 Dec Inc Jerk 2 0.01 —1.00s 0.01s 0.10s As parameter 4.14
4.17 Dec Dec Jerk 2 0.01 —1.00s 0.01s 0.10s As parameter 4.14
4.18 Enable jerks 0—1 1 1 0 = Disabled
1 = Enabled
STOP
Note! = Parameter value can be changed only when the frequency converter is stopped.
5.17 Brake feedback 0.00 — 10.00 0.01s 0.00s Time within feedback supervision signal
supervision time s have to be inactive. If set fault
5.18 Maximum frequency 0.00 — 10.00 0.01 2.50 Hz
brake closed Hz Hz
5.19 Brake release supervision 0.00 — 4.00s 0.01 s 1.30 s
5.20 Mechanical brake 0.00 — 1.00s 0.01 s 0.05 s
reaction time
5.21 Direction change mode 0—2 1 0 0 = Inac tive
1 = Brake Closed
2 = Stop State
5.22 Smooth start time 0.00 — 1.00s 0.01 s 0,00s Use only when in closed loop control
mode.
5.23 Smooth start frequency 0.00 — 5.00 0.01 0.10 Hz
As P5.22
Hz Hz
5.24 0Hz time start 0.00 — 2.00s 0.01s 0.50 s Active only in closed loop control
mode.
5.25 0Hz time stop 0.00 — 2.00s 0.01s 0.60 s As P5.24
time
0 = No
8.3 Rst if undervolt 0—1 1 0
1 = Yes
0 = No
8.4 Rst if overvolt 0—1 1 0
1 = Yes
0 = No
8.5 Rst if overcurrent 0—1 1 0
1 = Yes
0 = No
8.6 Rst if temp fault 0—1 1 0
1 = Yes
7 Description of parameters
1.3 Acceleration 1
1.4 Deceleration 1
Acceleration and deceleration of lift car.
Acceleration and deceleration curves are affected as well by the jerk time settings
presented in group 4.
Speed parameters 1.17-1.24 are entered in linear magnitudes insted of Hz. The
internal scaling of linear speeds to frequencies is done with a scaling factor
calculated from vnom (par. 1.5) and fnomMotor (par. 1.11) as kscaling = (par 1.11) /
(par 1.5). A linear speed is converted to frequency as f = vNomLin x kscaling.
Speed reference can be generated in three diffrent ways from digital inputs. Activity
coding, activity coding with direction and binary coding. In activity coding method 4
different constant speeds can be selected. In activity coding with direction method the
constant speeds are selected according to state of digital inputs and motor direction.
4 different speed per direction is available and so this makes 8 different speeds
totally. In binary coding method one of the 8 different constant speeds is selected
according to binary word made through digital inputs. DIB6 is the most significant bit
(MSB) when creating the binary word in binary coding method.
In current and voltage reference method the speed reference is created according to
current or voltage input.
In the tables below the first column contains the state of digital inputs, the second the
speed reference and the third priority. If speed reference is different when running
different direction the direction is defined in the fourth column. In the fifth column the
stop mode is dedicated to speed. The priority column defines which speed is
activated in a case where more than one digital input are active in the activity
reference and in activity reference with direction method.
With parameter 1.6 (Speed Reference) the speed reference selection method is
selected.
In a case where speed reference is generated from the analog input the inspection
speed is (P1.20 ; v3) generated by activating digital input 6, DIB6.
If the states of digital inputs DIB4, DIB5, DIB6 are false, the stop mode is Stop by
ramp. In all other cases the Stop by coast is performed. If the stop mode P4.2 is set to
“1 =Ramping” the stop by ramp is performed also in those cases where the Stop by
coast was defined.
Not used:
1
Programmable
U/f curve
2 The U/f curve can be programmed with three different points.
The parameters for programming are in group 6.
Programmable U/f curve can be used if the other settings do not
satisfy the needs of the application. See Figure 4.
Programmable U/f curve can be used if the other settings do not
satisfy the needs of the application.
U[V]
Un
Par 6. 4 Default: Nominal Field weakening
voltage of the motor point
Par. 6. 6
(Def. 10%)
Default: Nominal
Par. 6 . 7 frequency of the
motor f[Hz]
(Def. 1.3%)
Par. 6. 5 Par. 6. 3
UD012K08
(Def. 5 Hz)
NOTE! In high torque - low speed applications - it is likely the motor will
overheat.
If the motor has to run a prolonged time under these conditions, special
attention must be paid to cooling the motor. Use external cooling for the
motor if the temperature tends to rise too high.
function is also called “½ floor ride”. The start and stop inputs are not affected by
this function. Example: 1.25 = 0.1 s and 1.26 = 0.5 define a window between 0.1
and 0.5 s after start during the speed reference cannot be changed.
REV
DIA1
DIA2
1 2 3
UD012K09
1
The first selected direction has the highest priority
2
When DIA1 contact opens, the direction of rotation starts to change
3 If Start forward (DIA1) and Start reverse (DIA2) signals are active
simultaneously, the Start forward signal (DIA1) has priority.
0 Not used
1 External fault, closing contact = Fault is shown and motor is stopped when
the input is active.
2 External fault, opening contact = Fault is shown and motor is stopped when
the input is not active.
3 Run enable contact open = Motor start disabled
contact closed = Motor start enabled
Output
speed
Par2.7
Par2.6 Analog
reference
0
10 V
t [s]
P ar. 2. 4
UD 00 9K15
Output
Max speed
speed
Par1.2
Par2.7
%
Unfiltered signal
t [s]
Par. 3. 2 U D 01 2K 16
12 mA
Param. 3. 5
= 50 %
10 mA
Pa ram. 3 . 5
= 100 %
4 mA
12 mA
Param. 3. 5
= 50%
10 mA
Par. 3. 4 = 1
4 mA
Analog
output
3.6 Analogue output offset current P3.6 = +25.0 %
=> 5 mA
20 mA
With this parameter the offset of control
board analog output signal is set.
P3.6 = -10.0 %
=> 2 mA
5 mA
0 mA
0.5 1.0 Selected signal
P3.6 = 0.0 %
When the frequency converter is operating in generating mode , the inertia of the
motor and the load are fed into the external brake resistor. This enables the
frequency converter to decelerate the load with the torque equal to that of
acceleration, if the brake resistor is selected correctly. If parameter set to 2 “External
brake chopper” the brake chopper supervision is disabled. Otherwise the operation
is the same as with parameter value 1.
0: The motor coasts to a halt without any control from the frequency converter, after
the Stop command.
Additionally to parameter value if all digital inputs DIB4–6 are inactive the stop mode
is stop by ramp. I.e. inactive digital inputs are overriding this parameter. The function
is the same regardless of selected frequency refererence source.
Ramp:
1: After the Stop command, the speed of the motor is decelerated according to the
set deceleration parameters.
4.3 DC-braking current (in closed loop, this parameter has no effect)
Defines the current injected into the motor during DC-braking.
>0: DC-brake is active at the start moment and this parameter defines the time before
the brake is released. After brake is released output frequency increases according to
the set reference and acceleration parametres (1.3, 4.14, 4.15). See Figure 13.
4.6 DC-braking time at stop (in closed loop, this parameter has no effect)
Determines if braking is ON or OFF and the braking time of the DC-brake when the
motor is stopping. The DC-brake is activated only when the stop is performed be
ramp. When the stop by coast is performed the DC-brake is not activated.
0: DC-brake is not used
>0: DC-brake is in use and it’s function depends on the Stop function, (param. 4. 2),
and the time depends on the value of parameter 4. 6.
Stop-function = 0 (coasting):
Stop-function = 1 (ramp):
After the Stop command, the speed of the motor is reduced according to the set
deceleration parameters, to a speed defined with parameter 4. 5, where the DC-
braking starts.
DC- br akin g
P ar. 4 . 8
t = P ar. 4. 6
RUN
STOP UD012K23
t [s]
acceleration
[m/s22]
P4.7 P4.8
P1.3
t [s]
Figure 14. Jerks releted to speed and acceleration.
Deceleration increment P 4.11 and deceleration decrease (P 4.12) are used when
decreasing the speed. The second ramp time set can be activated with digital input
DIA3 or by activating P4.11 for internal ramp switching.
Vacon Oyj
CurrentF P5.1
Page 30(63)
AND
FrequencyF P5.5
FrequencyR P5.6 Frequency
P5.8
Run state
Delay flip-flop
TRUE AND OPEN ENABLE
External brake control R
P5.7
Phone: +358-201-2121
P5.9 BRAKE OPEN
FrequencyFC P5.10
FrequencyRC P5.11 Frequency FC P5.14
Delay P5.12
AND
RC P5.15
Lift Application
Fax:
OR
OR
E-mail:
FALSE FC P5.14 OR
Delay
Run request
NOT P5.13 RC P5.15
Run State
NOT
Fault
vacon@vacon.com
P5.16
+358-201-212 205
Delay AND
BRAKE OPEN
Vacon
Vacon Lift Application Page 31(63)
In Figure 15, the “BRAKE OPEN” is the mechanical brake control signal and it can
be selected to digital or to relay output to control the external mechanical brake.
In the mechanical brake control some of the blocks have “Motor direction” as input.
In these blocks the actual parameter is selected according to motor direction. For
example, in the upper left corner you find the Current block which compares the
actual current fed to motor with parameter 5.1 or parameter 5.2 according to motor
direction. The actual current is compared with P5.1 if motor is running forward and
with P5.2 if motor is running reverse.
If two drives are used when running one lift the brakes and ramps need to be
synchronized for smooth operation.
The mechanical brakes and ramps can be synchronized by connecting the “OPEN
ENABLE” signal to another drive’s “External brake control” input. The parameter P5.7
has to be set to “Inactive” so the “External brake control” signal does not affect the
brake opening through delay. “External brake control” signal is transferred to brake
opening condition by activating P5.9, i.e. the drive can not release the brake before
the “External brake control” signal is active.
The brake closing synchronization is done by activating P5.16 and setting the P5.17
delay to zero. So if another drive is closing the brake the another one is following
after the “OPEN ENABLE” signal becomes inactive.
The “OPEN ENABLE” signal can be selected to digital or relay output.
The “External brake control” signal is connected to brake control logic via digital
input (DIA3). When activating a function using “External brake control” signal
parameter 2.2 is set to “8 ExtBrakeControl” automatically.
Flip-flop blocks used in the diagram are set on the rising clock signal and reset with
high reset [R] signal. The reset signal has priority if both conditions are true at the
same time.
The term “closed mechanical brake” used further on in the text corresponds to a
situation where the motor shaft rotation is prevented mechanically.
The term “released mechanical brake” corresponds to a situation where the motor
shaft can rotate freely without mechanical prevention.
OUTPUT
OUTPUT
FREQUENCY
FREQUENCY
Run
Run state
state
P5.18
P5.18
tt
P4.4
P4.4
P5.19
P5.19
P5.20
P5.20
Brake
Brake CLOSED
CLOSED Brake
Brake OPEN
OPEN
If set to 0 (Inactive) the change of direction does not cause mechanical brake closing.
If set to 1 (Brake Closed) the signal DIR change request is activated in a case of
direction change request. The mechanical brake is closed and released by the limits
(frequency, torque, etc.) set by parameters.
If set to 2 (StopState) the drive is forced to stop state in case of direction change
request. After the external brake is closed and the drive has entered the stop state the
overriding “stop request” signal is released and the ramp up sequence is started as in
a normal start case.
U[V]
Un
Par6.4
Par6.6
Par6.7
Undervoltage trips may occur when controllers are switched out of operation.
Safety functions
The safety function provided by the Vacon frequency converter equipped with lift
application (smc126) does not fulfil any standards or regulations for lifts.
The lift manufacturer is responsible for making the motor and drive installation
according to the safety regulations for construction and installation of lifts.
7.1 4 mA fault
0 = No response
1 = Warning
2 = Fault
A warning or fault action and message is generated if 4—20 mA reference signal is
used and the signal falls below 4 mA.
7.2 External fault
0 = No response
1 = Warning
2 = Fault
A warning or fault action and message is generated through the external fault signal
in the digital input DIA3.
SPEED
SPEED[m/s]
[m/s]
vvCALC
Supervision
Supervision time
time P7.6
P7.6
vvENC
Speed
Speed diffrence
diffrence between and vENC
between vvCALC and
greater
greater than
than set
set limit
limit in
in P7.5
P7.5
t[s]
t[s]
vvCALC=actual
=actual speed
speed according
according to
to motor
motor
control
control
vENC =actual
=actual speed
speed from
from encoder
encoder
0 = No action
1 = Warning
2 = Fault
Phase supervision of the motor ensures that the motor phases have an approximately
equal current. With this parameter this function can be turned off.
0 = No action
2 = Fault
By setting the parameter to zero, the phase supervision of the supply voltage will not
cause tripping.
0 = No action
2 = Fault
Earth fault protection ensures that the sum of the motor phase currents is zero. The
overcurrent protection is always working and protects the Vacon CX against earth
faults with high currents.
7.10 Overtorque protection
0 = No response
1 = Warning
2 = Fault
The actual torque is compared to torque limits set with P3.17 and P3.18. If exceeded
the defined action is taken.
General
Motor thermal protection is based on a calculated model and it uses the output
current of the drive to determine the load on the motor. When the power of the drive
is turned on, the calculated model uses the heatsink temperature to determine the
initial thermal stage for the motor. The calculated model assumes that the ambient
temperature of the motor is 40°C.
Motor thermal protection can be adjusted by setting the parameters. The thermal
current IT specifies the load current above which the motor is overloaded. This current
limit is a function of the output frequency. The curve for IT is set with parameters
7.12, 7. 13 and 7. 15, See Figure 19. The parameters have their default values
taken from the motor name plate data.
With the output current at IT the thermal stage will reach the nominal value (100%).
The thermal stage changes by the square of the current.
With output current at 75% of IT the thermal stage will reach a 56% value and with
output current at 120% of IT the thermal stage would reach a 144% value. The
function will trip the device (refer par. 7. 11) if the thermal stage will reach a value
of 105%. The speed of change in thermal stage is determined with the time constant
parameter 7. 14. The bigger the motor the longer it takes to reach the final
temperature.
The thermal stage of the motor can be monitored through the display. Refer to the
table for monitoring items. (User's Manual, table 7.3-1).
CAUTION! The calculated model does not protect the motor if the airflow to the motor
is reduced by blocked air intake grill
Operation:
0 = Not in use
1 = Warning
2 = Trip function
Tripping and warning will display the same message code. If tripping is selected the
drive will stop and activate the fault stage.
Deactivating the protection, setting parameter to 0, will reset the thermal stage of
the motor to 0%.
Current I
limit
par. 1. 7
Overload area
100% IT
×INmotor
45%
×INmotor
f
Figure 19. Motor thermal current IT curve 35 Hz UMCH7_ 91
The current can be set between 10.0% and 150.0% x InMotor. This parameter sets the
value for thermal current at zero frequency. Refer to Figure 19.
The default value is set assuming that there is no external fan cooling the motor. If an
external fan is used this parameter can be set to 90% (or even higher).
The value is set as a percentage of the motor name plate data, parameter 1.13,
motor's nominal current, not the drive's nominal output current. Motor's nominal
current is the current which the motor can stand in direct on-line use without being
overheated.
If you change the parameter 1.13 this parameter is automatically restored to the
default value.
Setting this parameter (or parameter 1. 13) does not affect to the maximum output
current of the drive. Parameter 1. 7 alone determines the maximum output current of
the drive.
7.14 Motor thermal protection, time constant
This time can be set to 0.5—300 minutes.
This is the thermal time constant of the motor. The bigger the motor the bigger the
time constant. The time constant is the time within which the calculated thermal stage
has reached 63% of its final value.
The motor thermal time is specific for the motor design and it varies between different
motor manufacturers.
The default value for the time constant is calculated basing on the motor name plate
data given with parameters 1. 12 and 1. 13. If either of these parameters is set, this
parameter is set to default value.
If the motor's t6 -time is known (given by the motor manufacturer) the time constant
parameter could be set basing on t6 -time. As a rule of thumb, the motor thermal time
constant in minutes equals to 2xt6 (t6 in seconds is the time a motor can safely
operate at six times the rated current). If the drive is in stop stage the time constant is
internally increased to three times the set parameter value. The cooling in the stop
stage is based on convection and the time constant is increased.
The default value is based on the motor's name plate data, parameter 1. 11. It is 35
Hz for a 50 Hz motor and 42 Hz for a 60 Hz motor. More generally, it is 70% of
the frequency at field weakening point (parameter 6. 3). Changing either parameter
1. 11 or 6. 3 will restore this parameter to its default value.
Motor temperature
Trip area
105%
Motor
current Trip/warning
par. 7. 11
I/IT
Par. 7. 19 UMCH7_11
Stall
No stall
UMCH7_ 12
Number of faults
during t = ttrial
ttrial ttrial
4
2 Par. 8. 1 = 3
ttrial = Par. 8. 2
1
t
Parameter 8. 1 determines how many automatic restarts can be made during the trial
time set by parameter 8. 2.
The time count starts from the first autorestart. If the number of restarts does not
exceed the value of parameter 8. 1 during the trial time, the count is cleared after the
time is elapsed and the next fault starts the counting again.
8.3 Automatic restart after undervoltage trip
0 = No automatic restart after undervoltage fault
1 = Automatic restart after undervoltage fault condition returns to the nor-
mal condition (DC-link voltage returns to the normal level)
8.4 Automatic restart after overvoltage trip
0 = No automatic restart after overvoltage fault
1 = Automatic restart after overvoltage fault condition returns to the nor-
mal condition (DC-link voltage returns to the normal level)
8.5 Automatic restart after overcurrent trip
0 = No automatic restart after overcurrent fault
1 = Automatic restart after overcurrent faults
8.6 Automatic restart after over-/undertemperature fault trip
10.4 Identification
Identification run is started by setting the value 1 to this parameter in stop state and
giving a run command within 10 seconds. Motor must be disconnected from the load
during identification run.
The following closed loop control parameters are automatically set by the
identification control program:
P10.2 Encoder direction, P10.5 Motor magnetising current, P10.7 speed control
gain, P10.8 speed control integration time.
Open loop control parameters automatically set by the identification:
P6.5 U/f curve middle point frequency, P6.6 U/f curve middle point voltage, P6.7
Output voltage at zero frequency.
The above mentioned parameters can be further adjusted after the identification run.
The result of the motor parameter tuning described in 1) and 2) is usually accurate enough
and no further tuning is required or the fine tuning is done with the torque boost gain
parameters 9.1 and 9.2.
3) Motor identification procedure for open loop vector control. Loaded motor
In many cases the tuning of motor parameters is done with the lift i.e. the motor is attached
to the gearbox. In this case, the tuning is done by modifying the U/f curve setting
parameters 6.5, 6.6 and 6.7. The U/f curve tuning is done by monitoring output current
and corresponding torque with different load conditions in the lift car. This identification
method is presented in Chapter 9.4.
9.3 Motor identification procedure for open loop vector control. No load
on the motor
To be able to get high torque from the motor at low frequencies (0..4Hz) we need to do
some adjustment with parameters.
The magnetization of the motor has to be right also at low frequencies (IR compensation).
This can be achieved either by setting the U/f curve of the motor with parameters of group
6 or by activating the automatic torque boost operation by setting parameter 1.9 to 1.
The output frequency has to be high enough (bigger than the slip of the motor). If there is a
requirement of high torque with reference frequencies near or even below the nominal slip
of the motor then the speed control operation is used. Parameter 6.1 is set to “1 Speed
control open loop”, which is the default in the lift application. When this parameter is
activated the Vacon CX compensates the slip in the motor.
It is important to have the motor name plate values set in the correct way.
There are internal parameters which are initialized basing on the given
motor name plate values.
Normally we can get satisfactory operation just by setting the motor name plate values. If
this is the case the motor identification procedure is not needed. However, using this setup
procedure will help to get the most out of the drive properties.
The speed control and torque boost operations utilize the motor model in the internal
calculations. There are internal parameters in this motor model. The initial values for all
internal parameters fit the most standard motors. However, if Vacon CX is not running the
nominal size motor then this set up procedure might be needed. Also, if the operation at
low speeds and reversing operations are very important and critical for the application this
setup procedure is recommended.
Start the identification with the default values
• Set the parameters to the default values (by re-selecting the Application).
• Set the motor name plate values to parameters 1.10-1.13.
• Set the parameter 6.1 Control mode to “0=Frequency control open loop”.
• Set the parameter 1.9 U/f optimisation to “0=None”.
With this operation on, we can get high torque even if the set frequency reference is
smaller than the slip of the motor.
9.4 Motor identification procedure for open loop vector control. Loaded
motor
1. Preceding operations.
Start with the default values for programmable curve or with the values tuned by method
described in “Motor identification procedure for open loop vector control. No load on the
motor”. You can also refer to your previous experience. The smaller the power size of the
motor the higher the voltage setting has to be.
2. First step
No load in the cabinet.
Parameter on starting values 1.9=1, 6.1=1, motor name plate values set except 1.12 is set
to synchronous speed of the motor e.g. 1500 rmp, 6.5, 6.6 and 6.7 at some reasonable
values.
Note! When setting the motor name plate values use the values which are for the 100% ED
for that motor.
Set the reference to 10...12 Hz and make a run and record the values of output current
(V3) and output torque (V4). Run up and down.
Set the reference to 5...5,2 Hz (assuming you have parameter 6.5 at 5 Hz) and compare
the current and torque values. Adjust the parameter 6.6 so that you can get about the same
readings you had when running at 10Hz. The values running up (motoring) do not change
much with the parameter but the values when running down (generating) are affected by
the parameter change.
On generating (T<0):
If current is higher and torque smaller (less negative) you should decrease the parameter
6.6 value.
On motoring (T>0):
If current is higher and torque smaller you should increase the parameter 6.6 value.
Set the reference to 1.8...2 Hz and compare the current and torque values. Adjust the
parameter 6.7 so that you can get about the same readings you had when running at
10Hz. The values running up (motoring) do not change much with the parameter but the
values when running down (generating) are affected by the parameter change.
The same basic rules for changing as above.
3. Second step
Full load in the cabinet.
Do the same test as above and the same basic tuning.
You can also test the operation at 1Hz. It might happen that the cabinet does not move
upwards due to the high load. The main thing is that the cabinet does not “drop”.
Note! On the start situation you need have the reference frequency above the brake
release frequency but after start you can decrease the reference frequency below the brake
release frequency.
If it is hard to make the values match, you can also tune the automatic torque boost gain
factors.
On generating (T<0): Parameter 9.2.
If current is high and torque small (less negative) on display then you can improve the
situation by giving negative values to the gain. In practice, reasonable values are between
(+300) 0 and -600. (Bigger negative value decreases the voltage)
On motoring (T>0): Parameter 9.1
If current is high and torque small, by increasing the gain you can improve the behaviour.
In practice the reasonable values are between +300 and +1000. (Higher positive value
increases the voltage)
4. Third Step
Set the right value from the name plate to parameter 1.12 and check the operation at the
same speed points around 10, 5 and 2 Hz. If you do not succeed follow the instructions
above to tune the parameter values.
5. Some special things
When using for example the alphanumeric panel or FCDrive for monitoring current torque
etc. the display is filtered making it slow. To check things on start and stop you can use the
analog output of the drive and record it with the scope. Also if you have a device available
to measure one of the output phases, you will receive additional information.
The operation of the motor gives also indications for the tuning. If the sound of the motor is
“strong” and if there is a strong “zip zip zip....” sound on the motor it might be an
indication of too high a voltage.
If there is a “pumping” operation on the motor (half round at the time) it is a sign of too low
a voltage.
The motoring side looks fairly good. The current is about the same and the torque values do
not vary remarkably. At 5 Hz the torque is high and therefore we should increase the
voltage, but on the other hand, the generator side looks quite good. No changes.
At 2 Hz the torque is low => we should decrease the voltage and the reading on generator
side strongly supports this.
2. 5Hz, 10.5%; 0Hz, 2,4% ; P9.1 TM=750 ;P9.2 TG=0
In fact, the default value 750 seems to give the best value.
Running down
I [A] T [%] P9.2 TG
down down
12,9 -30 -270
11,8 -32 -760
11 -39 -970
Table 10.
We can achieve very nice looking behaviour, but with parameter value –970, the lift car
dropped a bit at the start every now and then.
4. After some testing with full load the parameter values were set as follows.
U/f curve 5Hz, 10.5%; 0Hz, 2,4% ; P9.1 TM=750 ;P9.2 TG=-200
At 5 Hz downwards the current is still a little high but close enough. The current is close to
nominal with full load so can be considered acceptable.
The intent of the example was to give an idea of the tuning procedure. The “accuracy” of
the tuning (current and torque values) was almost too good in this example, but anyhow,
the example was to give an impression of how the parameters work and how to avoid the
high current situation when load is generating. If the lift is running near to the current limit
of the drive the tuning has to be performed well because the current limiting situation will
result in a rough ride in the cabinet. Also the “dropping” might happen if the current
limiting situation should take place.
Activate the speed control operation by setting the parameter 6.1 to “1 Speed control open
loop”. This operation will adjust the output frequency according to the slip of the motor.
With this operation on we can get a high torque even if the set frequency reference is
smaller than the slip of the motor.
10 Motion profile
par1.18 v;nominal
par1.17 v;nominal
par 4.5
time
par 4.7 par 4.10
Run
Command
Mechanical
brake open
Nominal speed
request DIB[4;5;6] = [1;0;0]
Levelling speed
request DIB[4;5;6] = [0;0;0]
The parameters related to speed curve in Figure 24 can be chosen as desired. Run command in
the picture equals the DIA1 or DIA2. Mechanical brake open is the control command from relay
output. Mechanical brake operations are set with parameters of Group 5. If automatic ramp
change is set with parameter 4.11 the ramps are changed when the speed is decelerated down
to levelling speed. This requires the ramp set 2 to be used when the run command is deactivated.
The sequence presented is done when running the motor in open loop control mode. When the
closed loop control is used the mechanical brake is usually set to release and close from zero
speed. DC-brake times are also replaced with zero speed hold times P5.24 and P5.25.
11 Parameter group 0
With this parameter the active application can be selected. If the device has been ordered from
the factory equipped with loaded special application this has been loaded to the unit as
application 0.
This lift application is a loaded application.
Check that the value of parameter 0.1 is zero when you want to use the loaded application.
If the application should be loaded to the device later it has to be set active always after loading
by setting the value of parameter 0.1 to zero.
With this parameter it is possible to do different kinds of parameter loading operations. After the
operation is completed the parameter value changes automatically to 0 (loading ready).
0 Loading ready / select loading
Loading operation has been completed and frequency converter is ready to operate.
1 Load default settings
By setting the value of parameter 0.2 to 1 and then pressing Enter-button the
parameter default values are set. The default values correspond to those of the
application selected with parameter 0.1.
By setting the value of parameter 0.2 to 2 and then pressing the Enter-button the
parameter values are read up to the User’s parameter value set. The parameter
values can be later loaded by setting parameter 0.2 to 3 and pressing the Enter-
button.
By setting the value of parameter 0.2 to 3 and then pressing the Enter-button the
parameter values are set according to the User’s parameter set.
4 Read parameters up to the panel (possible only with the graphical panel).
5 Load down parameters from the panel (possible only with the graphical panel).
0.3 Language
With this parameter, the language of the graphical or alphanumeric panel can be
selected.
F3 Earth fault Current measurement has detected Check the motor cables
that the sum of the motor phase
current is not zero.
- insulation failure in the motor
cables
F4 Inverter fault Vacon frequency converter has Reset the fault and restart. If
detected a faulty operation in the the fault occurs again contact
gate drivers or IGBT bridge nearest Vacon distributor.
- interference fault
- component failure
F5 Charging switch Charging switch open when Reset the fault and restart. If
START command active the fault occurs again contact
- interference fault nearest Vacon distributor.
- component failure
F9 Undervoltage DC-bus voltage has gone below In case of temporary supply
65% of the nominal voltage voltage break, reset the fault
- most common reason is failure and start again.
of the mains supply Check mains input, if mains
- internal failure of the Vacon supply is correct, an internal
frequency converter can also failure has occurred. Contact
cause an undervoltage trip nearest Vacon distributor.
F 10 Input line supervision Input phase is missing Check the mains connection
F 11 Output phase supervision Current measurement has detected Check motor cables
there is no current in one motor
phase
F 12 Brake chopper supervision - brake resistor not installed Check brake resistor
- brake resistor broken - If resistor is OK then the
- brake chopper broken chopper is broken. Contact
nearest Vacon distributor.
F 13 Vacon undertemperature Temperature of heatsink below
–10 °C
F 14 Vacon overtemperature Temperature of heatsink over Check cooling air flow
+75°C Check that sink is not dirty
Check ambient temperature
Check that switching
frequency is not too high
compared with ambient
temperature and motor load
F 15 Motor stalled The motor stall protection has Check the motor
tripped
F 16 Motor overtemperature The Vacon frequency converter Decrease motor load.
motor temperature model has Check the temperature model
detected motor overheat parameters if the motor was
- motor is overloaded not overheated
F 17 Motor underload The motor underload protection
has tripped
F 18 Analogue input polarity fault Wrong analogue input polarity Check polarity of the
analogue input
Analogue input hardware fault Component failure on control Contact nearest Vacon
board distributor
F 19 Option board identification Reading the option board has Check installation, if
failed installation is correct contact
nearest Vacon distributor.
Warnings
A 15 Motor Stalled (Motor stall protection) Check motor
A 16 Motor overtemperature (Motor thermal protection) Decrease motor loading
A 17 Motor underload (Warning can be activated in application) Check motor loading
A 24 The values in the fault history, MWh-counters or operating No action required.
day/hour counters might have been changed in the previous Take a critical attitude toward
mains interrupt these values
A 28 The change of application has failed Choose the application again and
Push the Enter-button
A 30 On-balance current fault, the load of the segments is not equal Contact nearest Vacon distributor
A 45 Vacon overtemperature warning, temperature >+70 °C Check cooling air flow and
ambient temperature
A 46 Reference warning, analogue input Iin + < 4mA Check the current loop circuitry
A 47 External warning Check the external fault circuit or
device
A 53 Mechanical brake control warning Same actions as with fault F 52
A 54 Shaft speed warning Same actions as with fault F 55
A 57 Overtorque protection Same actions as with fault F 56
A 59 Direction request warning Check the control of the DIA1 and
DIA2
Table 15. Warning codes
VACON OYJ
P.O.Box 25
Runsorintie 7
65381 VAASA
FINLAND
Tel: +358-201-2121
Fax: +358-201-212 205
On-call Service: +358-40-8371 150
E-mail: vacon@vacon.com
http://www.vacon.com