MIN START TQ REF.

67.10 MIN START TQ REF.

31 POWOP SELECT 2

TRUE Power optimization is active (only used on hoist drive).

FALSE Power optimization not active.

32 BASE SPEED 2

Breakpoint for Power optimization calculation. Set in percent of parameter 69.1 SPEED SCALING RPM. Above this speed constant power, corresponding to level set in parameters 68.6 & 68.7 , is obtained.

Normally the speed where field weakening starts and the available RMS power of the motor is constant. Full load torque possible for mechanics up to this speed.

33 SPEED SCALING

Setting of motor shaft rotational speed (rpm) corresponding to 100 % RPM speed 2 reference.

34 ACC TIME FORW 2

Setting of acceleration ramp time forward direction (up), 0 to +100 % speed (where 100% corresponds to parameter 69.1).

35 ACC TIME REV 2

Setting of acceleration ramp time reverse direction (down), 0 to -100 % speed (ref. Parameter 69.1).

36 DEC TIME FORW 2

Setting of deceleration ramp time forward direction, +100 to 0 % speed (ref. Parameter 69.1).

37 DEC TIME REV 2

Setting of deceleration ramp time reverse direction, -100 to 0 % speed (ref. Parameter 69.1).

38 RAMP RATE=1 2

Selection in Fieldbus mode if RAMP RATE signal from PLC controller is not required by drive. Alternatively to activate analog input 3 (AI3) as Ramp rate signal in Fieldbus or Standalone modes.

TRUE The RAMP RATE signal available from Fieldbus communication is not active, set fixed to 1.0.

FALSE The RAMP RATE signal from Fieldbus communication (DS3.1) is active.

AI3 The RAMP RATE multiplying factor signal is connected from analog input 3. Signal level at or below 4mA (0 - 4 mA) corresponds to a multiplying factor of 1.0. Signal levels between 4mA and 20 mA corresponds to a multiplying factor between 1.0 and 10.0 . Relation is linear, giving e.g. 12 mA = 5.5 .

39 POS SCALE 2

Set position counter scaling factor, POS SCALE, as number of Pulses Per Unit, e.g. pulses/mm. (Position measurement value POSACT = Pulse counter / POS SCALE.)

Example how to calculate POS SCALE: Hoist operating speed 40 m/min (40.000 mm/min) corresponding to motor speed of 980 rpm. Pulse encoder with 1024 ppr (parameter 50.1). Speed measuring set to use all 4 edges (parameter 50.2=default). This gives us POS SCALE = (980 * 1024 * 4) / 40.000 = 100.35 pulses/mm.

40 ENCODER MODULE 2

Activates the communication to the optional pulse encoder module. The drive will than use the measured speed signal instead of the calculated speed.

The parameters in group 50 ENCODER MODULE must be set before operation. NTAC

Communication active. Module type: NTAC-02 module. Connection interface: Fiber optic DDCS link (connect to Ch1 on RDCO option module). Node address in NTAC-02 to be 16.

NO Inactive

RTAC-SLOT1 Communication active. Module type: RTAC. Connection interface: Option slot 1 of the drive control unit (RMIO board).

RTAC-SLOT2 Communication active. Module type: RTAC. Connection interface: Option slot 2 of the drive control unit (RMIO board).

RTAC-DDCS Communication active. Module type: RTAC. Connection interface: Optional I/O module adapter (AIMA) that communicates with the drive through a fiber optic DDCS link (via Ch1 on RDCO option module).

Note : Node ID selector (S1) on RTAC must be set to 0 (=default).

41 TORQUE SELECTOR 2

Mode selection for Shared motion. ZERO

Torque selector parameter is not active. Speed or torque control selection is done with I/O or Fieldbus in normal way (default is speed control).

SPEED Drive is speed controlled. Receiving speed reference (Speed_ref3 ramp output!) from Master drive if M/F ctrl macro active i.e. using M/F bus communication. Note: Follower speed ramp times should be set equal or lower than Master ramp time settings.

TORQUE Drive is torque controlled. Receiving torque reference from Master drive if M/F ctrl macro active (Torq ref A), i.e. load sharing between Master and Follower.

MINIMUM Torque selector compares the torque reference and the output of the speed controller. The lower value is used as the reference for motor torque control. Receiving speed and torque references from Master drive if M/F ctrl macro active. This mode should normally not be used with a crane drive!

MAXIMUM Torque selector compares the torque reference and the output of the speed controller. The higher value is used as the reference for motor torque control. Receiving speed and torque references from Master drive if M/F ctrl macro active. This mode should normally not be used with a crane drive!

ADD Torque selector adds the speed controller output to torque reference. The drive is torque controlled in normal operating range.

The selection ADD together with the window control form a speed supervision function for a torque controlled Follower drive:

• In normal operating range, the Follower follows the torque reference (TORQ

REF A). • Window control keeps the speed controller input and output to zero as long as

the speed error (speed reference - actual speed) remains within a certain window

• If the speed error goes out of the window, window control connects the error to the speed controller. The speed controller output increases or decreases the internal torque reference, stopping the rise or fall of the actual speed.

72.6 WINDOW

Speed Reference

WIDTH NEG 72.5 WINDOW WIDTH POS

e Actual Speed Torque Reference

Internal Torque Reference = G = Speed controller gain

Torque Reference + Speed Controller Output

e = Value connected to

speed controller

Speed Controller Output

Time

Window control