03 Closing Gear

Technology software module
for the
closed-loop control of crane drives
with
SIMOREG DC - MASTER 6RA70 and T300

or
SIMOVERT MASTER DRIVES CUVC and T300
Introduction and overview
Implementation and owner: Industrial Solutions and Services

Information Technology
Plant Solution
I&S IT PS Erl 35
Sales/marketing: Automation & Drives

A & D MC
AL: N
ECCN: N
Statistical product number: 49019900
Notes/FAQ´s (frequently Asked Questions):
• T300 with SIMOREG DC MASTER 6RA70

Current values of DC drives (SIMOREG DC MASTER 6RA70) are referred to the device
current. In opposition to the DC drives, the current values of AC drives (SIMOVERT
MASTERDRIVES CUVC) are referred to the motor current.
With SIMOREG DC MASTER 6RA70 100% is not equivalent to the motor current, but to
the device current of the SIMOREG DC MASTER 6RA70.
With load-dependent field weakening you must pay attention to the input of output
hyperbole characteristic (P527-P538). The output hyperbole characteristic must be either
normalised to the device current or the current of the SIMOREG DC MASTER 6RA70 (to
the T300/pcd 4) must be scaled to the motor current. (module hoisting gear)
• Closed-loop position control

When automatic mode is selected, the maximum speed setpoint (+/-100%) is
automatically entered (with the correct sign), dependent on the difference between the
actual position and the position setpoint.
When semi-automatic mode is selected, the master switch enters the maximum speed
setpoint. Depending on the speed setpoint polarity the position setpoint 1 or position
setpoint 2 is selected.
A positive speed setpoint needs a position setpoint1, which is larger than the actual
position, to approach the target position.
A negative speed setpoint needs a position setpoint2, which is smaller than the actual
position, to approach the target position.
(module hoisting gear, holding gear, slewing gear and traversing gear)
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Changes
Version Date Changes
V1.10 01.07.99
V1.11 01.11.99 - Type transformation of parameter (H171-H174): Nominal pulse
number for 100 % position (H171, H173 transformed; H172, H174
deleted)
V1.20 01.01.01 - Parameter for factory setting added
- Max. process data of the communication board have been in-
creased to 16 process data words
- „free“ process data has been connected with the basic drive /
communication board
- Allocation of digital inputs and digital outputs has been changed for
commissioning purposes
- Allocation of the alarm display has been changed
Introduction and overview V1.20 2 01.01.2001

Copyright © Siemens AG All Rights Reserved
s
NOTES
This documentation describes the software implementation of the closed-loop technology control
of crane drives.
The installation, connection and commissioning of the equipment and modules is not described
here. These are provided in sufficient detail in the Instruction Manual of the equipment.
The information on danger, warning notes and cautionary measures should also be taken from
the appropriate Instruction Manuals of the devices.
Further, it is assumed that the equipment is installed, commissioned and serviced by suitably
trained and qualified personnel, who are both knowledgeable about the product itself as well as
the particular industry sector.
This document also doesn't describe basic and simpler functions related with crane drives.
No part of this publication may be reproduced or transmitted in any form or by any means, elec-
tronic or mechanical, including photocopy, recording, or any information storage and retrieval
system, without permission in writing from the publisher.

s
STRUCTURE
1 Description of the concept .......................................................................... 5

1.1 General overview...................................................................................................................... 5
1.2 Hardware and Software components of the T300 technology module..................................... 8
1.3 Overview of the various drives, modules and functions ........................................................ 10
1.4 Communications between SIMATIC and drive units .............................................................. 12
1.5 Communications within the drive units ................................................................................... 14
1.6 Communications between 2 drive units.................................................................................. 14
1.7 Overview of communications.................................................................................................. 15
1.8 Basic signal characteristics and structure of the closed-loop control ..................................... 16
1.9 Connecting-up diagram for the T300...................................................................................... 17
1.10 Necessary basic device parameters....................................................................................... 18
1.10.1 SIMVOVERT MASTER DRIVE CUVC .............................................................................. 18
1.10.2 SIMOREG DC MASTER 6RA70 ....................................................................................... 20

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1 Description of the concept
1.1 General overview
Presently, SIMOREG DC-MASTER 6RA70 devices are being used for the closed-loop control of DC
crane drives and SIMOVERT MASTER DRIVES CUVC for AC drives.
In order to implement the technological closed-loop control tasks and functions, in almost all cases, it is
necessary to use an additional T300 technology processor in the units mentioned above.
The T300 is a freely-configurable technology processor with analog and digital inputs and outputs, two
connections for pulse encoders, serial interfaces etc. On the plant/system side, these connections are
routed to the SE300 terminal block. This is connected to the T300 technology module using screened
round cables. (For this application, only the pulse encoder connections, the analog inputs and outputs
and the serial interfaces are used. The digital inputs and outputs are only used for commissioning pur-
poses.)
The sub-modules (Eproms, program memory modules) for the T300 are programmed with the STRUC
programming language from SIMADYN D. However, these are not required for this particular applica-
tion.
The T300 technology module is used in the electronics box of the drive converter units as option board
(slot 2). Module T300 is shown on Page 9, the installation on Page 8 as well as a connection example
on page 16.
For the various crane drive types, the necessary and frequently required closed-loop control structures
and functions required for these drives, are combined in drive-specific software modules. These are
listed in the table on Page 10 together with the functions which have been implemented.
If other functions are required, which are not listed in the table on the next page, then these must be
implemented as custom software.
With the software, the open-loop- and closed-loop control tasks are clearly separated. These are exe-
cuted in the systems which have been designed for these purposes, i.e. the implementation of all of the
open-loop control functions in the SIMATIC as well as implementation of all closed-loop control func-
tions which are distributed in the drive control system.
Digital interlocking, e.g. controlling contactors, generating enable signals for the drive must therefore
be implemented in the higher-level open-loop control system. Only the drive-specific closed-loop con-
trol circuits and functions are implemented in the freely-programmable technology modules.
The closed-loop technology control is realized in the technology modules. However, the closed-loop
speed control and the closed-loop current control in the basic drives are fully utilized.

s
The drive units communication with the SIMATIC via Profibus SINEC L2 DP with PPO type 5 (4 PKW
and 10 PZD words). (Alternative a free configuration of the cyclical data (no PPO type) with the Engi-
neering tool DriveES is possible, when a communication board CBP2 is used. There are up to 16 pro-
cess data words configurable. A parameter area (PKW ) is configurable, .independent on the amount of
process data. However the allocation of the process data (Chapter 3) has to be noticed while usage.
The complete control (control words and setpoint-actual values) of the drive converters is realized via
this interface. (The communication board CBP/CBP2 has to be inserted in slot G via the adaption
board ADB (slot 3)).
The essential signals from the automation system to the drives are four 16-bit control words as well as
the setpoints for the speeds and the position setpoint for a closed-loop position control.
The communications between the technology module and a basic drive is realized through a DPR (dual
port Ram).
The setpoint is entered from the master switch via ET200, SIMATIC and Profibus to the drive unit.
The position actual values must be sensed for the closed-loop position control of a drive. In many
cases, this can be realized using the speed encoder is mounted on the motor.
For the grab position control of a grab crane or for the closed-loop synchronous control of two drives, it
is necessary to sense the position actual values of both drives. This can also be realized using the
pulse encoder, mounted on the motor for the speed actual values.
The pulse encoder signals for the speed actual value sensing are fed to the basic drives and for the
position actual value sensing, to the technology module. It is also possible to mount additional pulse
encoders on the cable drum.
The necessary parameters are defined as technology parameters and these can be set and changed.
They are set via the basic drive operator panel. It is also possible to parameterize the units (basic drive
and technology module) using the SIMOVIS service tool. (The database of the T300 technology mod-
ule is included in delivery.)
An overview of the concept is shown in the following block diagram using as an example, the holding-
and closing gear of a grab crane. The block diagram is also valid for an individual drive or a master-
slave drive.

S5/7
control words
n** status words
n*
s*
ET ET ET
CB CB
peer to peer
TB n*, i* TB
master switch
HW and SW
GG GG
cable drum cable drum

T
HW
M T
HW
M
ET: electrical terminal block

T: pulse encoder
T T HW: holding gear
SW: closing gear
CB: communication board
TB: technology board
GG: basic unit
1 2 3 4 5 6 7 8
overview concept I&S IT PS Erl 35 01.01.01 V 1.2 page 7

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1.2 Hardware and software components of the T300 technology module
Memory module
for slot in T300
Basic electronics CUVC

Comm. board CBP,SCB1,SCB2
Technology board
T300
Slot for
memory
module
Backplane
MS3xx
X131 bus LBA
Service PC/PG with
start-up programm
X132 (RS232)
Peer-to-peer-
connection X133 (RS485)
(to other T300
units, to the SCB2 X134 (RS485)
or SIMOREG
6RA24)
X136
SC58 SC60
Length of
1 the round 1
cables: 2 m
1 The shielded round cables, SC58 and

SC60, and terminal block SE300 are
LEDs included with the T300.
X451 X456
Terminal block SE300 The shields of the round cables must be

connected to earth at both ends.
Can be snapped on to a 35 mm mounting rail to DIN EN 50 022-35

Dimensions: W x H x D = 224 x 60 x 60 mm
Hardware- and software components of the T300 technology board

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T300 module with memory module

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1.3 Overview of the various drives, modules and functions
Hoisting gear
► Load-depending field weakening ► Position sensing with synchronization (of the position)
► Heavy load operation (reduced setpoint) ► Closed-loop position control (for automatic- or
► Jogging manual operation)
► Ramp-function generator changeover for field- ► Non-linear master switch setpoint
weakening and heavy loads ► Pre-limit switch
► Changeover to synchronous operation control with ► Start pulse
one-only (manual) setting of the position difference ► Monitoring functions
(slave operation) ► Current distribution monitoring
► Braking with constant distance
Holding gear
► Constant field weakening (efficiency) ► Slack rope control
► Heavy load operation (reduced setpoint) ► Position sensing with synchronization (of the position)
► Closed-loop position control (for automation- or
► Non-linear master switch setpoint
manual operation)
► Pre-limit switch
► Jogging
► Start pulse
► Ramp-function generator changeover for ► Monitoring functions
heavy loads
Closing gear
► Grab adjustment ► Grab position sensing
► Start pulse ► Closed-loop grab position control
► Current equalization control with polyp grab ► Jogging
operation ► Monitoring functions
► Changeover to synchronous operation control with
one-only (manual) setting of the position difference
(slave operation))
Slewing gear
► Non-linear master switch setpoint ► Position sensing with synchronization (of the position)
► Closed-loop position control (for automatic or ► Pre-limit switch
manual operation) ► Monitoring functions
► Jogging ► Influencing the ramp-function generator dependent
► Working angle-dependent accelerating time on the system deviation
► Working angle-dependent slewing speed
Traversing gear, master
► Non-linear master switch setpoint ► Position sensing with synchronization (of the position)
► Closed-loop position control (for automation- or ► Pre-limit switch
manual operation) ► Monitoring functions
► Jogging ► Current distribution monitoring
► Changeover to synchronous operation control with
one-only (manual) setting of the position difference
(slave operation)
Traversing gear, slave
► Current distribution monitoring ► Jogging
► Closed-loop synchronous operation control with ► Position sensing with synchronization (of the position)
offset as position difference ► Monitoring functions

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Monitoring functions: Closed-loop control monitoring
Speed actual-actual monitoring
Overspeed monitoring
Zero speed signal

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1.4 Communications between SIMATIC and the drive units
The communications between these two systems is implemented via Profibus SINEC L2-DP.
This serial peripheral SINEC L2-DP bus system is optimized for extremely fast cyclic master-slave
operation. In this case, the drives are always operated as slaves; the higher-level system has the
master function, which in this case is the SIMATIC.
The CBP/CBP2 module is used as communication module in the drive units.
The net data structure with which a DP master can access the drives is described in the following text.
The SINEC L2-DP transfers the net data with the SRD utility (Send and Request with Data). This
means, that net data are always transferred via the bus, both from the master to the slave as well as in
return telegrams from the slave to the master.
The master formulates a task, the slave processes this task and formulates the appropriate response.
There is precisely one task in each telegram from the master to the slave; there is precisely one re-
sponse in each telegram from the slave to the master.
The length and structure of the net data are permanently specified, and are known as Parameter Proc-
ess data Objects (PPO).
Five types are defined to transfer net data (PPO), with which process data, i.e. control words, status
words, setpoints and actual values can be simultaneously transferred, also parameters from the mas-
ter to the slave and vice versa.
1
In the following application, only PPO type 5 is used.
The PPOs are sub-divided into two areas: PKW (parameter identification value)
PZD (process data)
The PKW area allows parameter values to be read and written into and parameter descriptions and
texts read. Every drive parameter can be visualized or changed via this mechanism.
The PZD area contains all of the necessary signals which are required for process control. These in-
clude control words and setpoints from the automation to the drive and status words and actual values
from the drive to the automation system.
Both areas together result in the net data block (PPO).
The advantage in this case is that in a telegram, both the cyclically required process data can be
transferred, and it is also possible to simultaneously access parameters (reading/writing).
1
Cyclical data can be freely-configured by using the communication board CBP2 with the Engineering
Tool DriveES (no PPO-type). There are up to 16 process data words configurable. Independent from
the amount of process data a parameter area (PKW) is configurable. So you are not dependent on the
5 predetermined PPO types.

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System connector
Fixing screw
LED (green)
LED (yellow)
LED (red)
9-pole Sub D terminal
Fixing srcew
CBP communications board
PKW PZD
PZD1 PZD2
IND PWE STW1 HSW PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10
ZSW1 HIW
1st 2nd 3rd 4th 1st 2nd 3rd 4th 5th 6th 7th 8th 9th 10th
PPO1
PPO2
PPO3
PPO4
PPO5
PWE: Parameter ID value STW: Control word 1

PZD: Process data ZSW: Status word 1
PKE: Parameter ID HSW: Main setpoint
IND: Index HIW: Main actual value
PWE: Parameter value
Net-data structure in the "PROFIBUS Profile for PROFIDRIVE Variable-Speed Drives"

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1.5 Communications within the drive units
The data transfer within the "slave modules", i.e. between the drive converter and CB, is realized using
internal SIEMENS data transfer mechanisms, the so-called device response. The data is transferred
between the communications module and drive converter via the DUAL PORT RAM (DPR).
Data transfer between the communications module CB and the basic drive is realized via a dual port
RAM coupling (DPR). Both sides, CB and basic drive can access the memory of the dual port RAM
writing and reading. The dual port RAM chip is provided on the CB.
If an additional TB technology module is provided, then this is switched between the CB and the basic
drive. In this case, the dual port RAM of the CB is the interface to the TB and dual port RAM on the TB
is the interface to the basic drive (configuration TB-CB basic drive).
The initialization data transferred between CB and the basic drive is not influenced by the TB, i.e. the
technology module copies the data from its dual port RAM one-to-one into the dual port RAM of the CB
and vice versa. The function must be appropriately configured in the TB.
16 pieces of process data can be transferred in both directions between the TB and basic drive.
1.6 Communications between two drive units
This communications connection is generally used for master-slave drives, where the master setpoint
for the slave drive(s) is (are) entered from the master drive.
This is also the case for holding- and closing gears of a grab crane where the speed setpoint for the
closing gear and the current setpoint for the current equalization control is transferred to the closing
gear via this coupling.
This coupling is realized using a fast peer-to-peer connection between the technology modules.
A maximum of 5 PZD data words can be transferred in both directions via this interface.

S7 CBP T300 unit 1 CU
PROFIBUS converter response 1.word 2.word 3.word 4.word converter response

PKW PKE IND PWE PWE PKW
PROFIBUS converter response converter response

PKW PKW
PROFIBUS converter response converter response

PZD max. 16 words PZD 16 words
peer
to
peer
T300 5 unit 2
words
1 2 3 4 5 6 7 8
1.7 overview of communications I&S IT PS Erl 35 01.01.01 V 1.2 page 15

2 1
SIMATIC
control word 2
control word 1
IG
control word technology 1
control word technology 2
setpoints
ET200 ET200
functions functions
n* n* ML
2
RFG n-controller i-controller
PROFIBUS i*
SINEC L2 DP
M
technological
control
nist
∆n
1 i* T
nist
monitoring
acknowledge monitoring
sist acknowledge
nist nist
status word technology
status word 1
status word 2
T300 basic unit
1 2 3 4 5 6 7 8
1.8 basic signal characteristics and structure of the closed-loop control I&S IT PS Erl 35 01.01.01 V 1.2 page 16
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1.9 Connecting-up diagram for the T300
2 pulse encoder inputs
+24 V +24 V
Fine HTL-signal level, max.
pulse Input frequency 400 kHz
Coarse
Zero- +15 V Zero-
+15 V Input current per channel:
pulse pulse
pulse 90° 0° 90° 0° 4 mA
X5.538 537535 533 531 540 539 548 547 545 543 541 549
+15V X133
Pulse encoder Pulse encoder
detection 1 detection 2
6
X5
Serial interface 1
7
501 e.g. for service,
+ A RS485, 2-wire
+10
- V 502 - 8
start-up with PC/PG
D
T/Rx+
503
+ A 9
+10
- V 504 - D T/Rx- Either RS232 or RS485
10
505 interface useable!
+ A X132
+10
- V 506 - D RxD 1
TTL
7 analog inputs 507 RxD 2
Differential inputs + A RS232
+10
- V 508 - D 3
11 bits + sign
10 V/ k 4
511
+ A 5
+10
- V 512 - D X134
513 RS485, 4-wire
+ A Tx+ 13
+10 V 514 -
Micro-
- D
processor Tx- 14
515 Serial interface 2
A
CPU:
+ Rx+ 11 (peer-to-peer)
+10
- V 516 - D 80C186
20 MHz Rx- 12
X6
15
+24 V 610
+ 11 bit + VZ X5
601 D 509
602 A
510
603
8 binary inputs D
604 519
24 V DC A
(input current 605 520
4 analog outputs
8 mA typical) 606
D 521
11 bits + sign
607 + 10 V / 10 mA.
A
608 522
D 523
+24 V 630
A
524
+
611 X6
639 +24 V
612
Slot for 631
613 memory
8 binary inputs 632
614 module, e.g.
24 V DC MS 300 633 8 binary outputs
(input current 615
634 24 V DC / max. 100 mA
8 mA typical) 616 Base load 40 mA for
635
617 external P24 infeed which
636
can also come from
618 637 the basic unit
638
640
1/2 LBA 1/2 LBA

Communications MASTERDRIVES
board, e.g. Dual- Dual- basic unit
CBP, SCB1 port- port- (CUVC board)
or SCB2 RAM RAM
X135 X137
Terminals X5, X6: Connect to terminal block SE300.
Terminals X132, X133, X134: Connect to the T300.
VZ = sign
T300 technology board connection diagram

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1.10 Basic drive converter parameters required
In order to establish error-free communications and functionality between SIMATIC and the drive unit,
the following parameter settings must be made in the basic drive of the converter or inverter. Depend-
ing on the selected BICO data set, these settings are made in index 1 or 2. These are:
1.10.1 SIMVOVERT MASTER DRIVE CUVC
Enter the Profibus address
P60 = 4 select the "module configuration" menu

P918.1 or .2 = ? enter the CB bus address
P60 = 1 return to the parameter menu
Interlocking the receive data
PZD1: Control word 1

The bits assigned by the SIMATIC must be interlocked with the appropriate parameters (refer to
the Compendium Vector Control, function chart 180). The following parameterization must be
made if, for example, all control bits are assigned by the SIMATIC.
P554.1 or 2 = 3100
P555.1 or 2 = 3101
P558.1 or 2 = 3102
P561.1 or 2 = 3103
P562.1 or 2 = 3104
P563.1 or 2 = 3105
P564.1 or 2 = 3106
P565.1 or 2 = 3107
P568.1 or 2 = 3108
P569.1 or 2 = 3109
P571.1 or 2 = 3111
P572.1 or 2 = 3112
P573.1 or 2 = 3113
P574.1 or 2 = 3114
P575.1 or 2 = 3115
Otherwise, the parameters which are to be not controlled from the SIMATIC, should be left in the
factory setting.
PZD2: Speed setpoint

P443.1 or 2 = 3002

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The bits assigned by the SIMATIC should be interlocked with the appropriate parameters (refer to
the Compendium Vector Control, function chart 190). The following parameterization must be
made, if for example, all control bits are to be assigned by the SIMATIC.
P576.1 or 2 = 3300
P577.1 or 2 = 3301
P578.1 or 2 = 3302
P579.1 or 2 = 3303
P580.1 or 2 = 3304
P581.1 or 2 = 3305
P582.1 or 2 = 3306
P583.1 or 2 = 3307
P584.1 or 2 = 3308
P585.1 or 2 = 3309
P586.1 or 2 = 3310
P587.1 or 2 = 3311
P588.1 or 2 = 3312
P589.1 or 2 = 3313
P590.1 or 2 = 3314
P591.1 or 2 = 3315
Otherwise, the parameters which are not to be controlled from the SIMATIC, should be left in the
factory setting.
PZD4: Start pulse

2
P506.1 or 2 = 3004
Interlocking the send data
PZD1: Status word 1

P734.1 = 32
PZD2: Speed actual value

P734.2 = 148
PZD3: Status word 2

P734.3 = 33
PZD4: Current setpoint

P734.4 = 168
PZD5: System deviation

P734.5 = 152
The remaining available process data can be connected and used individually.
2
The start pulse has to be parameterized just for hoisting gear, holding gear and closing gear (mod-
ules 1-3) because it is only relevant for these gears
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1.10.2 SIMOREG DC MASTER 6RA70
Enter the Profibus address
P51 = 40 access authorization

P918.1 or .2 = ? enter the CB bus address
Interlocking the receive data

The bits assigned by the SIMATIC are interlocked with the appropriate parameters (refer to the In-
struction Manual SIMOREG DC MASTER, function chart 33). The following parameterization must
be made, if for example, all of the control bits are to be assigned by the SIMATIC.
P654.1 or 2 = 3100
P655.1 or 2 = 3101
P658.1 or 2 = 3102
P661.1 or 2 = 3103
P662.1 or 2 = 3104
P663.1 or 2 = 3105
P664.1 or 2 = 3106
P665.1 or 2 = 3107
P668.1 or 2 = 3108
P669.1 or 2 = 3109
P671.1 or 2 = 3111
P672.1 or 2 = 3112
P673.1 or 2 = 3113
P674.1 or 2 = 3114
P675.1 or 2 = 3115
factory setting.
PZD2: Speed setpoint

P433.1 or 2,3,4 = 3002

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The bits assigned by the SIMATIC are interlocked with the appropriate parameters (refer to the In-
struction Manual SIMOREG DC MASTER, function chart 34). The following parameterization must
be made if, for example, all of the control bits are assigned by the SIMATIC.
P676.1 or 2 = 3300
P677.1 or 2 = 3301
P678.1 or 2 = 3302
P679.1 or 2 = 3303
P680.1 or 2 = 3304
P681.1 or 2 = 3305
P682.1 or 2 = 3306
P683.1 or 2 = 3307
P684.1 or 2 = 3308
P685.1 or 2 = 3309
P686.1 or 2 = 3310
P687.1 or 2 = 3311
P688.1 or 2 = 3312
P689.1 or 2 = 3313
P690.1 or 2 = 3314
P691.1 or 2 = 3315
factory setting.
PZD4: Start pulse

3
P501 = 3004
Interlocking the send data
PZD1: Status word 1

U734.1 = 32
PZD2: Speed actual value

U734.2 = 167
PZD3: Status word 2

U734.3 = 33
PZD4: Current setpoint

U734.4 = 120
PZD5: System deviation

U734.5 = 165
The remaining available process data can be individually connected and used.
3
The start pulse has to be parameterized just for hoisting gear, holding gear and closing gear (mod-
ules 1-3) because it is only relevant for these gears
for the
module 3: closing gear
Description of the functions
► Jogging ► Overspeed monitoring

► Start pulse ► Zero speed monitoring
► Changeover to synchronous operation control ► Grab position control
with one-only (manual) setting of the position ► Grab adjustment
difference ► Current equalization control with polyp grab
► Closed-loop control monitoring operation
► Speed actual-actual monitoring
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STRUCTURE
2 Description of the functions........................................................................ 3

2.1 Jogging ..................................................................................................................................... 3
2.2 Start pulse for hoisting gear...................................................................................................... 4
2.3 Closed-loop control monitoring................................................................................................. 5
2.4 Speed actual-actual monitoring ................................................................................................ 5
2.5 Overspeed monitoring .............................................................................................................. 5
2.6 Zero speed signal ..................................................................................................................... 5
2.7 Sensing the grab opening travel ............................................................................................... 7
2.8 Grab adjustment ....................................................................................................................... 7
2.9 Grab position control ................................................................................................................ 9
2.10 Closed-loop synchronous operation control for holding- and closing gear of grab cranes..... 11
2.11 Current equalization control with polyp grab operation........................................................... 14
module 3: closing gear V 1.20 2 01.01.2001

Description of the functions Copyright © Siemens AG All Rights Reserved
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2 Description of the functions
This application of the T300 – module works with a speed scaling of 100% for maximum speed.
2.1 Jogging
Using this function, the drive can be moved with small speed setpoint intervals. This is required, for
example, to attach the cable to the hoisting gear.
When jogging, an adjustable jog setpoint is entered as speed setpoint.
ramp-function
generator speed controller
0
1
jogging
setpoint
setpoint direction 2 0 command

direction 1 1 jogging
command jogging
direction 1
command jogging
direction 2
command jogging
direction 1
command jogging t
direction 2
jogging setpoint
direction 1
jogging setpoint t
direction 2
1 2 3 4 5 6 7 8
jogging

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2.2 Start pulse for hoisting gear
This function avoids or improves the "load sag" when the hoisting gear is started with a suspended
load.
For hoisting gear, when starting, i.e. when the hoisting gear brake is opened, with a freely-suspended
load, the load can undesirably drop (sag). The reason for this is the torque which is missing when
starting and which is only relatively slowly established after the travel command has been output. Ini-
tially via the processing time of the systems, the time constants of the closed-loop control (ramp-
function generator, integration times) and the time constants of the control loop. However, when start-
ing to hoist with a suspended load, the torque must be quickly established.
In order to prevent this sag, when starting, a constant or a load-dependent start pulse (setpoint) is di-
rectly switched to the setpoint input of the speed controller in the hoisting gear. It then decays after a
specific time. This start-up characteristic corresponds to an inverse exponential function, which is "dis-
charged" when the control is enabled.
This causes the torque to be quickly established, thus preventing "load sag". The start pulse direction
is always in the hoisting direction (torque direction I).
The start pulse is optimized experimentally with pre-optimized closed-loop speed control at the final
load test. When starting from zero speed, with a freely-suspended load, the control lever is set to the
minimum speed setpoint, and the starting behavior of the drive is monitored at the crane hook or at the
cable drum.
When setting a start pulse with constant amplitude, a compromise must be made between starting with
rated load and starting with an empty crane hook (no load), as the selected constant value can only be
optimally set for a single load. Thus, for other loads, there will either be a low amount of load sag of the
empty hook will move in the hoisting direction.
If a load-measuring device is used, the output voltage of this load-measuring device is used as initial
amplitude for the starting pulse. Thus, independent of the load, the drive optimally starts with the cor-
rect height, without the load sagging and without the empty crane hook moving in the incorrect direc-
tion. This is achieved by adapting the value which is received from the load measuring device.
speed controller
n* i*
nist
adjustable constant value

0
actual load value 1
adaption
selection
enable start
pulse
1 2 3 4 5 6 7 8
start pulse

s
2.3 Closed-loop control monitoring
This function continually monitors the speed setpoint and speed actual value, which, when the system
is operating correctly, must approximately correspond with one another.
This monitoring function responds, for example, if the closed-loop control goes to its current limit due
to an overload or a stalled drive, as the speed actual value can no longer follow the speed setpoint.
However, if the setpoint is less than the response difference, then there is a no signal output if the ac-
tual value is missing. This fault is detected using the interrupted tachometer monitoring function of the
basic drives.
2.4 Speed actual-actual monitoring
This function can be used for speed-actual-actual monitoring if a drive is equipped with a speed actual
value- and position actual value encoder.
If a drive has, in addition to a pulse encoder for the speed actual value, also a pulse encoder for the
position actual value, which is not mounted to the motor, but for example, to the drum, then monitoring
can be realized by evaluating the speeds supplied from both encoders. For instance, this can be used
to monitor the gearboxes or couplings for two rigidly coupled drives.
2.5 Overspeed monitoring
This monitoring function represents a software centrifugal switch. Using this monitoring function, a
signal can be generated when a selectable speed is exceeded.
Values of between 110-150% of the maximum permissible operating speed are set for these over-
speed protective devices. When an overspeed monitoring function responds, appropriate shutdown
mechanisms can be initiated.
2.6 Zero speed signal
This function monitors the speed and responds if the selected limit is fallen below.
This signal is mainly used to close the brake. It is also used, for example, in the hoisting gear module
to calculate the supplementary speed setpoint for load-dependent field weakening.

s
speed actual-actual monitoring
actual speed
signal to status word
value from
+ (technology) bit 4
basic unit -
actual speed
value from
technology board
(NAV)
closed-loop control monitoring
system deviation signal to status word

from basic unit (technology) bit 1
overspeed monitoring
actual speed
value from
(technology) bit 2
basic unit
zero speed signal

(technology) bit 3
1 2 3 4 5 6 7 8
monitorings

s
2.7 Sensing the grab opening travel
This function is required for the closed-loop grab position (travel) control.
The prerequisite for the closed-loop grab travel control (positioning) or the closed-loop position syn-
chronous control for the holding- and closing units (e.g. for traversing operation) is that the actual posi-
tion values of the holding- and closing gear have to be sensed (for grab operation, a grab actual value
position).
It is not possible to sense the grab opening position directly at the grab, but is approximately deter-
mined by measuring the cable length difference (holding cable minus the closing cable). This cable
length difference is in turn proportional to the number of revolutions of the cable drum holding gear (or
motor holding gear) minus the number of revolutions of the cable drum, closing gear (or motor closing
gear). This measurement is technologically precise in spite of the elasticity and cable sag.
The position actual value of the holding- and closing gear is measured (or the grab opening travel) in
almost all cases using the speed encoder, mounted at the motor (a pulse encoder must be used, an
analog tachometer is not adequate).
The T300 technology module has, in the form of its terminal module pulse encoder sensing inputs 1
and 2, which can be read-in from a block at the same time.
The pulse encoder signals are connected to the basic drive for the speed actual value sensing and to
the technology module for position actual value sensing.
For a closed-loop synchronous position control of the holding- and closing gear, the position actual
value difference sensing can also be used if it is sufficient that the position difference, which the sys-
tem should control, is set manually once.
The actual (required) position difference actual value when closed-loop synchronous operation control
is selected with “grab closed" must be saved as setpoint. The closed-loop synchronous operation con-
trol is operated with this as setpoint until it is cancelled again.
For closed-loop grab position controls as well as for closed-loop synchronous operation control of
holding- and closing gears, the position actual values of both drives must be sensed in the closing
gear. This can also be implemented using the pulse encoder, mounted at the motor, which is used to
sense the speed actual values.
The pulse encoder signals are routed to the basic drive for speed actual value sensing and to the tech-
nology module of the second drive for position actual value sensing.
The position actual value of a drive must always be connected to pulse encoder sensing input 1 and
that of the master drive to pulse encoder sensing 2 (for the slave).
2.8 Adjusting the grab
In order to adjust the grab when changing grabs, the master switch is directly entered as setpoint and
the required end positions for grab open and closed, is approached, closed-loop speed controlled. The
actual values at the end positions, open and closed, are then saved as setpoints at the push of a but-
ton. When the master switch is moved to open or close the grab, the associated signal is switched to
the position controller as setpoint.

S5/7
setpoints setpoints
communication board communication board

n** ramp-function
generator
0
+100% 0 1
<0% 1
peer to peer
-100%
>0%
AAT ramp-function
generator position control
hw-syn. via <0%
index signal WSR2 hw-syn. via index
1
input WSR1 0 0 signal input 0%
0
1 1
+ +
WSAUT - KGO
-
AAT
SE SE
position control KGG y=x
y
actual x
X5M X5M position
position sist ∆s
difference
evaluation
X5N X5N evaluation
synchron nist nist
WSSYN
synchronization
controller
SYN via nist- nist-
control word monitoring monitoring
technology board technology board
n-controller i-controller n-controller i-controller
n* n*
i* i*
nist nist
basic unit basic unit
M T M T
T T
1 2 3 4 5 6 7 8
hardware- and software structure for position- and synchronization control I&S IT PS Erl 35 01.01.01 V 1.2 page: 8
s
2.9 Close-loop grab position control
This closed-loop control ensures that the closing operation, when required, is executed at the maxi-
mum speed, and is optimally positioned in the "closed" or "opened" end positions.
The demand for higher material handling performance has meant that crane drives must approach the
specified target as quickly as possible.
State-of-the-art grab cranes with high closing speeds have closing gear equipped with closed-loop
position control, which is effective both in the automatic- as well as in the manual modes.
The closed-loop grab position control ensures that the closing operation, when required, is executed at
the maximum speed, and the grab is optimally braked and positioned in the grab open and grab closed
end positions.
For the closed-loop grab position control, the end points for grab open and grab closed are approached
as quickly as possible corresponding to the principle of the previously described closed-loop position
control. The grab, for example, reaches the precise position closed, without the grab gripping edges
hitting each other.
Also in the manual mode, the closed-loop position control makes it far easier for the crane driver, as
the closing gear drive is precisely and automatically stopped in the grab open and grab closed end
positions by the software.
By applying the position equations and taking into account the limiting conditions, it can be determined
that this is possible using the square-root equation.
v = 2⋅a⋅s
Where: v: speed a: acceleration s: position actual value
By implementing this equation, the drive can approach a specified point as quickly as possible, closed-
loop position controlled.
The closed-loop position control specifies the setpoint for the closed-loop speed controller. If the drive
comes in the direction of the target point, then from a calculated initiation point, the speed setpoint is
reduced as a function of the position. The position actual value is available from a pulse encoder. The
target for the end points (position setpoint) are manually saved at the start of a grab change and
switched-in, dependent on the direction requested from the master switch.
The generated setpoint must then be normalized to the rated speed of the closing gear for closing and
opening.

speed setpoint (S7)
n-controller
speed setpoint
0% 0
to basic unit
speed
1
setpoint
setpoint
enable
(S7)
x
y>x
0% y
master switch
polarity
0%
setpoint grab open 0 MIN 0
1
+ 1
command grab closed y=x

- switch over
y point position KP
x setpoint grab close
control
pulse
T encoder
∆s
evaluation x
y>x
0% y
command grab open ∆s=0
1 2 3 4 5 6 7 8
signal flow chart grab position control closing gear I&S IT PS Erl 35 01.01.01 V 1.2 page: 10
s
2.10 Closed-loop synchronous operation control for holiding- and closing gear of grab
cranes
This function is required if holding- and closing gear, which normally operate individually and essen-
tially independent of one another in the closed-loop speed controlled mode, must operate in synchro-
nism for specific operating cases.
For grab cranes, which can also be used for multi-function operation (container-, traversing- or normal
hook operation), depending on the application and design of the mechanical system, it may be neces-
sary that the holding- and closing gear operate in synchronism.
For this operating case, it is necessary to have closed-loop synchronous position control between the
holding- and closing gear. When positioning to accept loads the drives first operate individually, and
then can be changed over at any position to closed-loop synchronous operation control.
When the holding- and closing gear operate in synchronism, the closing gear follows the holding gear,
closed-loop position controlled with the position difference setpoint to be saved, from the closed grab
position.
The actual position difference actual value must then be saved as setpoint with the grab closed com-
mand. The closed-loop synchronous control is then operated with this as setpoint..
The drives which are operated separately in the closed-loop speed controlled mode, also in this oper-
ating case, are then coupled through the closed-loop control using a closed-loop synchronous control-
ler in the slave drive. They must then operate with position synchronism, even if the load is unevenly
distributed
The closed-loop synchronous operation controller is superimposed on the closed-loop speed control of
the slave drive. The inputs of the closed-loop synchronous operation controller are the saved position
difference actual value as setpoint and the actual position difference actual value as actual value. The
synchronous controller output acts as supplementary setpoint on the setpoint input of the slave drive
speed controller.
When closed-loop synchronous operation control is activated, and a position difference develops be-
tween the drives, then the slave drive receives a supplementary speed setpoint via the synchronous
operation controller. The drive is operated with an increased or decreased speed setpoint, until the
position difference is again zero. The supplementary setpoint (the intervention of the supplementary
setpoint from the synchronous operation controller) should in this case be a maximum of 20% to 30%
of the max. drive speed.

holding gear
n-controller
speed setpoint to
0% 0 basic unit i*
speed setpoint (S7) 1
setpoint
position setpoint (S7) enable (S7)
actual position
value
position synchronization
value (S7) pulse s1
encoder
T evaluation
peer to peer
synchronize
closing gear
n-controller
speed setpoint to
speed setpoint (S7) 0% 0 basic unit i*
0 1
1
>0% setpoint
selection enable (S7)
synchronism
0%
setpoint grab open 0
(S7)
1
setpoint grab closed

position difference
command grab closed (S7) y=x setpoint
y
x
T pulse W
0% 0
encoder actual position 1
evaluation ∆s difference value X
∆s=0 selection
command grab
open (S7) synchronism
enable (S7)
synchronization
controller (S7)
1 2 3 4 5 6 7 8
signal flow chart synchronization control holding and closing gear overview I&S IT PS Erl 35 01.01.01 V 1.2 page: 12
holding gear n-controller
speed setpoint to
0% 0 basic unit i*
speed setpoint (S7) 1
setpoint
position setpoint (S7) enable (S7)
actual position value
position synchronization
value (S7) pulse
s1
encoder
evaluation
T
enable slack-rope
controller (S7)
speed setpoint current setpoint
synchronize
peer to peer peer to peer

closing gear enable current equalization
controller (S7)
selection
grab change
(S7)
n-controller
speed setpoint (S7) speed setpoint to

1 0% 0 basic unit i*
0 0 1
1
>0%
scaling
setpoint
nominal selection
0% enable (S7)
setpoint grab open speed synchronism
0
1 (S7)
setpoint grab closed

position difference
command grab setpoint
y=x
closed (S7) y
x
pulse 0%
T encoder
W 0
1
evaluation ∆s actual position difference value
X
command ∆s=0 selection

grab open (S7) synchronism
enable
(S7)
synchronization
controller (S7)
1 2 3 4 5 6 7 8
signal flow chart holding and closing gear overview I&S IT PS Erl 35 01.01.01 V 1.2 page: 13
s
2.11 Current equalization controller with polyp grab operation
This function is required for every grab crane.
When raising and lowering the load with the grab closed, the tension levels in the holding- and closing
cable should be approximately equal. The required hoisting power is then optimally distributed over
both hoisting motors This demand is fulfilled by using a closed-loop equalization control between the
two drives.
The current setpoints, generated from the speed controllers of the hoisting gear are compared, and
their difference is added to the speed setpoint of the closing gear via a controller.
The highest cable torque is obtained when the grab has almost closed. The selected closed-loop posi-
tion control is falsified by the unavoidable cable expansion, i.e. the closing operation is automatically
ended before the grab has completely closed.
This "fault" is also corrected by enabling the closed-loop current equalization control when the grab
closed message is received.
For grab cranes, which are also used for multi-functional operation (container-, traversing- or hook
operation) it may be necessary to activate the closed-loop current equalization controller depending on
the application and the mechanical design.
Polyp grab operation
With this operating mode, the grab generally requires a higher tension in the closing cable than in the
holding cable. The current distribution can be unsymmetrically divided with the required ratio by using
additional circuitry in the closed-loop current equalization control.
This is required, for example, when loading scrap, tree trunks and other large objects. Using polyp
grabs, these objects are held with the grab not completely closed at the grab points.
In order that the load doesn't slip from the grab, the largest possible closing force should be applied.
The closed-loop current equalization controller is used to ensure that the load distribution is non-
symmetrical.

s
Haltewerk (HW)
n-Regler HW i-Regler HW
i*HW
n*HW M
Schließwerk (SW)
n-Regler SW i-Regler SW
i*SW
n*SW M
Stromausgleichregler
n*Zusatz
1 2 3 4 5 6 7 8
Übersicht Stromausgleichregler
current
equalization
controller
i*HW
nzusatz
to speed
setpoint
K3 closing gear
enable current
equalization
controller
i*SW 0
1
p-droop function
selection
polyp grab
K1
K2
1 2 3 4 5 6 7 8
realization of a current equalization controller

for the
process data, parameter, etc.

s
STRUCTURE
3 process data, parameter, etc. ......................................................................... 3

3.1 allocation of process data.......................................................................................................... 3
3.2 allocation and description of the control bits.............................................................................. 5
3.3 allocation and description of the status bits............................................................................... 9
3.4 parameter list........................................................................................................................... 12
3.5 faults and alarms ..................................................................................................................... 21
3.6 used abbreviations of function plans ....................................................................................... 22

process data, parameter, etc. Copyright © Siemens AG All Rights Reserved
s
3 process data, parameter, etc.
3.1 allocation of process data
This application of the T300 is provided for 16 receive and send process data from or to the Communi-
cation Board. The process data words 11-16 could only be configured and used with the Engineering
Tool DriveES and the Communication Board CBP2. The following tables show the allocation of the
process data words. Further on the tables show the goal or source of the process data words, i.e. the
connection of the process data (T300, base unit CU or Communication Board CB).
process data from automation system to T300 goal

T300 / base
PCD1 control word 1 STEU1
unit
PCD2 speed setpoint from master switch WNMS T300
PCD3 control word 2 STEU2 base unit
PCD4 control word 1 (technology) STEU_TB1 T300
PCD5 control word 2 (technology) STEU_TB2 T300
PCD6 PCD6_Empf PZD6_Emp base unit
PCD10 start pulse STI T300
T300 / base
PCD16 PCD16_Empf PZD16_Emp
unit
process data from T300 to automation system source

PCD1 status word 1 ZUST1 base unit
PCD2 actual speed value XNGG base unit
PCD3 status word 2 ZUST2 base unit
PCD4 status word (technology) ZUST_TB T300
PCD5 free T300
PCD6 PCD6_Send PZD6_Send base unit

s
This application of the T300 is provided for 16 receive and send process data from or to the base unit.
The process data, which aren’t used in this application, are connected between the base unit and the
Communication Board. The following tables show the allocation of the process data words. Further on
the tables show the goal or source of the process data words, i.e. the connection of the process data
(T300, base unit CU or Communication Board CB).
process data from T300 to base unit Source

PCD1 control word 1 STEU1 CB
PCD2 speed setpoint WNGG T300
PCD3 control word 2 STEU2 CB
PCD4 setpoint start pulse WST T300
PCD5 free T300
PCD6 PCD6_Empf PZD6_Emp CB
PCD10 free T300
process data from base unit to T300 goal

PCD1 status word 1 ZUST1 CB
PCD2 actual speed value XNGG T300 / CB
PCD3 status word 2 ZUST2 CB
PCD4 current setpoint ZUST_TB T300
PCD5 setpoint-actual value difference XS1 T300
PCD6 PCD6_Send PZD6_Send CB
PCD15 PCD15_Send PZD15_Send T300 / CB
PCD16 PCD16_Send PZD16_Send T300 / CB

s
3.2 allocation and description of the control bits
The allocation of the control words for the technology board in this application are appropriately the
following tables. The tables show the level (high- (H) or low-active (L)) of the commands. A description
of each control bit follows the tables.
control word 1 technology

Bit 0 command jogging direction 1 (H) KTA
Bit 1 command jogging direction 2 (H) KTB
Bit 2 enable start pulse (H) FST
Bit 3 free
Bit 4 free
Bit 5 free
Bit 6 free
Bit 7 enable position control (H) FRS
Bit 8 enable synchronization controller (H) FGR
Bit 9 free
Bit 10 command grab open save (H) KGO
Bit 11 command grab closed save (H) KGG
Bit 12 selection synchronism (H) AGL
Bit 13 free
Bit 14 free
Bit 15 free
control word 2 technology

Bit 16 free
Bit 17 selection polyp grab (H) APO
Bit 18 enable current equalization controller (H) FRA
Bit 19 selection grab change (H) AGW
Bit 20 free
Bit 21 free
Bit 22 free
Bit 23 free
Bit 24 free
Bit 25 free
Bit 26 free
Bit 27 free
Bit 28 free
Bit 29 free
Bit 30 free
Bit 31 free

s
Bit 0: command jogging direction 1 (H „jogging direction 1“ / L „jogging direction 1 off“)
A high-signal sets the speed setpoint to the base unit to the value, parameterized via the parameter
H333. Either additional to the speed setpoint from holding gear (H323 = 0) or separate (H323 = 1). The
setpoint should be for example positive for the direction 1. A low-signal doesn’t select a speed setpoint
for jogging.
Bit 1: command jogging direction 1 (H „jogging direction 1“ / L „jogging direction 1 off“)
A high-signal sets the speed setpoint to the base unit to the value, parameterized via the parameter
H332. Either additional to the speed setpoint from holding gear (H323 = 0) or separate (H323 = 1). The
setpoint should be for example negative for the direction 2 (reverse to direction 1). “Command jogging
direction 1” has priority, if “command jogging direction 1” and “command jogging direction 2” are set
together (high). A low-signal doesn’t select a speed setpoint for jogging.
Bit 2: enable start pulse (H „enable start pulse“ / L „disable“)
A high-signal enables the start pulse. At selected start pulse (H453 = 0), the set value (H448) or the
value via automation system decays with the decay time (H451) after low-high level change of the sig-
nal.
Bit 7: enable position control (H „enable position control“ / L „disable“)
A high-signal enables the difference between position difference setpoint and actual position differ-
ence. So the calculation of the position-dependent, additional speed setpoint is possible and necessary
to close and open the grab. A low-signal sets the speed setpoint to 0%.
Bit 8: enable synchronization controller (H „enable synchronization controller“ / L „disable“)
A high-signal enables the synchronization controller. The position difference value must be saved via
the command “grab closed save”, before the release. A low-signal disables the synchronization con-
troller.
Bit 10: command grab open save (H „grab open save“)
After a grab change, a high-signal sets first the position difference value to 0 when the grab is open.
Bit 11: command grab closed save (H „grab closed save“)
After a grab change and saved position difference for the position grab open, a high-signal saves the
actual position difference when the grab is closed.
Bit 12: selection synchronism (H „synchronism“ / L „no synchronism“)
A high-signal selects synchronism. The speed setpoint is set via peer-to-peer-coupling from master
drive. This control is only relevant for slave drives.
Bit 17: selection polyp grab (H „polyp grab mode“ / L „no polyp grab mode“)
A high-signal selects the polyp operation mode for current equalization controller.

s
Bit 18: enable current equalization controller (H „enable“ / L „disable“)
A high-signal enables the current equalization controller. A low-signal locks the current equalization
controller.
Bit 19: selection grab change (H „grab change“ / L „no grab change“)
A high-signal selects grab change, i.e. the grab position control isn’t working and the speed setpoint is
setting via PCD2 from automation system. Either additional to the speed setpoint from holding gear
(H323 = 0) or separate (H323 = 1). The grab position control work with a low-signal again.

s
The allocation of the control words 1 and 2 are appropriately the operating instruction of the base unit
(6SE70 or 6RA70). The following tables show the level (high- (H) or low-active (L)) of the commands. A
description of each control bit you find in the operating instruction of the base unit.
control word 1
Bit 0 OFF1 (L) EIN
Bit 1 OFF2 (L) AUS2
Bit 2 OFF3 (L) AUS3
Bit 3 inverter enable (H) FWR
Bit 4 ramp-function generator enable (H) FHG
Bit 5 ramp-function generator start (H) SHG
Bit 6 setpoint enable (H) FWN
Bit 7 acknowledge (↑) QUITT
Bit 8 jogging bit 0 (H) TIPP1
Bit 9 jogging bit 1 (H) TIPP2
Bit 10 control requested (H) FAG
Bit 11 clockwise phase sequence enable (H) RDF
Bit 12 counter-clockwise phase sequence enable (H) LDF
Bit 13 motorized potentiometer raise (H) MOPOH
Bit 14 motorized potentiometer lower (H) MOPOT
Bit 15 external fault 1 (L) STOEX1
control word 2
Bit 16 selection function data set bit 0 (H) ANW FDS0
Bit 17 selection function data set bit 1 (H) ANW FDS1
Bit 18 selection motor data set bit 0 (H) ANW MDS0
Bit 19 selection motor data set bit 1 (H) ANW MDS1
Bit 20 select fixed setpoint bit 0 (H) ANW FSW0
Bit 21 select fixed setpoint bit 1 (H) ANW FSW1
Bit 22 synchronizing enable (H) FSYN
Bit 23 enable flying restart (H) FFANG
Bit 24 enable droop, speed controller (H) FSTAT
Bit 25 enable speed controller (H) FDREH
Bit 26 external fault 2 (L) STOEX2
Bit 27 master drive (speed control) (L) LEIT
Bit 28 external alarm 1 (L) WARNEX1
Bit 29 external alarm 2 (L) WARNEX2
Bit 30 select BICO data set 1 (L) ANW BICO
Bit 31 no MC checkback signal (L) HS RUECK

s
3.3 allocation and description of the status bits
The allocation of the status word of the technology board in this application is appropriately the follow-
ing table. The table shows the level (high- (H) or low-active (L)) of the signals. A description of each
status bit follow the table.
status word technology

Bit 0 signal fault encoder (L) FIGS
Bit 1 signal speed setpoint-actual value diff. saved (L) MXNDS
Bit 2 signal overspeed saved (L) MXNGS
Bit 3 signal speed = 0 (H) MXN0
signal fault speed actual-actual value difference
Bit 4 FIGNSS
(L)
Bit 5 signal fault coupling T300 to base unit (L) FKGERS
Bit 6 signal fault coupling to automation system (L) FKS5S
Bit 7 free
Bit 8 free
Bit 9 signal fault coupling peer to peer (L) FKPPS
Bit 10 signal grab open (H) MGO
Bit 11 signal grab closed (H) MGG
Bit 12 free
Bit 13 free
Bit 14 free
Bit 15 free
Bit 0: signal fault encoder (H „no fault“ / L „fault“)
A low-signal shows a configuring error of the encoder. The bit is just reset to high-level via the ac-
knowledge command.
Bit 1: signal speed setpoint-actual value difference saved (H „no speed setpoint-actual value
difference saved“ / L „speed setpoint-actual value difference saved“)
A low-signal shows a deviation of the actual speed compared to the speed setpoint, which is larger
than the value parameterized via H456/H457. A larger deviation is saved and the bit is just reset to
high-level via the acknowledge command.
Bit 2: signal overspeed saved (H „no overspeed“ / L „overspeed“)
A low-signal shows, if the actual speed is greater than the limit parameterized via H459/H460. A
greater actual speed is saved and the bit is just reset to high-level via the acknowledge command.
Bit 3: signal speed = 0 (H „speed = 0“ / L „speed <> 0“)
A high-signal shows a deviation of the actual speed compared to speed 0, which is larger than the
value parameterized via H461/H462.

s
Bit 4: signal fault speed actual-actual deviation (H „no fault“ / L „fault“)
A low-signal shows a deviation of the actual speed (T300) compared to the actual speed from the base
unit, which is larger than the value parameterized via H466/H467. A larger deviation is saved and the
bit is just reset to high-level via the acknowledge command.
Bit 5: signal fault coupling T300 to base unit (H „no fault“ / L „fault“)
A low-signal shows an error between the coupling T300 / base unit. The bit is just reset to high-level via
the acknowledge command.
Bit 6: signal fault coupling to automation system (H „no fault“ / L „fault“)
A low-signal shows an error between the coupling T300 / automation system (Communication Board).
The bit is just reset to high-level via the acknowledge command.
Bit 9: signal fault coupling peer to peer (H „no fault“ / L „fault“)
A low-signal shows an error between peer-to-peer-coupling. The bit is just reset to high-level via the
acknowledge command.
Bit 10: signal grab open (H „grab open“ / L „grab not open“)
A high-signal shows the opened grab, within the parameterized limit (H256/H257).
Bit 11: signal grab closed (H „grab closed“ / L „grab not closed“)
A high-signal shows a closed grab, within the parameterized limit (H258/H259).

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The allocation of the status words 1 and 2 are appropriately the operating instruction of the base unit
(6SE70 or 6RA70). The following tables show the level (high- (H) or low-active (L)) of the signals. A
description of each status bit you find in the operating instruction of the base unit.
status word 1
Bit 0 signal ready to switch on (H) EINBE
Bit 1 signal ready (H) BETRBE
Bit 2 signal run (H) BETRIEB
Bit 3 signal fault (H) STOERUNG
Bit 4 signal OFF2 (L) KEINAUS2
Bit 5 signal OFF3 (L) KEINAUS3
Bit 6 signal switch-on inhibit (H) EINSPERR
Bit 7 signal alarm (H) WARNUNG
Bit 8 signal setpoint-actual value deviation (L) KEINWXAB
Bit 9 signal PcD control requested (H) FAGGEF
Bit 10 signal comparison value reached (H) VGWER
Bit 11 signal low voltage fault (H) STOEUSP
Bit 12 signal request to energize main contactor (H) HSANGEST
Bit 13 signal ramp-function generator active (H) HLGAKT
Bit 14 signal positive speed setpoint (H) RECHTDF
Bit 15 signal kin. buf./ flex. response active (H) KIPAK
status word 2
Bit 16 signal flying restart or excitation active (H) FANGAK
Bit 17 signal synchronism reached (H) SYNCER
Bit 18 signal overspeed (L) KEIUED
Bit 19 signal external fault 1 (H) STOEEX1
Bit 20 signal external fault 2 (H) STOEEX2
Bit 21 signal external alarm (H) WARNEX
Bit 22 signal converter overload alarm (H) WARNI2T
Bit 23 signal converter overtemperature fault (H) STOEUTMP
Bit 24 signal converter overtemperature alarm (H) WARNUTMP
Bit 25 signal motor overtemperature alarm (H) WARNMTMP
Bit 26 signal motor overtemperature fault (H) STOEMTMP
Bit 27 reserve
Bit 28 signal motor pulled out/blocked fault (H) STOEMBLK
Bit 29 signal bypass contactor energized (H) UEBSAN
Bit 30 signal synchronizing error (H) FBSYN
Bit 31 signal pre-charging active (H) VORLAK

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3.4 parameter list
block start-up function-

parameter parameter description data default
(SIMADYN) setting plan
receive from Communication Board CB
d 001 ECB10.Y1 control word 1 from CB Type: V2 page 1/2

d 002 ECB10.Y2 speed setpoint from CB Type: N2 page 1/2
d 003 ECB10.Y3 control word 2 from CB Type: V2 page 1/2
d 004 ECB10.Y4 control word 1 technology from CB Type: V2 page 1/2
d 005 ECB10.Y5 control word 2 technology from CB Type: V2 page 1/2
d 006 ECB10.Y6 PCD 6 from CB (to base unit CU connected) Type: N2 page 1/2
d 010 ECB170.Y2 start pulse from CB Type: N2 page 1/2
Type: B1
H 017 ECB205.I selection source for control word 1 Min: 0 0 page 1/6
(0 = from CB / 1 = from digital inputs) Max: 1
Type: N2
H 018 ECB40.X2 evaluation speed setpoint from CB Min: -200% 100 % page 1/2
Max: 199,9%
Type: B1
H 020 ECB245.Y selection source for control word 1 technology Min: 0 0 page 1/6
Type: B1
H 021 ECB265.Y selection source for control word 2 technology Min: 0 0 page 1/6
Type: N2
H 022 ECB120.X2 evaluation PCD 6 from CB Min: -200% 100 % page 1/2
(to base unit CU connected) Max: 199,9%
Type: N2
Type: N2
Type: N2
Type: N2
H 026 ECB200.X2 evaluation start pulse from CB Min: -200% 100 % page 1/2
Max: 199,9%
Type: N2
Type: N2
Type: N2
Type: N2
Type: N2

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Type: N2
d 033 ECB205.Y control word 1 to base unit CU Type: V2 page 3/1
d 035 ECB60.Y control word 2 to base unit CU Type: V2 page 3/1
d 036 ECB245.Y actual control word 1 technology Type: V2 page 3/5
d 037 ECB265.Y actual control word 2 technology Type: V2 page 3/5
receive from base unit CU
d 065 EGG10.Y1 status word 1 from base unit CU Type: V2 page 5/2
d 066 EGG10.Y2 actual speed value from base unit CU Type: N2 page 5/2
d 067 EGG10.Y3 status word 2 from base unit CU Type: V2 page 5/2
d 068 EGG10.Y4 current setpoint from base unit CU Type: N2 page 5/2
d 069 EGG10.Y5 setpoint-actual value difference from CU Type: N2 page 5/2
d 070 EGG10.Y6 PCD 6 from base unit (to CB connected) Type: N2 page 5/2
d 081 EGG20.Y status word 1 to CB Type: V2 page 5/6
Type: N2
evaluation actual speed value from base unit
H 082 EGG30.X2 Min: -200% 100 % page 5/3
CU Max: 199,9%
d 083 EGG40.Y status word 2 to CB Type: V2 page 5/6
Type: N2
H 084 EGG50.X2 evaluation current setpoint from base unit CU Min: -200% 100 % page 5/3
Max: 199,9%
Type: N2
evaluation setpoint-actual value difference from
H 085 EGG60.X2 Min: -200% 100 % page 5/3
CU Max: 199,9%
Type: N2
H 086 EGG70.X2 evaluation PCD 6 from base unit Min: -200% 100 % page 5/3
(to CB connected) Max: 199,9%
Type: N2
Type: N2
Type: N2
Type: N2
Type: N2
Type: N2
Type: N2
Type: N2

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Type: N2
Type: N2
analog inputs
Type: N2
H 133 AE20.X2 evaluation analog input A Min: -200% 100 % page 7/2
(terminal SE 300 X5/501,502) Max: 199,9%
Type: N2
H 134 AE50.X2 evaluation analog input B Min: -200% 100 % page 7/2
(terminal SE 300 X5/503,504) Max: 199,9%
Type: N2
H 135 AE80.X2 evaluation analog input C Min: -200% 100 % page 7/2
(terminal SE 300 X5/505,506) Max: 199,9%
Type: N2
H 136 AE110.X2 evaluation analog input A Min: -200% 100 % page 7/2
(terminal SE 300 X5/507,508) Max: 199,9%
Type: N2
H 137 AE30.X2 offset analog input A Min: -200% 0% page 7/3
Max: 199,9%
Type: N2
H 138 AE60.X2 offset analog input B Min: -200% 0% page 7/3
Max: 199,9%
Type: N2
H 139 AE90.X2 offset analog input C Min: -200% 0% page 7/3
Max: 199,9%
Type: N2
H 140 AE120.X2 offset analog input D Min: -200% 0% page 7/3
Max: 199,9%
d 141 AE30.Y analog input A after evaluation and offset Type: N2 page 7/3
d 142 AE60.Y analog input B after evaluation and offset Type: N2 page 7/3
d 143 AE90.Y analog input C after evaluation and offset Type: N2 page 7/3
d 144 AE120.Y analog input D after evaluation and offset Type: N2 page 7/3
receive peer to peer
d 145 EPP20.Y speed setpoint (from master) Type: N2 page 8/3

d 146 EPP30.Y current setpoint (from master) Type: N2 page 8/3
actual position and speed sensing

selection type of encoder input 1
(terminal SE 300 X5/531,539)
Bit 0-3: setting for digital filter 0HxxxX
0: 500 kHz 1: no filter 2: 2 MHz
3: 500 kHz 4: 126 kHz 5: 62,5 kHz
Bit 4-7: type of encoder 0HxxXx
0: encoder with 2 tracks, displaced by 90 degrees
1: seperate tracks for forward and backward pulse
2: index signal from base unit bus Type: V2
H 165 ERX350.IT1 4: tracks A+B from base unit bus Min: 0 0H0000 page 9/3
6: tracks A,B,index signal from base unit bus Max: FFFF
Bit 8-11: coarse pulse evaluation 0HxXxx
0: no coarse pulse evaluation
1: coarse pulse type 1
2: coarse pulse type 2 (s. HW-description T300)
Bit 12-15: evaluation synchroniz. signal 0HXxxx
0: not dependent on the direction of rotation
1: dependent on the direction of rotation, i.e. positive edge at
positive speed, negative edge at negative speed

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selection type of encoder input 2
(terminal SE 300 X5/541,549)
Bit 0-3: setting for digital filter 0HxxxX
0: 500 kHz 1: no filter 2: 2 MHz
3: 500 kHz 4: 126 kHz 5: 62,5 kHz
Bit 4-7: type of encoder 0HxxXx
0: encoder with 2 tracks, displaced by 90 degrees Type: V2
1: seperate tracks for forward and backward pulse
H 166 ERX350.IT2 Min: 0 0H0000 page 9/3
Bit 8-11: coarse pulse evaluation 0HxXxx Max: FFFF
0: no coarse pulse evaluation
1: coarse pulse type 1
2: coarse pulse type 2 (s. HW-description T300)
Bit 12-15: evaluation synchroniz. signal 0HXxxx
0: not dependent on the direction of rotation
1: dependent on the direction of rotation, i.e. positive edge at
positive speed, negative edge at negative speed
Type: O2
H 167 ERX350.PR1 number of pulses per revolution input 1 Min: 0 500 page 9/3
Max: 32767
Type: O2
H 168 ERX350.PR2 number of pulses per revolution input 2 Min: 0 500 page 9/3
Max: 32767
Type: I2
H 169 ERX350.RS1 nominal speed input 1 (in 1/min) Min: -32768 1000 page 9/3
Max: 32767
Type: I2
H 170 ERX350.RS2 nominal speed input 2 (in 1/min) Min: -32768 1000 page 9/3
Max: 32767
pulse count for 100% position, input 1 Type: O4
(number of pulses, which correspond to 100% position. At Min: 0
H 171 ERX350.RP1 encoder with 2 tracks, displaced by 90 degrees you have to Max: 2,1x109
2000000 page 9/3
consider the pulse quadrupling)
pulse count for 100% position, input 2 Type: O4
(number of pulses, which correspond to 100% position. At Min: 0
H 173 ERX350.RP2 encoder with 2 tracks, displaced by 90 degrees you have to Max: 2,1x109
2000000 page 9/3
consider the pulse quadrupling)
evaluation setting input input 1
Bit 0-7: stillstand limit 0HxxXX
0: 4 sampling times
n: actual speed set to 0 after n sampling times
Bit 8: evaluation setting input S1 and SP1 Type: V2
H 175 ERX350.CW1 input SV1 gets offset function Min: 0 0H0000 page 9/3
0: YP1=SV1 at S1=1 or SP1=1 and synchron. edge 1 Max: FFFF
1: YP1=YP1-SV1 at S1=1 or SP1=1 and synchron. edge 1
Bit 12: evaluation setting input SP1
0: YP1 =SV1 at SP1=1 and synchronization
1: YP1=YP1-SV1 at SP1=1 and synchronization
evaluation setting input input 2
Bit 0-7: stillstand limit 0HxxXX
0: 4 sampling times
n: actual speed set to 0 after n sampling times
Bit 8: evaluation setting input S2 and SP2 Type: V2
H 176 ERX350.CW2 input SV2 gets offset function Min: 0 0H0000 page 9/3
0: YP2=SV2 at S2=1 or SP2=1 and synchron. edge 2 Max: FFFF
1: YP2=YP2-SV2 at S2=1 or SP2=1 and synchron. edge 2
Bit 12: evaluation setting input SP2
0: YP2 =SV2 at SP2=1 and synchronization
1: YP2=YP2-SV2 at SP2=1 and synchronization
d 179 ERX160.Y actual position difference value (track 1 - 2) Type: N2 page 9/1
d 182 ERX 180.Y synchronization value (position difference) Type: N2 page 9/3
Type: N2
H 185 ERX510.X2 evaluation actual speed value (track 1) Min: -200% 100 % page 9/6
Max: 199,9%
Type: R2
H 186 ERX520.T filtering time actual speed value Min: 10ms 40 ms page 9/6
(track 1) Max:163840ms
d 187 ERX520.Y actual speed value from position encoder Type: N2 page 9/7
(track 1)
setpoint preparation
Type: B1
H 205 W10.I selection source for speed setpoint Min: 0 0 page 10/1
(0 = from CB / 1 = from analog input 1) Max: 1

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d 206 W10.Y speed setpoint Type: N2 page 10/2
Typ: N2
H 220 W45.HY hysteresis for zero speed signal (differentiation Min: -200%
0% page 10/5
hoist/sink) Max: 199,9%
position control
d 252 WR50.Y position difference setpoint for grab close Typ: N2 page 10/2
d 253 WR55.Y position difference setpoint for grab Typ: N2 page 10/3
Typ: N2
H 256 WR70.L setting value for signal grab open Min: -200% page 10/4
Max: 199,9%
Typ: N2
H 257 WR70.HY setting value hysteresis for signal grab open Min: -200% page 10/4
Max: 199,9%
Typ: N2
H 258 WR90.L setting value for signal grab closed Min: -200% page 10/3
Max: 199,9%
Typ: N2
H 259 WR90.HY setting value hysteresis for signal grab closed Min: -200% page 10/3
Max: 199,9%
position difference between setpoint-actual
d 262 WR35.Y Type: N2 page 11/3
value
initiation point position control Type: E2
H 263 WR110.KP (set the position difference, at which the speed will be less Min: -256 12 page 11/3
than the max. speed (100%) => ramp-down from 100% starts) Max: 255
d 264 WR110.Y output position controller (following: 2a∆s(scaled)) Type: N2 page 11/3
initiation point root function Type: E2
H 265 WR150.KP (sets the gradient of the line function and so the point of Min: -256 2 page 11/4
changeover from root function to line function) Max: 255
d 266 WR190.Y limiting of position control Type: N2 page 11/5

(position-dependent speed setpoint)
synchronization controller
Typ: N2
H 287 GLR75.LU upper limit synchronization controller Min: -200% 5% page/10/3
(max. additional positive setpoint of synchronization controller) Max: 199,9%
lower limit synchronization controller Typ: N2
H 288 GLR75.LL (max. additional negative setpoint of synchronization control- Min: -200% - 5% page 10/3
ler) Max: 199,9%
Typ: E2
H 289 GLR75.KP gain KP synchronization controller Min: -256 1 page 10/3
Max: 255
Type: R2
H 306 GLR100.T filtering time for controller output Min: 10ms 500 ms page 10/4
Max:163840ms
d 307 GLR100.Y smoothed synchronization controller output Type: N2 page 10/5

(additional speed setpoint)
changeover
d 310 W420.Y speed setpoint after position control Type: N2 page 10/5
Typ: N2
H 320 W940.X2 adaption setpoint to base speed Min: -200% 50% page 11/2
Max: 199,9%
speed setpoint for position/synchronization
d 322 W960.Y Typ: N2 page 11/3
control
release for disable speed setpoint (master) at Typ: B1
H 323 W960.I2 jogging mode (at selected jogging mode: 0 = additive Min: 0 0 page 11/3
speed setpoint from Master / 1 = no additive speed setpoint Max: 1
from Master)
release for disable speed setpoint (master) ati Typ: B1
H 324 W970.I2 grab change (at selected grab change: 0 = additive speed Min: 0 0 page 11/3
setpoint from Master / 1 = no additive speed setpoint from Max: 1
Master)
d 330 W470.Y speed setpoint after selection (no) synchronism Type: N2 page 10/7
d 331 W460.Y speed setpoint after selection (no) jogging Type: N2 page 10/6
Type: N2
H 332 W440.X1 jogging setpoint direction 2 (negative direction) Min: -200% -10 % page 10/4
Max: 199,9%

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Type: N2
H 333 W440.X2 jogging setpoint direction 1 (positive direction) Min: -200% 10 % page 10/4
Max: 199,9%
d 334 W480.Y speed setpoint after setpoint enable Type: N2 page 10/7
ramp-function generator
Type: N2
H 374 W630.LU upper setpoint limit at RFG Min: -200% 100 % page 10/7
(upper speed limit at ramp-function generator output) Max: 199,9%
Type: N2
H 375 W630.LL lower setpoint limit at RFG Min: -200% -100 % page 10/8
(lower speed limit at ramp-function generator output) Max: 199,9%
Typ: R2
H 376 W630.TU ramp-up time Min: 10ms 4000 ms page 11/6
Max:163840ms
Typ: R2
H 377 W630.TD ramp-down time Min: 10ms 4000 ms page 11/6
Max:163840ms
d 382 W640.Y speed setpoint after RFG (ramp-function generator Type: N2

page 10/8
output)
current equalization controller

Typ: R2
filtering time current setpoint (holding gear) for
H 420 SAR20.T Min: 10ms 20 ms page 11/2
current equalization controller (SAR) Max:163840ms
Typ: N2
evaluation current setpoint (holding gear) for cur-
H 421 SAR30.X2 Min: -200% 100 % page 11/4
rent equalization controller (SAR) Max: 199,9%
Typ: R2
filtering time current setpoint (closing gear) for
H 422 SAR50.T Min: 10ms 20 ms page 11/2
current equalization controller (SAR) Max:163840ms
Typ: N2
evaluation current setpoint (closing gear) for cur-
H 423 SAR60.X2 Min: -200% 100 % page 11/4
rent equalization controller (SAR) Max: 199,9%
evaluation current setpoint (closing gear) for cur- Typ: N2
H 425 SAR80.X2 rent equalization controller at operation mode Min: -200% 100 % page 11/4
polyp grab for torque direction I Max: 199,9%
evaluation current setpoint (closing gear) for cur- Typ: N2
H 427 SAR100.X2 rent equalization controller at operation mode Min: -200% 100 % page 11/4
polyp grab for torque direction II Max: 199,9%
d 428 SAR135.Y effective current setpoint for SAR (holding gear) Typ: N2 page 11/5
d 429 SAR145.Y effective current setpoint for SAR (closing gear) Typ: N2 page 11/5
Typ: E2
P-gain for P-droop current equalization
H 431 SAR150.KP Min: -256 5 page 11/6
controller (SAR) Max: 255
d 432 SAR150.Y output P-droop current equalization contr. Typ: N2 page 11/7
evaluation for P-droop current equalization Typ: N2
H 433 SAR160.X2 Min: -200% 5% page 11/4
controller (SAR) Max: 199,9%
d 434 SAR 160.Y2 effective P-droop Typ: N2 page 11/5
Typ: E2
H 436 SAR170.KP P-gain current equalization controller Min: -256 3 page 11/5
Max: 255
Typ: R2
H 437 SAR170.TN integral time current equalization controller Min: 10ms 2000 ms page 11/5
Max:163840ms
d 439 SAR170.Y output value current equalization controller Typ: N2 page 11/6
Typ: R2
H 440 SAR180.T
filtering time for output value current equaliza- Min: 10ms 50 ms page 11/6
tion controller (SAR) Max:163840ms
evaluation additional setpoint from current Typ: N2
H 441 SAR190.X2 Min: -200% 10 % page 11/7
equalization controller SAR Max: 199,9%
d 442 SAR195.Y effective additional setpoint from SAR Typ: N2 page 11/7
d 444 W810.Y effective additional speed setpoint (closing Typ: N2 page 11/7
gear)
start pulse
Type: B1
H 445 STI05.I selection source for load-dependent start pulse Min: 0 0 page 15/2
(0 = from CB / 1 = from analog input 4) Max: 1

s
Type: R2
H 446 STI10.T filtering time load-dependent start pulse Min: 10ms 40 ms page 15/2
Max:163840ms
Type: N2
H 447 STI20.X2 evaluation for load-dependent start pulse Min: -200% 0% page 15/3
Max: 199,9%
Type: N2
H 448 STI30.X2 value for constant start pulse Min: -200% 30 % page 15/3
Max: 199,9%
selection load-dependent or constant start Type: B1
H 449 STI30.I pulse (0 = load-dependent start pulse from CB or analog Min: 0 1 page 15/4
input / 1 = constant start pulse via H448) Max: 1
Type: R2
H 451 STI50.T filtering time load-dependent start pulse Min: 10ms 1000 ms page 15/5
Max:163840ms
selection start pulse or setting load-dependent Type: B1
H 453 STI65.I setpoint (0 = selection start pulse / 1 = setting load- Min: 0 0 page 15/6
dependent setpoint via CB or analog input) Max: 1
d 454 STI70.Y setpoint for start pulse Type: N2 page 15/7
monitorings
Type: R2
H 455 UEB20.T filtering time setpoint-actual value difference Min: 20ms 2000 ms page 14/6
Max:327680ms
Type: N2
setting value for signal setpoint-actual value
H 456 UEB30.M Min: -200% 10 % page 14/6
difference Max: 199,9%
Type: N2
hysteresis for signal setpoint-actual value dif-
H 457 UEB30.HY Min: -200% 1% page 14/6
ference Max: 199,9%
Type: R2
H 458 UEB60.T filtering time actual speed value Min: 20ms 20 ms page 14/6
Max:327680ms
Type: N2
H 459 UEB70.M setting value for signal overspeed Min: -200% 110 % page 14/6
Max: 199,9%
Type: N2
H 460 UEB70.HY hysteresis for signal overspeed Min: -200% 2% page 14/6
Max: 199,9%
Type: N2
H 461 UEB90.M setting value for zero speed signal Min: -200% 5% page 14/6
Max: 199,9%
Type: N2
H 462 UEB90.HY hysteresis for zero speed signal Min: -200% 1% page 14/6
Max: 199,9%
Type: R2
filtering time speed actual-actual value differ-
H 465 UEB130.T Min: 20ms 2000 ms page 14/2
ence Max:327680ms
Type: N2
H 466 UEB140.M setting value for stopping nact- nact -difference Min: -200% 15 % page 14/3
Max: 199,9%
Type: N2
H 467 UEB140.HY hysteresis for stopping nact – nact -difference Min: -200% 1% page 14/3
Max: 199,9%
general
d 826 FF300.QS faults 116 – 131 Type: V2 page 16/2

(least significant Bit means F 116 etc.)
d 827 FF370.QS alarms 97 – 112 Type: V2 page 16/2

(least significant Bit means A 97 etc.)
mask faults Type: V2
H 828 FF320.IS2 (possibility to mask the fault messages to the base unit; a 0 of Min: 0 0HFFFF page 16/3
the relevant Bits mask the appropriate fault) Max: FFFF
mask alarms Type: V2
H 829 FF380.IS2 (possibility to mask the alarm messages to the base unit; a 0 Min: 0 0HFFFF page 16/3
of the relevant Bits mask the appropriate alarm) Max: FFFF
d 830 GG40.Y version code Type: N2 (scal)
d 831 GG50.Y module code Type: N2 (scal)

factory setting technology
Type: B1
with change from 0 to 1 you can select the factory setting of Min: 0
H 832 WE10.ERA the technology parameters (1001-1999/ d-,H-parameter). With Max: 1
1 page 16/7
power off and on the T300-parameters are reset.

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send to Communication Board CB

Type: N2
H 849 SCB30.X2 evaluation actual speed value to CB Min: -200% 100 % page 4/5
Max: 199,9%
d 881 SCB30.Y2 actual speed value to CB Type: N2 page 4/7
d 883 SCB15.Y status word from technology module to CB Type: V2 page 4/7
d 885 EGG70.Y2 PCD 6 to CB (from base unit CU connected) Type: N2 page 4/7
d 889 SCB170.Y PCD 10 to CB (from base unit CU connected) Type: N2 page 4/7
send to base unit CU

Type: N2
H 913 SGG20.X2 evaluation speed setpoint to base unit CU Min: -200% 100 % page 6/5
Max: 199,9%
Type: N2
H 915 SGG30.X2 evaluation start pulse to base unit CU Min: -200% 100 % page 6/5
Max: 199,9%
d 945 SGG20.Y2 speed setpoint to base unit CU Type: N2 page 6/7
d 947 SGG30.Y2 start pulse to base unit CU Type: N2 page 6/7
d 949 SGG50.Y2 PZD 6 to base unit CU (from CB connected) Typ: N2 page 6/7
d 953 SGG110.Y2 PZD 10 to base unit CU (no connection) Typ: N2 page 6/7
d 954 ECB220.Y2 PCD 11 to base unit CU (from CB connected) Type: N2 page 6/7
analog outputs
Type: O2
H 960 AA10.XCS control input multiplexer for analog output H Min: 0 1 page 7/5
Max: 32767
Type: O2
H 961 AA50.XCS control input multiplexer for analog output J Min: 0 1 page 7/5
Max: 32767
Type: O2
H 962 AA90.XCS control input multiplexer for analog output K Min: 0 1 page 7/5
Max: 32767
Type: O2
H 963 AA130.XCS control input multiplexer for analog output L Min: 0 1 page 7/5
Max: 32767
d 964 AA10.Y actual output value AO H Type: N2 page 7/6
d 965 AA50.Y actual output value AO J Type: N2 page 7/6
d 966 AA90.Y actual output value AO K Type: N2 page 7/6

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d 967 AA130.Y actual output value AO L Type: N2 page 7/6
Type: N2
H 968 AA20.X2 Offset analog output H Min: -200% 0% page 7/6
Max: 199,9%
Type: N2
H 969 AA60.X2 offset analog output J Min: -200% 0% page 7/6
Max: 199,9%
Type: N2
H 970 AA100.X2 offset analog output K Min: -200% 0% page 7/6
Max: 199,9%
Type: N2
H 971 AA140.X2 offset analog output L Min: -200% 0% page 7/6
Max: 199,9%
Type: N2
H 972 AA30.X2 evaluation analog output H Min: -200% 100 % page 7/7
(terminal SE 300 X5/509,510) Max: 199,9%
Type: N2
H 973 AA70.X2 evaluation analog output J Min: -200% 100 % page 7/7
(terminal SE 300 X5/519,520) Max: 199,9%
Type: N2
H 974 AA110.X2 evaluation analog output K Min: -200% 100 % page 7/7
(terminal SE 300 X5/521,522) Max: 199,9%
Type: N2
H 975 AA150.X2 evaluation analog output L Min: -200% 100 % page 7/7
(terminal SE 300 X5/523,524) Max: 199,9%

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3.5 faults and alarms
The faults (and alarms) generated from the technology board T300 are send to the base unit. The base
unit shut down the drive with the fault message. This configured system of the T300 saves the faults.
So the faults generated from the T300 cannot acknowledge via base unit. The technology faults must
be acknowledged via bit 7 of control word 1, when the inverter release (control word 1 bit 4) isn´t high
(s. function plans)
number/fault cause counter measure

F116 The difference of speed sensing of - Check the pulse encoder connection
fault speed-actual-actual T300 and base unit is larger than of theT300 and base unit.
value monitoring the parameterised value. - Check the actual speed of T300 (r187)
and base unit to plausibility (for exam-
ple <>0).
- Check the connection of the send
data from base unit to T300
- Check the parameterised value
F117 The coupling between T300 and - Check the right insert of the T300 in
fault coupling T300 / base base unit isn’t correct working. the righthand slot 2 of the electronic
unit box
- Check the local bus adapter LBA
F118 The coupling between T300 and - Check the right insert of the CBx in
fault coupling T300 / CBx Communication Board isn’t correct the center slot 3 of the electronic box
working. (Slot G)
- Check the connection to CPU
F119 The peer to peer – coupling mas- - Check the connection to master/slave
fault coupling peer to peer ter/slave of the T300 isn’t correct
working.
number/alarms cause counter-measure

A97 The difference of speed setpoint - Check the parameterised value
speed setpoint actual and actual speed is larger than the - Check, if the torque demand is to high
value difference parameterised value.
A98 The positive or negative maximum - Wrong calculation of field weakening
overspeed speed has been exceeded. speed
- Check the parameterised value

s
3.6 used abbreviations of function plans
AAT selection automatic mode fault speed actual-actual value differ-

FIGNS
ence
ABSP save integrator values fault speed actual-actual value differ-
FIGNSS
AE1 analog input 1 ence saved
AE2 analog input 2 FIGS fault encoder
AE3 analog input 3 FIVER fault current distribution difference
AE4 analog input 4 fault current distribution difference
FIVERS
saved
AGL selection synchronism
FKGERS fault coupling T300 to base unit
AGW selection grab change
FKGG fault coupling central block base unit
ANW BICO select BICO data set 1
FKOP fault copy block drive response
ANW FDS0 selection function data set bit 0
FKPPS fault coupling peer to peer
ANW FDS1 selection function data set bit 1
FKS5 fault coupling central block S5/7
ANW FSW0 select fixed setpoint bit 0
FKS5S fault coupling to S5/7
ANW FSW1 select fixed setpoint bit 1
FPAR fault parameter block
ANW MDS0 selection motor data set bit 0
FPP fault central block peer to peer
ANW MDS1 selection motor data set bit 1
FRA enable current equalization controller
APO selection polyp grab
FRS enable position control
ASL no selection heavy duty
FRZ enable slack-rope controller
AUS2 OFF2
FSGG fault send block base unit
AUS3 OFF3
FSPP fault send block peer to peer
AWR Selection position control
FSS5 fault send block S5/7
BETRBE ready
FST enable start pulse
BETRIEB run
FSTAT enable droop, speed controller
DPS save offset
FSYN synchronizing enable
DV actual offset value fault management block drive re-
FVER
EIN OFF1 sponse
EINBE ready to switch on FVES fault offset evaluation
EINSPERR switch-on inhibit FWN setpoint enable
ENGG setpoint-actual value-difference (CU) FWR inverter enable

position difference (setpoint-actual HLGAKT ramp-function generator active
ES
value) HS RUECK no MC checkback signal
ES-POL polarity position difference
HSANGEST request to energize main contactor
FAG control requested
ILS load current saved
FAGGEF PcD control requested
KEINAUS2 OFF2
FANGAK flying restart or excitation active
KEINAUS3 OFF3
FBSYN synchronizing error
KEINWXAB setpoint-actual value deviation
FDREH enable speed controller
KEIUED overspeed
FEGG fault receive block base unit
KGG command grab closed saved
FEPP fault receive block peer to peer
KGO command grab open saved
FES5 fault receive block S5/7
KIPAK kin. buf./ flex. response active
FFANG enable flying restart
KQE RFG-output = RFG-input
FFS enable field weakening
KTA command jogging direction 1
FFSSD enable field weakening SYMADYN
KTB command jogging direction 2
FGR enable synchronization controller
KTI command jogging
FHG ramp-function generator enable
KVE command pre-limit switch
FIG fault encoder
LDF counter-clockwise phase sequence

s
enable RDF clockwise phase sequence enable
LEIT master drive (speed control) RECHTDF positive speed setpoint
LLMS lower limit master switch RESET reset
LUMS upper limit master switch RFS reset field weakening
MFEOB range upper limit SCHL/GL close/synchronism
MFEUN range lower limit SDP synchronize position difference value
MFFS enable field weakening SETINT set memories to 0
MGG grab closed SHG ramp-function generator start
MGO grab open synchronize actual position value
SMA
(master)
MOPOH motorized potentiometer raise synchronize actual position value
SSL
MOPOT motorized potentiometer lower (slave)
MS-POL master switch polarity STEU_TB1 control word 1 (technology)
MXN0 speed = 0 STEU_TB2 control word 2 (technology)
MXND speed setpoint-actual value difference STEU1 control word 1
speed setpoint-actual value difference STEU2 control word 2
MXNDS
saved STI start pulse
MXNFS field weakening point reached
STOEEX1 external fault 1
MXNG overspeed
STOEEX2 external fault 2
MXNGS overspeed saved
STOEMBLK motor pulled out/blocked fault
NQI_IN invert init acknowledge
STOEMTMP motor overtemperature fault
NSTEU1 simulation control wort 1
STOERUNG fault
NSTTB1 simulation control wort 1 (technology)
STOEUSP low voltage fault
NSTTB2 simulation control wort 2 (technology)
STOEUTMP converter overtemperature fault
PZD6_Emp process data 6 from CB
STOEX1 external fault 1
STOEX2 external fault 2
SWGROEF setpoint open grab
SWGRSCHL setpoint close grab
SYN synchronize actual position value
SYNCER synchronism reached
TD ramp-down time
THX offload dependent ramp-up time
TIPP1 jogging bit 0
TIPP2 jogging bit 1
TU ramp-up time
PZD6_Send process data 6 from base unit
UEBSAN bypass contactor energized
PZD7_Emp process data 7 from base unit
VGWER comparison value reached
VORLAK pre-charging active
WARNEX external alarm
WARNEX1 external alarm 1
WARNEX2 external alarm 2
WARNI2T converter overload alarm
WARNMTMP motor overtemperature alarm
WARNUNG alarm
WARNUTMP converter overtemperature alarm
WGL setpoint synchronization controller
OBGR upper limit of range
WIGG current setpoint (base unit)
QUI_IN init acknowledge
WIHW current setpoint hoisting gear
QUITT acknowledge
WIMA current setpoint from master

s
WISW current setpoint closing gear XNGG actual speed value (base unit)
speed setpoint after selection (no) XNTB actual speed value technology
WNASL
heavy duty
speed setpoint after selection auto- XS1 actual position value
WNAV
matic-manual XSMA actual position value (master)
WNEND speed setpoint after pre-limit switch XSSL actual position value (slave)
WNFFS factor field weakening position difference value (master-
XSD12
speed setpoint after selection (no) field slave)
WNFS
weakening ZUST1 status word 1
WNGG speed setpoint (base unit) ZUST2 status word 2
WNGL additional speed setpoint synchronism
WNLL lower limit position control
WNLU upper limit position control
WNMA speed setpoint from master
WNMS speed setpoint from master switch
speed setpoint after scaling base
WNN
speed
WNNHG speed setpoint after RFG
WNNS speed setpoint after position control
additional speed setpoint synchroniza-
WNPI
tion controller
additional speed setpoint polygon
WNPOLY
curve
WNS speed setpoint position control
additional speed setpoint current
WNSA
equalization controller
WNSL lower limit
additional speed setpoint slack-rope
WNSS
controller
WNSU upper limit
WNSWF speed setpoint after setpoint enable
WNTI jogging setpoint
speed setpoint after selection (no)
WNUGL
synchronism
speed setpoint after selection grab
WNUGW
chance
speed setpoint after selection (no)
WNUTI
jogging
WNXMS speed setpoint before polygon curve
WNYMS speed setpoint after polygon curve
WNZM additional speed setpoint (FS)
WNZMBER calculated additional speed setpoint
additional speed setpoint (synchro-
WNZUSATZ
nism)
WS actual position setpoint
WSAUT position setpoint automatic
WSR1 position setpoint direction 1
WSR2 position setpoint direction 2
WSSYN position synchronization value
position difference synchronization
WSSYNDP
value
WSSYNMA position synchronization value (master)
WSSYNSL position synchronization value (slave)
WST setpoint start pulse
XAUS working angle

for the
detailed signal flow charts

scaling nominal ramp-function speed
speed generator controller
speed current
0
0
setpoint setpoint
1
1
grab position
control
selection grab
selection
change
speed setpoint (S7) jogging (S7)
speed setpoint
jogging from holding
setpoint gear
0% 0
synchronization
1
+
controller
-
command grab 0% 0
y=x
closed (S7) y 1
x
selection
synchronism
enable (S7)
increments from synchronization
pulse
closing gear controller (S7)
encoder
evalua- actual position difference value
increments from current equalization
holding gear
tion
controller
current setpoint
holding gear
command grab current setpoint
open (S7) closing gear
enable current
equalization
controller
T300 X134 CU
receive peer
to peer from
holding gear
1 2 3 4 5 6 7 8
overview: closing gear I&S IT PS Erl 35 01.01.01 V 1.2 page: 1

receive from CB
001
1 control word 1 0
1
STEU1 [3/1] [6/4]
[2/5] NSTEU1
002
0
2 master switch setpoint WNMS [10/3]
017
003 100%
018
3 control word 2 STEU2 [3/1] [6/4]
0
1
STEU_TB1 [3/5]
004 [2/5] NSTTB1
4 control word 1 (technology) 0
020
005
5 control word 2 (technology) 0
1
STEU_TB2 [3/5]
[2/5] NSTTB2
006
0
6 PZD6_Empf PZD6_Emp [6/4]
021
CB X135 007 100%
022
DUAL 7 PZD7_Empf PZD7_Emp [6/4]
PORT connected to base
008 100%
RAM 023 unit CU
CB → TB 8 PCD8_Empf PZD8_Emp [6/4]
009 100%
024
9 PCD9_Empf PZD9_Emp [6/4]
010 100%
025
10 start pulse STI [13/1]
011 100%
026
012 100%
027
013 100%
028 parameter:
13 PCD13_Empf PZD13_Emp [6/4] connected to base
unit CU
014 100% xxx : display parameter
029 (only usable with DriveES
14 PCD14_Empf PZD14_Emp [6/4] (no PPO-type))
015 100%
030 xxx : setting parameter
016 100%
031
16 PCD16_Empf PZD16_Emp [6/4] [7/5]
100%
032
FES5 [12/1]
1 2 3 4 5 6 7 8
block diagram: closing gear - receive from CB I&S IT PS Erl 35 01.01.01 V 1.2 page: 1/14
terminal PIN T300 PIN T300 terminal
0 0
SE300 X6 X136 X136 SE300 X6
0 1
0 2 binary output 1
1 binary input 1 [10/4] 21
601 inverter enable 3 MGG signal grap closed 631
ramp-function generator enable 4
2 binary input 2 0 5 binary output 2 22
602 [10/4] MGO signal grap open 632
setpoint enable 6
acknowledge 7
binary input 3 NSTEU1 [1/6] binary output 3 23
603
3 0 8 [12/8] MXNGS overspeed 633
0 9
1 10 binary output 4
4 binary input 4 [12/8] MXN0
24
604 0 11 speed = 0 634
0 12
5 binary input 5 0 13 binary output 5 25
605 [12/4] FIGNSS speed actual-actual value differ. 635
0 14
0 15
6 binary input 6 binary output 6 26
606 [12/3] FKGERS fault coupling T300 to base unit 636
7 binary input 7 binary output 7 27

607 command jogging direction 1 0 [12/3] FKPPS fault coupling peer to peer 637
command jogging direction 2 1
8 binary input 8 enable start pulse 2 binary output 8 28
608 [12/8] MXNDS speed setpoint-actual value diff. 638
0 3
0 4
9 0 5 30
24V + 609 P24 extern M24 extern 640
- 0 6 -
24V +
enable position control 7
10 NSTTB1 [1/6] P24 extern 29
610 M24 extern enable synchronization controller 8 639
0 9
11 binary input 9 command grab open save 10
611 command grab closed save 11
selection synchronism 12
12 binary input 10 0 13
612
0 14
0 15
13 binary input 11
613
14 binary input 12
614 0 16
selection polyp grab 17
15 binary input 13 enable current equalization contr. 18
615
selection grab change 19
0 20
16 binary input 14
616 0 21
0 22
617 NSTTB2 [1/6]
0 24
0 25
618
0 27 the operation via binary inputs or
0 28 outputs isn´t intented with this
19
24V + 619 P24 extern 0 29 application.
- 0 30 the binary inputs or outputs are only
20
0 31 to simplify the commissioning etc..
620 M24 extern
1 2 3 4 5 6 7 8
block diagram: closing gear - simulation control words I&S IT PS Erl 35 01.01.01 V 1.2 page: 2/14
0 OFF1 (L) EIN 0 command jogging direction 1 (H) KTA [11/2]
1 OFF2 (L) AUS2 1 command jogging direction 2 (H) KTB [11/2]
2 OFF3 (L) AUS3 2 enable start pulse (H) FST [13/4] [13/5]
3 inverter enable (H) FWR [14/5] 3
033 4 ramp-function generator enable (H) FHG [11/6]
036 4
5 ramp-function generator start (H) SHG 5
6 setpoint enable (H) FWN [11/5] 6
7 acknowledge (↑) QUITT [14/5] 7 enable position control (H) FRS [10/4]
[1/7] STEU1 [1/7] STEU_TB1
8 jogging bit 0 (H) TIPP1 8 enable synchronization controller (H) FGR [10/4]
9 jogging bit 1 (H) TIPP2 9
10 control requested (H) FAG 10 command grab open save (H) KGO [9/2]
11 clockwise phase sequence enable (H) RDF 11 command grab closed save (H) KGG [10/1]
12 counter-clockwise phase sequence enable (H) LDF 12 selection synchronism (H) AGL [11/5] [11/6]
13 motorized potentiometer raise (H) MOPOH 13
14 motorized potentiometer lower (H) MOPOT 14
15 external fault 1 (L) STOEX1 15
16 selection function data set bit 0 (H) ANW FDS0 16

17 selection function data set bit 1 (H) ANW FDS1 17 selection polyp grab (H) APO [11/4]
18 selection motor data set bit 0 (H) ANW MDS0 18 enable current equalization controller (H) FRA [11/6]
19 selection motor data set bit 1 (H) ANW MDS1 19 selection grab change (H) AGW [10/7] [11/3]
035 20 select fixed setpoint bit 0 (H) ANW FSW0 037 20
21 select fixed setpoint bit 1 (H) ANW FSW1 21
22 synchronizing enable (H) FSYN 22
23 enable flying restart (H) FFANG 23
[1/5] STEU2 [1/7] STEU_TB2
24 enable droop, speed controller (H) FSTAT 24
25 enable speed controller (H) FDREH 25
26 external fault 2 (L) STOEX2 26
27 master drive (speed control) (L) LEIT 27
28 external alarm 1 (L) WARNEX1 28
29 external alarm 2 (L) WARNEX2 29
30 select BICO data set 1 (L) ANW BICO 30
31 no MC checkback signal (L) HS RUECK 31
1 2 3 4 5 6 7 8
block diagram: closing gear - control words I&S IT PS Erl 35 01.01.01 V 1.2 page: 3/14
send to CB
081
[5/5] ZUST1 status word 1 1
881
[9/7] FIGS signal fault encoder (L) 0
[12/8] MXNDS signal speed setpoint-actual value diff. saved (L) 1 [5/5] XNGG actual speed value 2
[12/8] MXNGS signal overspeed saved (L) 2
[12/8] MXNO signal speed = 0 (H) 3 100% 083
849
[12/4] FIGNSS signal fault speed actual-actual value differ. (L) 4 [5/5] ZUST2 status word 2 3
[12/3] FKGERS signal fault coupling T300 to base unit (L) 5
[12/3] FKS5S signal fault coupling to automation system (L) 6 883
7
status word (technology) 4
8
[12/3] FKPPS signal fault coupling peer to peer (L) 9
[10/4] MGO signal grap open (H) 10
[10/4] MGG signal grap closed (H) 11 0% 5
12
13 885
14 [5/5] PZD6_Send PZD 6_Send 6
15
886 X135 CB
[5/5] PZD7_Send PCD 7_Send 7 DUAL
PORT
887 RAM
[5/5] PZD8_Send PCD 8_Send 8 TB → CB
888
[5/5] PZD9_Send PCD 9_Send 9
889
890
connected from
base unit CU [5/5] PZD11_Send PCD 11_Send 11
891
892
only usable with DriveES 893
(no PPO-type)
894
895
FSS5 [12/1]
1 2 3 4 5 6 7 8
block diagram: closing gear - send to CB I&S IT PS Erl 35 01.01.01 V 1.2 page: 4/14
receive from CU
065
1 status word 1 ZUST1 [4/4]
066
2 actual speed value XNGG [4/4] [7/5] [12/1]
[12/5] 0 signal ready to switch on (H) EINBE
067 100% 1 signal ready (H) BETRBE
082
3 status word 2 ZUST2 [4/4] 2 signal run (H) BETRIEB
3 signal fault (H) STOERUNG
068 4 signal OFF2 (L) KEINAUS2
081
5 signal OFF3 (L) KEINAUS3
4 current setpoint WIGG [7/5] [11/1] 6 signal switch-on inhibit (H) EINSPERR
7 signal alarm (H) WARNUNG
069 100%
084 8 signal setpoint-actual value deviation (L) KEINWXAB
5 setpoint-actual value differ. ENGG [12/5] 9 signal PcD control requested (H) FAGGEF
10 signal comparison value reached (H) VGWER
070 100% 11 signal low voltage fault (H) STOEUSP
085
6 PCD 6_Send PZD6_Send [4/4] 12 signal request to energize main contactor (H) HSANGEST
13 signal ramp-function generator active (H) HLGAKT
071 100% 14 signal positive speed setpoint (H) RECHTDF
086 15 signal kin. buffering / flex. response active (H) KIPAK
7 PCD 7_Send PZD7_Send [4/4]
072 100%
087
CU X137
8 PCD 8_Send PZD8_Send [4/4]
DUAL
PORT 073 100%
RAM 088
CU → TB 9 PCD 9_Send PZD9_Send [4/4]
074 100%
089
10 PCD 10_Send PZD10_Send [4/3] 16 signal flying restart or excitation active (H) FANGAK
17 signal synchronism reached (H) SYNCER
075 100% 18 signal overspeed (L) KEIUED
090 19 signal external fault 1 (H) STOEEX1
11 PCD 11_Send PZD11_Send [4/4] 20 signal external fault 2 (H) STOEEX2
083
076 100% 21 signal external alarm (H) WARNEX
091 22 signal converter overload alarm (H) WARNI2T
12 PCD 12_Send PZD12_Send [4/4] 23 signal converter overtemperature fault (H) STOEUTMP
077 100% 24 signal converter overtemperature alarm (H) WARNUTMP
092 25 signal motor overtemperature alarm (H) WARNMTMP
13 PCD 13_Send PZD13_Send [4/4] 26 signal motor overtemperature fault (H) STOEMTMP
078 nur nutzbar mit DriveES 27 reserve
100%
093 (kein PPO-Typ) 28 signal motor pulled out / blocked fault (H) STOEMBLK
14 PCD 14_Send PZD14_Send [4/4] 29 signal bypass contactor energized (H) UEBSAN
079 100% 30 signal synchronizing error (H) FBSYN
094 31 signal pre-charging active (H) VORLAK
15 PCD 15_Send PZD15_Send [4/4] [7/5]
080 100%
095 durchverbunden
16 PCD 16_Send PZD16_Send [4/4] [7/5] zum Communication Board CB
100%
096
FEGG [12/1]
1 2 3 4 5 6 7 8
block diagram: closing gear - receive from CU I&S IT PS Erl 35 01.01.01 V 1.2 page: 5/14
send to CU
033
[1/7] STEU1 control word 1 1
945
[11/8] WNGG speed setpoint 2
100% 035
913
[1/5] STEU2 control word 2 3
947
[13/6] WST setpoint start pulse 4
100%
915
0% 5
949
[1/5] PZD6_Emp PCD 6_Empf 6
950
connected from
communication board CB 951 X137 CU
[1/5] PZD8_Emp PCD 8_Empf 8 DUAL
PORT
952 RAM
TB → CU
0% 10
954
955
956
connected from [1/5] PZD13_Emp PCD 13_Empf 13

communication board CB
(only usable with DriveES 957
(no PPO-type))
958
959
FSGG [12/1]
1 2 3 4 5 6 7 8
block diagram: closing gear - send to CU I&S IT PS Erl 35 01.01.01 V 1.2 page: 6/14
terminal PIN T300 PIN T300 terminal
SE300 X5 X131 X131 SE300 X5
[11/8] WNGG
-10V...+10V 133 137 141 964 968 972 -10V...+10V
[1/5] PZD16E
100% 0% [11/7] WNNHG 0% 100%
501 input 1+ [11/4] WNUTI output 1
A D 509
1
input 1-
D
AE1 [7/5] [10/3] [11/6] WNSWF MUX A
9
502 2 [10/7] WNNS

[11/7] WNSA GND
10 510
[7/4] AE1
960
1
[5/5] PZD15S
134 138 142 965 969 973
0%
100% 0% 0% 0% 100%
503 input 2+ 0% output 2
A D 519
3
input 2-
D
AE2 [7/5] [5/5] XNGG MUX A
17
504 4 [9/7] XNTB

[9/7] XSD12 GND
18
520
[7/4] AE2
961
1
[11/5] WIHW
135 139 143 966 970 974
[11/5] WISW
100% 0% 0% 0% 100%
A D 521
5
input 3-
D
AE3 [7/5] 0% MUX A
19
506 6 [10/4] ES
0% GND
18 522
[7/4] AE3
962
1
[5/5] PZD16S
136 140 144 967 971 975
[10/3] WS
100% 0% [10/4] WNMS 0% 100%
A D 523
7
input 4-
D
AE4 [7/5] [13/1] [13/6] WST MUX A
20
508 8 [5/5] WIGG

[8/3] WIMA GND
18 524
[7/4] AE4
963
1
1 2 3 4 5 6 7 8
block diagram: closing gear - AI + AO I&S IT PS Erl 35 01.01.01 V 1.2 page: 7/14
receive peer to peer
145
WNMA
1 WNMA [11/4]
146
WIMA
2 WIMA [7/5] [11/1]
X134
3
+Rx
1
TB
-Rx
2
4
FEPP [12/1]
1 2 3 4 5 6 7 8
block diagram: closing gear - receive peer to peer I&S IT PS Erl 35 01.01.01 V 1.2 page: 8/14
185 187
pulse encoder 1
pulse encoder input 1 100%
0H0000 XNTB
165 IT1 Y1 XNTB [7/5] [12/1]
500 40ms
167 PR1 186
1000
169 RS1
2000000
171 RP1
0H0000
175 CW1
pulse encoder 2
pulse encoder input 2
0H0000
166 IT2
500
168 PR2
1000
170 RS2
2000000
173 RP2
0H0000
176 CW2
pulse encoder 1 + 2
[3/7] KGO RD
0
SYNDP
≥1 SD
179 0%
WSSYNDP
0 XSD12
y=x 1
SVD YDP XSD12 [7/5] [10/1]
y
x FIG
OFC S
QN FIGS [4/1]
[14/8] RESET R
182
1 INIT
0
≥1 NOT
1s T 0
1 2 3 4 5 6 7 8
block diagram: closing gear - actual position sensing I&S IT PS Erl 35 01.01.01 V 1.2 page: 9/14
SWGRSCHL
X QU
+ - 0% M
5% MGG [4/1] [2/6]
258 L
1%
259 HY QL
SWGROEF
[3/7] KGG X QU
+ - 0% M
1% MGO [4/1] [2/6]
256 L
0,2%
257 HY QL
253 262 264

-/+ 199% -/+ 100% 310
[7/5]
0% [7/5]
0 ES
y=x 1
W W MIN 0 WNS WNNS
y WS 0
[9/7] XSD12 x [7/5]
1
WNUGW [11/1]
1
X 0% X
S
12 -/+ 100%
1 KP EN 263 KP EN 266
AGW
252 +/- 100% [3/7]
W
1 FRS 1
[3/7] 0% X
W
X 2
5% 265 KP EN
287 LU WNGL [11/5]
-5%
288 LL
1
289 KP EN 1
x ESPOL
y>x
0% y
FGR
[3/7] 206
[1/5] WNMS 0 WNMS [7/5]

X QU
1 SCHL
[7/4] AE1
0% M
0
0%
205 220 HY QL
1 0 LLMS
1
-100%
0 LUMS
1
100%
1 2 3 4 5 6 7 8
block diagram: closing gear - speed setpoint channel I&S IT PS Erl 35 01.01.01 V 1.2 page: 10/14
428
[7/5]
[8/3] WIMA 0
WIHW
W
1
0%
20 ms 100% X1 439 441
420
[7/5]
0 X2 10%
421 WISW
100% LU
-100% LL
3 50ms
436 KP 440
[5/5] WIGG 2000ms
0 437 TN
1 0
0% 0% 199% 1 0 HI
20 ms 100% -/+ 100%
422 EN
0 423
APO 429 W
[3/7] FRA
[3/7] WNSA
434 [7/5]
0% X 432
100%
5
431 KP EN
425
-199% 0% 5% 0
433 442
100%
427
374 375
320 322 331 100% -100%
334
50% 382 444
[7/5] LU LL
[10/8] WNUGW 0 0% 0 WNSWF
WNN
1 WNUTI 0 1 WNGG [6/4] [7/5]
WNTI 1 376 TU WNNHG
[7/5] 4000ms [7/5]
330 377 TD EN
4000ms
FWN
AGL [3/4]
[3/7] FHG
-10% [3/4]
332 0 [8/3] WNMA 0
10% 1 1
307
333 0%
[3/7] KTA
KTI [10/4] WNGL 0% 0
≥1
[3/7] KTB
323
0 & 500ms
1
306
≥1
[3/7] AGW AGL
324
0 & 307 [3/7]
1 2 3 4 5 6 7 8
block diagram: closing gear - current equalization controller I&S IT PS Erl 35 01.01.01 V 1.2 page: 11/14
communication monitoring
fault peer to peer -coupling

intern FPP
[8/3] FEPP & RESET
S
R
QN FKPPS [4/1] [2/6] [14/1]
closed-loop control monitoring
[14/8]
[14/1]
MXND
[5/5] ENGG X QU S
QN MXNDS [4/1] [2/6]
intern FKGG RESET R
2000ms 10%
455 456 M [14/8]
[5/2] FEGG
fault coupling to base unit CU
[6/7]
intern
FSGG
FVER & RESET
S
R
QN FKGERS [4/1] [2/6] [14/1] 457
1%
HY QL
intern FPAR [14/8]
overspeed monitoring
intern FKS5
[1/2] FES5 fault coupling to Communication Board CB [14/1]
[4/7]
intern
FSS5
FKOP
& RESET
S
R
QN FKS5S [4/1] [14/1] [5/5] XNGG X QU
MXNG
S
QN MXNGS [4/1] [2/6]
[14/8] RESET R
20ms 110%
458 459 M [14/8]
2%
460 HY QL
zero speed signal

speed actual-actual monitoring
X QU
FIGNS 5%
[5/5] XNGG X QU S 461 M
+ QN FIGNSS [4/1] [2/6] [14/1]
- 2000ms 15%
RESET R
1%
465 466 M [14/8] 462 HY QL MXN0 [4/1] [2/6]
XNTB
[9/7] 1%
467 HY QL
1 2 3 4 5 6 7 8
block diagram: closing gear - monitorings I&S IT PS Erl 35 01.05.02 V 1.21 page: 12/14
start pulse
445 447 453

454
0 0
0%
[1/5] STI 0 1
1 0 0% 0 0
WST [6/4] [7/5]
[7/4] AE4 30% 1 0 1
40 ms 448 1
446 0%
1
451
1000ms
449 FST
FST [3/7]
[3/7]
1 2 3 4 5 6 7 8
block diagram: closing gear - start pulse I&S IT PS Erl 35 01.01.01 V 1.2 page: 13/14
send faults and alarms to base unit CU
fault messages:
F116: fault speed actual-actual value monitoring

F117: fault coupling T300 / CU
F118: fault coupling T300 /CBx
[12/4] FIGNSS 0 F119: fault coupling peer to peer
[12/3] FKGERS 1
[12/3] FKS5S 2
[12/3] FKPPS 3 alarms:
1 4
826
1 5
A97: speed setpoint-actual value difference
1 6
A98: overspeed
1 7
NOT base unit CU
1 8
828
& R faults 116-131
1 9 0HFFFF
1 10
1 11
1 12 acknowledge of fault messages
1 13
1 14 (fault messages of technology board T300 (F116-F120) have to acknowledge via
1 15 NQU_IN
&
1 T300, because the faults are saved there)
[14/6] QUI_IN
[14/8]
[3/4] FWR NOT
& RESET [9/6] [12/2]
[12/3] [14/7]
[3/4] QUITT
≥1
[12/7] MXND 0
[12/7] MXNG 1
0 2
0 3 1
0 4 ≥1 NOT QUI_IN [14/3]
827 0
0 5 10s T 0
0 6
0 7 NQI_IN
base unit CU
0 8
829
& alarms 97-112 [14/2]
0 9 0HFFFF
0 10
0 11 factory setting
0 12
0 13 with change of parameter H832 from 0 to 1 the technology parameter (1000-
0 14 1999/ d-,H-Parameter) are reset. Therefore the power is to switch off and on.
0 15 After that the technology parameter are reset.
1 2 3 4 5 6 7 8
block diagram: closing gear - general I&S IT PS Erl 35 01.01.01 V 1.2 page: 14/14

03 Closing Gear

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03 Closing Gear

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Technology software module

closed-loop control of crane drives

SIMOREG DC - MASTER 6RA70 and T300

SIMOVERT MASTER DRIVES CUVC and T300

Introduction and overview

Implementation and owner: Industrial Solutions and Services

Sales/marketing: Automation & Drives

• T300 with SIMOREG DC MASTER 6RA70

• Closed-loop position control

Introduction and overview V1.20 2 01.01.2001

Introduction and overview V1.20 3 01.01.2001

1 Description of the concept .......................................................................... 5

Introduction and overview V1.20 4 01.01.2001

1.1 General overview

Introduction and overview V1.20 5 01.01.2001

Introduction and overview V1.20 6 01.01.2001

cable drum cable drum

ET: electrical terminal block

overview concept I&S IT PS Erl 35 01.01.01 V 1.2 page 7

Basic electronics CUVC

1 The shielded round cables, SC58 and

Terminal block SE300 The shields of the round cables must be

Can be snapped on to a 35 mm mounting rail to DIN EN 50 022-35

Hardware- and software components of the T300 technology board

Introduction and overview V1.20 8 01.01.2001

T300 module with memory module

Introduction and overview V1.20 9 01.01.2001

Introduction and overview V1.20 10 01.01.2001

Introduction and overview V1.20 11 01.01.2001

The CBP/CBP2 module is used as communication module in the drive units.

Both areas together result in the net data block (PPO).

Introduction and overview V1.20 12 01.01.2001

9-pole Sub D terminal

CBP communications board

PWE: Parameter ID value STW: Control word 1

Net-data structure in the "PROFIBUS Profile for PROFIDRIVE Variable-Speed Drives"

Introduction and overview V1.20 13 01.01.2001

1.6 Communications between two drive units

Introduction and overview V1.20 14 01.01.2001

PROFIBUS converter response 1.word 2.word 3.word 4.word converter response

PROFIBUS converter response converter response

PROFIBUS converter response converter response

1.7 overview of communications I&S IT PS Erl 35 01.01.01 V 1.2 page 15

control word technology 2

RFG n-controller i-controller

status word technology

T300 basic unit

1/2 LBA 1/2 LBA

T300 technology board connection diagram

Introduction and overview V1.20 17 01.01.2001

1.10.1 SIMVOVERT MASTER DRIVE CUVC

Enter the Profibus address

P60 = 4 select the "module configuration" menu

Interlocking the receive data

PZD1: Control word 1

PZD2: Speed setpoint

Introduction and overview V1.20 18 01.01.2001

PZD4: Start pulse

Interlocking the send data

PZD1: Status word 1

PZD2: Speed actual value

PZD3: Status word 2

PZD4: Current setpoint