Application For Drive Technology: Micromaster 4

Application for Drive Technology
MICROMASTER 4
Application Description
Conveyor Systems
Hoisting Gear – Engineering and Commissioning

Warranty, Liability and Support
Conveyor Systems – Hoisting Gear – Engineering and Commissioning
1 Warranty, Liability and Support
We do not accept any liability for the information contained in this docu-
ment.
Any claims against us – based on whatever legal reason – resulting form
the use of the examples, information, programs, engineering and perform-
ance data etc., described in this document shall be excluded. Such an ex-
clusion shall not apply in the case of mandatory liability, e.g. under the
German Product Liability Act (“Produkthaftungsgesetz”), in case of intent,
gross negligence, or injury of life, body or health, guarantee for the quality
of a product, fraudulent concealment of a deficiency or breach of a condi-
tion which goes to the root of the contract (“wesentliche Vertragspflichten”).
However, claims arising from a breach of a condition which goes to the root
of the contract shall be limited to the foreseeable damage which is intrinsic
to the contract, unless caused by intent or gross negligence or based on
mandatory liability for injury of life, body or health. The above provisions
Copyright © Siemens AG 2005 All rights reserved
does not imply a change in the burden of proof to your detriment.
The Application Examples are not binding and do not claim to be complete
regarding the circuits shown, equipping and any eventuality. They do not
represent customer-specific solutions. They are only intended to provide
support for typical applications. You are responsible in ensuring that the
described products are correctly used.
These Application Examples do not relieve you of the responsibility in

safely and professionally using, installing, operating and servicing equip-
ment. When using these Application Examples, you recognize that Sie-
mens cannot be made liable for any damage/claims beyond the liability
clause described above. We reserve the right to make changes to these
Application Examples at any time without prior notice. If there are any de-
viations between the recommendations provided in these Application Ex-
amples and other Siemens publications – e.g. Catalogs – then the contents
of the other documents have priority.
Copyright© 2005 Siemens A&D. It is not permissible to transfer or

copy these Application Examples or excerpts of them without first
having prior authorization from Siemens A&D in writing.
For questions about this document please use the following e-mail-address:
mailto:csweb@ad.siemens.de
A&D SD Page 2/47

Definitions and Warnings
2 Definitions and Warnings

2.1 Qualified Personnel
In the sense of this documentation qualified personnel are those who are
knowledgeable and qualified to install, mount, commission, operate and
service/maintain the products to be used
e.g.:
o Trained and authorized to energize and de-energize, ground and tag
circuits and equipment according to applicable safety standards.
o Trained or instructed according to the latest safety standards in the care
and use of the appropriate safety equipment.
o Trained in rendering first aid.
There is no explicit warning information in this documentation. However,
reference is made to warning information and instructions in the Operating
Instructions for the particular product.
2.2 User group
The application software and the application example were developed to

support Siemens personnel in the generation of user programs for
machines or systems.
This is not intended to be directly passed-on or sold to persons/companies
outside Siemens AG.
Application software may only be passed-on as part of a complete machine
or plant software.
If application software, which is not integrated in a complete project, is
passed-on to persons/companies outside Siemens AG, then the person or
persons who transferred this information carry full responsibility for any
liability or damage claims.
Only qualified personnel may apply the application software and the
application example.
If this is incorrectly used, this can result in the plant or system being
destroyed and/or injury to personnel.
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Definitions and Warnings
2.3 Applicable conditions
The valid Edition for the General Conditions of Sale and Delivery for
Products and Services for internal Siemens business applies.
2.4 Information regarding trademarks
SIMOVERT® is a Siemens registered trademark

MICROMASTER ® is a Siemens registered trademark
2.5 Revision/Author
Version Date/change Author

01/05 First edition M. Schmittele
A. Bader
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Hoisting gear
3 Hoisting gear
3.1 Introduction
These instructions are used to commission hoisting gear equipment. Please

refer to the appropriate Operating Instructions and/or parameter lists if certain
issues are not clear or the functionality is to be expanded. The frequency
converter must be ready to operate. This means that the frequency converter
must have been installed, mounted and connected-up according to the data
in the Operating Instructions.
In practice, difficulties are often encountered when using MM440 frequency
converters for hoisting gear applications. Frequently, incorrect commissioning
and engineering mistakes as well as unsuitable operating modes are the
reasons. Generally, a hoisting gear doesn’t tolerate any faults/errors.
These Instructions are a guide for engineering and commissioning the
MM440 for hoisting gear applications – to allow you to quickly and reliably
engineer conventional hoisting gear.
3.2 Hoisting gear – applications
MM440 frequency converters can be especially recommended for cranes with

low and average performance requirements – both as hoisting gear as well as
traversing gear drive. Not only this, it can be used for hoisting applications in
conveyor systems. Application examples include:
o Cranes in halls – e.g. in workshops and storage facilities/warehouses:
Hoisting and traversing gear equipment
o Hoisting gear in conveyor systems – with and without counter-weight
o Outdoor storage locations/warehouses cranes: Hoisting and traversing
gear
3.3 Validity/ restrictions
o This application document describes the closed-loop control

types V/f control and closed-loop vector control with encoder and
KTY 84.
Closed-loop vector control with encoder and KTY 84 is the
preferred operating mode.
o It should be clearly pointed-out that at the present time, the

MM440 does not reliably detect pulse encoder faults and
when the motor stalls.
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Hoisting gear
o Presently, we do not recommend additional operating modes as

mentioned in this Section – for example SLVC or VC with speed
encoder without KTY.
o When using the parameter assignments recommended in

Section 10.1.4 Pre-control to prevent the load dropping/sagging
when entering a uni-polar speed setpoint, CDS command data
sets cannot be used.
o In this document, reference is made in the literature references

to documents that are only available in the SD Intranet.
3.4 Information and instructions when selecting/dimensioning motors

and frequency converters, definitions
3.4.1 Selecting/dimensioning motors and frequency converters using SIZER
Here, reference should be made to the SIZER program, that also provides
engineering support when selecting and dimensioning hoisting gear.
3.4.2 Rough selection/dimensioning of motors and converters for VC with

pulse encoder
The rough selection/dimensioning described here has proven itself in practice

and for most hoisting gear applications, provides good results. It assumes the
following:
The rated hoisting power Pnh at the rated velocity of the hoisting gear is
calculated.
A maximum power that has been empirically determined of
Pmax = 2 ● Pnh is required for accelerating or a maximum torque, refer below.
The motor is dimensioned for the rated hoisting torque Mnh, if, starting from
Mnh, 200% overload is possible. Otherwise, the motor must be dimensioned
corresponding to the overload or the ramp-up and ramp-down times of the
hoisting velocity should be extended.
For frequency converters up to 75 kW, 150% overload can be utilized and for
frequency converters from 90 to 200 kW, 136% overload.
We do not recommend that 200% overload is used. When the 200% overload
is used, this results in a load duty cycle, that does not match the usual
operating mode of cranes and hoisting gear.
The formulas for the calculation example are shown below. The essential
quantities of a hoisting gear are shown in Fig. 3.4.2.
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Hoisting gear
Encoder Motor Gear Rope drum
3~ d/2
M
nM; MM nT
i
F'
Distance s
v F
m Load
S=2 S=1
m m
Load Load
Fig. 3.4.2: Diagram showing the essential quantities of a hoisting gear
Calculation example:
- Total load (load + load suspension equipment): m = 3.141 kg
- Rated hoisting velocity: v = 21.75 m/min = 0.36 m/s
- ηmechanical = 0.9 (without ηmotor (!))
- Cable drum diameter d = 0.4 m
- Gear ratio: i = 1 : 37
- Suspension/ reeving S = 2
a) Calculating the rated hoisting power

Pnh = (m ● g ● v) / ηmechanical
= (3141kg ● 9.81kg/ m² ● 0.36 m/s) / 0.9 = 12.325 W = 12.3 kW
With
Pnh = rated hoisting power in [kW]
g = 9.81 m/s2, acceleration due to gravity
v = rated hoisting velocity in [m/s]
m = nominal mass of the load to be hoisted in [kg]
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Hoisting gear
Note:
The hoisting power can be quickly calculated with just few data and provides
a rough basis for the hoisting gear power. Generally, it is not suitable for
selecting/dimensioning the motor and frequency converter. To do this, the
following formulas should be used.
b) Calculating the shaft speed nM of the motor from:

nM = i ● nT = (i ● S ● v) / (π ● d)
= (37 ● 2 ● 0.36 m/s) / (π ● 0.4 m) = 21.2 1/ s = 1.271 RPM
With
i = gear ratio
nM = motor speed in [RPM]
nT = cable drum speed in [RPM]
S = reeving
d = cable drum diameter in [m]
c) Calculating the required rated hoisting torque Mnh for v = constant:

Mnh = (m ● g ● d) / (2 ● i ● S ● η)
= (3141 kg ● 9,81 m/ s^2 ● 0,4) / (2 ● 37 ● 2 ● ,09)
= 93 Nm
With
Mnh = rated hoisting torque in [Nm]
d) Selecting a motor:
Starting from a rated torque of 93 Nm and a speed of 1.271 RPM, a 1LA7
166-4AA.. motor is selected.
Check whether the motor can output the maximum required torque:
Mhmax = 2 ● Mnh, as required:
The motor supplies the following maximum torque:

Mmaxm = 0,77 ● Mk ● Mnm
= 0,77 ● 3,0 ● 98 = 226 Nm
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Hoisting gear
From c):
Mhmax = 2 ● Mnh
= 2 ● 93 Nm = 186 Nm
Î The motor can output the max. hoisting torque.
With
Mmaxm = max. motor torque in [Nm]
Mhmax = max. hoisting torque in [Nm]
Mk = stall torque/ rated torque = 3.0 from Catalog M11
Mnm = rated torque = 98 Nm from Catalog M11
e) Calculating the max. motor current Imaxm:
e1) Torque overload factor m:

m = Mhmax / Mnm = 186 Nm / 98 Nm = 1,9
e2) Calculating the max. motor current Imaxm:
cos φ = 0.84, from the Catalog

Inm = 28.5 A (rated motor current), from the Catalog
from e1): m = 1,9
Io = Inm ● (1 – cos φ)½ = 28,5 A ● (1 – 0,84)½ = 11,4 A
With Io = magnetizing current in [A]
Iw = (In² – Io)½ = (28,5 A² - 11,4 A²)½ = 26, 1 A
With Iw = active current in [A]
Imaxm = (Io² + (m ● Iw)²)½ = (11,4 A² + (1,9 ● 26,1 A)²)½ = 51 A
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Hoisting gear
f) Selecting and dimensioning the frequency converter:

From e):
Imaxm = 51 A
When using the frequency converter overload, the rated frequency converter
current Infu is given by:
Infu= Imaxm / 1,5
= 51 A / 1,5 = 34 A
A 6SE6440-2UD31-8AD1 frequency converter with 18.5 kW power and a

rated output current of 38 A is selected.
For information and instructions to set parameters P0640, P1520 and P1521,
refer to function chart 7710:
o Prerequisite: P0305 = 28.5 A (rated motor current, from the rating plate
already calculated, refer to e): Imax = 54 A

o Overload factor P0640 = 54 A / 28.5 A ● 100 % = 189 % or the maximum
value from P0640
o Upper torque limit P 1520 = 194 Nm or maximum value from P1520
(Mmax = 0.77 ● Mk)
o Lower torque limit P 1521 = -194 Nm or minimum value from P1521
(Mmin = - 0.77 ● Mk)
3.4.3 Roughly selecting and dimensioning motors and frequency converters

for V/f
The motor and frequency converter are selected/dimensioned the same as

described above with the following restrictions:
The rated motor torque may not be exceeded!
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Hoisting gear
3.4.4 Others
• When using field weakening it should be carefully ensured that the

torque taken from the motor is reduced corresponding to the square of
the field-weakening speed.
• For hoisting gear equipment with heavy duty cycles and the appropriate
overload when accelerating and decelerating, the load duty cycle
should be used to check whether the motor and frequency converter
selection/dimensioning is sufficient from the perspective of the RMS
value of the current.
• The braking resistor should be dimensioned for the duration of the
lowering and the load duty cycle. For more detailed information, refer to
Document /5/. Further, the MM440 Operating Instructions should be
taken into account.
• This information only includes special issues that have to be noted
when engineering hoisting gear applications. The other rules that apply
must also be carefully observed.
3.5 Closed-loop control technique
The following closed-loop control techniques are available

a) V/f characteristic (P1300 = 0)
• an encoder is not required
• either no overload or just a low motor overload is possible
• restricted dynamic performance of the hoisting gear as there
is no torque reserve
b) Closed-loop vector control (P1300 = 21) and KTY 84

• an encoder and KTY 84 are required
• when appropriately selecting and dimensioning the
frequency converter
• the overload capability of the motor can be fully used.
• dynamic crane operation is possible
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Hoisting gear
3.6 Commissioning
If a harmonized and coordinated parameter set is still not available for the
frequency converter / hoisting gear, then before optimizing the closed-loop
vector control or the V/f control, carry-out and observe the following steps:
1. Loads that are potentially hazardous

a) Lower the load to the floor (secure the load), or
b) Ensure that the frequency converter cannot control the motor
holding brake (MHB)
c) When commissioning the load, e.g. optimizing the controller etc.,
it must be possible to immediately stop the hoisting gear. This
should be able to be done, for example, using an Emergency
Stop button located close by that also directly acts on the hoisting
gear brake. Before starting any work, the effectiveness of this
function must be carefully checked to ensure that it is working
perfectly.
2. Quick commissioning (refer to Chapter 4)

Quick commissioning should always be carried-out..
3. Motor holding brake (MHB) (refer to Chapter 5)

For drives that must be secured in the powered-down condition against
undesirable motion, the brake sequence control of the MM4 (this function is
enabled using P1215) can be used to control the motor holding brake.
Notes
a. When controlling the MHB, the interaction between opening/closing the
mechanical brake and the motor torque being established is decisive.
This interaction in the frequency converter is instantaneous without any
delay. This is the reason that the control implemented in the frequency
converter itself is preferred over an external control (e.g. Simatic.
b. If the motor holding brake is controlled from a higher-level control
system (e.g. Simatic, crane control, etc.), then the brake control should
be realized there!
c. The term MHB of course includes for example, an external brake
mounted on the brake drum, that, for example, is controlled from the
frequency converter.
d. If P1215 = 0 (P1215: enable MHB), then r52.12 = 1 – a brake controlled
by the frequency converter opens.
Therefore: The binary output, that controls the hoisting gear brake, may
only be connected with r52.12 if P1215 = 1.
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Hoisting gear
4. Regenerative energy (refer to Chapter 6)

If the frequency converter brakes a motor in a short time or a hoisting gear
lowers a heavy load, the motor operates in the regenerative mode and feeds
energy back into the frequency converter. The frequency converter DC link
voltage increases. If this voltage becomes too high (overvoltage F0002), the
frequency converter inhibits the inverter and the motor coasts-down. By using
the resistor brake, the regenerative energy is fed through the braking chopper
to the external braking resistor where it is converted into heat. This means
that the frequency converter can control the motor corresponding to the
setpoint even in regenerative operation.
5. Motor data identification (refer to Chapter 7)

a. P1910 = 1 + ON command
Motor data identification
b. P1910 = 3 + ON command
Comment.:
It is not absolutely necessary to determine the saturation characteristic,
if the frequency converter is only used in the voltage control range.
However, the saturation characteristic must be determined when

operating in the field-weakening range
6. Magnetizing current (refer to Chapter 8)

The value of the magnetizing current r0331/P0320 has aspecial influence on
the accuracy of the motor model parameters. This value is estimated from the
rating plate on SIEMENS standard motors. Especially for third-party motors,
the determined magnetizing current should be again checked and if required
corrected. The following criteria can be used for the magnetizing current:
o Flux setpoint (r1598=100%) matches the flux actual value
(r0084=96..104%) of the motor model.
o The Xm adaptation (r1787) of the motor model should, if possible, not
intervene. Good values lie between 1-5%.
o Please refer to /6/ and Section 0 when setting the magnetizing current.
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Hoisting gear
7. Optimizing the closed-loop control

Depending on the closed-loop control technique, the individual parameters for
the hoisting gear application must be appropriately optimized. The important
parameters can be taken from the following sequence diagrams:
o V/f characteristic refer to Chapter 10.1
o Closed-loop vector control with encoder refer to Chapter 10.2
8. Motor temperature (refer to Chapter 9)

A KTY84 sensor is used to measure the motor temperature. Among other
things, the motor temperature depends on the load level, load duration, speed
and type of motor cooling. The motor temperature influences the stator and
rotor temperature and must, as far as possible, be precisely emulated in the
motor model of the drive converter.
3.7 Series commissioning

If a harmonized, coordinated parameter set is available for the drive converter

/ hoisting gear, then please observe the following:
1. Potentially hazardous loads

a) Secure the load, or
b) Inhibit the MHB control (e.g. disconnect the connection between
the drive converter and the motor holding brake)
c) Under all circumstances, ensure that the hoisting gear motor does
not unintentionally rotate (cable drum) in order to avoid
mechanical damage.
Then start the fast commissioning / parameter download using the PC tool
(e.g. STARTER, AOP)
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Quick commissioning
4 Quick commissioning
Note:
Before starting any of the commissioning steps in Section 4, the hoisting gear
motor must be secured so that it cannot unintentionally start and the holding
brake of the hoisting gear must be locked-out so that it cannot be
unintentionally opened (e.g. so that the holding brake cannot be intentionally
released).
o The steps shown in Section 4 should be carried-out for both closed-

loop control types (VC with pulse encoder and KTY 84 and V/f.
o With the fast commissioning, the drive converter is adapted to the
motor and important technology parameters are set.
o The parameters designated with a * offer more setting possibilities
than are listed here. Please refer to the parameter list for these
additional setting possibilities.
START Note: Factory setting

• We recommend that before starting any commissioning work, all of
the parameters are set to the factory setting.
• If required, settings should be made at Starter/ DriveMonitor and at
the drive unit (P2010, P2012).
Access stage * 1
P0003 = 2
1 Standard (basic/simple application)
2 Expanded (standard application)
3 Expert (complex application)
Commissioning parameters * 0
P0010 = 1
0 Ready
1 Fast commissioning
30 Factory setting
NOTE
P0010 should be set to 1 in order to enter the motor rating plate data.
Europe/ North America 0 Remove the I/O module

P0100 =...
Select the power entry (kW / hp) and the rated Î access to DIP 2(2)
motor frequency
0 Europe [kW], rated motor frequency 50 Hz
and DIP2(2) OFF (factory setting)
P0100 = 1, 2
P0100 = 0
1 North America [hp], rated motor frequency DIP50/60

60 Hz
and DIP2(2) ON
2 North America [kW], rated motor
frequency 60 Hz
NOTE
For P0100 = 0 or 1, the setting of switch
DIP50/60 defines the value of P0100.
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Quick commissioning
FC spec.
P0304 =... P0304 =... Rated motor voltage
(the rating plate in V is entered)
Check the rated motor voltage on the
rating plate regarding the star/ delta
circuit with the connections on the
motor terminal board. P0310 P0304
FC spec.
P0305 =... P0305 =... Rated motor current
Input acc. to the rating plate in Amps
FC spec.
P0307 =... P0307 =... Rated motor power
(the rating plate in kW/hp is entered).
If P0100 = 0 or 2, then the input is
in kW, for P0100 = 1, in hp. P0307 P0305
P0308 P0311
FC spec.
P0308 =... P0308 =... Rated motor power factor
(the cos ϕ data on the rating plate is entered)
For the setting 0, the value is automatically calculated.
P0100 = 1,2: P0308 has no significance, an entry is not required
FC spec.
P0309 =... P0309 =... Rated motor efficiency
(input acc. to the % data on the rating plate)
For the setting 0, the value is automatically calculated.

P0100 = 0: P0309 has no significance – an entry is not required
Rated motor frequency 50.00 Hz

P0310 =...
(the Hz specified on the rating plate is entered) 60.00 Hz
The number of pole pairs is automatically taken into account.
Rated motor speed FC spec.

P0311 =...
The input is acc. to the rating plate in RPM
Motor cooling * 0
P0335 =...
(the motor cooling system is entered)
0 Self-ventilated using the fan mounted on the motor shaft
1 Force-ventilated (separately-driven fan)
Motor overload factor 150 %
P0640 =...
(entered as a % referred to P0305)
This defines the limit value of the maximum output current as a % of the rated
motor current (P0305).
Note:
Generally, the overload factor here is selected so that the motor can provide the
maximum demanded torque when hoisting and lowering the load – refer to Section
3.4
P0700 =... Selects the command source2 BOP

Defines the command source with
which the drive converter is Terminals
controlled. USS P0700 = 2
Sequence control
0 Factory pre-setting BOP link
1 BOP (converter keyboard) USS

COM link
2 Terminal strip Setpoint
CB Closed-loop
4 USS at the BOP link COM link channel motor ctrl.
5 USS at the COM link
6 CB at the COM link
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Quick commissioning
Selects the setpoint source * 2

P1000 =...
Defines the frequency setpoint source that is defined by the setpoint that has been
entered.
1 Motorized potentiometer setpoint
2 Analog input
3 Fixed frequency
4 USS at the BOP link
5 USS at the COM link
6 CB at the COM link
7 Analog input 2
MOP
Sequence control
ADC
FF P1000 = 12 Additonal
setpoint
USS Setpoint Motor
BOP link channel control
USS P1000 = 12 Main
COM link setpoint
CB
COM link
ADC2
Minimum frequency 0.00 Hz

P1080 =...
(the lowest motor frequency in Hz is entered)
The lowest motor frequency with which the motor can operate independent of the
frequency setpoint is entered. The value set here applies for both directions of
rotation.
Note:
P1080 = 0
Maximum frequency 50.00 Hz

P1082 =...
60.00 Hz
(the highest motor frequency in Hz is entered)
The maximum frequency to which, e.g. the motor is limited independent of the
frequency setpoint, is entered. The value set here applies for both directions of
rotation.
Ramp-up time (accelerating time) 10.00 s

P1120 =...
(the accelerating time in s is entered)
The time in which, e.g. the motor should accelerate from standstill up to the
maximum frequency P1082 is entered.
Ramp-down time (deceleration time) 10.00 s

P1121 =...
(input the deceleration time in s)
The time in which e.g. the motor should brake from the maximum frequency
P1082 down to standstill is entered.
Note:
This time should not be set too long in order to avoid actuating a limit switch.
Recommended setting:
P1121 = P1120
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Quick commissioning
OFF 3 ramp-down time 5.00 s

P1135 =...
(the fast stop ramp-down time in s is entered)
The time in which e.g. the motor should brake from the maximum frequency
P1082 down to standstill for an OFF3 command (fast stop) is entered.
Note:
Generally, the value of P1135 is < the value of P1121
Closed-loop control type * 0

P1300 =...
(the required closed-loop control type is entered)
0 V/f with linear characteristic
21 Closed-loop vector control with sensor
End of fast commissioning 0
P3900 = 1
(start of the motor calculation)
3 Only motor calculation. The remaining parameters are not reset.
NOTE
For P3900 = 3 → internally, P0340 is set to 1 and the appropriate data calculated
(refer to the parameter list P0340).
ENDE End of the fast commissioning/drive setting.

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Motor holding brake (MHB) and hoisting gear brake
5 Motor holding brake (MHB) and hoisting gear brake

This Section applies both for V/f control as well as for closed-loop vector
control with encoder.
• Series / commissioning for potentially hazardous loads – proceed as

follows
Lower the load to the floor
The hoisting gear motor must be inhibited so that it cannot
unintentionally start.
When replacing the drive converter, prevent the drive converter
from controlling the MHB until the new drive converter has been
completely commissioned.
Secure the load, and ensure that the MHB cannot be controlled –
and then, and only then commission / download parameters using
the PC tool (e.g. STARTER, AOP)
Only connect the binary output (P0731 – P0733) for the brake
control to r52.12 if P1215 = 1.
• Generally, every hoisting gear has a brake. This brake is either the
motor holding brake or is an external brake – e.g. that is mounted on
the cable drum. It makes sense if this brake is controlled by the drive
converter itself.
• Generally, the hoisting gear brake is only designed as holding brake
and not as operational brake.
• Pre-control to prevent the load sagging/dropping when the holding
brake is opened (weight equalization) and delayed setpoint enable,
refer to Section 10.
Notes:
The pre-control to prevent the load sagging depends on the weight
of the suspended load that must be raised. In most cases, one
setting is suitable for all load situations.
The modified brake control can result in improved drive behavior
when starting.
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The application / release times (brake closing / brake opening times) can be
taken from the appropriate documentation. The following typical values have
been taken from the M11 Motor Catalog 2003/2004, Page 2/51
Motor frame Brake type Release time Application time

size [ms] [ms]
63 2LM8 005-1NAxx 25 56
71 2LM8 005-2NAxx 25 56
80 2LM8 010-3NAxx 26 70
90 2LM8 020-4NAxx 37 90
100 2LM8 040-5NAxx 43 140
112 2LM8 060-6NAxx 60 210
132 2LM8 100-7NAxx 50 270
160 2LM8 260-8NAxx 165 340
180 2LM8 315-0NAxx 152 410
200
2LM8 400-0NAxx 230 390
225
Table 3: Application/release times (M11 Motor Catalog)
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Enables the motor holding 0

P1215 =...
brake f
Activates/de-actives the motor holding
brake (MHB).
0 Motor holding brake inhibited fmin
1 Motor holding brake released (P1080)
t
Note P1216 P1217
r0052
The following applies when controlling Point 1 Point 2
Bit12 1
the brake relay via, e.g. digital output 1:
P0731 = 52.C (or 52.12) 0 t
52.3
P0731=52.C BI: Fct., digital output 1 52.0 Ready to power-up 0 closed
52.1 Ready 0 closed
Defines the source for digital output 1.
52.2 Drive running 0 closed
Note 52.3 Fault present 0 closed
The brake relay can be controlled via 52.4 OFF2 active 1 closed
one of the two other digital outputs. 52.5 OFF3 active 1 closed
52.6 Power-on inhibit active 0 closed
52.7 Alarm active 0 closed
52.8 Setpoint/actual value deviation 1 closed
52.9 PLC control (PZD control) 0 closed
52.A Maximum frequency reached 0 closed
52.B Alarm: Motor current limiting 1 closed
52.C Motor holding brake (MHB) active 0 closed
52.D Motor overload 1 closed

:
:
MM440
DOUT Invert DOUTs
channel 0 ... 7
int. 24 V
P0748 (0) CO/BO: State DOUTs max. 100
r0747 mA
BI: Fct. of DOUT 1 r0747.0
T.9
Functio P0731.C 0
n rxxxx.y (52:3)
COM T.20
xxxx.y 1
-1
P0731 = xxxx.y NO T.19
o
Relay
NC r
T.18
:
- max. load capability
30 V DC / 5 A
T.28
250 V AC / 2 A
- max. opening / closing time
5 / 10 ms
1.0 s
P1216 =... Enable delay, holding brake
This defines the time interval in which the drive converter runs with the min. frequency
P1080 after being magnetized before ramp-up.
Recommendation:
P1216 = 0
A&D SD Page 21/47

1.0 s
P1217 =... Ramp-down holding time, holding brake
This defines the time during which the drive converter operates with the minimum frequency
(P1080) after ramp down to the minimum frequency.
Recommendation:
P1217 ≥ brake application (closing) time + relay closing time
P1217 ≥ 10 ms + application (closing) time of the brake + the switching time of a braking
contactor if a braking contactor is being used.
A&D SD Page 22/47

Regenerative energy
6 Regenerative energy
This Section applies both for V/ f open-loop control as well as for closed-loop
vector control with encoder.
The following settings should always be made:
• The Vdc_max controller de-activated P1240 = 0 - (def.: P1240 = 1)
• The compound brake de-activated P1236 = 0 - (def.: P1236 = 0)
• Resistor brake activated P1237 > 0 - (def.: P1237 = 0)
Resistor braking 0
P1237 = ...
Resistor braking is activated using parameter P1237 and the nominal load duty cycle /
power-on duration of the braking resistor defined.
0 Inhibited
1 Load duty cycle 5 %
Using the resistor brake, the regenerative energy is transferred through the chopper control
(braking chopper) to the external braking resistor where it is converted into heat.
This means that the drive can be braked in a controlled fashion.

• To select and dimension the braking resistor and set the load duty cycle, please refer to
3.15.3 Resistor brake of the MM440 Operating Instructions and
/5/ and /7/.
• The regenerative power when lowering Pns is obtained as follows (compare
Section 3.4):
Pns = (m ● g ● v) ● η
with
m = max. weight when lowering
v = max. velocity when lowering
η = total efficiency of the system and motor
Braking resistor
MM4 B+ B-
= Chopper =
~ control
~ ~
A&D SD Page 23/47

7 Motor data identification

• The motor data identification routine must be carried-out for all closed-
loop control types
• When carrying-out the motor identification routine, the motor
temperature must approximately correspond to the value in P0625
• During the motor data identification routine, the motor can remain
locked (the rotor locked).
A&D SD Page 24/47

START
P0625 = ? Motor ambient temperature (entered in °C) 20 °C
Enter the ambient temperature of the motor at the time that motor data is
determined (factory setting: 20 °C).
|Motor temp. - P0625 |
≤5K? Value in P0625 ~ motor temperature
Note:
Yes No If the motor is equipped with an KTY 84 temperature sensor, then we
recommend that the KTY 84 is parameterized using P601 = 2 and the value
from r0035 is entered into P625.
Allow the motor
to cool down
P1910 = 1 Selects the motor data identification routine with P1910 = 1 0

P1910 = 1: Identifies the motor parameters with parameter change.
A0541
When p1910 = 1 is selected, alarm A0451 (motor data identification active) is
output, and data calculation can be started after the measurement has been
completed (P0340 = 3).
Note:
The existing hoisting gear brake can remain closed.
ON Starts the motor data identification routine with p1910 = 1

The measuring operation must be started with a permanent ON command.
The motor aligns itself and conducts current. Diagnostics is possible via r0069
(CO: Phase currents).
p1910 is reset after the motor data identification routine has been completed
(p1910 = 0, motor data identification routine inhibited) and alarm A0541 is
withdrawn.
OFF1 In order to bring the drive converter into a defined state, an OFF1 command
must be issued before the next step.
Selects the motor data identification routine with p1910 = 3 0
P1910 = 3
p1910 = 3: Identifies the saturation curve with parameter change
A0541 When p1910 = 3 is selected, alarm A0451 (motor data identification routine
active) is output, and after the measurement has been completed, data
calculation is started (P0340 = 2).
ON Starts the motor data identification routine with p1910 = 3
The measuring operation must be started with a permanent ON command.
After the motor data identification routine has been completed, p1910 is reset
(p1910 = 0, motor data identification routine inhibited) and alarm A0541 is
withdrawn.
OFF1 In order to bring the drive converter into a defined state, an OFF1 command
must be issued before the next step.
End
A&D SD Page 25/47

Magnetizing current
8 Magnetizing current
• For V/f control, it is not necessary to determine the magnetizing current.
• The value of the magnetizing current - r0331/P0320 – has a special
effect on the closed-loop control. However, this value cannot be
measured at standstill and for 4-pole standard 1LA7 SIEMENS
motors, this is estimated using the automatic parameterization
P0340=1 (P0320=0; result in r0331).
• If the deviation between the actual magnetizing current and the
magnetizing current saved in the drive converter, then also the values
for the magnetizing reactance and the rotor resistance cannot be
precisely determined.
• The magnetizing current that is determined should, especially for third-
party motors, be if necessary corrected.
• The following description describes how to proceed when manually

determining the magnetizing current and re-calculating the equivalent
circuit diagram when operating the drive in closed-loop vector control
(P1300=20/21).
• Note:
For this measurement, the motor must be running under no-load
conditions – i.e. it must be de-coupled from the load.
• Also refer to /6/
A&D SD Page 26/47

Magnetizing current
START
Quick Quick commissioning

commissioning The drive converter is adapted to the motor using the fast commissioning
(refer to Chapter 4 procedure.
Motor data Motor data identification routine

identification Using the motor data identification routine, measuring techniques are used to
(refer to Chapter 1 determine the equivalent motor circuit diagram data.
Operation under Determines the magnetizing current

no-load When determining the magnetizing current (P0320/r0331), the motor should be
accelerated up to approx. 80% of its rated speed under no-load conditions.
In so doing the following conditions must be carefully maintained:

• The closed-loop vector control must be activated, P1300 = 21
• No field weakening (r0056.8=0)
• Flux setpoint r1598=100%
• The efficiency is not optimized, P1580=0%
No-load means that the motor is operated with the load de-
coupled (not coupled).
A current r0027 is obtained under steady-state conditions. This approximately
corresponds to the rated magnetizing current r0331 (the current is always
lower than the no-load current for a pure V/f control).
Criterion Measuring and entering the magnetizing current and the associated re-
fulfilled? calculation of the equivalent circuit diagram data of the motor are iterative
procedures. It should be repeated at least 2-3 times until the following criteria
No Yes have been fulfilled:
The more accurate that the magnetizing current is entered, the better the
flux setpoint (r1598=100%) matches the flux actual value
(r0084=96..104%) of the monitor model.
The output Xm adaptation (r1787) of the monitor model should be as
low as possible. Good values lie between 1-5%. The less that the Xh
adaptation of the monitor must work, then the motor parameters are that
much less sensitive after power failures.
Note:
To display r0084 on the BOP/AOP, LEVEL 4 parameters must be enabled
using the service parameter P3950=46.
P0320 = ... Calculating P0320 0

From the flux-generating current component r0029 that was determined, using
the following equation the new value can be entered into P0320.
P0320 = r0029 * 100 / P0305
P0340 = 1 Calculating the motor parameters 0

The values of the motor equivalent circuit diagram data are calculated from the
rating plate data that was entered. In addition, the parameters of the controls
are pre-set (P0340 = 3).
End
A&D SD Page 27/47

Drive converter and motor overload
9 Drive converter and motor overload

• This Section must be carefully observed both for V/f closed-loop control
as well as with closed-loop vector control with encoder and KTY 84.
• In addition to the thermal motor protection, the motor temperature is
also incorporated in the adaptation of the motor equivalent circuit
diagram data. Especially for high thermal motor loads, this adaptation
has a significant influence on the stability of the closed-loop vector
control.
• For hoisting gear applications with closed-loop control mode VC with
encoder (P1300 = 21), presently, the motor temperature must be
measured using a KTY 84 temperature sensor.
• The KTY 84 temperature sensor is not required when using a V/f
closed-loop control; however, the motor must then be protected against
overload in another way, e.g. using a thermo switch that is integrated in
the winding overhangs of the motor.
• Parameter settings:
P0290 = 1 shutdown with F0004/ F0005
P0601 = 2 KTY 84 is evaluated; mandatory for VC with

encoder, practical for V/ f
P0601 = 0, 1 additional settings for V/ f
r0035 motor temperature
Drive converter overload response 0

P0290 = ...
This defines the drive converter response to an internal overtemperature condition.
0 The output frequency is reduced
1 Shutdown (F0004 / F0005)
2 The pulse frequency and output frequency are reduced
3 The pulse frequency is reduced, then shutdown (F0004)
Monitoring, drive Overload response, drive
converter converter
P0290
r0036 i2t i_max controller A0504

P0294 (V/f)
current controller A0505
(SLVC, VC)
r0037 Heatsink
temperature A0506
P0292
Pulse frequency F0004
IGBT
controller
temperature
F0005
P0292
A&D SD Page 28/47

Drive converter and motor overload
Motor temperature sensor 0

P0601 = ...
Selects the motor temperature sensor.
0 No sensor, only for V/ f
1 PTC thermistor, only for V/ f
2 KTY84 – this is mandatory for VC with encoder
When "no sensor" or “PTC thermistor” is selected, the motor temperature is determined
using as basis the value estimated in the thermal motor model.
Fault
F0015
P0601 = 2
5V
& r0052
Bit13
T1 = 4 s
Monitor 0
No encoder
ADC signal PTC 1 Motor
loss 1
2
KTY 0 ≥1 temp.
PTC response
KTY ϑ r0035
P0601
V 1 P0610
0
Equivalent
circuit Thermal r0631
Power loss P0604

motor
PV,mot r0632
model
r0633
A&D SD Page 29/47

Closed-loop control techniques
10 Closed-loop control techniques

Information regarding commissioning:
• All of the previously mentioned safety information and instructions must
be carefully complied with.
• It is especially important to ensure that the hoisting gear cannot
unintentionally start (the load may not sag when the brake opens,
controlled by the drive converter).
• An Emergency Stop, that must act directly on the holding brake, must
be located in the immediate vicinity and its function must have been
checked to ensure that it operates correctly.
• Note the information and instructions in Section 10.2
10.1 V/ f open-loop control

0
P1300 = ... Closed-loop control mode *
The closed-loop control mode is selected using this parameter. The ratio between the drive
converter output voltage and the drive converter output frequency is defined for the "V/f
characteristic" control mode
0 V/f with linear characteristic
Note:
Only operating mode P1300 = 0 is permitted for sensorless operation
Constant voltage boost (entered as a %) 50.0 %
P1310 = ...
Voltage boost as a % relative to P0305 (rated motor current) and P0350 (stator resistance).
At low output voltages, the ohmic active resistances of the winding can no longer be
neglected. The reason for this is that the voltage drop results in a lower motor flux if it is not
compensated.
Note:
We recommend P1310 = 100 %
V
V/f linear
Boost voltage
Vmax
Validity range
Vn e
ag ON
(P0304) olt
tv OFF t
utpu
O ⏐f⏐
V actboost
VConBoost,10
= /f
00 l V
0 t
0)
13 a
(P orm
P1310 active
N
VConBoost,5
1
0 0 t
f
0 fBoost,end fn f max
(P1316) (P0310) (P1082)
Voltage boost when accelerating 0.0 %

P1311 = ...
P1311 = 0
Voltage boost when starting 0.0 %
P1312 = ...
P1312 = 0
A&D SD Page 30/47

Slip compensation 0.0 %

P1335 = ...
P1335 = 0,
Refer to Sections 10.1.33, 10.1.4 (V/ f)
Resonance damping, gain V/f 0.00
P1338 = ...
Defines the controller gain to dampen resonance for operation with V/f characteristic.
10.1.1 Supplements to the brake control and slip compensation:
The following parameterization is only valid for the V/ f open-loop control

mode.
The subsequently discussed parameterization is additionally used to that

already described if satisfactory results are not obtained with the previously
described standard setting at starting, and when
• The brake is controlled
• The load sags – which is unacceptable behavior.
10.1.2 Extended brake control
Overview, refer to Section 10.1.4
Setpoint delay:
P1142 = 2852 delayed enable for the ramp-function generator
P1215 = 1 motor holding brake released
P1216 = 0,0 s release delay holding brake
P1217 = 0,1 s set the brake closing time (brake delay time) as short as
possible.
P0732 = 52:12 control, e.g. DO 2 (terminals 21, 22), brake
P2800 = 1 enable free FBs
P2802.0 = 3 execution level 3
P2849 = 52:12 control the timer to open brake
P2851 = 0 switch-in delay mode
P2850 = 0,1 s delay n* enable
A&D SD Page 31/47

Information regarding the setting of P2850:

• Lowest effective value: 180 ms, effective stages: 180 ms
• Recommended setting for P2850:
P2850 = -180 ms + brake release time + switching time of a braking
contactor if one is used
• Usual release time of brakes, refer to Section 1 and Table 3 in the same Section.
10.1.3 Pre-control to prevent the load sagging when entering a bipolar speed
setpoint
Notes:
• It is assumed, as was declared at the start of this document, that
hoisting requires a positive speed setpoint and lowering a negative
speed setpoint – and this is fed-in at parameter P1070, main setpoint,
function chart Page -5000-..
• Monitoring parameters:
r1078 total setpoint, refer to the function chart Sheet -5000-
r1170 setpoint after the ramp-function generator, refer to the
function chart, Sheet -5300-
• Parameterization without extended brake control:

P1142 = 1 enable ramp-function generator (factory setting)
P1075 = 2889 pre-control, load sagging
P2000 = 50 50 Hz reference frequency
P2889 = z. B. + 6 + (!) 6 % of 50 Hz corresponds to 3 Hz
• Parameterization with extended brake control:

P1070 = 2889 pre-control, load sagging
P2000 = 50 50 Hz reference frequency
P2889 = z. B. 6 + (!) 6 % of 50 Hz corresponds to 3 Hz
P1142 = 1 enable ramp-function generator (factory setting)
P1075 = 755 main setpoint – is connected to the supplementary
setpoint
P1074 = 2853 switch-in speed setpoint after brake is open.
A&D SD Page 32/47

• The slip frequency that prevents load sag, is fed-in via P1070, main
speed setpoint, function chart Page –5000-. This slip frequency can
either be calculated from the size of the load or should be empirically
determined.
• A bipolar speed setpoint can, for example, come from PROFIBUS, the
fixed frequencies or analog input 1 (r0755.0) and is fed-in via P1075,
supplementary speed setpoint, function chart Page –5000-..
10.1.4 Pre-control to prevent load sag when entering a unipolar speed setpoint
Notes:
• The parameterization discussed in this Section is required if a unipolar
setpoint is used and the reversing command (P1113) is used to
changeover between hoisting (positive speed setpoint) and lowering
(negative speed setpoint).
• The prerequisite to prevent load sag is, as described in this Section, the
parameterization of Section 10.1.2 Extended brake control.
• Monitoring parameters:
r1078 total setpoint, refer to the function chart, Sheet -5000-
r1170 setpoint after the ramp-function generator, refer to the
function chart, Sheet -5300-
The parameterization used in this Section is shown in the following diagram in

the form of a function chart. This is then followed by the parameterization
itself.
A&D SD Page 33/47

P2800=1 P2802.0=3 P2850 =0.1 P2851=0
A&D SD
Switch-in delay
T 0
0
MHB active Switch-out delay P2816[0] = 2853

1 P2816[1] = 0:0
r0052.C 0 T
P2849 P2800=1 P2801[3]=2
Index0 Switch-on/switch-out delay r2852
2
T T
P2816
P0810 = 2817
P2849 = 52.C r2853 Index0 r2817 P0810
1
Pulse generator 1
3 0:0 Index1
T
P2800=1 P2801[0]=2
P2810
P0811 = 2811
Index0 r2811 P0811
Reversing & Reversing
Index1
r722.1 P1113
P2810[0] = 2852 r2811 P1113
P2810[1] = 54.B
P1113 = 2811
P1070[0] = 755 Hoist
0 0
Main setpoint P1070[1] = 0 Hold fset, MS

0 1
P1070
P1070[2] = 755 Lower
1 x
+
+ fset
P1075[0] = 2889 Hoist
0 0
Supplementary setpoint P1075[1] = 2889
Hold
P1075 0 1
P1075[2] = 2890 fset, SS
Lower
1 x
MHB active
r0052.C MHB via DO2
P0732
P0732 = 52.C
1 2 3 4 5 6 7 8
Applications Function diagram
- 5001 -
Extended Brake Control and Preventing Load Sag 13.04.2004 V2.0 MICROMASTER 440
Page 34/47
Parameterization
• Data set changeover:
P0810 = 2817 CDS changeover
P2801.3 = 2 enable OR 1, execution level 2
P2816.0 = 2853 OR 1 BI
P2816.1 = 0 OR 1 BI
P0811 = 2811 CDS changeover
• Information regarding the drive data set changeover:
P811 P810 DDS

0 0 1
0 1 2
1 X 3
r0050 = display, actual BDS

• Assigning slip values when hoisting and lowering

P1075.0 = 2889 slip, hoisting
P1075.1 = 2889 slip at setpoint = 0 (brake release time)
P1075.2 = 2890 slip, lowering
P2000 = 50 Hz reference frequency
P1335 = 0 slip compensation
P2889 = ? [%] slip, hoisting, e.g. 4 %
P2890 = -? [%] slip, lowering, e.g. – 4 %
• Interlocking reversing (P1113) during setpoint = 0 (brake release time)

P2801.0 = 2 enable AND 1, Level 2
P2810.0 = 2852 AND 1 BI
P0702.0 = 99 (enable BiCo wiring)
P2810.1 = 722.1 AND 1 BI
P1113.0 = 0 reversing
• Ramp-function generator
P1142 = 1
A&D SD Page 35/47

• Copy CDS - CDS1 must be copied into CDS2 and CDS3.

0: CDS1; 1: CDS2; 2: CDS3
Procedure:
P0809.0 = 0 this data set CDS is copied, in this case CDS1
P0809.1 = 1 copied into this data set, here CDS2
P0809.2 = 1 start copying
• Note:
CDS1: Data set that is used in crane operation when hoisting
CDS2: Data set that is effective at setpoint = 0 (brake release time)
CDS3: Data set that is used in crane operation when lowering
• Main setpoint
P1070.0 = 755 here, e.g. analog input 1
P1070.1 = 0
P1070.2 = 755
P1075.2 = 2890 slip, lowering
• Inhibiting reversing (P1113) at setpoint = 0 (brake release time)

P1113.0 = 2811
P1113.2 = 2811
10.2 Closed-loop vector control (VC) with pulse encoder
• The operating mode described in this Section 10.2 is the preferred

mode for hoisting gear.
• When commissioning the closed-loop vector control with encoder (VC),
the drive converter should first be operated with V/f control (P1300 = 0).
When the motor is rotating and the speed encoder is connected
(activated using P0400), then parameters r0061 and r0021 must
correspond regarding the following quantities:
• sign
• absolute value (a deviation of a few percent is permissible)
The closed-loop vector control with encoder (P1300 = 21) may only be
activated if both of these conditions are fulfilled (refer to Chapter 10.2.3).
A&D SD Page 36/47

10.2.1 Limits
• The limit values for the torque (P1520, P1521) and the power (P1530,
P1531) can be set to the maximum value. This therefore avoids a
possible limit that could result in instability in the closed-loop control.
• Calculating the values, refer to Section 3.4.
150.0 %
P0640 = ... Motor overload factor [%]
Determines the motor overload factor as a [%] relative to P0305 (rated motor current).
Limited to the maximum drive converter current or to 400 % of the rated motor torque
(P0305), whereby the lower value is applied.
min (r0209, 4 ⋅ P0305)
P0640max = ⋅ 100
P0305
CO: Upper FC spec.

P1520 = ...
torque limit Resulting
Specifies the upper torque torque limit
|M| Power Stall
limit.
limit limit
Pre-setting (default):
Torque limit
P1520 = - 1,5 ● r0333
Max. Value: 1 1
~
r1526 ~
f f2
P1520 = -± 4 ● r0333 r1527
Refer to section 3.4.2

P1530
P1521 = ... CO: Lower FC spec. P1531
Torque Limit
Specifies the lower torque limit.
|fact|
Pre-setting (default):
Constant Constant fstall Stall
P1521 = - 1,5 ● r0333 torque power power
Max. Value:
P1521 = -± 4 ● r0333
Refer to section 3.4.2
FC spec.
P1530 = ... Limit value, power when Power limit (motoring, regenerating)
motoring
M
Specifies the maximum permissible power M=
P
when motoring. 2⋅π⋅f
P1530
P1531
P1530 def = 2.5 ⋅ P0307
P1530 max = 3 ⋅ P0307
Recommended:
f
P1530 = max
FC spec.
P1531 = ... Limit value, power when
regenerating P1531
Specifies the maximum permissible power P1530
when regenerating.
P1531def = - 2.5 ⋅ P0307
P1531 max = - 3 ⋅ P0307
Recommended:
P1531 = - P1530
A&D SD Page 37/47

10.2.2 Pulse Encoder
P0400 =... Selects the encoder 0

type Parameter Terminal Track Pulse encoder output
2 Two-track pulse encoder
Referred to ground
P0400 = 1 A
(single ended)
The following table indicates the Differential
A
values of P0400 as a function of
the number of tracks: AN
A Referred to ground
P0400 = 2
(single ended)
Note: B
For hoisting gear A Differential

applications (4-
AN
quadrant operation
(!)), a 2-track encoder B
must be used! BN
P0400 = 2
The DIP switch on the encoder module must be set as follows depending on the encoder
type (TTL, HTL) and the encoder output:
Type Output
Referred to ground
Differential
(single ended)
TTL (e.g.
111111 010101
1XP8001-2)
HTL (e.g.
101010 000000
1XP8001-1)
P0408 =... Number of encoder pulses 1024

Specifies the number of encoder pulses per revolution.
For pulse encoder 1XP8001: 1024 pulses/ revolution
0
P0491 =... Response, speed signal loss
Defines the calculation method.
0 No transition
1 Transition into SLVC
Permissible frequency difference 10.00 Hz
P0492 =...
Parameter P0492 defines the frequency threshold for encoder signal loss (fault F0090).
P0492 = 0 (no monitoring):

With P0492 = 0, the loss of the encoder signal both at a high frequency and
also at a low frequency is de-activated. This means that the system does not
monitor for loss of encoder signal..
P0494 =... Delayed response to speed signal loss 10 ms
P0492 is used to detect the loss of the encoder signal at low frequencies. If the motor
speed is lower than the value of P0492, then the encoder signal loss is determined using
the appropriate algorithm. P0494 defines the delay time after detecting the speed signal
loss until the appropriate response is initiated.
P0494 = 0 (no monitoring):

With P0494 = 0, the loss of the encoder signal is de-activated at a low
frequency. This means that when the encoder signal is lost at these
frequencies then it is not detected (the loss of the encoder signal at a higher
frequency remains active as long as parameter P0492 > 0).
A&D SD Page 38/47

10.2.3 Closed-loop speed control with encoder
P1300=21 Closed-loop control mode *

21 closed-loop vector control with sensor
Filter time for the actual speed 4 ms
P1442 = ...
Sets the time constant of the PT1 filter in order to smooth the control system error
(deviation) of the speed controller.
When this value is reduced, it results in a higher dynamic response of the closed-loop
speed control – however, there is a potential danger of instability at low values.
P1442 is set to 2 ms for most applications.

Gain factor, speed control. 3.0
P1460 = ...
Specifies the speed controller gain.
Recommended optimization:
Set P1460 to 5 to 10 to 15.
400 ms
P1462 = ... Integration time, speed controller
Specifies the integration time constant of the speed controller.
P1488 P1489
150 ms
r1490
Droop
0 input
P1496 P0341 P0342
1 0
P1492 r1518
Pre-control
P1460 P1462
r1084
r1170 r1438
Kp Tn
– *)
Freq. setpoint –
Speed
setpoint
r0064
P1442
r1508 r0079
r0063
Act. frequency
*) only active if the pre-control has been activated
from the pulse encoder (P1496 > 0)
A&D SD Page 39/47

10.2.4 Supplements to the brake control and load sag
The following parameterization only applies for the closed-loop vector control
mode with pulse encoder.
The subsequently discussed parameterization is additionally used to that
already described, if satisfactory results are not obtained with the previously
described standard setting at starting and when
• The brake is controlled
• The load sags – which is unacceptable behavior.
10.2.4.1 Extended brake control
Setpoint delay:
P2800 = 1 enable free FBs
P2802.0 = 3 execution level
P2849 = 52:12 control timer to open brake
control e.g. DO 2 (terminals 21, 22), brake
P0732 = 52:12
P2851 = 0 switch-in delay mode
P1216 = 0,0 s enable delay, holding brake
P2850 = 0,1 s delay n* enable
P1142 = 2852 delayed enable, ramp-function generator
Note regarding the setting of P2850:

• Lowest effective value: 180 ms, effective steps: 180 ms
• Recommended setting P2850:
P2850 = -180 ms + release time of the brake + switching time of a
braking contactor if one is being used
• normal release times for brakes, refer to Section 1 and Table 3 in the
same Section.
A&D SD Page 40/47

10.2.4.2 Pre-control to prevent load sag
• The pre-control to avoid load sag can be compared with the brake
control of Section 10.2.4.1. However 10.2.4.1 is not a prerequisite.
• It is assumed that, as was already declared at the start of this
document, hoisting requires a positive speed setpoint and lowering a
negative speed setpoint – and this is fed-in at parameter P1070, main
setpoint, function chart, Page -5000-.
• The torque to prevent the load sagging is fed-in via P1511,
supplementary torque setpoint (function chart [7210]). The positive (!)
M-ZSW can either be calculated from the size of the load or must be
empirically determined.
• M-ZSW can either be fixed – which is sufficient for many applications
where the ratio between the minimum and maximum load is low; or it
can be entered, e.g. via PROFIBUS or analog input 2.
Procedure:
• Normalization of P2003:
P2003 = 93 corresponding to a rated hoisting torque of 93
Fixed torque setpoint to prevent load sag:
• P1511 = 2889
• A hoisting torque of 40 Nm is to be pre-controlled:
(40 Nm/ 93 Nm) ● 100 % = 43 %
• P2889 = 43 this corresponds to a hoisting torque of 40 Nm
Torque setpoint that can be continually entered to prevent load sag:
• P1511 = 2050.3 word 4 PROFIBUS
• A torque stroke of 53 Nm should be pre-controlled:
(53 Nm/ 97 Nm) ● 4000 H = 2186 H should be entered at PROFIBUS
A&D SD Page 41/47

P1511=... CI: Supplementary torque setpoint 0:0 Frequent settings:

Selects the source of the supplementary 2889 Fixed setpoint 1 in %
torque setpoint.. 2890 Fixed setpoint 2 in %
755.0 Analog input 1
755.1 Analog input 2
2015. 2 USS (BOP link)
2018. 2 USS (COM link)
2050. 2 CB (e.g. Profibus)
r1515=... CO: Supplementary torque setpoint

Indicates the supplementary torque setpoint.
P2003=... Reference torque FC spec.

The reference torque P2003 corresponds to a normalized value of 100% or 4000H.
"Droop
input"
Pre- r1518
control
Kp Tn
r1170
– *) PI r1538 r1538
speed
Freq. setpoint controller
–
Ti Torque
r0063 setpoint
r1539 r1539
r1508 r0079
Actual frequency
r1515
CI: Add. trq. setp

P1511.C
(0:0)
Ti Kp Tn
*) only active, if the pre-control has been activated SLVC: P1452 P1470 P1472
(P1496 > 0) VC: P1442 P1460 P1462
A&D SD Page 42/47

Appendix
11 Appendix
11.1 Function charts
A&D SD Page 43/47

A&D SD
P1240 P1335 P1338
P1200
Vdmax Slip Resonance
Flying start
controller compensation damping
CO: Act outp. freq

r0024
f(VDC)
FP 4600
active
active
from AFM + + −
RFG
+ + + Frequency output to
modulator
r1119 r1170 r0063 n/f(max) +
control reserve
CO:Setp before RFG CO:Setp. after RFG CO: Act. frequency
PID trim
Motor temperatur CO:Imax ctrl Foutp

Inverter temperatur r1343
Imax frequency ctrl.
i2t inverter
P1340 CO/BO:Stat MotCtrl
Motor ovl fact [%] Imax controller setpoint P1341 r0056
10.0 ... 400.0 [%]
− Imax voltage ctrl. r0056.13
P0640.D (150.0) r0067 + P1345 CO:Imax ctrl Voutp
CO: Outp cur limit [A] P1346
Rated mot. current r1344
0.01 ... 10000.00 [A] Current feedback
P0305.D (3.25)
CI: Voltage setp. r0068
P1330.C CO: Output current [A] Control mode
P1350
(0:0) 0 ... 23
Voltage
P1300.D (0) CO: Act.outp. volt
build-up
r0025
P1300
V/f characteristic 19 −
+
FCC + Voltage output to
+ modulator
Voltage boost
P1310 ... P1312
1 2 3 4 5 6 7 8
V/f Control Function diagram
- 6100 -
Overview of V/f Control 05.08.2002 V2.0 MICROMASTER 440
Page 44/47
Appendix
Torque/current limit Current control,

Speed control Modulator
Flux setpoint Observer model
Sheet 7500 Sheet 7700 Sheet 7900
A&D SD
Motoring power lim
0.0 ... 8000.0
CO: Upper trq. lim P1530.D (0.75) Regener. power lim
-99999.0 ... 99999.0 [Nm] -8000.0 ... 0.0
P1520.D (5.13) P1531.D (-0.75)
CI: Upper trq. lim
CO: Lower trq. lim P1522.C
-99999.0 ... 99999.0 [Nm] (1520:0)
P1521.D (-5.13) CI: Lower trq. lim
P1523.C Int.time cur. ctrl *)
Torque 6
(1521:0) limitation 1.0 ... 50.0 [ms]
Scal. low trq. lim P1717.D (4.1) CO: Act. Vdc [V]
-400.0 ... 400.0 [%]
Gain of n-ctrl. Tn of n-ctrl. Gain current ctrl. *) r0070
P1525.D (100.0) Motor ovl fact [%]
Max.frequency 0.0 ... 2000.0 25 ... 32001 [ms] 10.0 ... 400.0 [%] 0.0 ... 5.0 4 5
0.00 ... 650.00 [Hz] 1 P1460.D (3.0) P1462.D (400) P0640.D (150.0) P1715.D (0.25)
CO: Act. outp.volt [V] CO: Output current [A]
P1082.D (50.00) CO:Setp. after RFG [Hz]
r0072 r0068
r1170
from setpoint x
channel y
− – –
Max.frequency
Sheet 7800 r0030
0.00 ... 650.00 [Hz]
P1082.D (50.00) CO: Torque gen.cur [A] Voltage
Asyc.
CO: Fval flux setp Mot. 3~
50.0 ... 200.0 [%] CO: Max. outp.volt [V] Kp Tn
P1570.D (100.0) r0071
Filter time n_act. Scal acc. prectrl.
0 ... 32000 [ms] 0.0 ... 400.0 [%]
P1442.D (4) P1496.D (0.0) Pulsefrequency
Efficiencyoptimiz
Tot/mot inert.rat. 0 ... 100 [%] – 2 ... 16 [kHz]
1.000 ... 400.000 P1580.D (0) P1800 (4)
From Encoder P0342.D (1.000)
r0029
Inertia[kg*m^2]
Note 0.00010 ... 1000.0 CO: Flux gen. cur. [A]
The current injection of P1610 is P0341.D (0.00180)
r0066 3
only calculated when the observer

model is off. + + CO: Act. outp freq [Hz]
r0063 CO: Act. frequency [Hz] Current Observer
r0050 = act. command data set model r0065 model
(CDS) CO: Slip frequency [%]
r0051.1 = act. drive data set 2
(DDS) Kp n-adapt. (SLVC)*) Tn n-adapt. (SLVC) *)
*) only access level 4 0.0 ... 2.5 1.0 ... 200.0 [ms]
P1764.D (0.2) P1767.D (4.0)
**) settable via P1000
1 2 3 4 5 6 7 8
Vector Control Function diagram
- 7010 -
Overview of Speed Control with Encoder (VC): P1300 = 21 and P1501 = 0 15.04.2002 V2.0 MICROMASTER 440
Page 45/47
Appendix
FP7710
from torque limitation b
r1508
FP7710
A&D SD
from torque limitation a
r0079
Droop input source
0 ... 3
Droopscaling P1488.D (0)
0.0 ... 0.50
P1489.D (0.05) 0
CO: Droop freq. [Hz]
Enabledroop 0
0 ... 1 r1490
P1492.D (0) 1
1
2
0 3
0 Inertia[kg*m^2] Tot/mot inert.rat.
0.00010 ... 1000.0 1.000 ... 400.000
P0341.D (0.00180) P0342.D (1.000)
CO: Accel. torque [Nm]
r1518
Speedprecontrol
to torque limitation
FP7710
Gain of n-ctrl. **) Tn of n-ctrl. **)
CO: Freq. setp ctl [Hz] 0.0 ... 2000.0 25 ... 32001 [ms]
Scal acc. prectrl. P1460.D (3.0) P1462.D (400)
0.0 ... 400.0 [%] r1438 CO:Int.outp n-ctrl [Nm]
P1496.D (0.0) CO: Dev. freq ctrl [Hz] r1482
r1538
r0064
Kp Tn
0
−
from ramp generator r1539
>
− Speed controller output
0
− to torque limitation
Max. freq setpoint [Hz] r0062 FP7710
r1084 CO: Freq. setpoint [Hz] BI: Set integrator
Filter time n_act.
0 ... 32000 [ms] P1477.C
Config. of n-ctrl.
P1442.D (4) (0:0) 0 ... 3
CO:Act rotor speed [Hz] CO: Act. frequency [Hz] CO: Act. filt freq [Hz] *)
CI: Set int. value P1400.D (1)
r0061 r0063 r1445
P1478.C
from speed measurement (0:0)
Forwardspeed
to observer model
*) only access level 4 FP7900
**) changeable in run via DDS
1 2 3 4 5 6 7 8
Vector Control Function diagram
- 7510 -
Speed Controller with Encoder (VC): P1300 = 21 and P1501 = 0 15.04.2002 V2.0 MICROMASTER 440
Page 46/47
Appendix
References
11.2 References
/1/ Micromaster 440

0.12 – 250 kW
Operating Instructions
Order No.: 6SE6400-5AW00-0AP0
/2/ Micromaster 440

Parameterliste
Order No.: 6SE6400-5BB00-0AP0
/3/ Micromaster
Micromaster 410/420/430/440 Drive Converters
0.12 – 250 kW
Catalog DA51.2
Order No.: E86060-K5151-A121-A4
/4/ Low-Voltage
Squirrel-Cage Induction Motors
Frame sizes 56 - 450
0.06 – 450 kW
Catalog M11
Order No.: E86060-K1711-A101-A3
/5/ MICROMASTER 440 engineering braking chopper operation

http://support.automation.siemens.com/WW/view/en/22101908
/6/ MICROMASTER 440 Measuring the magnetizing current

/7/ MICROMASTER 440, FX and GX with a MASTERDRIVES braking unit

A&D SD Page 47/47

Application For Drive Technology: Micromaster 4

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Hoisting Gear – Engineering and Commissioning

Conveyor Systems – Hoisting Gear – Engineering and Commissioning

1 Warranty, Liability and Support

does not imply a change in the burden of proof to your detriment.

These Application Examples do not relieve you of the responsibility in

Copyright© 2005 Siemens A&D. It is not permissible to transfer or

A&D SD Page 2/47

Conveyor Systems – Hoisting Gear – Engineering and Commissioning

2 Definitions and Warnings

2.2 User group

The application software and the application example were developed to

A&D SD Page 3/47

Conveyor Systems – Hoisting Gear – Engineering and Commissioning

2.3 Applicable conditions

2.4 Information regarding trademarks

SIMOVERT® is a Siemens registered trademark

Version Date/change Author

A&D SD Page 4/47

Conveyor Systems – Hoisting Gear – Engineering and Commissioning

These instructions are used to commission hoisting gear equipment. Please

3.2 Hoisting gear – applications

MM440 frequency converters can be especially recommended for cranes with

3.3 Validity/ restrictions

o This application document describes the closed-loop control

o It should be clearly pointed-out that at the present time, the

A&D SD Page 5/47

Conveyor Systems – Hoisting Gear – Engineering and Commissioning

o Presently, we do not recommend additional operating modes as

o When using the parameter assignments recommended in

o In this document, reference is made in the literature references

3.4 Information and instructions when selecting/dimensioning motors

3.4.1 Selecting/dimensioning motors and frequency converters using SIZER

3.4.2 Rough selection/dimensioning of motors and converters for VC with

The rough selection/dimensioning described here has proven itself in practice

A&D SD Page 6/47

Conveyor Systems – Hoisting Gear – Engineering and Commissioning

Encoder Motor Gear Rope drum

Fig. 3.4.2: Diagram showing the essential quantities of a hoisting gear

a) Calculating the rated hoisting power

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Conveyor Systems – Hoisting Gear – Engineering and Commissioning

b) Calculating the shaft speed nM of the motor from:

d = cable drum diameter in [m]

c) Calculating the required rated hoisting torque Mnh for v = constant:

The motor supplies the following maximum torque:

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Conveyor Systems – Hoisting Gear – Engineering and Commissioning

e) Calculating the max. motor current Imaxm:

e1) Torque overload factor m:

m = Mhmax / Mnm = 186 Nm / 98 Nm = 1,9

e2) Calculating the max. motor current Imaxm:

cos φ = 0.84, from the Catalog

Io = Inm ● (1 – cos φ)½ = 28,5 A ● (1 – 0,84)½ = 11,4 A

With Io = magnetizing current in [A]

Iw = (In² – Io)½ = (28,5 A² - 11,4 A²)½ = 26, 1 A

With Iw = active current in [A]

Imaxm = (Io² + (m ● Iw)²)½ = (11,4 A² + (1,9 ● 26,1 A)²)½ = 51 A

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Conveyor Systems – Hoisting Gear – Engineering and Commissioning

f) Selecting and dimensioning the frequency converter:

A 6SE6440-2UD31-8AD1 frequency converter with 18.5 kW power and a

already calculated, refer to e): Imax = 54 A