EN ACS800 Anti Sway CTRL PRG Supplement B

ABB industrial drives
Supplement
ACS800 Anti-sway control program (+N816)
List of related manuals
Drive hardware manuals and guides Code (English)
Hardware manual (appropriate Hardware manual is
delivered with the drive).
Drive firmware manuals and guides

ACS800 Application Program Template 7.x Firmware 3AFE64616340
manual
ACS800 Crane control program 7.x (+N697) Firmware 3AFE68775230
manual
ACS800 Crane Drive Control Program (+N652) Firmware 3BSE011179R1625
manual
Option manuals and guides
Option manuals (appropriate Option manual is delivered
with the option device).
You can find manuals and other product documents in PDF format on the Internet. See section
Document library on the Internet on the inside of the back cover. For manuals not available in the
Document library, contact your local ABB representative.
Supplement
ACS800 Anti-sway control program (+N816)
Table of contents
2. Start-up and control
 2013 ABB Oy. All Rights Reserved. 3AUA0000094750 Rev B

EN
EFFECTIVE: 2013-05-08
5
Table of contents
1. Introduction to the supplement

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Target audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Related documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2. Start-up and control

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Checklist for a Quick Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Control operation and default I/O connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Connection to I/O extensions module RDIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Optical link connections and parameter settings when the hoist has the ACS800 Crane
control program (+N697). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3. Program features
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Programming details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
How the anti-sway works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Sway tracking function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Automatic ON switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Ramp times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Limit switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Joystick supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Brake supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
DIIL OFF 3 masking of digital input DI7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Anti-sway communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Fieldbus communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Received data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Control of the brake through the fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Transmitted data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Anti-sway communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Master/follower communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Commissioning instructions for the anti-sway function . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Measuring and calculating a real pendulum arm with an empty hook . . . . . . . . . . . . 30
Hook in UP position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Hook in LOW position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Test with an empty hook . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Pendulum arm offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
1. Settings in the weight sensitive mode: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
2. Settings for the offset step logic: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3. Writing offset directly through the fieldbus: . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
6
4. Auto mode for offset selection: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4. Signals and parameters

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
01 Actual signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
06 Asway signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
10 Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
14 Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
16 System control inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
17 DC hold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
21 Start/Stop func . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
22 Accel/Decel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
28 Motor model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
64 Crane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
67 Mechanical brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
75 Anti-sway inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
76 Hoist 1 pendulum calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
77 Hoist 2 pendulum calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
95 Hardware specific . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
5. Appendices
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Appendix 1: Complete signal list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Appendix 2: Short parameter list and default settings . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Appendix 3: Parameters hidden by default (16.10 = SHORT) . . . . . . . . . . . . . . . . . . . . 75
Appendix 4: Motor potentiometer and virtual torque . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Motor potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Virtual torque control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Appendix 5: Communication examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Example 1: Paper machine, wet end . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Main hoists 1 (50 tonn) and 2 (50 tonn) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Auxiliary hoist 3 (80 tonn) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Example 2: Main hoist, auxiliary hoist, two trolleys, long travel (I/O controlled) . . . . 81
Main hoist (hoist 1.1 + hoist 1.2), Crane control program . . . . . . . . . . . . . . . . . . 81
Trolley for main hoist (trolley 1), Anti-sway control program . . . . . . . . . . . . . . . . 81
Auxiliary hoists 1 and 2 with common trolley, Crane control program . . . . . . . . . 81
Long travel 1 and 2, Anti-sway control program . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Example 3: Main hoist, auxiliary hoist, two trolleys, long travel . . . . . . . . . . . . . . . . 83
Main hoist (hoist 1.1 + hoist 1.2), Crane control program . . . . . . . . . . . . . . . . . . 83
Trolley for main hoist (trolley 1), Anti-sway conrol program . . . . . . . . . . . . . . . . . 83
Auxiliary hoists 1 and 2 with common trolley (trolley 2), Crane control program . 83
Long travel 1 and 2, Anti-sway control program . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Appendix 6: ACS800-11 and Anti-sway control program . . . . . . . . . . . . . . . . . . . . . . . 85
Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Supplement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Further information
Product and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
7
Providing feedback on ABB Drives manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Document library on the Internet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
8
Introduction to the supplement 9
1
Introduction to the supplement
What this chapter contains

This chapter describes the contents of the supplement. It also contains information on the
compatibility, safety and intended audience.
Compatibility
This supplement applies to the ACS800 Anti-sway control program (+N816) version
A9XR7040 or later (the control program version can be found from a signal 04.01 SW
PACKAGE VER). Older control program version is supported in a manual revision A.
The Anti-sway control program (+N816) is meant only for a trolley and long travel
movements. This Anti-sway control program supports the ACS800 single drive and
multidrive hardware.
In a hoist drive one of the following ACS800 Crane control program are prefer:
• ACS800 Crane control program (+N697, version AQCR71xx)
• ACS800 Crane drive control program (+N652, version ACXR77xx)
• ACS800 DEMAG/ADE 4 Crane (+N672, version DEXR44xx, sales only for DEMAG
Cranes)
• All other hoist drive solutions case-by-case; consult your local ABB representative.
The hoist drive or overriding system (PLC) should include a method for position
measurement of the hook for example, pulse-encoder or potentiometer.
10 Introduction to the supplement
Crane construction overview with the anti-sway drives
Safety instructions
Follow all safety instructions delivered with the drive.
• Read the complete safety instructions before you install, commission, or use the drive.
For single drive the complete safety instructions are given at the beginning of the
hardware manual. For multidrive safety instructions, see ACS800 Multidrive Safety
Instructions [3AFE64760432 (English)].
• Read the software function specific warnings and notes before changing the default
settings of the function. For each function, the warnings and notes are given in the
subsection describing the related user-adjustable parameters.
Target audience
The reader of the supplement is expected to know the standard electrical wiring practices,
electronic components, and electrical schematic symbols.
Introduction to the supplement 11
Contents
This ACS800 Anti-sway control program supplement describes the operation and the
settings of the anti-sway function of the Anti-sway control program. The rest of the
program is equal to the ACS800 Application Program Template 7.x which is documented
in the ACS800 Application Program Template Firmware Manual 7.x (3AFE64616340
[English]).
This supplement consists of the following chapters:
• Start-up and control points out the items to remember at the drive start-up. It also
refers to the related documents for further information.
• Program features describes the operation of the anti-sway function, the core of the
Anti-sway control program.
• Signals and parameters describe the user adjustable settings for tuning the operation
of the anti-sway function.
• Appendices
Related documents
We have done the Anti-sway control program on basis of the ACS800 Application program
template. This supplement has description for anti-sway related parameters and functions.
The rest of functionalities and parameter descriptions are in ACS800 Application Program
Template 7.x Firmware Manual (3AFE64616340 [English]).
List of related manuals is printed on the inside of the front cover.
12 Introduction to the supplement
Start-up and control 13
2
Start-up and control

This chapter descripes the basic commissioning procedure of the drive with the Anti-sway
control program.
General
Before any actions or settings of the anti-sway functionality (groups 75…77):
• Do the basic start-up settings for all crane drives (hoist, trolley, long travel).
• Make sure that the whole crane operates as planned without the anti-sway.
Finally do the settings for the anti-sway functionality.
14 Start-up and control
Checklist for a Quick Start-up

Step Action Additional information
Install the drive and wire the power See appropriate Hardware manual delivered with the
and control cables. drive. For the default control connections, see section
Control operation and default I/O connections on page15
and section Connection to I/O extensions module RDIO
on page 16.
Enter the commissioning data See the ACS800 Application Program Template 7.x
parameters (group 99 Start-up data) Firmware manual (3AFE64616340 [English]) chapter
and perform motor identification. Commissioning; ACS800 SingleDrive.
In case of ACS800-11, see chapter Appendices section
Appendix 6: ACS800-11 and Anti-sway control program
on page 85.
If ID run will be performed, the motor If you need to do the ID run and load is more than 20% of
load must be less than 20%. the nominal: Decouple the shaft of the motor from the
driven wheel, or lift the crane so that the wheels can
rotate freely.
Set the basic application data: By control panel or DriveWindow.

• Group 10 (Digital inputs)
• Group 14 (Digital outputs)
• Group 20 (Limits)
• Group 22 (Ramp times)
• Group 37 (Brake chopper)
• Parameter 50.01 SPEED SCALING
• Group 64 (Crane) When the drive is controlled through the fieldbus the
parameter 64.01 STAND ALONE SEL must be
• Group 67 (Brake control) FALSE, see chapter Program features section
• Group 98 (Option modules) Fieldbus communication on page 23.
Adjust speed controller parameters in See the ACS800 Application Program Template 7.x
the group 24 Speed control according Firmware manual (3AFE64616340 [English]) chapter
to the mechanical response of the Parameters.
crane.
Typical values are:
24.03 KPS = 5…50
24.09 TIS = 0.2…0.5 s.
24.14 ACC COMP DER TIME =
50…100% of acceleration time with
nominal (100%) motor torque.
Parameter 24.12 DERIVATION TIME
should be set to zero. Acceleration
compensation is recommended,
setting to 50…100% of acceleration
time (with no load onboard) with
nominal motor torque.
Execute test run of the crane without Be sure that all control actions like start/stop, brake open
the anti-sway function (set parameter & close, limit switches etc. work as planned.
75.01 ANTISWAY ON SEL = OFF).
Set the anti-sway parameters. See chapter Program features on page 17.
Start-up and control 15
Control operation and default I/O connections

For the external control through the digital and analogue inputs, see the Anti-sway control
program default I/O connections diagram below.
By default, AI2 and AI3 are used for reading hoist 1 position and load. These can be
change if another source for these signals is selected in parameter group 75 Anti-sway
inputs on page 47.
Relay output 1 controls the mechanical brake by default. The relay outputs can be
adjusted as described in the Firmware Manual for ACS800 Application Program Template
(3AFE64616340 [English]).
Anti-sway control program default I/O connections
X20
1 VREF- Reference voltage -10 V DC, 1 kohm < RL
2 AGND < 10 kohm
X21
1 VREF+ Reference voltage 10 V DC, 1 kohm < RL <
2 AGND 10 kohm
3 AI1+ Speed reference 0(2) ... 10 V,
4 AI1- Rin > 200 kohm
5 AI2+ Hoist position. 0(4) ... 20 mA,
6 AI2- Rin = 100 ohm
7 AI3+ Hoist load.. 0(4) ... 20 mA,
8 AI3- Rin = 100 ohm
rpm 9 AO1+ Motor speed (Par. 15.01) 0(4)...20 mA
10 AO1- = 0...motor nom. speed RL < 700 ohm
A 11 AO2+ Output current (Par. 15.06) 0(4)...20 mA

12 AO2- = 0...motor nom. current, RL < 700 ohm
X22
1 DI1 START A, (Forward) (Par. 10.15)
2 DI2 START B, (Reverse) (Par. 10.16)
3 DI3
4 DI4
5 DI5
6 DI6 Anti-sway ON (Par. 75.01)
7 +24VD +24 V DC max. 100 mA
8 +24VD
9 DGND1 Digital ground
10 DGND2 Digital ground
11 DIIL Start interlock (0 = stop) 1)
1)
See parameter X23
67.06 DIL_TON_TD 1 +24V Auxiliary voltage output/input, non-isolated,
2 GND 24 V DC 250 mA
X25
1 RO1 OPEN THE BRAKE
2 RO1 (Par. 14.02 and 14.03)
3 RO1
X26
1 RO2 RUNNING
2 RO2 (Par. 14.04 and 14.05)
3 RO2
X27
1 RO3 FAULT
2 RO3 (Par. 14.06 and 14.07)
3 RO3
16 Start-up and control
 Connection to I/O extensions module RDIO

If you need to connect more digital inputs to the drive than what is available as standard,
equip the drive with the I/O extension module, RDIO. RDIO-01 must be activated by the
parameter 98.03 DI/O EXT MODULE 1.
Note: DI/O EXT MODULE 3 (Par. 98.05) is not supported.
Function of each relay output of RDIO-01 reflects the corresponding relay output on the
RMIO board:
• RMIO RO1 = DIO EXT 1 RO1
• DIO EXT 2 RO2 = not in use
RDIO with load-offset selections
Terminal X21
1 R1NC Relay output 1
2 R1CM Brake lift
24 ... 250 V DC
or 3 R1NO
230 V AC Terminal X22
1 R2NC Relay output 2
2 R2CM Running
0V
3 R2NO
Terminal X11
1 DI1A Offset 1 selection
2 DI1B
Terminal X12
1 DI2A
2 DI2B
3 DI3A Offset 2 selection
4 DI3B
 Optical link connections and parameter settings when the hoist has
the ACS800 Crane control program (+N697).
More examples for communication, see chapter Program features section Anti-sway
communications on page 22 and chapter Appendices section Appendix 5: Communication
examples on page 78.
Program features 17
3
Program features

This chapter describes the operation of the anti-sway function.
Programming details
The Anti-sway control program has been programmed using the Function Chart Builder
(FCB) tool for the Motor control and I/O board (RMIO).
The Anti-sway control program A9XR7040 or newer support RMIO-01/02 and RMIO-11/12
Motor control and I/O board.
The program is based on the ACS800 Application Program Template version ATXR7000.
How the anti-sway works

The Anti-sway control program is mainly designed for indoor cranes.
The anti-sway adjusts the operator given speed reference in a way that it will not cause
sway of the load.
The Anti-sway control program works without additional anti-sway sensors (open-loop).
The control method is based on a mathematical model of real lifted load behavior when the
actual length of pendulum arm is known.
18 Program features
Operation principle of the Anti-sway control program
Total pendulum arm length (measured length of the rope + offset)
When pendulum arm length (length of the rope + offset) is known, the Anti-sway control
program can calculate the sway motion by using the time constant (tau) of the pendulum.
The Anti-sway control program receives the rope length value either from the control
program of the hoist drive or from a overriding PLC.
The Anti-sway control program defines the offset by using one of these methods:
• Weight sensitive method (load information are needed from hoist or from load cell)
or
• Digital inputs and predefined offset values ( = step reference logic)
or
• Offset value is written into the anti-sway drive from an overriding system through
fieldbus
or
• Auto mode, when load is lifted from the same level every time.
Program features 19
When offset definition is based on the load actual value, it can be form either:
1. Internally in the anti-sway drive calculates load from actual torque and speed of the
hoist drive. For this it is needed optical connection between hoist and anti-sway drive
(CH0->CH2, DDCS communication).
2. Connecting a load cell to the overriding system and transmit it to the anti-sway drive
via fieldbus.
3. Connecting a load cell directly to the anti-sway drive (AI).
When the time constant of the swaying is known, the Anti-sway control program can
control acceleration/ deceleration in such a way that swaying is eliminated.
Note: Accuracy of the anti-sway is as good as known real pendulum arm length.
Because there is no feedback signal for the real load sway, the anti-sway function cannot
compensate the effect of external disturbances such as wind or un-direct lifting, or the
difference between behavior of the real pendulum and behavior of the pendulum model in
the frequency converter (wrong settings during start-up).
The Anti-sway control program cannot compensate effects like un-direct lifting, wind, or
wrong settings made in start-up.
In short, for successful operation the Anti-sway control program should have actual values
from the hoist such like:
1. Load/torque. In case hoist and anti-sway drives have DDCS communication (CH0 ->
CH2) anti-sway drives calculate actual load from actual hoist torque.
2. In case the value comes through a fieldbus (PLC), a continuously monitored weight of
load (eg. proportional to “tons”) instead of hoist motor torque is required.
3. Hook position/rope length.
4. Speed reference in case that hoist torque is used for load calculation. This needs
DDCS communication (CH0 -> CH2).
 Sway tracking function

The pendulum state calculation is activated whenever the speed reference is changing;
this allows load swing compensation even if the anti-sway function is enabled after the
crane movement has already started.
If sway tracking is enabled (parameter 75.08 EN_SWAY TRACKING) and the anti-sway
function is disabled (parameters 75.01 ANTISWAY ON SEL and 75.09 EN_AUTO ON),
then the Anti-sway control program will track the sway movement caused by the given
speed reference. If the anti-sway function is enabled during acceleration, the Anti-sway
control program will compensate the existing (calculated) sway.
20 Program features
If sway tracking is disabled (parameter 75.08 ) and the anti-sway function is disabled
(parameters 75.01 and 75.09), then the Anti-sway control program will not track the sway
movement. This gives the possibility for the crane driver during start (during hoisting) to
compensate manually the initial sway before enabling the anti-sway function.
 Automatic ON switching
Switching the anti-sway function ON and OFF can be automated based on hoist position
(parameters 75.09, 76.18 and 76.19).
If it is frequently necessary to manually correct the initial sway during hoisting of the load
(eg. trolley movement of waste-handling grab cranes), it is possible to define a certain
lifting range where the anti-sway function is always ON. Outside that range, it is always
OFF. The AUTO ON function operates only while the anti-sway function is switched ON. If
the anti-sway function is disabled, then the AUTO ON function has no effect.
 Ramp times
When the anti-sway function is disabled, the ramp times in the parameters 22.01 and
22.02 are effective (See parameters 22.01 ACCELER TIME and 22.02 DECELER TIME in
Application Program Template 7.x Firmware manual (3AFE64616340 [English]).
When the anti-sway function is enabled, the ramp times are taken from parameter 22.09
ASWAY RAMP TIME [s].
In many cases, a higher acceleration rate can be utilized when driving the crane with the
anti-sway function.
 Limit switches
The distance to stop the crane from full speed can be estimated using the following
formula (units are SI units):
v
s = ---   + t acc  ,t acc = deceleration time
4
Hereis the longest possible pendulum time constant. It can be estimated from the
hoisting height
 = 2 h
2
4h
 = ------------
g
(approximation from ,g = gravity, h = length of pendulum arm)
Example: Hoisting height is 16 m, crane full speed is 30 m/min (= 0.5 m/s), normal
deceleration time for manual driving is 5 sec (parameter 22.02). For a linear ramp (anti-
sway OFF), the slowdown distance of the crane would be
1 1 m
s = --- v  t acc  ---  0 5 ----  5 s = 1 25m
2 2 s
With anti-sway engaged the basic ramp time can be set shorter, for example 4 seconds
(parameter 22.09 ASWAY RAMP TIME [s]). The slowdown distance of the load is in this
case:
 = 2  16 = 8 s
0 5ms
s = ----------------   8 s + 4 s  = 1 5m
4
Program features 21
Note: Stopping without anti-sway (with linear ramp) in this example would cause some
overshoot of the load (swaying) which would make the real stopping distance of the load
longer than calculated (1.25 m).
With anti-sway (1.5 m), there is no overshoot problem, the load will travel perpendicular
position to trolley (because the load will stop to equilibrium).
Note: Setting of the S-curve ramp (parameter 22.05 SHAPE TIME [s]) is assumed to be
zero in this example.
Joystick supervision
If joystick supervision is activated (parameter 10.18 JOYSTICK ZERO P (*), the zero
position input shall be zero for the start command to be executed.
In the case of OFF 3 (DIIL) or fault trip, the drive will not be able to activate the next start
until the zero position OK signal has been detected.
When switching master/follower control ON or OFF, the start command will be removed
and the drive will not be able to activate the next start until the zero position OK signal has
been detected.
Zero position OK = no active start command AND zero position input must be active for
longer than time 67.07 ZERO_POS_OK_TD (* [s].
The drive generates ZERO POS WARNING if one of the following occurs for longer than
time 67.08 JOYSTICK_WARN_ DLY (* [s]:
• Both Start commands A and B simultaneously (the drive will internally remove start
command for normal stop in this situation).
• Zero position input is true and the reference is greater than 10%.
• Zero position input and either Start A or start B commands are true simultaneously.
Brake supervision
If brake supervision is activated (parameter 10.17 BRAKE ACKN SEL), the brake
acknowledge input status shall follow the brake lift signal status. If there is discrepancy
between these signals for longer than time 67.05 BRK ACK MIN DLY [s], the drive will trip
and indicate BRAKE FAULT.
DIIL OFF 3 masking of digital input DI7

Alarm message EM STOP has been masked away from the fault history to prevent filling
up the fault logger.
22 Program features
Anti-sway communications
In the anti-sway drive (trolley and/or long travel) can exist communication for three
different purposes:
1. Fieldbus communication from a overriding system, for general control matter and for
control of the anti-sway functionality itself like hoist position and load signals for
pendulum arm definition.
2. Anti-sway communication for delivering signals from the hoist drive into the anti-
sway functionality such like hoist position, hoist torque and speed reference. Anti-
sway drives (trolley and long travel) form a chain, trolley delivers data of the hoist to
the long travel. Communication use optical channels CH0 and CH2 with the RDCO-xx.
3. Master/follower communication when eg. two trolley working in same bridge or two
drives is used to move long travel.
Program features 23
 Fieldbus communication
General
When overriding system (PLC) is used for control of the anti-sway drive (start/stop/speed
reference) through a fieldbus then value of the parameter 64.01 STAND ALONE SEL
should be FALSE.
The communication is supervised continuously. See parameters 30.25 COM LOSS CTRL
and 30.26 MAIN REF DS T-OUT in ACS800 Application Program Template 7.x Firmware
manual (3AFE64616340 [English]).
Received data
This part is used to receive signals from an overriding system via fieldbus. Check the
respective fieldbus adapter user's manual for limitations on the number of words possible
for sending and receiving.
Receive Datasets 1 and 3 (alt. 10 and 12)
Dataset word Signal Range correspond to Description
+/- 20000
DS1.1 (DS10.1) FB COMMAND WORD Command word (fixed) (06.07)
DS1.2 (DS10.2) DRIVE SPEED REF - Par. 50.01… Drive speed reference (fixed)
+ Par. 50.01
DS1.3 (DS10.3) HOIST POSITION - 20000 Hoist position
+ 20000 (If Par. 75.03 = COMM MODULE)
(PROFIBUS: PZD3OUT = 3)
DS3.1 (DS12.1) HOIST LOAD - 200%…+ 200% Hoist load
(If Par. 75.04 = COMM MODULE)
(PROFIBUS: PZD4OUT = 7)
or or
PAR VALUE 1 - 32767…+ 32767 PZD4OUT = xxyy
or (with N-type modules):
PZD4OUT = 7
Par. 90.01 AUX DS REF3 = xxyy
DS3.2 (DS12.2) PAR VALUE 2 - 32767…+ 32767 PZD5OUT = xxyy
(or PZD5OUT = 8,
Par. 90.02 AUX DS REF4 = xxyy)
DS3.3 (DS12.3) PAR VALUE 3 - 32767…+ 32767 PZD6OUT = xxyy
(or PZD6OUT = 9,
Par. 90.03 AUX DS REF5 = xxyy)
SPEED signals have scaling: 20 000 corresponds to parameter 50.01 SPEED SCALING
[rpm] (See parameter 50.01 SPEED SCALING in ACS800 Application Program Template
7.x Firmware manual (3AFE64616340 [English]).
To check communication from the PLC, see eg. following signals:
• 06.07 FB COMMAND WORD, see control bits descriptions in the table below.
• 06.08 FB REF 1, speed reference into the drive.
• 06.10 HOIST POSITION, hook/hoist position.
• 06.11 HOIST TORQUE, hoist load value.
24 Program features
FB COMMAND WORD = Dataset 1 Word 1 (signal 06.07)

Bit / Integer Name Value Description
0 = Bit 0, LSB ON 1 Command to RDYRUN
1 0 Command to OFF (brake will be closed immediately)
1 OFF2 1 No OFF2 (Emergency Coast)
2 0 Command to ON INHIBIT (brake will be closed
immediately)
2 OFF3 1 No OFF3 (Emergency Ramp, see parameters 21.04 EME
4 STOP MODE and 22.04 EME STOP RAMP [s]).
0 Command to ON INHIBIT (brake will be closed
immediately)
3 RUN 1 Start from overriding control, command to RDYREF
8 0 Stop by coasting (brake will be closed immediately)
4 MOTOR_POT 1 Accelerate (Par. 10.10 = COMM BIT4)
16 0 Last speed
5 VIRTUAL TQ 1 Torque control (Par. 10.14 = COMM BIT5)
32 CTRL 0 No torque control
6 M/F_ON 1 Master/follower (Par. 10.12 = COMM BIT6)
64 0 No master/follower
7 RESET 0 -> 1 Reset (0 -> 1)
128
8 ANTISWAY_ON 1 Anti-sway control ON (Par. 75.01 = COMM BIT8)
256 0 Anti-sway control OFF
9 HOIST_SEL 1 Hoist 2 selected (Par. 75.02 = COMM BIT9)
512 0 Hoist 1 selected
10 OFFSET_1 1 Offset 1 selected (Par. 76.05)
1024 0
2048 0 Note: If both bits 10 and 11 are active, then all offsets 1, 2
and 3 are added together.
12 EN_TRACKING 1 Enable sway tracking (Par. 76.08)
0
13 EN_AUTO ON 1 Enable AUTO ON (Par. 75.09)
0
14…15 (MSB) Not in use 1 These bits are not in use.
0
Command word bits 0…3 and 7 operation is defined in ACS800 Application Program
Template 7.x Firmware Manual (3AFE64616340 [English]) chapter Software description.
The bits 8…13 are meant for the anti-sway control.
Program features 25
 Control of the brake through the fieldbus

After the drive has reached running state (= RDY_REF status, RUN bit (3) in the FB
control word 0 ->1), if the speed reference is not zero the brake opens and the drive
follows the speed reference. If the speed reference becomes zero, the drive decelerates
to zero speed, closes the brake and stays running state until overriding system gives a
stop command using bits 0, 1, 2 or 3.
When overriding system (PLC) is used for control of the anti-sway drive (start/stop/speed
reference) through fieldbus then the parameter 64.01 STAND ALONE SEL should be set
FALSE.
 Transmitted data
This part is used to transmit signals from the drive to a supervisory controller via fieldbus.
Transmit Datasets 2 and 4
Dataset word Signal Range correspond to Description
+/- 20000
DS2.1 (DS11.1) MAIN WORD WORD See signal 08.01 MAIN STATUS
WORD (MSW) in ACS800 Application
Program Template 7.x Firmware
DS2.2 (DS11.2) SPEED ACT - Par. 50.01… Speed actual
+ Par. 50.01 (Par. 92.02 MAIN DS ACT1 = 101)
DS2.3 (DS11.3) TORQUE ACT - 200.00…+ 200.00 Torque actual (%)
(Par. 92.03 MAIN DS ACT2 = 107)
*) DS4.1 (DS13.1) FAULT WORD1 - 200%…+ 200% Application faults
(Par. 92.04 AUX DS ACT3 = 901)
*) DS4.2 (DS13.2) ALARM WORD Warnings
(Par. 92.05 AUX DS ACT4 = 904)
*) DS4.3 (DS13.3) FAULT WORD2 Motor control faults
(Par. 92.06 AUX DS ACT5 = 902)
*) Dataset 4 is meant for communication between the anti-sway drives, if the load and position data are sent to
another drive through optical link.
The above table shows the default values for parameters 92.02…92.06.
It is possible to change the content of the words DS2.2 to DS4.3, for example signal 06.02
PENDULUM ANGLE [m] can be connected to DS2.3 by setting parameter 92.03 MAIN DS
ACT2 = 602.
26 Program features
MAIN STATUS WORD (MSW)

Bit Name Value Description
0 RDY_ON 1 READY TO SWITCH ON
0 NOT READY TO SWITCH ON
1 RDY_RUN 1 Ready
0 Not ready
2 RDY_REF 1 OPERATION ENABLED (RUNNING)
0 OPERATION INHIBITED
3 TRIPPED 1 FAULT
0 No fault
4 OFF_2_STA 1 No OFF2
0 OFF2
5 OFF_3_STA 1 No OFF3
0 OFF3
6 SWC_ON_INHIB 1 SWITCH ON INHIBITED
0 No master/follower
7 ALARM 1 Alarm
0 No alarm
8 AT_SETPOINT 1 Setpoint/actual value monitoring in the tolerance
0
9 REMOTE 1 Remote control
0 Local control
10 ABOVE_LIMIT 1 Frequency or speed -> Par. SPEED ABOVE LIMIT
0
11…15 (reserved)
One example of the fieldbus communication parameter settings:

Program features 27
 Anti-sway communication
Anti-sway communication means communication from the hoist-drive to the anti-sway
drive (hoist position, hoist torque, hoist speed reference) or/and communication between
the anti-sway drives (trolley and long travel), see figure below.
Example of the anti-sway communication.
*) In case of Crane drive control program (+N652) or DEMAG/ADE4 (+N672)
Communication settings in the hoist drive:

• 70.01 CH 0 Address= 1
• 92.04 (92.01*) AUX1 DS ACT3 = 02.02 SPEED REF 3
• 92.05 (92.02*) AUX1 DS ACT4 = 02.21 POS ACT PPU
• 92.06 (92.03*) AUX1 DS ACT5 = 01.05 TORQUE
Communication settings in the trolley/long travel drive:
• 70.07 CH2 NODE ADDR=1
• 70.01 CH 0 ADDRESS=1
• 75.03 POS1 SIGNAL SEL = CH2
• 75.04 LOAD1 SIGNAL SEL =CH2
• 92.04 AUX1 DS ACT3 = 6.09 HOIST SP REF3
• 92.05 AUX1 DS ACT4 = 6.10 HOIST POSITION
• 92.06 AUX1 DS ACT5 = 6.11 HOIST LOAD TQ
To check communication, see following signals in the anti-sway drive:
• 06.09 HOIST SP REF3
• 06.10 HOIST POSITION
• 06.11 HOIST TORQUE
Note: Anti-sway control program forms from a values hoist torque and hoist speed the
load value by itself. When hoist data are not transmitted directly through optic link
(CH0 ->CH2), then the load information have to be define in source system as in PLC
program. Load signal is needed if pendulum arm offset determination based on that.
28 Program features
 Master/follower communication
Master/follower is standard feature of the ACS800 Application Program Template. Channel
CH2 on the optional RDCO board is used for the master/follower link.
Master/follower control must be in use with the anti-sway function, if there are separate
drives at both ends of the bridge or if two trolleys need to be driven with common speed
reference.
Speed correction signal if needed, can be added to follower speed reference by overriding
system via fieldbus (through parameter 23.04 SPEED CORRECTION, for example for
PROFIBUS set 51.09 "PZD5OUT" = 2304).
Fibre optic connection and parameter settings examples are shown in the Appendix 5:
Communication examples on page 78, anti-sway with fieldbus control, IO-control and with
master/follower communication.
Examples of parameter settings with separate drives at both ends of the bridge
(= Master/speed follower).
Master settings:
• 10.12 M/F = ON
• 70.07 = 1
• 70.08 CH2 M/F MODE = MASTER
• 70.09 = 604 (status word)
• 70.10 = 202.
Follower settings:
• 10.12 M/F = ON
• 70.01 CH2 ADDRESS = 1
• 70.08 MAST/FOLL MODE = FOLLOWER
WARNING! Follover diagnostics does not include supervision of the limit

switches. Follower limit switches must be connected also to the master drive
when master/follower function is engaged between two separate trolleys.
Note:
1. Follower does not follow master's start/stop command from master/follower link.
Therefore start/stop command for the follower should take from a same source as
master's one (fieldbus or DIO).
2. There is no torque reference selector in the Anti-sway control program. Therefore
follower is always speed controlled. This is meant for in case when two trolleys are
moving in a common bridge. If axels of the motors are connected to drive common
load (eg. long travel) set drooping for both drives.
3. It is recommended to activate the joystick supervision if master/follower control is in
use in I/O control (parameter 10.18 JOYSTICK ZERO P (*), see also section Joystick
supervision on page 21.
4. In case when both master/follower and anti-sway communications are in use they are
using same optical channels. See example of Optical fibre connections in case of
master/follower and anti-sway communication on page 29. For more information, see
Appendix 5: Communication examples on page 78.
Program features 29
Optical fibre connections in case of master/follower and anti-sway communication

30 Program features
Commissioning instructions for the anti-sway function

 Preparations
General parameter settings for anti-sway is in group 75 Anti-sway inputs. For the settings
of parameters, see chapter Signals and parameters on page 39.
The time constant of the real pendulum is estimated by means of parameters in the group
76 Hoist 1 pendulum calculation and (77 Hoist 2 pendulum calculation).
For the best result it is essential to define these pendulum arm calculation parameters as
accurately as possible. The mathematical length of pendulum arm can be different for
bridge and trolley directions, so these settings shall be done for both movements.
Before doing any anti-sway settings, go through following items:
1. It have been check that crane drives (hoist, trolley and long travel) work as planned ( =
trial runs have been done).
2. The position counter settings (rope length measurement) in the hoist drive or in an
overriding system (PLC) must be completed, (and the counter might be reset at upper
end limit switch or at reset point if existing).
The actual hook position can be seen in signal 02.21 POS ACT [mm] (+N697 crane drive)
and in 06.01 POS ACT PPU (anti-sway drive).
For more information, refer to the either:
• ACS800 Crane control program 7.x (+N697) Firmware Manual (3AFE68775230
[English]).
• ACS800 Crane Drive Control Program +N652 Firmware Manual (3BSE011179R1625
[English])
3. Anti-sway communication works between hoist, trolley and long travel (position and
torque) or the same data are get from the PLC through a fieldbus.
 Measuring and calculating a real pendulum arm with an empty hook

Measuring and calculating the real pendulum length/arm, note that the real pendulum arm
length are not same as length of the rope. With following procedure the length of rope and
real pendulum arm length are set to coincide to each others.
• This should done with an empty hook.
• The anti-sway function has to be switched OFF(75.01 ANTISWAY ON SEL =
OFF).
• The mathematical length of pendulum arm can be different for bridge and trolley
directions, so these settings should be done for both movements.
• Move eg. the trolley so that the load starts to swing, by using eg. emergency stop/fast
stop.
• Measure the time of five (5) full oscillations by using stop watch.
• Divide the measured time by number of full oscillation cycles (5), see figure Length of
rope and real pendulum arm length are set to coincide to each others on page 32. The
result is the time constant () of the pendulum.
• The pendulum length can be calculated with from a formula:
Pendulum length [m] = 0.25 ×2 is in seconds [s]).
Program features 31
 Hook in UP position
1. Move the hook to up position; eg. 25% from top position (UP).
2. Read the signal 06.01 POS ACT PPU and enter it to parameter
76.03 UP POSIT.PAR 6.1 =__________in the both drives (trolley and long travel).
3. Move the trolley to make the hook swing. Measure the time for full five (5) swinging
cycles and calculate pendulum length. Enter the value into parameter
76.04 UP MEASURED [m] =__________(trolley).
4. Put with the long travel the hook swing. Measure the time for full five (5) swinging
76.04 UP MEASURED [m] =__________(long travel).
 Hook in LOW position

1. Move the hook to low position; eg. 75% from top position (UP).
2. Read the signal 06.01 POS ACT PPU and enter it to parameter
76.01 LOW POSIT.PAR 6.1 =_________ in the both drives (trolley and long travel).
3. Move the trolley to make the hook swing. Measure the time for full five (5) swinging
76.02 LOW MEASURED [m] =__________(trolley).
4. Operate the long travel drive to make the hook swing. Measure the time for full five
(5) swinging cycles and calculate pendulum length. Enter the value into parameter
76.02 LOW MEASURED [m] =__________(long travel).
 Test with an empty hook

1. Switch ON anti-sway: (75.01 ANTISWAY ON SEL = ON). Execute the test with an
empty hook. Test the movement, trolley and long travel.
2. If swinging still exists, switch OFF anti-sway temporarily, make the hook swing,
measure/calculate real pendulum length, compare results with 06.02 PENDULUM
LENGTH [m]. If different, be sure that the values are correct and actual position 06.01
POS ACT PPU is updated from the hoist drive or from the PLC.
32 Program features
Length of rope and real pendulum arm length are set to coincide to each others
Example:
UP position (approximately 25 % from up limit)
• 06.01 POS ACT PPU = 5524 and = 4.5 s
• 5524 => 76.03 UP POSIT.PAR 6.1
• 05.06 => 76.04 UP MEASURED [m]
LOW position (approximately 75% from up limit)
• 06.01 POS ACT PPU = 16654 and = 8.5 s
• 16654 => 76.01 LOW POSIT.PAR 6.1
• 18.06 => 76.02 LOW MEASURED [m]
Program features 33
 Pendulum arm offset

Commissioning with an empty hook is presented in the previous section Measuring and
calculating a real pendulum arm with an empty hook. However, in reality at least in part
time there is lifted objects under the hook. Pendulum offset determination is needed if the
shape of lifted objects varies. In the simplest anti-sway case, the objects lifted are always
(eg. crab crane which lifts same object), the same, and offset determination is not needed.
In many cases only one fixed offset is enough: an empty hook or a hook with a standard
object detected by the hoist load.
Total pendulum arm length (measured length of the rope + offset).
The determination of pendulum arm offset is based on one of the following methods:
1. Weight sensitive method (linear). If the weight (hoist torque/load) of a lifted object
correlates with its shape, then a linear function can be used. The weight-sensing
method for different load types is best applicable if the weights differ too; otherwise
using digital inputs or FB bits is a better alternative.
2. Fixed offsets (3) controlled via digital I/O or fieldbus control word bits. An external logic
or operator selects the right offset for the current object lifted, compare step reference
logic (for example, lifting straps length 1, 2 or 3).
3. Same as previous but the selection out of three fixed offsets is based on comparison
of hoist actual load (torque).
4. By writing an offset value directly from the PLC through the fieldbus into parameter
76.07 OFFSET 1 [m]. The offset determination is then placed into the PLC.
5. Auto mode setting; can only be used when the load is always lifted up from the
(approximately) same floor level and it is especially useful when several different load
types and loading devices (lifting straps) are in use.
If the system has two (2) hoists, then the anti-sway parameters have to be set separately
for both. The common settings are in parameter group 75 Anti-sway inputs, the hoist 1
settings in parameter group 76 Hoist 1 pendulum calculation, hoist 2 settings in parameter
group 77 Hoist 2 pendulum calculation.
34 Program features
1. Settings in the weight sensitive mode:

The below describes the procedure of configurations when the offset is directly
proportional to the weight of the lifted load.
1. Read the empty hook load from 06.05 HOIST LOAD [%] and write it
down=______________.
2. Pick up the lightest load to be lifted during normal operation.
3. Read the signal 06.05 HOIST LOAD [%] and enter the value into parameter 76.14
LOAD EFF MIN LOAD [%] (Above this weight of load the linear effect to pendulum arm
is calculated).
4. Enter a suitable load value between the empty condition point 1) and small load
condition (parameter 76.14 LOAD EFF MIN LOAD [%]) into parameter 76.06 OFFSET
1 SET LOAD [%] (this is the decision level between a load condition and no-load
condition).
5. Set 76.05 OFFSET 1 SEL = LOAD
6. Check the signal 06.04 STATUS WORD bit 10, to make sure that the load OFFSET_1
is detected (bit 10 = 1).
7. Measure the pendulum time and calculate the corresponding length
(five full cycles/5 =  [s], length [m] = 0.25 x  ) __________m.
8. Compare the signal 06.02 PENDULUM LENGTH [m] and the calculated pendulum
length and enter the difference into parameter 76.07 OFFSET 1 __________m. As a
result, the signal 06.02 PENDULUM LENGTH [m] and measured pendulum length
should become close to equal.
9. Pick up a heavy load of the same type, move it to a suitable (low) position and
measure/calculate again the length of the pendulum.
Compare the result and the signal 06.02 PENDULUM LENGTH [m] and use
parameter 76.15 LOAD EFFECT [m] to compensate for the difference.
Set also the limiting parameter 76.16 LOAD EFF LIMIT [m].
See chapter Signals and parameters on page 39 for more information.
Weight method for the pendulum arm offset determination.
If there are different load types or different lifting equipment in use, the effect of those can
be set in parameters 76.08 OFFSET 2 SEL to 76.13 OFFSET 3 [m], the same way as
described in the points 4…8.
Program features 35
Note: Offset 1 refers to the lightest load type, offset step 2 refers to the next heavy load
range, offset 3 is refers to the heaviest load range. The decision level between load type 1
/ load type 2 condition and load type 2 / load type 3 condition is set with parameters 76.09
OFFSET 2 SET LOAD and 76.12. OFFSET 3 SET LOAD.
2. Settings for the offset step logic:

When the objects lifted are of various shapes, sizes and weights, offset steps (3) can be
used. Control can be taken from LOAD, digital I/O (eg. crane operator or PLC) or 06.07 FB
COMMAND WORD bits. Selection is made by parameters 76.05, 76.08 and 76.11.
The figure below illustrates the LOAD based offset control.
Offset steps controlled by the actual load of the hoist.
SUM
06.02 PENDULUM
BASIC PENDULUM ARM LENGTH
LENGTH [m]
COMP
SUM
ACTUAL IN1 SWITCH
HOIST 76.06 OFFSET 1 IN>IN2
LOAD IN2 ACT +/-
SET LOAD [%]
COMP 76.07 OFFSET 1 [m] IN1
IN1 SWITCH
76.09 OFFSET 2 IN>IN2
IN2 ACT 06.06 PENDULUM
SET LOAD [%] +/-
OFFSET [m]
76.10 OFFSET 2 [m] IN1
COMP
IN1 SWITCH
IN>IN2
76.12 OFFSET 3
IN2 ACT +/-
SET LOAD [%]
76.05 OFFSET 1 SEL = LOAD
If the offset selection between load and no-load condition or between a different load types
are based on digital inputs or fieldbus bits, then parameters 76.06 OFFSET 1 SET LOAD
[%], 76.09 OFFSET 2 SET LOAD [%] and 76.12 OFFSET 3 SET LOAD [%] need not be
set. The figure below shows the fieldbus control word controlled offset selection.
36 Program features
Offset steps controlled by the fieldbus control word.

SUM
06.02 PENDULUM
BASIC PENDULUM ARM LENGTH
LENGTH [m]
SUM
SWITCH
06.07 FB COMMAND WORD bit 10 ACT +/-
SWITCH
06.07 FB COMMAND WORD bit 11 ACT 06.06 PENDULUM

+/-
OFFSET [m]
AND SWITCH
&
ACT +/-
76.05 OFFSET 1 SEL = COMM BIT10
76.08 OFFSET 2 SEL = COMM BIT11
76.11 OFFSET 3 SEL = 2DI
3. Writing offset directly through the fieldbus:

When pendulum arm offset are determined in a PLC program the value of the offset can
be directly write into the anti-sway drive. Value can written into the parameter 76.07
OFFSET 1 [m] (Integer scaling: 100 == 1 m) in case of hoist 1.
With parameter 76.05 OFFSET 1 is defined the condition when the OFFSET 1 will
summed to pendulum length. The possible selections are eg. COMM BIT 10, LOAD or DI.
If selection is LOAD, then with the parameter SEL 76.06 OFFSET 1 SET LOAD [%]
(def. 0) is defined load/weight level when the OFFSET 1 will summed to pendulum length.
Parameter settings example:
Some cases crane operator can enter needed offset value into control panel connected
into the PLC or PLC program can define needed offset.
Program features 37
4. Auto mode for offset selection:

In Auto mode the parameter 76.05 OFFSET 1 SEL is set AUTO. This setting can only be
used when the load is always lifted up from the (approximately) same floor level and it is
especially useful when several different load types and loading devices (lifting straps) are
in use.
In Auto mode the meaning of the parameter 76.07 OFFSET 1 [m] is not the offset, it is the
full pendulum arm length (= when the load is just almost touching the floor level):
Procedure
1. Do the "Measuring and calculating a real pendulum arm with an empty hook" first.
2. Pick-up the lightest load to be lifted during normal operation.
3. Enter a suitable load value between the empty condition (point 1) and small load
condition into parameter 76.06 OFFSET 1 SET LOAD [%] (this is the decision level
between a load condition and no-load condition).
4. Put the (small) load swaying when close to the floor level and calculate the pendulum
arm. Enter the result into parameter 76.07 OFFSET 1 [m]; offset 1 now means the
length of the pendulum when the load is just above the floor level
(five full cycles/5 =  [s], length [m] = 0.25 x  ) __________m
5. Put the load on the floor and lift it up and measure again. Compare that value to the
actual calculated pendulum arm in the signal 06.02 PENDULUM LENGTH [m] if those
values differ from each other's considerably, change the setting of the parameter
76.07 OFFSET 1 respectively and repeat the measurement.
Lifting different kind of objects from the same level.
New offset is calculated every

time when the load is lifted
from the floor.
Eg. Offset = parameter 76.07
OFFSET 1 [m] - hook position
38 Program features
Signals and parameters 39
4
Signals and parameters

This chapter describes the user-adjustable parameters of the anti-sway function. These
parameters are extra to the parameters described in ACS800 Application Program
Template 7.x Firmware Manual (3AFE 64616340 [English]).
Note: 16.10 PARAMETER LIST SHORT default setting is SHORT, therefore all
parameters are not visible in control panel or DriveWindow.
Terms and abbreviations

Term Definition
FbEq Fieldbus equivalent. The scaling between the value shown on the panel and the integer used in
serial communication.
Def Default value
Type Dara type
B Data type Boolean
I Data type Integer
Pb Data type Packed Boolean
R Data type real
S Data type string
40 Signals and parameters
No. Name/Selection Description Def/ Type

FbEq
01 Actual signals
01.40 DI13-8 STATUS Status of the digital inputs DI13...DI8 from a DI/O EXT - I
MODULE 1...2.
Example: 0001001, DI8 and DI11 are activated.
Par. 98.05 DI/O EXT MODULE 3 is not supported.
06 Asway signals
06.01 POS ACT PPU Value of actual position measurement. Source selected by I
parameter 75.03 POS1 SIGNAL SEL (Hoist via CH2, COMM
MODULE etc.)
06.02 PENDULUM Calculated pendulum arm length in meters, including offsets. R
LENGTH Pure value of offset, see signal 06.06 PENDULUM OFFSET
[m].
If swaying still exist even anti-sway is on (Par. 75.01).
Calculate real pendulum arm length (see chapter
Commissioning instructions for the anti-sway function on
page 30) and compare the value to this signal.
May be the cause of the swaying are wrong amount of offset
or wrong settings in the parameters 76.01…76.04 and
(77.01…77.04 Parameter settings are according to group 76
Hoist 1 pendulum calculation.)
m Integer scaling: 100 == 1 m
06.03 PENDULUM ANGLE Calculated pendulum sway angle. 100% equals theoretical R
maximum sway angle with crane full acceleration rate.
% Integer scaling: 100 == 1 %

FbEq
06.04 STATUS WORD
Bit / Name Meaning
Value
Integer
0/ BRAKE_OPEN 0 Command to close the brake.
1 1 Command to open the brake.
1/ ACC_ON 0 Anti-sway function is in idle state.
2 1 Anti-sway is functioning, acceleration pattern
under execution.
2/ SLOWDOWN_A 0 Slowdown function in A direction is activated.
4 1 Slowdown function in A direction is not active.
3/ STOPLIM_A 0 Stop limit A is activated.
8 1 Stop limit A is not activated.
4/ SLOWDOWN_B 0 Slowdown function in B direction is activated.
16 1 Slowdown function in B direction is not active.
5/ STOPLIM_B 0 Stop limit B is activated.
16 1 Stop limit B is not activated.
6/ FAULT-1 0 Fault
64 1 No fault
7/ WATCHDOG 0 Watchdog function active, emergency stop.
128 1 Watchdog function inactive, normal operation.
8/ ASWAY_ON 0 Anti-sway control is OFF
256 1 Anti-sway control is ON
9/ HOIST_2 0 Hoist 1 is selected
512 1 Hoist 2 is selected
10 / OFFSET_1 0 Offset 1 is not set
1024 1 Offset 1 is set
13 / TORQUE_CTRL 0 Drive is in speed control mode
8192 1 Drive is in virtual torque control mode
14 / M/F_ON 0 Master/follower control is not in use
16384 1 Master/follower control is in use
15 / TRK_ON 0 Sway tracking is not active
32768 1 Sway tracking is active
06.05 HOIST LOAD Hoist load signal. R

% Integer scaling: 100 == 1 %
06.06 PENDULUM Total pendulum offset that is included to signal 06.02 R
OFFSET PENDULUM LENGTH [m].
m Integer scaling: 100 == 1 m
06.07 FB COMMAND Fieldbus command word as binary coded integer. Meaning Pb
WORD of bits, see table Receive Datasets 1 and 3 (alt. 10 and 12)
on page 23 and table FB COMMAND WORD = Dataset 1
Word 1 (signal 06.07) on page 24.
06.08 FB REF 1 Drive speed reference. See table Receive Datasets 1 and 3 R
(alt. 10 and 12) on page 23.
% Integer scaling: 200 == 1%
06.09 HOIST SP REF3 Speed reference 3 from the hoist drive via optical link I
(CH0 -> CH2) (parameter 75.04 or 75.06 = CH2).
Parameter setting of the source drive:
ACS800 Crane control program(+N697):
Par. 92.04 must be set = 202
ACS800 Crane Drive Control Program (+N652):
Anti-sway control program (+N816):
Par. 92.04 must be set = 609 (when eg. trolley transmits
value to long travel).

FbEq
Integer scaling: 1 == 1 (20000 = 100%)
06.10 HOIST POSITION Position counter value from the hoist drive via optical link I
(CH0 -> CH2) (parameter 75.03 or 75.05 = CH2).
For more information, see section Appendix 5:
Communication examples on page 78.
Parameter setting of the source inverter:
ACS800 Crane control program (+N697):
Integer scaling: 1 == 1 PPU
06.11 HOIST TORQUE Hoist torque value from the hoist drive via optical link I
(CH0 -> CH2) (parameter 75.03 or 75.05 = CH2)
ACS800 Crane control program (+N697):
Hoist torque value is locked when signal 06.09 HOIST
SPREF3 ( is below +2000 (= 10% speed upwards).
% Integer scaling: 1000 = 100 %
06.12 TAU Pendulum time constant in 1/100 s I
Note: The parameters with name marked with asterisk (* are

10 Digital inputs
not effective with the setting of parameter 64.01 = FALSE
(Fieldbus mode).
10.01 STEP REF2 SEL (* Step reference 2 digital input selection (step reference 0 I
overrides the analogue speed reference).
0 = NOT SEL
1 = DI1
2 = DI2
3 = DI3
4 = DI4
5 = DI5
6 = DI6
7 = EXT DI1.1
8 = EXT DI1.2
9 = EXT DI1.3 This selection is not supported.
10 = EXT DI2.1
11 = EXT DI2.2
12 = EXT DI2.3 This selection is not supported.
10.02 STEP REF3 SEL (* Step reference 3 digital input selection. See parameter 10.01 0 I
STEP REF2 SEL.
(* are not effective with the setting of parameter 64.01 = FALSE (Fieldbus mode).

FbEq
10.03 STEP REF4 SEL (* Step reference 4 digital input selection. See parameter 10.01 0 I
STEP REF2 SEL.
If the same digital input is programmed to parameters 10.02
STEP REF3 SEL and 10.03 STEP REF4 SEL, it means that
fourth speed reference level is applied when digital inputs
STEP REF2 SEL, STEP REF3 SEL and STEP REF4SEL
are active. By this way it is possible to save one digital input
with four speed steps.
10.04 SLOWDOWN-N SEL Selection of digital input for common signal SLOWDOWN-N 0 I
for both directions.
0…12 See parameter 10.01 STEP REF2 SEL (*
13 = DI3+DI4 Selections give separate slowdown inputs.
14 = DI5+DI6 Selections give separate slowdown inputs.
15 = DI1.1+DI1.2 Selections give separate slowdown inputs.
16 = DI2.1+D2.2 Selections give separate slowdown inputs.
10.05 STOPLIM-N A SEL Selection of digital input for STOPLIM A. 0 I
10.06 STOPLIM-N B SEL Selection of digital input for STOPLIM B. See parameter
10.05 STOPLIM-N A SEL.
10.09 RUN ENABLE This parameter activates the RUN ENABLE input. To 0 I
activate the RUN ENABLE signal, voltage must be
connected to selected digital input.
If the voltage drops to 0 V, the drive coasts to stop.
10.10 MOTOR POT Selection of signal input for Motor Pot control. (This setting 0 I
(* overrides step references 10.01…10.03).
13 = COMM BIT4 13
10.11 FAULT RESET If a digital input is selected, fault reset is executed from an 0 I
external switch, if in External control mode, or from the
control panel.
Reset from a digital input is activated by opening a normally
closed contact (negative edge on digital input).
Note: Reset from fieldbus command word is always
available when in External control. Reset from fieldbus
command word (RESET OVR) is activated on positive edge
of signal.
10.12 M/F ON Selection of signal input for master/follower control mode. 0 I
13 = COMM BIT6
14 = ON
10.13 EMERGENCY USE Selection of digital input for emergency use under fieldbus 0 I
FB control.
To activate the emergency use, voltage must be connected
to selected digital input.
This will override the fieldbus mode selection (parameter
64.01 = FALSE) and the drive switches to stand alone mode.
If the voltage drops to 0 V, the drive will switch back to
fieldbus mode according to parameter 64.01 STAND ALONE
SEL setting.

FbEq
10.14 TORQUE CONTROL Selection of a source that activates virtual torque control 0 I
(that is, control of acceleration and deceleration ramp times
by speed reference signal).
13 = COMM BIT5 Virtual torque control is used (see chapter Program features
section on page 15.
14 = ON
10.15 START A SEL (* Selection of digital input for Start command for A direction. 1 I
10.16 START B SEL (* Selection of digital input for Start command for B direction. 2
10.17 BRAKE ACKN SEL Selection of digital input for signal BRAKE ACKN. 0 I
INTERNAL ACK (internal acknowledge) setting is used if no
brake acknowledge signal is available.
0 = INTERNAL ACK
10.18 JOYSTICK ZERO P See chapter Program features section Joystick supervision 0 I
(* on page 19
0 = NOT USED
10.19 EXTERNAL FAULT Selection of digital input for signal EXTERNAL FAULT. If the 0 I
voltage on the selected input drops to 0 V, the drive trips and
coasts to stop.
Both FAULT-1 and WATCHDOG bits are set to zero.
To deactivate the signal EXTERNAL FAULT, voltage must be
connected to selected digital input.
14 Digital outputs
14.01 (DO1 CONTROL) Hidden, not in use.

14.02 IDO1 See ACS800 Application Program Template 7.x Firmware 604 I
GROUP+INDEX manual (3AFE64616340 [English]).
14.03 DO1 BIT NUMBER See ACS800 Application Program Template 7.x Firmware 0 I
14.04 See ACS800 Application Program Template 7.x Firmware
… manual (3AFE64616340 [English]).
14.07
16 System control
inputs
16.05 Note: 16.02 PARAMETER LOCK can only be opened by
DriveWindow (ATXR7000).
16.09 CTRL BOARD See ACS800 Application Program Template 7.x Firmware SHORT B
SUPPLY manual (3AFE64616340 [English]).
16.10 PARAMETER LIST SHORT B
0 = SHORT Most common parameters visible 0
1 = LONG All parameters visible. See chapter Appendices section 1
Appendix 3: Parameters hidden by default (16.10 = SHORT)
on page 75.

FbEq
17 DC hold
17.03 DC HOLD function has been modified so that it will be
activated only if also command to close the brake is present.
This is used with conical rotor motors when crane must stay
at standstill with magnetized motors.
21 Start/Stop func
21.04 EME STOP MODE See ACS800 Application Program Template 7.x Firmware 1 I
manual (3AFE64616340 [English]) chapter Software
description on pages 28…29, chapter Signals on page 58
and chapter Parameters on page 78.
This function can be used as fast stop; it does not activate
the watchdog function.
22 Accel/Decel
22.05
22.09 ASWAY RAMP TIME Acceleration ramp time that will define the maximum ramp 4s R
rate that anti-sway function can utilize. The setting of 22.09
ASWAY RAMP TIME shall be the same or shorter than the
normal acceleration/deceleration times (parameters
22.01…22.02).
s
22.10 TQ ACC RAMP Acceleration ramp time that will define the maximum ramp 5s R
rate that virtual torque control function can utilize.
s
22.11 TQ DEC RAMP Deceleration ramp time that will define the maximum ramp 5s R
rate that virtual torque control function can utilize.
s
22.12 TQ MIN REF Minimum acceleration/deceleration reference level that 10% R
virtual torque control can utilize. Minimum reference level will
be limited by this parameter. In virtual torque control mode
the reference level controls the ramp rate.
%
28 Motor model
28.14 FS METHOD Activates the flux correction at low frequencies, < 3 Hz, OFF B
when the torque exceeds 30%. In some cases eg. with small
motors and long cables the control performance can be
better without FS method.
0 = OFF
1 = ON
28.15 IRS20 Defines the stator resistance of the motor model at 20 °C. Set R
By increasing the default value defined during ID run (does during
not include the temperature dependence of the resistance), ID run
the motor model can be fine tuned especially in applications
where the motor or ambient temperature is not measured.
Note: If stator resistance value is too high, the desired
starting torque cannot be achieved.

FbEq
mOhm Integer scaling: 28676 == 1 Ohm
64 Crane
64.01 STAND ALONE SEL The parameters with name marked with asterisk (* are not TRUE B
effective with the setting of 64.01 = FALSE)
0 = FALSE Fieldbus mode is selected.
1 = TRUE Stand alone mode is selected.
64.02 SLOWDOWN SPEED Reduced speed reference limit (if running in same direction) 20% R
REF when slowdown function is activated.
0...100% Integer scaling: 100 == 1%
64.03 MINIMUM REF Minimum (first) speed reference applied when digital inputs 5% R
(* are selected as reference source (parameters 10.01…10.03
or 10.10 MOTOR POT (* ).
This parameter has no effect on speed reference through
AI1 analogue input or through fieldbus (DRIVE SPEED REF,
DS 1.2).
64.04 SPEED REF LEVEL Second speed reference level applied when digital input, 25% R
2 (* selected by parameter 10.01 STEP REF2 SEL, is activated
(plus start order active).
64.05 SPEED REF LEVEL Third speed reference level applied when digital input, 50% R
64.06 SPEED REF LEVEL Fourth speed reference level applied when digital input, 100% R
64.07 SLOWDOWN TYPE This parameter defines how the deceleration to reduced NORMAL I
RAMP
speed reference (if running in same direction) will be done
when slowdown function is activated when running with Anti-
sway control program.
Note: Normally it is possible to set this parameter value to 1
= ASWAY, but the braking distance with max. pendulum
length has to be checked, see chapter Program features on
page 17 and section Limit switches on page 20.
0 = NORMAL RAMP Linear deceleration ramp according to parameter 22.02
DECELER TIME.
1 = ASWAY Non-linear anti-sway ramp, ramp rate limited by parameter
22.09 ASWAY RAMP TIME.
64.08 REF_SHAPE_N (* Speed reference shape of AI1, for the operation without Anti- 0 I
Note: Parameters 13.01 AI1 HIGH VALUE and 13.02 AI1
LOW VALUE settings shall be at their default (20000 and 0).
0...100% (Values on the panel displays 0.000…0.100)
0% = Linear shape
100% = X2 shape
64.09 REF_SHAPE_Y (* Speed reference shape of AI1, for the operation with Anti- 0 I
Note: Parameters 13.01 AI1 HIGH VALUE and 13.02 AI1
LOW VALUE settings shall be at their default (20000 and 0).

FbEq
0...100% (Values on the panel displays 0.000…0.100)
0% = Linear shape
100% = X2 shape
67 Mechanical brake
control
67.01 SPEED REF TD Time delay at start before releasing speed reference to ramp 0.2 s R
unit.
0…10 s Integer scaling: 100 == 1 s
67.02 ZERO SPEED LEV Parameter for setting the speed level for ZERO SPEED 5% R
indication.
Warning! Do not set 0% level. Result would be that
brake would not close.
0…100% Integer scaling: 100 == 1 s

67.03 ZERO SPEED TIME Time delay before signal ZERO SPEED is set to 1 when the 0.2 s R
motor speed is below ZERO SPEED LEV.
0...5000 s Integer scaling: 100 == 1 s
67.04 OFF DELAY (* [ The time for how long the Magnetisation shall remain on 5s R
after the motor is stopped.
67.05 BRK ACK MIN DLY Time delay for brake acknowledge signal. 2s R
67.06 DIL_TON_TD Time delay before the Off 3 (E-stop) signal is removed after 0s R
the input DIIL has been set. By this delay it is possible to
prevent too early start for example, after emergency stop
situation.
67.07 ZERO_POS_OK_TD Zero position OK supervision time delay. 0.3 s R
(*
67.08 JOYSTICK_WARN_ Joystick check warning time delay. 2s R
DLY (*
75 Anti-sway inputs
75.01 ANTISWAY ON SEL Selection of ANTISWAY ON signal source. 7 I
0 = OFF
13 = COMM BIT8
14 = ON
75.02 HOIST 1/2 SEL Selection of position and load signal source for pendulum 0 I
calculation.
0 = HOIST 1 Digital input status 0 = Hoist 1 selected.
13 = COMM BIT9
14 = HOIST2 Digital input status 1 = Hoist 2 selected.

FbEq
75.03 POS 1 SIGNAL SEL Optical link connection: Travel inverter CH2 is always 2 I
connected to source inverter CH0 for example, trolley
inverter CH2 is connected to hoist inverter CH0 and bridge
travel CH2 is connected to trolley CH0.
In the case of 2 trolleys (or hoists) the bridge travel CH2
must be connected to both trolleys CH0 (ring connection),
and the trolleys must have CH0 node numbers set to 1 and 2
(Parameter 70.01 CH0 NODE ADDR).
0 = CH2
1 = AI1
2 = AI2
3 = AI3
4 = EXT AI1
5 = EXT AI2
6 = COMM MODULE Position signal is read through DS1.3 HOIST POSITION.
75.04 LOAD 1 SIGNAL SEL Selection of hoist 1 load signal source. 3 I
See parameter 75.03 POS 1 SIGNAL SEL COMM MODULE
means that load signal is read through DS3.1 HOIST
POSITION.
75.05 POS 2 SIGNAL SEL Selection of hoist 2 position signal source. See parameter 4 I
75.03 POS 1 SIGNAL SEL.
75.06 LOAD 2 SIGNAL SEL Selection of hoist 2 load signal source. See parameter 75.04 5 I
LOAD 1 SIGNAL SEL.
75.07 GAIN Increasing gain increases the acceleration rate when the 1 I
speed reference is being changed in smaller steps.
Value 5 means that full acceleration rate (parameter 22.09
ASWAY RAMP TIME [s]) is applied with 20% difference
between speed reference and actual speed that is, the
program produces maximum acceleration already at 20%
speed reference change and the crane will behave more
briskly.
Gain value 1 (default) means that max. acceleration is only
applied with 100% difference between speed reference and
actual speed. With smaller speed steps the acceleration rate
is limited proportionally to the difference between speed
reference and actual speed.
1…5 (Values on the panel displays 0.1…0.5)
75.08 EN_SWAY 14 I
TRACKING
0 = OFF
13 = COMM BIT13
14 = ON
75.09 EN_AUTO ON 0 I
0 = OFF
13 = COMM BIT13
14 = AUTO

FbEq
75.10 SR MODE SR stands for Short Rope mode. Short means the condition, TRUE B
where .
W t acc
In such case it is not possible to execute the desired speed

change within one oscillation period. The difference between
normal mode and SR mode is illustrated below:
• By SR mode the aim is to keep the sway angle constant

during acceleration rather than allowing several
oscillations during one acceleration pattern. This improves
the anti-sway performance by reducing the (cumulative)
error of the sway calculation that is always present in
open loop system.
• By SR mode the time to execute the acceleration pattern
is bit longer than in normal mode, up to 1.33 times in the
worst case. In the above curves the difference is
approximately 5.3 s versus 4.9 s (+8%).
0 = FALSE SR mode is disabled.
1 = TRUE SR mode is disabled.
75.11 MAX PENDULUM [m] The longest allowed pendulum length. This should be set the 65 R
same or a little longer than the longest existing pendulum
length.
Min = 1.00 m
Max = 65.00 m Integer scaling: 100 == 1 m
76 Hoist 1 pendulum
calculation
76.01 LOW POSIT.PAR 6.1 Signal 06.01 POS ACT PPU value at LOW measurement 20000 I
point (eg. when hook is almost on the floor level).
Note: It is recommended to set the position counter scaling
of the hoist drive equal to 1 == 1 mm or 1 == 2 mm etc. The
maximum and minimum values (-32766…32767) shall not
be exceeded. This parameter will be set during the start-up,
see chapter Start-up and control on page 39.
-32766…32767 Integer scaling: 1 = 1
76.02 LOW MEASURED Measured and calculated pendulum length [m] at lower 4m R
measurement point. Pendulum arm length [m] is calculated
by formula: 0.25 ×( )2 × (is a time of one full swaying
cycle [s]).
1…65 m Integer scaling: 100 == 1 m

FbEq
76.03 UP POSIT.PAR 6.1 Signal 06.01 POS ACT PPU value at UP measurement point 10000 I
(eg. when hook is almost in the most top position).
Note: It is recommended to set the position counter scaling
of the hoist drive equal to 1 == 1 mm or 1 == 2 mm etc. The
maximum and minimum values (-32766…32767) shall not
be exceeded. This parameter will be set during the start-up,
see chapter Start-up and control on page 39.
76.04 UP MEASURED Measured and calculated pendulum length [m] at lower 2m R
measurement point. Pendulum arm length [m] is calculated
by formula: 0.25 × ( )2 ( is a time of one full swaying cycle
[s]).
m
76.05 OFFSET 1 SEL Selection of hoist 1 load type 1 offset detection method and 0 I
source.
0 = LOAD SIGNAL Offset 1 engagement is based on sensing the weight of the
load (signal 06.05). Offset 1 shall be used for the lightest
existing load type, or only for the loading device. See Par.
76.06 OFFSET 1 SET LOAD [%].
13 = COMM BIT10 DI x or COMM BIT 10 means that offset 1 value will be
summed to pendulum length when corresponding DI or bit is
set.
14 = AUTO Offset 1 is calculated so that pendulum arm length becomes
equal to preset value (parameter 76.07 OFFSET 1 [m])
when the load (parameter 76.06 OFFSET 1 SET LOAD [%])
is lifted up from the floor. This setting can only be used when
the load is always lifted up from the same floor level and it is
especially useful when several different load types and
loading devices (lifting straps) are in use.
76.06 OFFSET 1 SET Above this weight of load the offset 1 will summed to 0% R
LOAD pendulum length.
0…100% Integer scaling: 100 == 1%
76.07 OFFSET 1 Offset 1 value. 0m R
0.00…65 m Integer scaling: 100 == 1 m
source.
0 = LOAD SIGNAL LOAD SIGNAL means that offset 2 engagement is based on
sensing the weight of the load. Offset 2 shall be used for the
lightest existing load type, if offset 1 was used for the loading
device. See parameter 76.09 OFFSET 2 SET LOAD.
13 = COMM BIT11 DI x or COMM BIT10 means that offset 2 value will be added
to pendulum length when corresponding DI or bit is set.
76.09 OFFSET 2 SET Above this weight of load the offset 2 value will be summed 0% R
LOAD to total pendulum length. See parameter 76.06 OFFSET 1
SET LOAD [%]
%
76.10 OFFSET 2 Offset 2 value 0m R
-65…65 m Integer scaling: 100 == 1 m
source.
0 = LOAD SIGNAL Offset 3 engagement is based on sensing the weight of the
load. Offset 3 shall be used for heavier load types than
Offsets 2 and 1.

FbEq
1 = 2 DI Offset 3 value is summed up to total pendulum length (with
previous offsets) when both DIs or bits (offset 1 and 2) are
set.
76.12 OFFSET 3 SET Above this weight of load offset 3 will be summed to total 0% R
LOAD pendulum length. See parameter 76.06 OFFSET 1 SET
LOAD [%]
%
76.13 OFFSET 3 Offset 3 value 0m R
-65…65 m Integer scaling: 100 == 1 m
76.14 LOAD EFF MIN Above this weight of load the linear effect to pendulum arm 0 I
LOAD is calculated.
See parameter 76.15 LOAD EFFECT [m]
% Integer scaling: 100 == 1 m
76.15 LOAD EFFECT The effect of the weight of load to pendulum arm above 0m R
76.14 LOAD EFF MIN LOAD [%].
It is calculated by formula:
Load effect = (ABS (signal 06.05, parameter 76.14)) /
(100%… parameter 76.14) × parameter 76.15
76.16 LOAD EFF LIMIT The maximum effect of the weight of load to pendulum arm 0m R
can be limited by this parameter.
76.17 LOAD EFF UP POS This parameter is not in use.
76.18 AUTO_ON LIM_DN Limit value in the increasing direction of the hoist position 32767 I
signal (06.01 POS ACT PPU).
If the position signal (06.01 POS ACT PPU) is greater than
76.18 AUTO_ON LIM_DN, the anti-sway function can be
enabled through AUTO_ON function (parameter 75.09
EN_AUTO ON).
If parameter value 76.18 AUTO_ON LIM_DN < 76.19
AUTO_ON LIM_UP, then the anti-sway function can be
enabled through AUTO_ON function only when both limits
are active, that is, when the position signal 06.01 POS ACT
PPU is between the values of parameters 76.18 AUTO_ON
LIM_DN and 76.19 AUTO_ON LIM_UP.
32767
76.19 AUTO_ON LIM_UP Limit value in the decreasing direction of the hoist position -32768 I
signal (06.01 POS ACT PPU). If the position signal (06.01
POS ACT PPU) is smaller than 76.18 AUTO_ON LIM_DN,
then the anti-sway function can be enabled through
AUTO_ON function (parameter 75.09 EN_AUTO ON).
If parameter value 76.19 AUTO_ON LIM_UP > 76.18
AUTO_ON LIM_DN, then the anti-sway function can be
enabled through AUTO_ON function only when both limits
are active, that is, when the position signal 06.01 POS ACT
PPU is between the values of parameters 76.18 AUTO_ON
LIM_DN and 76.19 AUTO_ON LIM_UP [%].
-32768
77 Hoist 2 pendulum
calculation
Parameter settings are according to group 76 Hoist 1 pendulum calculation.

FbEq
95 Hardware specific
95.01 FAN SPD CTRL Selects the speed control of the optional inverter cooling fan. CONT I
MODE ROLLE
D
CONST 50 Hz Fan is running at constant frequency of 50 Hz when 0
powered.
RUN/STOP Drive running: Fan is running at constant frequency of 50 Hz. 1
Drive stopped: Fan is running at constant frequency of 10
Hz.
CONTROLLED The speed of the fan is determined from IGBT temperature 2
vs. fan speed curve.
95.02 FUSE SWITCH CTRL Activates the inverter DC switch (switch fuse) monitoring OFF I
function. The monitoring must be active when the Switch
fuse control board (ASFC) is in use and connected to the
inverter AINT board, that is in all frame R8i inverters
equipped with the DC switch. The function must be inactive
in units that do not use the ASFC board with the DC switch,
that is for frame R2i…R7i inverters and all single drive units
where no DC switch exists. The default setting (ON or OFF)
for each unit is set accordingly at the factory as default.
ACS800 IGBT pulses are always blocked when the program
detects that the DC switch is opened or inverter charging is
ongoing (at power switch on). The application program
generates alarm INV DISABLED if the DC switch is opened
when the inverter is stopped. The inverter trips to fault INV
DISABLED if the DC switch is opened when the inverter is
running.
OFF Fan is running at constant frequency of 50 Hz when 0
powered.
ON Drive stopped: Fan is running at constant frequency of 10 1
Hz.
Drive running: Fan is running at constant frequency of 50 Hz.
95.03 INT CONFIG USER Number of parallel connected inverter modules. Activates 1 I
the Reduced Run function.
1…12 Number of parallel connected inverter modules.

FbEq
95.06 LCU Q PW REF Defines the reference value for the line-side converter (ie. 0 I
IGBT supply unit) reactive power generation. Line-side
converter can generate reactive power to the supply
network. This reference is written into line-side converter unit
parameter 24.02 Q POWER REF2. For more information,
see IGBT Supply Control Program 7.x Firmware manual
[3AFE68315735 (English)].
Example 1: When parameter 24.03 Q POWER REF2 SEL is
set to PERCENT, value 10000 of parameter 24.02 Q
POWER REF2 equals to value 100% of parameter 24.01 Q
POWER REF (ie. 100% of the converter nominal power
given in signal 04.06 CONV NOM POWER).
set to kVAr, value 1000 of parameter 24.02 Q POWER REF2
equals to parameter 24.01 Q POWER REF value calculated
with the following equation: 100 × (1000 kVAr divided by
converter nominal power in kVAr)%.
set to PHI, value 3000 of parameter 24.02 POWER REF2
equals approximately to parameter 24.01 Q POWER REF
value calculated with the following equation:
S
P P Q
cos  30  = ---- = ------------------------
S 2 2 30°
P +Q
P
Positive reference 30° denotes capacitive load.
Negative reference 30° denotes inductive load.
P = signal 01.09 POWER value
Parameter 24.03 values are converter to degrees by the
line-side converter application program: -3000...30000 -
30°...30°. Value -10000/10000 equals to -30°/30°, since the
range is limited to -3000/3000.
-10000…10000 Reference value See Par. 95.06
description
95.07 LCU DC REF Defines the intermediate circuit DC voltage reference for the 0 I
line-side converter (ie. IGBT supply unit). This reference is
written into line-side converter parameter 23.01 DC VOLT
REF. For more information, see IGBT Supply Control
Program 7.x Firmware manual [3AFE68315735 (English)].
0...1100 V Voltage 1=1V
Appendices 55
5
Appendices

This chapter contains the following appendices:
• Appendix 1: Complete signal list
• Appendix 2: Short parameter list and default settings
• Appendix 3: Parameters hidden by default (16.10 = SHORT)
• Appendix 4: Motor potentiometer and virtual torque
• Appendix 5: Communication examples
• Appendix 6: ACS800-11 and Anti-sway control program
Appendix 1: Complete signal list

Index Signal name Unit
Group 1 ACTUAL SIGNALS
01.01 MOTOR SPEED FILT [rpm]
01.02 SPEED ESTIMATED [rpm]
01.03 SPEED MEASURED [rpm]
01.04 EXTERNAL SPEED [rpm]
01.05 FREQUENCY [Hz]
01.06 MOTOR CURRENT [A]
01.07 MOTOR TORQUE FILT [%]
01.08 MOTOR TORQUE [%]
01.09 POWER [%]
01.10 DC VOLTAGE [V]
01.11 MOTOR VOLTAGE [V]
01.12 PP TEMP [C]
56 Appendices

01.13 TIME OF USAGE [h]
01.14 KILOWATT HOURS [kWh]
01.15 DI7-1 STATUS -
01.16 MOTOR 1 TEMP [C]
01.17 MOTOR 2 TEMP [C]
01.18 MOTOR TEMP EST [C]
01.19 AI1 [V]
01.20 AI2 [mA]
01.21 AI3 [mA]
01.22 RO3-1 STATUS -
01.23 AO1 [mA]
01.24 AO2 [mA]
01.25 CONTROL MODE -
01.26 LED PANEL OUTP [%]
01.40 DI13-8 STATUS -
01.44 FAN ON-TIME [h]
01.45 CTRL BOARD TEMP [C]
02.01 SPEED REF 2 [rpm]
02.02 SPEED REF 3 [rpm]
02.03 SPEED ERROR NEG [rpm]
02.04 TORQUE PROP REF [%]
02.05 TORQUE INTEG REF [%]
02.06 TORQUE DER REF [%]
02.07 TORQ ACC COMP REF [%]
02.08 TORQUE REF 1 [%]
02.13 TORQ USED REF [%]
02.14 FLUX USED REF [%]
02.15 FLUX ACT [%]
02.16 dV/dt [rpm/s]
03.01 APPL DUTY
03.02 APPLICATION OVERL -
03.03 RS [mOhm]
03.04 LS [mH]
03.05 SIGMALS [mH]
03.06 TR [ms]
03.07 POS COUNT LO -
03.08 POS COUNT HI -
03.09 POS COUNT DEGREES [deg]
03.10 POS COUNT ROUNDS -
Appendices 57

03.11 DATALOG1 STATUS -
03.12 PP 1 TEMP [C]
03.13 PP 2 TEMP [C]
03.14 PP 3 TEMP [C]
03.15 PP 4 TEMP [C]
03.20 FAULT CODE 1 LAST -
03.25 WARN CODE 1 LAST -
Group 4 INFORMATION
04.01 SW PACKAGE VER -
04.02 DTC VERSION -
04.03 APPLIC NAME -
04.04 INV NOM VOLTAGE [V]
04.05 INV NOM CURRENT [A]
Group 6 ASWAY SIGNALS
06.01 POS ACT PPU -
06.02 PENDULUM LENGTH [m]
06.03 PENDULUM ANGLE [%]
06.04 STATUS WORD -
06.05 HOIST LOAD [%]
06.06 PENDULUM OFFSET [m]
06.07 FB COMMAND WORD -
06.08 FB REF1 -
06.09 HOIST SP REF 3 -
06.10 HOIST POSITION -
06.11 HOIST TORQUE [%]
06.12 TAU [s]
Group 7 CONTROL WORDS
07.01 MAIN STATUS WORD -
07.02 AUX CTRL WORD -
Group 8 STATUS WORDS
08.01 MAIN STATUS WORD -
08.02 AUX STATUS WORD -
08.03 LIMIT_WORD_1 -
06.04 LIMIT_WORD_2 -
06.05 DI STATUS WORD -
Group 9 FAULT WORDS
09.01 FAULT WORD 1 -
58 Appendices

09.03 SYSTEM_FAULT_WORD -
09.04 ALARM WORD 1 -
09.07 DUMMY -
Appendices 59
Appendix 2: Short parameter list and default settings

(Par. 16.10 = SHORT) (Parameters with name marked with asterisk (* are not effective
with the setting of 64.01 = FALSE).
Parameter name Alternative settings Default setting Customer setting
10 DIGITAL INPUTS
10.01 STEP REF2 SEL (* NOT SEL
NOT SEL
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI2.1
EXT DI2.2

NOT SEL
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI2.1
EXT DI2.2

NOT SEL
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI2.1
EXT DI2.2
10.04 SLOWDOWN-N SEL NOT SEL

NOT SEL
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI2.1
EXT DI2.2
DI3+DI4
DI5+DI6
DI1.1+DI1.2
DI2.1+D2.2
60 Appendices

10.05 STOPLIM-N A SEL NOT SEL
NOT SEL
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI2.1
EXT DI2.2
10.06 STOPLIM-N B SEL

NOT SEL
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI2.1
EXT DI2.2
10.09 RUN ENABLE NOT SEL

NOT SEL
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI2.1
EXT DI2.2
10.10 MOTOR POT (* NOT SEL

NOT SEL
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI2.1
EXT DI2.2
COMM BIT 4
Appendices 61

10.11 FAULT RESET NOT SEL
NOT SEL
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI2.1
EXT DI2.2
10.12 M/F ON NOT SEL

NOT SEL
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI2.1
EXT DI2.2
COMM BIT 6
ON
10.13 EMERGENCY USE FB NOT SEL

NOT SEL
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI2.1
EXT DI2.2
10.14 TORQUE CONTROL NOT SEL

NOT SEL
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI2.1
EXT DI2.2
COMM BIT 5
ON
62 Appendices

10.15 START A SEL (* DI1
NOT SEL
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI2.1
EXT DI2.2
10.16 START B SEL (* DI2

NOT SEL
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI2.1
EXT DI2.2
10.17 BRAKE ACKN SEL INTERNAL ACK

INTERNAL ACK
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI2.1
EXT DI2.2
10.18 JOYSTICK ZERO P (* NOT USED

NOT USED
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI2.1
EXT DI2.2
10.19 EXTERNAL FAULT NOT USED

NOT USED
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI2.1
EXT DI2.2
Appendices 63

13 ANALOGUE INPUTS
13.01 AI1 HIGH VALUE -32768…32767 20000
13.02 AI1 LOW VALUE -32768…32767 0
13.03 FILTER AI1 0…30000 100
13.04 AI2 HIGH VALUE -32768…32767 20000
13.05 AI2 LOW VALUE -32768…32767 0
13.06 MINIMUM AI2 0 mA
0 mA
4 mA
13.07 FILTER AI2 0…30000 [ms]

13.08 AI3 HIGH VALUE -32768…32767 1000
13.09 AI3 LOW VALUE -32768…32767 0
13.10 MINIMUM AI3 0 mA, 4 mA 0 mA
13.11 FILTER AI3 0…30000 1000
14 DIGITAL OUTPUTS
14.02 DO1 GROUP+INDEX 0…30000 604
14.03 DO1 BIT NUMBER 0…23 0
14.04 DO2 GROUP+INDEX 0…30000 801
14.06 DO3 GROUP+INDEX 0…30000 801
15 ANALOGUE OUTPUTS
15.01 ANALOGUE OUTPUT 1 0…30000 106
15.02 INVERT AO1 NO
NO
YES
15.03 MINIMUM AO1 0 mA

0 mA
4 mA
10 mA
15.04 FILTER AO1 [s] 0…10 0.1

15.05 SCALE AO1 0…65536 100
15.06 ANALOGUE OUTPUT 2 0…30000 101
15.07 INVERT AO2 NO
NO
YES
15.08 MINIMUM AO2 0 mA

0 mA
4 mA
10 mA
15.09 FILTER AO2 [s] 0…10 0.1

15.10 SCALE AO2 0…65536 3000
16 SYSTEM CONTROL INPUTS
16.02 PARAMETER LOCK OPEN SHALL NOT BE
OPEN LOCKED
LOCKED
16.03 PASS CODE 0…30000 0

64 Appendices

16.04 LOCAL LOCK FALSE
TRUE
FALSE
16.05 PARAMETER BACKUP DONE

DONE
SAVE
16.09 CTRL BOARD SUPPLY INTERNAL 24 V

INTERNAL 24 V
EXTERNAL 24 V
16.10 PARAMETER LIST SHORT

SHORT
LONG
17 DC HOLD
17.01 DC HOLD NO
NO
YES
17.02 DC HOLD SPEED [rpm] 0…30000 5

17.03 DC-HOLD CURRENT 0…100 30
[%]
18 LED PANEL CTRL
18.01 LED PANEL OUTPUT 0…30000 107
18.02 SCALE PANEL 0…65536 100
20 LIMITS
20.01 MINIMUM SPEED [rpm] -18000…18000 -1500
20.02 MAXIMUM SPEED [rpm] -18000…18000 1500
20.03 ZERO SPEED LIMIT 0…18000 60
[rpm]
20.04 MAXIMUM CURRENT 0…200 200
[%Ihd]
20.05 MAXIMUM TORQUE [%] 0…600 300
21 START/STOP FUNC
21.01 START FUNCTION CONST
AUTO DCMAGN
DC MAGN
CONST DCMAGN
21.02 CONST MAGN TIME 30…10000 500

[ms]
21.04 EME STOP MODE COAST STOP
STOP RAMPNG
STOP TORQ
COAST STOP
NOT SELECTD
22 ACCELERATION AND DECELERATION

22.01 ACCELER TIME [s] 0…1000 5
22.02 DECELER TIME [s] 0…1000 5
22.04 EME STOP RAMP [s] 0…3000 1
22.05 SHAPE TIME [s] 0…1000 0
22.09 ASWAY RAMP TIME [s] 0.1 s…1000.0 s 4
22.10 TQ ACC RAMP [s] 0.1 s…100.0 s 5
22.11 TQ DEC RAMP [s] 0.1 s…100.0 s 5
Appendices 65

22.12 TQ MIN REF [%] 0.0%…100.0% 10
23 SPEED REFERENCE
23.01 SPEED REF [s] -18000…18000 0
23.04 SPEED CORRECTION -18000…18000 0
[rpm]
23.06 SPEED ERROR FILT 0…100000 0
[ms]
24 SPEED CONTROL
24.02 DROOP RATE [%] 0…100 0
24.03 KPS [s] 0…250 10
24.09 TIS [s] 0…1000 2.5
24.14 ACC COMP DER TIME 0…1000 0
[s]
24.15 ACC COMPFILT TIME 0…1000000 8
[ms]
24.16 SLIP GAIN [%] 0…400 100
27 FLUX CONTROL
27.03 FLUX REF [%] 25…140 100
28 MOTOR MODEL
28.14 FS METHOD ON, OFF OFF
28.15 RS20 [mOhm] (Set during ID run) 0
30 FAULT FUNCTIONS
30.01 MOTOR THERM DTC
PMODE DTC
USER MODE
TERMISTOR
KLIXON
30.02 MOTOR THERM PROT FAULT

FAULT
WARNING
NO
30.03 MOT1 TEMP AI1 SEL NOT IN USE

NOT IN USE
1×PT100 ST,
2×PT100 ST
3×PT100 ST,
1…3PTC ST
30.04 MOT1 TEMP ALM L -10…10000 110

30.05 MOT1 TEMP FLT L -10…10000 130
30.06 MOT2 TEMP AI2 SEL NOT IN USE
NOT IN USE
1×PT100 ST,
2×PT100 ST
3×PT100 ST,
1…3PTC ST
30.07 MOT 2 TEMP ALM L -10…10000 110

30.08 MOT2 TEMP FLT L -10…10000 130
30.09 MOTOR THERM TIME 256…10000 780
[s]
30.10 MOTOR LOAD CURVE 50…150 100
[%]
66 Appendices

30.11 ZERO SPEED LOAD [%] 25…150 74
30.12 BREAK POINT [Hz] 1…300 45
30.19 MOTOR PHASE LOSS NO
NO
FAULT
30.20 EARTH FAULT FAULT

NO
FAULT
30.21 PANEL LOSS FAULT

NO
FAULT
30.22 UNDERVOLTAGE CTL ON, OFF ON

30.23 OVERVOLTAGE CTL ON, OFF ON
30.25 COMM LOSS CTRL STOP RAMPNG
STOP
RAMPNG
STOP TORQ
COAST STOP
LAST SPEED
CNST SPEED 1
30.26 MAIN REF DS T-OUT [s] 0.1…60 3

30.27 COMM FLT RO ZERO
ZERO
LAST VALUE
30.28 AUX DS T-OUT [s] 0…60 3

37 BRAKE CHOPPER
37.01 BRAKE CHOPPER CTL OFF
OFF
ON
37.02 BR OVERLOAD FUNC NO

NO
WARNING
FAULT
37.03 BR RESISTANCE [Ohm] 0…100 100

37.04 BR THERM TCONST [s] 0…1000 0
37.05 MAX CONT BR POWER 0…1000 0
37.06 BC CTRL MODE AS GENERATOR
AS GENERATOR
COMMON DC
50 SPEED MEASUREMENT
50.01 SPEED SCALING [rpm] 0…100000 1500
50.02 SPEED MEAS MODE
A_-B DIR
A_-_
A_-_B DIR
A_-_B_-_
50.03 SPEED FB SEL INTERNAL

INTERNAL
ENCODER
50.04 ENCODER PULSE NR 0…30000 2048

Appendices 67

50.05 ENCODER ALM/FLT ALARM
ALARM
FAULT
50.06 SP ACT FILT TIME [ms] 0…1000000 8

52 STANDARD MODBUS
52.01 STATION NUMBER 1…247 1
52.02 BAUDRATE 9600
600
1200
2400
4800
9600
19200
52.03 PARITY ODD

NONE1STOPBIT
NONE2STOPBIT
ODD
EVEN
64 CRANE
64.01 STAND ALONE SEL FALSE
TRUE
FALSE
64.02 SLOWDOWN SPEED 0.0%…100.0% 25

REF [%]
64.03 MINIMUM REF [%] (* 0.0%…100.0% 5
64.04 SPEED REF LEVEL 2 0.0%…100.0% 25
[%] (*
64.05 SPEED REF LEVEL 3 0.0%…100.0% 50
[%] (*
64.06 SPEED REF LEVEL 4 0.0%…100.0% 100
[%] (*
64.07 SLOWDOWN TYPE NORMAL RAMP
ASWAY
NORMAL RAMP
64.08 REF_SHAPE_N (* 0…100 (on panel 0.000…0.100) 0

64.09 REF_SHAPE_Y (* 0…100 (on panel 0.000…0.100) 0
67 MECHANICAL BRAKE CONTROL
67.01 SPEED REF TD [s] 0.00 s…10.00 s 0.2
67.02 ZERO SPEED LEV [%] 0.0%…100.0% 5
67.03 ZERO SPEED TIME [s] 0.0…100.0 s 0.2
67.04 OFF DELAY [s] (* 0.0 s…1000.0 s 5
67.05 BRK ACK MIN DLY[s] 0.0 s…10.0 s 2
67.06 DIL_TON_TD [s] 0.0 s…20.0 s 0
67.07 ZERO_POS_OK_TD [s] 0.0 s…10.0 s 0.3
(*
67.08 JOYSTICK_WARN_DLY 0.0 s…10.0 s 2
[s] (*
70 DDCS CONTROL
70.01 CH0 NODE ADDR 0…254 1
70.02 CH0 LINK CONTROL 1…15 15
68 Appendices

70.03 CH0 BAUD RATE 1 Mbit/s
8 Mbit/s
4 Mbit/s
2 Mbit/s
1 Mbit/s
70.04 CH0 TIMEOUT [ms] 0…60000 0

70.07 CH2 NODE ADDR 1…125 1
70.08 CH2 M/F MODE NOT IN USE
NOT IN USE
MASTER
FOLLOW
70.09 MASTER SIGNAL 1 0…20000 0

70.10 MASTER SIGNAL 2 0…20000 0
70.11 MASTER SIGNAL 3 0…20000 0
70.13 CH2 TIMEOUT [ms] 0…60000 100
70.14 CH2 COM LOSS CTRL FAULT
FAULT
ALARM
70.15 CH3 NODE ADDR 1…254 1

70.19 DDCS CH0 HW CONN RING
RING
STAR
75 ANTISWAY INPUTS
75.01 ANTISWAY ON SEL DI6
OFF
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI1.3
EXT DI2.1
EXT DI2.2
EXT DI2.3
COMM BIT8
ON
Appendices 69

75.02 HOIST 1/2 SEL HOIST 1
HOIST 1
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI1.3
EXT DI2.1
EXT DI2.2
EXT DI2.3
COMM BIT9
HOIST 2
75.03 POS 1 SIGNAL SEL AI2

CH2
AI1
AI2
AI3
EXT AI1
EXT AI.2
COMM MODULE
75.04 LOAD 1 SIGNAL SEL AI2

CH2
AI1
AI2
AI3
EXT AI1
EXT AI.2
COMM MODULE
75.05 POS 2 SIGNAL SEL EXT AI1

CH2
AI1
AI2
AI3
EXT AI1
EXT AI.2
COMM MODULE
75.06 LOAD 2 SIGNAL SEL EXT AI2

CH2
AI1
AI2
AI3
EXT AI1
EXT AI.2
COMM MODULE
75.07 GAIN 1
1.0
2
3
4
5
70 Appendices

75.08 EN_SWAY TRACKING ON
OFF
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI1.3
EXT DI2.1
EXT DI2.2
EXT DI2.3
COMM BIT12
ON
75.09 EN_AUTO ON ON
OFF
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI1.3
EXT DI2.1
EXT DI2.2
EXT DI2.3
COMM BIT13
ON
75.10 SR MODE TRUE

TRUE
FALSE
76 HOIST 1 PENDULUM CALCULATION

76.01 LOW POSIT.PAR 6.1 -8388607…8388607 20000
76.02 LOW MEASURED [m] 1.00 m…65.00 m 4
76.03 UP POSIT.PAR 6.1 -8388607…8388607 10000
76.04 UP MEASURED [m] 1.00 m…65.00 m 2
76.05 OFFSET 1 SEL LOAD SIGNAL
LOAD SIGNAL
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI1.3
EXT DI2.1
EXT DI2.2
EXT DI2.3
COMM BIT10
AUTO
76.06 OFFSET 1 SET LOAD 0.0%…100.0% 0

[%]
Appendices 71

76.07 OFFSET 1 [m] 0.00 m…65.00 m 0
LOAD SIGNAL
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI1.3
EXT DI2.1
EXT DI2.2
EXT DI2.3
COMM BIT11
76.09 OFFSET 2 SET LOAD 0.0%…100.0% 0

[%]
76.10 OFFSET 2 [m] -65.00 m…65.00 m 0
LOAD SIGNAL
2 DI
76.12 OFFSET 3 SET LOAD 0.0%…100.0% 0

[%]
76.13 OFFSET 3 [m] -65.00 m…65.00 m 0
76.14 LOAD EFF MIN LOAD 0
[%]
76.15 LOAD EFFECT [m] 0.00 m…65.00 m 0
76.16 LOAD EFF LIMIT [m] 0.00 m…65.00 m 2
76.17 LOAD EFF UP POS [m] -65.00 m…65.00 m 0
76.18 AUTO_ON LIM_DN -32768…32767 32767
76.19 AUTO_ON LIM_UP -32768…32767 -32768
77 HOIST 2 PENDULUM CALCULATION
77.01 LOW POSIT.PAR 6.1 -8388607…8388607 20000
77.02 LOW MEASURED [m] 1.00 m…65.00 m 4
77.03 UP POSIT.PAR 6.1 -8388607…8388607 10000
77.04 UP MEASURED [m] 1.00 m…65.00 m 2
LOAD SIGNAL
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI1.3
EXT DI2.1
EXT DI2.2
EXT DI2.3
COMM BIT10
AUTO
72 Appendices

77.06 OFFSET 1 SET LOAD 0.0%…100.0% 0
[%]
77.07 OFFSET 1 [m] 0.00 m…65.00 m 0
LOAD SIGNAL
DI1
DI2
DI3
DI4
DI5
DI6
EXT DI1.1
EXT DI1.2
EXT DI1.3
EXT DI2.1
EXT DI2.2
EXT DI2.3
COMM BIT11
77.09 OFFSET 2 SET LOAD 0.0%…100.0% 0

[%]
77.10 OFFSET 2 [m] -65.00 m…65.00 m 0
LOAD SIGNAL
2 DI
77.12 OFFSET 3 SET LOAD 0.0%…100.0% 0

[%]
77.13 OFFSET 3 [m] -65.00 m…65.00 m 0
77.14 LOAD EFF MIN LOAD 0
[%]
77.15 LOAD EFFECT [m] 0.00 m…65.00 m 0
77.16 LOAD EFF LIMIT [m] 0.00 m…65.00 m 2
77.17 LOAD EFF UP POS [m] -65.00 m…65.00 m 0
77.18 AUTO_ON LIM_DN -32768…32767 32767
77.19 AUTO_ON LIM_UP -32768…32767 -32768
90 D SET REC ADDR
90.01 AUX DS REF3 0…8999 0
90.02 AUX DS REF4 0…8999 0
90.03 AUX DS REF5 0…8999 0
90.04 MAIN DS SOURCE 0…255 1
90.05 AUX DS SOURCE 0…255 3
92 D SET TR ADDR
92.02 MAIN DS ACT1 0…9999 101
92.03 MAIN DS ACT2 0…9999 107
92.04 AUX DS ACT3 0…9999 901
92.05 AUX DS ACT4 0…9999 904
92.06 AUX DS ACT5 0…9999 902
95 D HARDWARE SPECIFIC
95.01 FAN SPD CTRL MODE 0…9999 CONTROLLED
95.02 FUSE SWITCH CTRL 0…9999 OFF
95.03 INT CONFIG USER 0…9999 1
Appendices 73

95.06 LCU Q PW REF 0…9999 0
95.07 LCU DC REV [V] 0…9999 0
98 OPTION MODULES
98.01 ENCODER MODULE NO
NTAC
NO
RTAC-SLOT1
RTAC-SLOT2
RTAC DDCS
98.02 COMM MODULE LINK NO

NO
FIELDBUS
ADVANT
STD MODBUS
CUSTOMISED
98.03 DI/O EXT MODULE 1 NO

NDIO
NO
RDIO-SLOT1
RDIO-SLOT2
RDIO DDCS

NDIO
NO
RDIO-SLOT1
RDIO-SLOT2
RDIO DDCS

NDIO
NO
RDIO-SLOT1
RDIO-SLOT2
RDIO DDCS
98.06 AI/O EXT MODULE1 NO

NAIO
NO
RAIO-SLOT1
RAIO-SLOT2
RAIO DDCS
98.07 COMM PROFILE ABB PROFILE

ABB PROFILE
GENERIC
98.13 AI/O EXT AI1 FUNC UNIP AI5

UNIP AI5
BIPO AI5
98.14 AI/O EXT AI2 FUNC UNIP AI6

UNIP AI6
BIPO AI6
99 START-UP DATA
99.01 LANGUAGE ENGLISH
99.02 MOTOR NOM VOLTAGE 0V
[V]
99.03 MOTOR NOM 0A
CURRENT [A]
74 Appendices

99.04 MOTOR NOM FREQ 50 Hz
[Hz]
99.05 MOTOR NOM SPEED 1.00 rpm
[rpm]
99.06 MOTOR NOM POWER 0 kW
[kW]
99.07 MOTOR ID RUN NO
NO
STANDARD
REDUCED
99.08 MOTOR CTRL MODE DTC

DTC
SCALAR
99.09 APPLIC RESTORE NO

NO
YES
99.10 DRIVE ID NUMBER 0…32767 0

99.11 DEVICE NAME
Appendices 75
Appendix 3: Parameters hidden by default (16.10 =

SHORT)
These parameters will become visible by setting 16.10 PARAMETER LIST = LONG. See
ACS800 Application Program Template 7.x Firmware manual (3AFE64616340 [English])
for details.
Index Parameter name Unit
10.07 NET CONTROL
10.08 NET REFERENCE
16.02 PARAMETER LOCK
20.07 SPC TORQMAX [%]
20.08 SPC TORQMIN [%]
20.09 TREF TORQMAX [%]
20.10 TREF TORQMIN [%]
20.11 FREQ TRIP MARGIN [Hz]
21.03 STOP FUNC
21.05 EMSTOP SPEED DIF [rpm/s]
[rpm/s]
22.03 ACC/DEC TIME SCLE
23.02 CONST SPEED 1 [rpm] [rpm]
23.03 CONST SPEED 2 [rpm] [rpm]
23.05 SPEED SHARE [%] [%]
23.07 WINDOW INTG ON
23.08 WINDOW WIDTH POS [rpm]
23.09 WINDOW WIDTH NEG [rpm]
23.10 SPEED STEP [rpm]
24.01 PI TUNE
24.04 KPS MIN
24.05 KPS WEAKPOINT [%]
24.06 KPS WP FILT TIME [ms]
24.07 SET P WEIGHTING
24.08 SET POINT WEIGHT [%]
24.10 TIS INIT VALUE [%]
24.11 BAL REF [%]
24.12 DERIVATION TIME [ms]
24.13 DERIV FILT TIME [ms]
24.17 KPS TIS MIN FREQ [Hz]
24.18 KPS TIS MAX FREQ [Hz]
24.19 KPS VAL MIN FREQ [%]
24.20 TIS VAL MIN FREQ [%]
50.07 POS COUNT MODE
50.08 POS COUNT INIT LO
50.09 POS COUNT INIT HI
50.10 ABOVE SPEED LIMIT [rpm]
50.11 ENCODER DELAY [ms]
50.13 ZERO DETECT DELAY [ms]
50.14 SPEED HOLD TIME [ms]
76 Appendices
Appendix 4: Motor potentiometer and virtual torque

FB COMMAND WORD = Dataset 1 Word 1 (signal 06.07)
Bit / Integer Name Value Description
0 = Bit 0, LSB ON 1 Command to RDYRUN
1 0 Command to OFF (brake will be closed)
1 OFF2 1 No OFF2 (Emergency Coast)
2 0 Command to ON INHIBIT (brake will be closed)
2 OFF3 1 No OFF3 (Emergency Ramp, see parameters 21.04 EME
4 STOP MODE and 22.04 EME STOP RAMP [s].
0 Command to ON INHIBIT (brake will be closed)
3 RUN 1 Start from overriding control, command to RDYREF
8 0 Stop by coasting (brake will be closed immediately)
4 MOTOR_POT 1 Accelerate (Par. 10.10 = COMM BIT4)
16 0 Last speed
5 VIRTUAL TQ 1 Torque control (Par. 10.14 = COMM BIT5)
32 CTRL 0 No torque control
6 M/F_ON 1 Master/follower (Par. 10.12 = COMM BIT6)
64 0 No Master/follower
7 RESET 0 -> 1 Reset (0 -> 1)
128
8 ANTISWAY_ON 1 Anti-sway control ON (Par. 75.01 = COMM BIT8)
256 0 Anti-sway control OFF
9 HOIST_SEL 1 Hoist 2 selected (Par. 75.02 = COMM BIT9)
512 0 Hoist 1 selected
1024 0
2048 0 Note: If both bits 10 and 11 are active, then all offsets 1, 2
and 3 are added together.
12 EN_TRACKING 1 Enable sway tracking (Par. 75.08)
0
13 EN_AUTO ON 1 Enable Auto ON (Par. 75.09)
0
14…15 (MSB) Not in use 1 These bits are not in use.
0
Appendices 77
 Motor potentiometer
If the motor potentiometer is used via fieldbus, parameter 10.10 MOTOR POT have to be
set COMM BIT4.
Overriding system controls:
Speed ref COMM BIT 4 Action
0 0 Zero speed (standstill), brake is closed
+20000 0 Open the brake and accelerate to minimum speed (parameter 64.03 MINIMUM
REF [%]).
+20000 1 Accelerate towards maximum speed
+20000 0 Keep the same speed
0 0 Decelerate towards zero speed
-20000 1 Accelerate towards negative maximum speed
-20000 0 Keep the same speed
0 0 Decelerate towards zero speed at zero speed the brake will be closed.
 Virtual torque control

By Virtual torque control the acceleration and deceleration ramp rates are controlled by
reference input according to the following table. If Virtual torque control is used via
fieldbus, the parameter 10.14 TORQUE CONTROL have to set COMM BIT5.
WARNING! COMM BIT 5 has to be set to zero when entering the slowdown zone
if the limit switches are controlled by overriding PLC.
WARNING! In stand alone operation (parameter 64.01 STAND ALONE SEL =

TRUE) the slowdown limit switches have to be connected directly to the digital
input(s), see parameter 10.04 SLOWDOWN-N SEL.
No series connections of slow-down switches with step reference inputs are
allowed with Virtual torque control mode!
Overriding system controls:

Speed ref COMM BIT 4 Action
0 Torque control is OFF.
1 Torque control is ON.
0 1 Ramp time is long (parameters 22.10 TQ ACC RAMP [s] and 22.11 TQ DEC
RAMP [s]) / parameter 22.12 TQ MIN REF [%].
+10000 1 Accelerate towards positive maximum speed. Ramp time is 2 × parameter 22.10
TQ ACC RAMP [s]
+10000 1 Accelerate towards positive maximum speed. Ramp time is = parameter 22.10
TQ ACC RAMP [s]
0 1 Decelerate towards zero speed. Ramp time is long (parameters 22.11 TQ DEC
RAMP [s] and 22.12 TQ MIN REF [%]).
-10000 1 Accelerate towards negative maximum speed. Ramp time is 2 × parameter 22.10
TQ ACC RAMP [s] (or 2 x 22.11 TQ DEC RAMP if speed actual is positive).
-20000 1 Accelerate towards negative maximum speed. Ramp time is parameter 22.10 TQ
ACC RAMP [s] (or 22.11 TQ DEC RAMP if speed actual is positive).
0 1 Decelerate towards zero speed. Ramp time is long (parameters 22.11 TQ DEC
RAMP [s] and 22.12 TQ MIN REF [%]).
78 Appendices
Appendix 5: Communication examples

Anti-sway is used mainly in stand-alone construction without master/follower and fieldbus
communications. Following few examples give help to define communication settings for
those seldom cases when those are in use.
 Example 1: Paper machine, wet end

Main hoists 1 (50 tonn) and 2 (50 tonn)
Master/follower communication between them, speed and speed control (synchro) when
those are driven together (synchro control/electrical shaft).
Part of time those are driven separately (standalone).
Control of the drives through a fieldbus, PROFIBUS.
Two trolleys for main hoists (trolley 1 and trolley 2) with the Anti-sway control program and
master/follower communication between them, when the main hoists are driven together.
Control of all drives through a fieldbus (PROFIBUS). Also the hoist data is received from
the fieldbus (eg. length of the rope).
Follower takes speed reference from the master-drive, but start order should be taken from
fieldbus.
Auxiliary hoist 3 (80 tonn)

Control of the drive through a fieldbus, PROFIBUS.
Trolley for the auxiliary hoist (trolley 3) with the Anti-sway control program. Hoist length
either directly from hoist (CH2) or as in this example, through PROFIBUS.
Long travel (long travel 1) with the Anti-sway control program. Hoist length either from
main hoist or auxiliary hoist. The length of the active hoist transmitted from a PLC through
PROFIBUS.
Construction of Example 1 is shown below
Appendices 79
Communication settings in Example 1 (page 1/2)

80 Appendices
Communication settings in Example 1 (page 2/2)

Appendices 81
 Example 2: Main hoist, auxiliary hoist, two trolleys, long travel (I/O
controlled)
Main hoist (hoist 1.1 + hoist 1.2), Crane control program
Built from two drives, master/follower communication between them, drives are connected
to a common drum (will driven always together).
Trolley for main hoist (trolley 1), Anti-sway control program
Hoist length through CH2 optic link, the same link as the master/follower communication.
Auxiliary hoists 1 and 2 with common trolley, Crane control program

Trolley for auxiliary hoists (trolley 2). Crane control program (Anti-sway control program is
not possible), because this trolley cannot connect to long travel to form a totally complete
anti-sway for both movements, trolley and long travel. This is, because the Anti-sway
control program can only receive the hoist length from two different sources, hoist 1 and
hoist 2, and now there are three hoists. If hoist length is taken through fieldbus, then the
PLC can have a logic to select the active hoist and send that height to the long travel.
Long travel 1 and 2, Anti-sway control program
Master/follower communication between drives; speed to speed. Length of the hoist is
taken through CH2 via trolley 1. The complete anti-sway for both movements (trolley 1 and
long travel) is built for the main hoists (driven common load), not for auxiliary hoists.
Construction of the Example 2 shown below
82 Appendices
Communication settings in Example 2.

Appendices 83
 Example 3: Main hoist, auxiliary hoist, two trolleys, long travel

This construction is same as in the example 2, but with the PLC (fieldbus) controlled.
Main hoist (hoist 1.1 + hoist 1.2), Crane control program
Built from two drives, master/follower communication between them, drives are connected
to a common drum (will driven always together).
Trolley for main hoist (trolley 1), Anti-sway conrol program
Hoist length through a fieldbus.
Auxiliary hoists 1 and 2 with common trolley (trolley 2), Crane control program
Trolley for auxiliary hoists (trolley 2). Crane control program (Anti-sway control program is
also possible, if hoist length is taken through fieldbus, then the PLC can have a logic to
select the active hoist and send that height to the long travel). But this example has not
anti-sway.
Long travel 1 and 2, Anti-sway control program
Master/follower communication between drives; speed to speed. Length of the hoist is
taken through a fieldbus. The complete anti-sway for both movements is built for the main
hoist, not for auxiliary hoists.
Construction of the Example 3 shown below
84 Appendices
Communication settings in Example 3

Appendices 85
Appendix 6: ACS800-11 and Anti-sway control program

With the Anti-sway control program (+N816, version A9XR7030 or earlier) the DC bus
voltage can rise substantially when operating in generator area, ie. feeding power to the
grid. This have been corrected starting in control program version A9XR7040.
This is caused by incorrect DC voltage reference and Q-reference being provided to the
line converter side of the ACS800-11.
 Solution
The following parameter changes need to be made on the line side converter via the
control panel (CDP321R):
Step Action Press key Display
1. To enter the Drive Selection Mode. ACS800 0050_5MR

DRIVE
ASXR7xxx
ID NUMBER 1
2. To scroll to ID number 2. ACS800 0050_5LR
IXXR7xxx
ID NUMBER 2
To verify the change to the line side

converter. ACT
98.02 COMM.MODULE -> NO (by default this is INU COMM LIM).

11.01 DC REF SELECT -> PARAM 23.01 (by default this is FIELDBUS).
23.01 DC VOLT REF: set this according to your nominal AC supply voltage, 1.35 × UAC.
For details on the parameter, see section Supplement.
The DC voltage level can be measured from the Anti-sway control program parameter
01.10 DC VOLTAGE [V].
86 Appendices
 Supplement
Detailed descriptions of the parameters that need to be changed, and instructions to select
the line side converter with the control panel can be found below.
For more information on the parameters, see ACS800 IGBT Supply Control Program 7.x
Firmware manual (3AFE68315735 [English]).
98.02 COMM.MODULE Activates the external serial communication and selects the
interface. See parameter 16.01 RUN BIT SEL and 16.15
START MODE.
Note: With ACS800-11/U11/17 and ACS800-
31/U3/37/37LC, the default value of this parameter in INU
COM LIM.
NO No external serial communication. The converter is
controlled through the I/O interface.
FIELDBUS The converter communicates through an Rxxx type fieldbus
adapter connected to Slot 1 or through an Nxxx type fieldbus
adapter connected to RMIO board DDCS channel CH0
using data sets 1 and 2.
Data set 1 and 2 are typically used with type Rxxx or Nxxx
fieldbus adapter modules. See also parameter group 51
MASTER ADAPTER (fieldbus adapter).
ADVANT/N-FB The converter communicates via RMIO board DDCS
channel CH0 using datasets 10 to 25. This selection is used
with eg. AC 800M, AC 80, APC2 and Nxxx type fieldbus
adapters. See also parameter groups 70 DDCS CONTROL
and 71 DRIVEBUS COM.
STD MODBUS The converter communicates through RMBA-0x Modbus
adapter module connected to option Slot 1 of the drive.
Note: With NMBA, use selection FIELDBUS or ADVANT/N-
FB.
See parameter group 52 STANDARD MODBUS and
RMBA-01 Modbus Adapter User’s Manual (3AFE644988851
[English]).
CACP Converter is controlled by CACP board or inverter via CACP
board. See group 22 CACP PARALL CTRL.
CASCADE Converter is controlled by a cascade drive.
INU COM WIDE Converter is controlled by another inverter. Wide
communication.
INU COM LIM Converter is controlled by another inverter. Limited
communication.
Appendices 87
11.01 DC REF SELECT Defines the source for the intermediate circuit DC voltage
reference.
Note: Value is automatically set to FIELDBUS if parameter
98.02 COMM.MODULE is set to INU COM LIM.
Note: Selection AI1 is disabled when parameter 30.20 EXT
TMP 1 AI1 is activated and parameter 98.11 AI/O EXT
MODULE 1 is inactive.
PARAM 23.01 Value of parameter 23.01 DC VOLT REF
AI1 Analogue input AI1
FIELDBUS 23.01 DC VOLT REF from dataset. See section Block
diagram reference select on page 86.
23.01 DC VOLT REF Defines the intermediate circuit DC voltage reference. By

changing this parameter value, the DC link voltage can be
raised higher than with a conventional 6-pulse diode rectifier
in order to compensate a low voltage level in the network.
Example: If the supply voltage is 380 V and the motor
voltage 400 V, the voltage difference can be compensated
simply by setting the DC voltage reference to 565 V (ie,
sqrt(2) × 400 V). However, the line-side converter power is
still calculated on the basis of 380 V: P = sqrt(3) × 380 × line
current.
WARNING! If intermediate circuit voltage is
increased, also the motor supply voltage at nominal
frequency increases. Check that the motor
insulation tolerates the change.
WARNING! Beware of the supply unit LCL filter
overheating. The heat loss increases as the
intermediate circuit level increases. Before
changing the voltage reference, consult your local ABB
representative.
V DC voltage reference. The setting range varies depending
on the value of signal 04.04 CONV NOM VOLTAGE as
follows:
Par. 04.04 DC reference range 1)

[V] Minimum [V] Maximum [V]
240 220 373
415 380 646
500 457 778
690 632 1073
1)
(approximately 65%…110%) × sqrt(2) × par. 4.04 CONV NO
VOLTAGE
Note: The program limits the minimum value to sqrt(2) × UAC.
where UAC denotes the actual supply voltage.
88 Appendices
Further information
Product and service inquiries
Address any inquiries about the product to your local ABB representative, quoting the type
designation and serial number of the unit in question. A listing of ABB sales, support and
service contacts can be found by navigating to www.abb.com/searchchannels.
Product training
For information on ABB product training, navigate to www.abb.com/drives and select
Training courses.
Providing feedback on ABB Drives manuals

Your comments on our manuals are welcome. Go to www.abb.com/drives and select
Document Library – Manuals feedback form (LV AC drives).
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Contact us
3AUA0000094750 Rev B (EN) 2013-05-08

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EN ACS800 Anti Sway CTRL PRG Supplement B

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ABB industrial drives

Drive firmware manuals and guides

ACS800 Anti-sway control program (+N816)

2. Start-up and control

 2013 ABB Oy. All Rights Reserved. 3AUA0000094750 Rev B

1. Introduction to the supplement

2. Start-up and control

4. Auto mode for offset selection: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

4. Signals and parameters

Providing feedback on ABB Drives manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

What this chapter contains

Crane construction overview with the anti-sway drives

What this chapter contains

Checklist for a Quick Start-up

Set the basic application data: By control panel or DriveWindow.

Control operation and default I/O connections

A 11 AO2+ Output current (Par. 15.06) 0(4)...20 mA

 Connection to I/O extensions module RDIO

What this chapter contains

How the anti-sway works

Operation principle of the Anti-sway control program

Total pendulum arm length (measured length of the rope + offset)

 Sway tracking function

DIIL OFF 3 masking of digital input DI7

FB COMMAND WORD = Dataset 1 Word 1 (signal 06.07)

 Control of the brake through the fieldbus

MAIN STATUS WORD (MSW)

One example of the fieldbus communication parameter settings:

*) In case of Crane drive control program (+N652) or DEMAG/ADE4 (+N672)

Communication settings in the hoist drive:

WARNING! Follover diagnostics does not include supervision of the limit

Optical fibre connections in case of master/follower and anti-sway communication

Commissioning instructions for the anti-sway function

 Measuring and calculating a real pendulum arm with an empty hook

 Hook in LOW position

 Test with an empty hook

 Pendulum arm offset

1. Settings in the weight sensitive mode:

2. Settings for the offset step logic:

76.05 OFFSET 1 SEL = LOAD

76.08 OFFSET 2 SEL = LOAD

76.11 OFFSET 3 SEL = LOAD

Offset steps controlled by the fieldbus control word.

06.07 FB COMMAND WORD bit 10 ACT +/-

76.07 OFFSET 1 [m] IN1

06.07 FB COMMAND WORD bit 11 ACT 06.06 PENDULUM

76.11 OFFSET 3 SEL = 2DI

3. Writing offset directly through the fieldbus:

4. Auto mode for offset selection:

New offset is calculated every

What this chapter contains

Terms and abbreviations

No. Name/Selection Description Def/ Type

No. Name/Selection Description Def/ Type

06.05 HOIST LOAD Hoist load signal. R

No. Name/Selection Description Def/ Type

Note: The parameters with name marked with asterisk (* are

No. Name/Selection Description Def/ Type

No. Name/Selection Description Def/ Type

14.01 (DO1 CONTROL) Hidden, not in use.

No. Name/Selection Description Def/ Type

No. Name/Selection Description Def/ Type

No. Name/Selection Description Def/ Type