gefran ADV200-HC Instruction Manual
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gefran ADV200-HC Instruction Manual

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ADV200-HC
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Instruction manual

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Summary of Contents for gefran ADV200-HC

  • Page 1 ADV200-HC En g lish Instruction manual...
  • Page 2 Keep the manual in a safe place and available to engineering and installation personnel during the product functioning period. Gefran S.p.A has the right to modify products, data and dimensions without notice. The data can only be used for the product description and they can not be understood as legally stated properties.

  • Page 3: Table Of Contents

    4.2.5 Procedure for manual calibration of inertia ................47 4.2.6 Calculating rope length ......................48 4.2.7 Initialization procedure for calculating rope length..............49 4.2.8 List of parameters monitorable with SW SoftScope oscilloscope ..........52 ADV200-HC Manual Page 3 of 55...

  • Page 4: Introduction

    APPLICATIONS / APPLICATION 1 menu and replaces the PID application. The parameters list is shown in chapter 4 below. Application Version This manual applies to software version ADV200 HC V V 3.0.0 (or later). ADV200-HC Manual Page 4 of 55...

  • Page 5: General Description

    See ELS chapter for more information. Trolley -ELS-VM Trolley-ELS Hoist-HL-M Hoist-HL-S Drives connected via FastLink. In Helper(HL) the slave(S) drive follows the torque reference Gantry-HL-M Gantry-HL-S generated by master(M) drive. Trolley-HL-M Trolley-HL-S See HELPER chapter for more information. ADV200-HC Manual Page 5 of 55...

  • Page 6: Typical Connection Diagram

    AntiImpact function, and alarm reset button. Digital input signals must be set on the HOIST&CRANE / DIGITAL INPUTS menu. Digital output signals must be set on the HOIST&CRANE / DIGITAL OUTPUTS menu. ADV200-HC Manual Page 6 of 55...
  • Page 7 Limit switch Brake Command Dig In 2X 72 Antiimpact Dig In 1X 71 Drive OK B- IN 24 B+ IN 23 A- IN 22 A+ IN 21 0VE C5 +VE S5 Brake Braking Resistor ADV200-HC Manual Page 7 of 55...

  • Page 8: Description Of Functions And List Of Parameters

    Monitor torque limit exceeded for brake opening, FWD. 26.01.06 12010 Brake FWD spd mon BOOL Monitor speed limit exceeded for brake opening, FWD. 26.01.07 12012 Brake REV cur mon BOOL Monitor current limit exceeded for brake opening, REV ADV200-HC Manual Page 8 of 55...
  • Page 9 26.01.22 12044 Position mon FLOAT Monitor of position of mechanical part driven (hook, trolley) compared to mechanical shaft zero. 26.01.23 12046 ELS align BOOL Speed reference for shaft alignment. ADV200-HC Manual Page 9 of 55...

  • Page 10: H&C Service

    2 digital inputs or an analog input for the speed reference. In this mode, START is run with only the FWD command; for REVERSE you have to command both digital inputs (FWD + REV) as shown in the following table. ADV200-HC Manual Page 10 of 55...
  • Page 11 2 None (brake feedback not sent to drive) 26.02.08 11142 Limit switch ENUM None Enabling management of limit switches. 0 = Norm Close = Normally closed when position of controlled element does not exceed ADV200-HC Manual Page 11 of 55...
  • Page 12 During the procedure for defining rope length, you are asked to enter the distance between the hoist hook groove and the center of gravity of the load in this parameter. This parameter can be changed outside this procedure. ADV200-HC Manual Page 12 of 55...

  • Page 13: Cmd Control And Zero Crossing

    Therefore, if you release the command before the time has expired the action will be kept until time (1) has expired; on the other hand, if you release the command after the time “FWD (REV) cmd keeping” has expired, you have an immediate reaction (2). ADV200-HC Manual Page 13 of 55...
  • Page 14 Enabling of Zero Crossing function. 26.03.05 11110 Zero crossing delay FLOAT 5000 Delay for restart after brake close for reversal of direction. The “ZERO CROSSING” function cannot be enabled on drives configured as ..-ELS-M, …ELS ADV200-HC Manual Page 14 of 55...

  • Page 15: Cmd Speed

    Acceleration in FWD direction. 26.04.06 11092 FWD Dec time 0,01 1000 Deceleration in FWD direction. 26.04.07 11094 REV Acc time 0,01 1000 Acceleration in REV direction. 26.04.08 11096 REV Dec time 0,01 1000 Deceleration in REV direction. ADV200-HC Manual Page 15 of 55...

  • Page 16: Brake Control

    Speed threshold for brake opening, FWD. 26.05.04 11036 FWD OPEN speed set FLOAT 1000 Speed reference for brake opening, FWD. 26.05.05 11038 FWD CLOSE speed thr FLOAT 1000 Speed threshold for brake closing, FWD ADV200-HC Manual Page 16 of 55...
  • Page 17 11120 CLOSE delay disable FLOAT 10000 Delay for disabling drive after brake closing. 26.05.13 11138 OPEN delay FLOAT 10000 Delay for brake opening. This time starts when the speed and current thresholds are exceeded. ADV200-HC Manual Page 17 of 55...

  • Page 18: Hoist Speed Up & Power Speed Up

    %s of each shaft from the slaves.  The action if the threshold is exceeded must be specified only on drive …–ELS-VM.  Function ON state will be shown on the monitor on drive …-ELS-VM ADV200-HC Manual Page 18 of 55...
  • Page 19 The control algorithm monitors available power and the power absorbed by the motor in the various phases of movement. Via regulator P, it reduces motor acceleration value and gradually brings it to zero when absorbed power reaches the set limit, thereby defining the work speed. ADV200-HC Manual Page 19 of 55...
  • Page 20 %s of each shaft from the slaves.  The action if the threshold is exceeded must be specified only on drive…–ELS-VM.  Function activation state will be shown on the monitor on drive …-ELS-VM ADV200-HC Manual Page 20 of 55...
  • Page 21 50% of motor torque is used to support the load and 50% for acceleration. 26.06.10 11170 PWR UP REV pwr ref POWER UP This is the maximum power to be delivered to lower the load. Net of friction it equals the product ADV200-HC Manual Page 21 of 55...

  • Page 22: Overload

    Two thresholds, OL1 and OL2 Load thr, are available, settable in % of motor current / torque. Exceeding each threshold for a time set in “OL1 time” and “OL2 time” causes a user-settable action. ADV200-HC Manual Page 22 of 55...
  • Page 23 In FOC CL or FOC OL mode, the OL2 Load thr parameter is a % of nominal torque of the motor. 26.07.04 11136 Delay to start OL FLOAT 2000 The delay time starts after the inverter is enabled and the brake is opened.. ADV200-HC Manual Page 23 of 55...

  • Page 24: Overtravel And Low Speed Zone

     The speed reference to which the drive goes is the one specified in the “LSZ speed” parameter of the drive …–ELS-VM.  Function activation state will be shown on the monitor of the drive involved and on the …-ELS-VM drive. ADV200-HC Manual Page 24 of 55...
  • Page 25 Speed reference in Low Speed Zone. 26.08.03 11112 Up sw LS abs pos FLOAT 1000 Limit switch software absolute position high. 26.08.04 11116 Low sw LS abs pos FLOAT 1000 Limit switch software absolute position low. ADV200-HC Manual Page 25 of 55...

  • Page 26: Anti Sway

    The reference changed by the anti sway function is in yellow. The second graph shows load angle in the various movements. Note that there is no residual sway when the load stops. ADV200-HC Manual Page 26 of 55...
  • Page 27 NOTE: Two steps are required to change the outputs: If you use an analog connection (For example, changing the PAD, that transmits the hoist rope length via analog output 1.) ADV200-HC Manual Page 27 of 55...
  • Page 28 1: ZV There are two different ways to manage sway. ZVD offers smaller sways and greater insensitivity to changes in rope length, but provides slower movements. 26. 09.06 12112 Rope length FLOAT Rope length measurement. ADV200-HC Manual Page 28 of 55...

  • Page 29: Anti Impact

    %s of each shaft from the slaves.  The action if the threshold is exceeded must be specified only on drive…–ELS-VM.  The function activation status will be shown on the monitor of drive …-ELS-VM ADV200-HC Manual Page 29 of 55...
  • Page 30 In FOC CL or FOC OL mode, the AI Thr parameter is a % of nominal torque of the motor. The Anti Impact function must be available to the operator when needed. Therefore, an On/Off switch will be placed on the control panel to cammand the relative digital input of the drive. ADV200-HC Manual Page 30 of 55...

  • Page 31: Els

    “Virtual Master”. The “Virtual Master” block:  Generates a position and a speed with linear ramp based on set speed reference.  Manages brake opening. ADV200-HC Manual Page 31 of 55...
  • Page 32 Digital output signals are set on the HOIST&CRANE / DIGITAL OUTPUTS menu. !! ATTENTION !! To enable drives in Electric Shaft, all Enable signals (including on drives set as NOT Follow) must be up. ADV200-HC Manual Page 32 of 55...
  • Page 33 Dig In E Dig In 1X 71 Brake Command Drive OK B- IN 24 B+ IN 23 A- IN 22 A+ IN 21 0VE C5 +VE S5 Brake Braking Resistor Typical drive connection –ELS-VM (Virtual Master) ADV200-HC Manual Page 33 of 55...
  • Page 34 Dig In 2 ELS follow Dig In 1 Enable Dig In E Brake Command Drive OK B- IN 24 B+ IN 23 A- IN 22 A+ IN 21 0VE C5 +VE S5 Brake Braking Resistor ADV200-HC Manual Page 34 of 55...

  • Page 35: Helper

    AntiImpact function, alarms reset button, and communication with the other drives of the mechanical shaft. Digital input signals are set on the HOIST&CRANE / DIGITAL INPUTS menu. Digital output signals are set on the HOIST&CRANE / DIGITAL OUTPUTS menu. ADV200-HC Manual Page 35 of 55...
  • Page 36 Dig In 2X 72 Enable Antiimpact Dig In E Dig In 1X 71 Brake Command Drive OK B- IN 24 B+ IN 23 A- IN 22 A+ IN 21 0VE C5 +VE S5 Brake Braking Resistor ADV200-HC Manual Page 36 of 55...
  • Page 37 A+ IN 21 0VE C5 +VE S5 Brake Braking Resistor MENU Description Type ACCESS 26.12.01 11068 HL-S trq inversion BOOL Parameter to be set only on drives configured as …-HL-S Inversion of torque reference ADV200-HC Manual Page 37 of 55...

  • Page 38: Digital Inputs

    Parameters source “src” can be assigned to any digital input. If the source is used to enable a function, for example Anti Sway, you can set the value of Anti sway src = One. In this case, the function is always active. ADV200-HC Manual Page 38 of 55...

  • Page 39: Digital Outputs

    Digital output to signal excessive load, threshold 2 exceeded.. 26.14.08 11202 Limit switch dest ENUM Null Digital output to signal state of limit switches. 26.14.09 11204 Anti sway dest ENUM Null Digital output to signal anti sway function active. ADV200-HC Manual Page 39 of 55...

  • Page 40: Analog Inputs

    Maximum allowed time after which, if torque (in FOC CL and FOC OL mode) or current (in V/f mode) exceeds the Overload threshold set in “OL1 Load thr,” the action provided in “OL1 action” is activated ADV200-HC Manual Page 40 of 55...
  • Page 41 Parameter to be set only on drives configured as …-ELS-VM, …-HL-M. Maximum time allowed to open or close brakes; this parameter must be greater than the time taken by the drives to exceed the brake open/close thresholds. ADV200-HC Manual Page 41 of 55...
  • Page 42 If torque error between …-HL-M shaft and …-HL-S drive exceeds “HL torque error” value for a time exceeding “HL error time”, the action programmed in “HL Action” is activated 26.16.21 12054 Allarm state DINT Word signaling active alarms ADV200-HC Manual Page 42 of 55...

  • Page 43: Firmware

    SLAVE FAULT ONLY FOR …-ELS-VM or ...-HL-M Check cause of fault on “slave” drive. DRIVE “Slave” drive in alarm or “slave“ drive has not executed command to open/close brake or to enable drive. ADV200-HC Manual Page 43 of 55...

  • Page 44: Commissioning Procedure

    List of ADV parameters changed when loading application default parameters MENU Description Type Default for application 22.14.01 Control mode select ENUM Speed 06.22 Ramp out Zero src ENUM 11.01 1000 Set cmd remot BOOL Digital ADV200-HC Manual Page 44 of 55...

  • Page 45: Essential Steps For Drive Configuration

    (Hoist, 26.02.01 Trolley or Gantry) …–ELS, -HL. Specify type of input for speed reference HOIST&CRANE \ H&C SERVICE \ Jstk Speed Type 11062 (joystick) - digital or analog. position 26.02.03 ADV200-HC Manual Page 45 of 55...
  • Page 46 Run rope length definition procedure HOIST&CRANE \ H&C SERVICE \ Define axis length 11146 26.02.10 As an alternative, enter mechanical ratio “Mpr” directly, bring hook (Trolley or HOIST&CRANE \ H&C SERVICE \ Mpr 11148 26.02.11 ADV200-HC Manual Page 46 of 55...

  • Page 47: Procedure For Manual Calibration Of Inertia

    Note: in V/f, torque is not constant during acceleration. This is due to the less precise estimation method used for V/f. In any case, torque delta value is used at the end of acceleration. ADV200-HC Manual Page 47 of 55...

  • Page 48: Calculating Rope Length

    = gravity constant [9,81 T = period of oscillation Enter the result in the “H&C SERVICE \known position” parameter when requested during the “rope length definition procedure”, leaving the hook (trolley or beam) in the same position. ADV200-HC Manual Page 48 of 55...

  • Page 49: Initialization Procedure For Calculating Rope Length

    “known position” parameter. “H&C SERVICE \Measure load” parameter (IPA11200), enter distance between the hook groove and the hypothetical center of gravity of the load (D). Save and reset the drives. ADV200-HC Manual Page 49 of 55...
  • Page 50 (Measure 1= B - A) in the “H&C SERVICE \Measure 1” parameter (IPA 11192). This operation lets you determine the ratio between motor rpms and actual shift on the rope. The “Define axis length” parameter goes to “Known position”. ADV200-HC Manual Page 50 of 55...
  • Page 51 Movements of the hook (trolley or beam) with the drive off will cause misalignment between the real position and the position specified by the drive, making it necessary to repeat the rope length definition procedure. ADV200-HC Manual Page 51 of 55...

  • Page 52: List Of Parameters Monitorable With Sw Softscope Oscilloscope

    11110 CMD CONTROL pRifSpeed_1 Speed 1 11004 CMD SPEED pRifSpeed_2 Speed 2 11006 CMD SPEED pRifSpeed_3 Speed 3 11010 CMD SPEED pRifSpeed_4 Speed 4 11054 CMD SPEED pFWD_Acc FWD Acc time 11084 CMD SPEED ADV200-HC Manual Page 52 of 55...
  • Page 53 Rope length 12112 ANTI SWAY pEnable_Antiimpact Enable Anti Impact 11016 ANTI IMPACT pAI_speed AI speed 11018 ANTI IMPACT pDelta_Thr AI Thr 11020 ANTI IMPACT p ELS_Follow ELS mode 12056 p Ki_gain Ki gain 11118 ADV200-HC Manual Page 53 of 55...
  • Page 54 Slave brake time 11220 ALARM CONFIG pADV_Comm_dly Slave enable time 11214 ALARM CONFIG pHL_Action HL Action 11228 ALARM CONFIG pHL_trqAll HL torque error 11226 ALARM CONFIG pHLtrq_timeAll HL error time 11224 ALARM CONFIG ADV200-HC Manual Page 54 of 55...
  • Page 55 Signal Corresponding parameter MENU vAlarm_state Alarm state 12054 ALARM CONFIG ADV200-HC Manual Page 55 of 55...

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