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KEB F6 Supplement Manual
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KEB F6 Supplement Manual

KEB F6 Supplement Manual

Canopen elevator drive
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F6 ELEVATOR DRIVE
DEVELOPER'S SUPPLEMENT | CANopen ELEVATOR
Document 20400342 US 00
Preliminary Version
© CiA

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Summary of Contents for KEB F6

  • Page 1 F6 ELEVATOR DRIVE DEVELOPER’S SUPPLEMENT | CANopen ELEVATOR © CiA Document 20400342 US 00 Preliminary Version...

  • Page 2: Preface

    The hardware, software, accessories in this document are products of KEB America, Inc. The information contained in this document is valid at the time of publishing. KEB reserves the right to update this document in response to misprints, mistakes, or technical changes.

  • Page 3: Key Symbols

    1.3 Warranty KEB provides a limited warranty on all products. This warranty can be found in the terms and conditions at our website. KEB America, Inc. North America terms and conditions: https://www.kebamerica.com/terms-and-conditions/...

  • Page 4: Support And Liability

    It is not possible to cover every potential application of our device in a single manual. If you require further information or if problems occur which are not covered in this document, you can request the necessary information via KEB America, Inc., or the local KEB Automation KG agency.

  • Page 5: Table Of Contents

    RxPDO - Process Data Inputs ............... 11 TxPDO - Process Data Outputs ..............13 4 CAN Bus Parameter Descriptions ............ 15 CAN KEB Parameters (CN) ................15 CAN CiA417 Parameters (CA) ............... 19 CAN Mandatory Parameters (CG) ..............30 CAN Optional Parameters (CB) ..............32 CAN-Bus Position Value Parameters (PO) ...........
  • Page 6 CAN Encoder Synchronization .................... 46 7.7.5 Tuning ............................ 46 CAN State Machine ..................47 CAN Load Weighing Pre-torque (not yet implemented)......48 8 Hardware Connection ................ 49 CAN Hardware Connection ................49 9 Revision History ................52 Notes......................53 © 2024 KEB America, Inc.

  • Page 7: List Of Figures

    Figure 6.6 Password error message ......................36 Figure 7.1 CAN state machine ........................47 Figure 8.1 CAN X2A hardware connections ....................49 Figure 8.2 Connection of signals, shields, and optional termination............50 Figure 8.3 Wire structure ..........................51 © 2024 KEB America, Inc.

  • Page 8: List Of Tables

    Table 7.10 Position run timing table ......................45 Table 7.11 Common CiA417 objects used by position mode ..............45 Table 7.12 Position conversion object ....................... 46 Table 8.1 CAN X2A connection assignment ....................49 Table 8.2 Recommended manufacturers ....................51 © 2024 KEB America, Inc.

  • Page 9: Introduction

    The benefits of creating a plug and play system include reduced cost and time in designing, installing, and maintaining the elevator system. The product family F6 Elevator Drive with CANopen Elevator (CiA 417) application has been developed for use in elevator applications. The CANopen elevator application was...

  • Page 10: Contact Information

    Introduction 2.1.1 Contact Information CAN in Automation (CiA) Kontumazgarten 3 DE-90429 Nuremberg Tel.: +49-911-928819-0 Fax: +49-911-928819-79 E-Mail: headquarters@can-cia.org Web Link: http://www.can-cia.org/can-knowledge/canopen/cia417 © 2024 KEB America, Inc.

  • Page 11: Functional Description

    64820108h CA114[1] - Load Signaling 64800110h CA112[1] - Load Value RM01 default values Subindex Default Value Parameter 64000010h CA01 - Control Word 64030008h CA03 - Modes of Operation 00050008h Reserved 64300020h CA48 - Target Velocity © 2024 KEB America, Inc.
  • Page 12 Default Value Parameter COB-id 180h Tx type 0 μs Inhibit time Reserved Event Timer 0 ms RS04 default values Subindex Default Value Parameter COB-id 18Ch Tx type 0 μs Inhibit time Reserved Event Timer 0 ms © 2024 KEB America, Inc.

  • Page 13: Txpdo - Process Data Outputs

    TM01 default values Subindex Default Value Parameter 64010010h CA02 - Status word 64040008h CA03 - Modes of operation 67EE0008h Reserved 64330020h CA51 - Actual velocity TM02 default values Subindex Default Value Parameter 64060020h CA06 - Control effort © 2024 KEB America, Inc.
  • Page 14 Default Value Parameter COB-id 183h Tx type 0 μs Inhibit time Reserved Event timer 0 ms TR02 default values Subindex Default Value Parameter COB-id 181h Tx type 0 μs Inhibit time Reserved Event timer 0 ms © 2024 KEB America, Inc.

  • Page 15: Can Bus Parameter Descriptions

    CAN Bus Parameter Descriptions 4 CAN Bus Parameter Descriptions 4.1 CAN KEB Parameters (CN) CN00 CAN Node ID CAN Addr: 2000h Sets the CAN node ID. Default value is 2 per DS417 specification. CN01 CAN Baud Rate CAN Addr: 2001h Sets the CAN Baud Rate.
  • Page 16 LP05. Teach Value Learns floor value (not yet implemented) Up Direction Ignored in Cia417 control system. Down Direction Ignored in Cia417 control system. Speed Selection Ignored in Cia417 control system. © 2024 KEB America, Inc.

  • Page 17: Table 4.1 Cn03-Cn05 Programmable Input Functions

    Quick stop Switched on disabled Warning Manufacturer specific: CAN output function 1 Remote Target reached Internal limit active Setpoint Acknowledged Bit Maximum slippage Manufacturer specific: CAN output function 2 Manufacturer specific: CAN output function 3 © 2024 KEB America, Inc.
  • Page 18 Target Reached will be output. CN60 Error Info & Emergency Text CAN Addr: 2028h Subindex 1 is unused. Subindex 2 contains the error number as seen in DG02, but ASCII-encoded. Subindex Description Units Display error info Emergency text string © 2024 KEB America, Inc.

  • Page 19: Can Cia417 Parameters (Ca)

    This output can also be used to provide the pre-charge signal to a regen or AFE unit. Bit 2 - Quick stop Triggers an emergency slowdown utilizing the emergency slow down ramp. Quick stop is an active low. © 2024 KEB America, Inc.
  • Page 20 Indicates the current run is an inspection run. Inspection runs must always occur in velocity mode. The controller must change modes of operation, CA03 to 3. This bit must be set before bits 1 and 3 are set. © 2024 KEB America, Inc.
  • Page 21 Bit 4 - New Setpoint Requests that the current position set value be accepted as a new target position. Bit 5 - Change setpoint now Causes the new target position to become the active target in the position controller. © 2024 KEB America, Inc.
  • Page 22 Indicates the current run is an inspection run. Inspection runs must always occur in velocity mode. The controller must change modes of operation, CA03 to 3. This bit must be set before bits 1 and 3 are set. © 2024 KEB America, Inc.
  • Page 23 Indicates the drive has shut down with a fault condition. Bit 4 - Voltage enabled Confirms voltage to the motor has been enabled. (The F6 is always under high voltage unless an AFE of some sort is used). Bit 5 - Quick stop Indicates a quick stop has been activated.
  • Page 24 This bit is defined by CAN output function 1 and CAN output function 2 in parameters CN07 and CN08. Through these parameters, the bit can be linked to any one of the hardware output functions. © 2024 KEB America, Inc.
  • Page 25 Indicates a quick stop has been activated. Quick stop is active low. Bit 6 - Switched on Disabled Indicates that the drive is in its pre-run state. Bit 7 - Warning Indicates a drive warning, such as motor or drive overheat. © 2024 KEB America, Inc.
  • Page 26 This bit is defined by CAN output function 1 and CAN output function 2 in parameters CN07 and CN08. Through these parameters, the bit can be linked to any one of the hardware output functions. © 2024 KEB America, Inc.
  • Page 27 Defines a software limit for the minimum and maximum position values. Use sub-index 01h for the minimum and sub-index 02h for the maximum. CA35 Profile Velocity CAN Addr: 6423h The target velocity in mm/s used in position mode. Mapped to PxPDO02. © 2024 KEB America, Inc.
  • Page 28 CAN Addr: 6480h Sub-index 1 contains the load value in units specified by sub-index 2. Currently the only supported units are kg. Mapped to RxPDO00. Subindex Description Units Absolute Load Value SI Unit Negative Load Value © 2024 KEB America, Inc.
  • Page 29 If set to ‘1’, the bit is processed. If set to ‘0’, the bit is ignored. Mapped to RxPDO00. Subindex Description Units Load Signal Load Signal Interrupt Load Signal Bit Descriptions Function Reserved Reserved Rope Difference Slack Rope Overlaod Full Load Norm Load Zero Load © 2024 KEB America, Inc.

  • Page 30: Can Mandatory Parameters (Cg)

    Gives the time in mSec between CAN synchronization pulses. CG08 Manufacturer Device Name CAN Addr: 1008h Displays the name of the CAN device. Displays KEB in ASCII. CG10 CAN Software Version CAN Addr: 100Ah Displays the current software version of the elevator application.
  • Page 31 CAN Addr: 1018h The identity object is broken down into four parts as defined below. Sub-Index Description Value Vendor ID 00000014h Product code 1C8H Revision Date code 4 (not supported) Serial number Serial number of the unit © 2024 KEB America, Inc.

  • Page 32: Can Optional Parameters (Cb)

    Determines whether parameters have different sets. The elevator application does not, so always zero. CB82 Parameter Setting Display (currently not supported) CAN Addr: 6052h If CB80 is non-zero, then this indicates which set is currently selected for adjustment. © 2024 KEB America, Inc.

  • Page 33: Can-Bus Position Value Parameters (Po)

    The value can be found at sub-index 1. PO07 Car Speed Value CAN Addr: 6410h This parameter contains the car speed value which is given by the CAN bus encoder. The value can be found at sub-index 1. © 2024 KEB America, Inc.

  • Page 34: Filtering The Speed Command (Currently Not Supported)

    (ms). This will cause the drive to generate a new speed command value every millisecond despite the fact the new values are being given at a much slower rate. © 2024 KEB America, Inc.

  • Page 35: Virtual Terminal (Not Yet Implemented)

    DOWN, LEFT and RIGHT. • UP command: Increments the number underlined by the cursor. • DOWN command: Decrements the number underline by the cursor. • LEFT command: Removes the rightmost number, moves cursor one place to the left. © 2024 KEB America, Inc.

  • Page 36: Figure 6.4 Editing A Parameter (Note The Cursor)

    LEFT Key Same as ENTER via keypad RIGHT Key Same as ESCAPE via keypad ENTER Key Same as ENTER via keypad END Key Same as ESCAPE via keypad Table 6.1 Summary of virtual terminal commands © 2024 KEB America, Inc.

  • Page 37: Table 6.2 Layout Of 2X16 Character Display

    Virtual Terminal (not yet implemented) Table 6.2 Layout of 2x16 character display G = Group characters N = Parameter number S = Subindex X = Don’t care V = Integer Value © 2024 KEB America, Inc.

  • Page 38: Application Information

    • TM - TPDO mapping parameters (read-only) • TR - TPDO communication configuration parameters • CA - CiA417 application parameters • CN - Baud Rate, Node id, manufacturer’s specific parameters • PO - CAN encoder raw position value © 2024 KEB America, Inc.

  • Page 39: Modes Of Operation

    Table 7.1 Control word velocity Bit 15 Inspection Recall Manu. Manu. Manu. Reserved Change Halt Active Active Specific Specific Specific Setpoint Fault Abs/rel Change Enable Quick Enable Switch Reset Setpoint Operation Stop Voltage Immed. Table 7.2 Control word position © 2024 KEB America, Inc.

  • Page 40: Status Word

    Set Point Internal Target Remote Manu. Specific Specific Slippage Ack. Limit Reached Specific Active Warning Switch On Quick Voltage Fault Operation Switched Ready to Disabled Stop Enabled Enabled Switch On Table 7.4 Status word position © 2024 KEB America, Inc.

  • Page 41: Starting A Run: General Description

    Controller sends 0x7 and waits for 0x31 status word to update. 0x33 Status word updates to 0x33. Controller sends 0xF and waits for 0x33 status word to update. 0x37 Speed output to motor. Table 7.5 Starting a run timing © 2024 KEB America, Inc.

  • Page 42: Stopping A Run: General Description

    Controller sends 0x6 and waits for 0x33 status word to update. 0x31 Status word updates to 0x31. Controller sends 0x0 and waits for 0x31 status word to update. 0x60 Idle Table 7.6 Stopping a run timing © 2024 KEB America, Inc.

  • Page 43: Performing A Run: Full Description

    Car is now at zero speed. becomes True. x + 3 to x + 9 Stop Run Steps Transition through the steps in Table 7.6. x + 10 Nothing Idle Table 7.7 Velocity mode timing © 2024 KEB America, Inc.

  • Page 44: Position Mode

    To begin a position run, the controller will need to set the Profile Velocity object, update the Target Position object, and then perform the new position handshaking as described above. The controller can then cycle through the control word as described in section © 2024 KEB America, Inc.

  • Page 45: Table 7.10 Position Run Timing Table

    RPDO #259 Status Word 0x6401 CA01 TPDO #260 Target Position 0x6420 CA32 RPDO #261 Profile Velocity 0x6423 CA35 RPDO #261 Control Effort 0x6406 CA06 TPDO #262 Table 7.11 Common CiA417 objects used by position mode © 2024 KEB America, Inc.

  • Page 46: Can Encoder Synchronization

    Motor, SPI and pole learn tune modes require that the Control Word inspection bit be high before the tune mode starts and remain high until the tune mode completes. Performing a tune mode is done by performing a velocity run as described above. © 2024 KEB America, Inc.

  • Page 47: Can State Machine

    Lift App Status | Inv. Status Lift App Status | Inv. Status Run+Active | fcon/rcon/pos CW LB 0xxx 001 1 (0003 h) Run+Active | fdec/rdec CW LB 0xxx 001 0 (0002 h) Figure 7.1 CAN state machine © 2024 KEB America, Inc.

  • Page 48: Can Load Weighing Pre-Torque (Not Yet Implemented)

    5. Monitor the torque in DG05 again and enter the value into LC36 - Full Load Torque. 6. If LM07 - Motor Torque has been entered correctly, the drive can now use the incoming load value to correctly calculate the percentage of pre-torque needed for the measured load. © 2024 KEB America, Inc.

  • Page 49: Hardware Connection

    X2A with spring-cage connection. Assignment of the CAN connections is described below. Figure 8.1 CAN X2A hardware connections Hardware Hardware Communications Communications Terminal Signal Terminal Signal CAN_L CAN_H CAN_GND Table 8.1 CAN X2A connection assignment © 2024 KEB America, Inc.

  • Page 50: Figure 8.2 Connection Of Signals, Shields, And Optional Termination

    CAN_GND at both earth ground at controller drive and controlle r . * Termination resistor must be installed when the KEB Lift Drive is the last node. Figure 8.2 Connection of signals, shields, and optional termination © 2024 KEB America, Inc.

  • Page 51: Figure 8.3 Wire Structure

    • SABIX® CB 620 (1 x 2 x 0,25 mm²) 41749 Viersen Order-no.: 56202251 Germany • CB 627 (1 x 2 x 0,25 mm²) Tel.: 02162/898-0 Order-no.: 06272251 (UL appr.) (bigger wire gauges Fax: 02162/898-101 available) www.sab-brockskes.de Table 8.2 Recommended manufacturers © 2024 KEB America, Inc.

  • Page 52: Revision History

    Revision History 9 Revision History Version Date Description 2024-09 Preliminary Release © 2024 KEB America, Inc.

  • Page 53: Notes

    Notes Notes © 2024 KEB America, Inc.
  • Page 54 Belgium | KEB America, Inc. Herenveld 2 9500 Geraardsbergen Belgium P.R. China | KEB Power Transmission Technology (Shanghai) Co. Ltd. No. 435 QianPu Road Chedun Town Songjiang District Tel: +32 544 37860 Fax: +32 544 37898 201611 Shanghai P.R. China E-Mail: vb.belgien@keb.de...
  • Page 55 Automation with Drive www.kebamerica.com KEB America, Inc. 5100 Valley Industrial Blvd S. Shakopee, MN 55379 Tel. +1 952-224-1400 E-Mail: info@kebamerica.com © 2024-09...