ACS880 CraneControl with NS100
Contents
1. Type Def FbEq 78 60 Ext sway configuration word 1 NS100 Configuration words 0 Enable sway correction at start during ramp up 1 Enable Enable sway correction at stop during ramp down 1 Enable Enable measure mode Measured values will be sent to Angle gt 78 67 Angle Speed gt 78 68 Axis acceleration gt 78 69 Note This mode disables all other external sway control functions 1 DISABLE all sway control functions Direct lift start signal Direct lift start signal connected to this drive Defines to which drives parameter 78 60 Bit 3 Direct lift start signal is connected NS100 reads this signal from one drive only Measure mode filter Disable If user want to read raw data from sensor in measure mode then set this bit to 1 15 Free Type Def 78 61 Ext sway configuration word 2 78 62 Minimum speed for correction NS100 Configuration words 0 Inverse sensor polarity Can be use only in case that mechanical installation of the NS100 is not possible to install according instructions 0 not inversed 1 inversed Automatic zero angle calibration 0 Disabled 1 Enabled Trigger zero angle calibration 1 Activate After calibration process is done this bit will be set to O by NS Recommended to perform this task after commissioning with the lifting ropes in steady vertical position gt 15 Free NS100 Configuration words Minimum s2. Straight up NoSwing NS100 Smart Sensor lifting button in pendant or E i Trolleymotor remote Longtravel motor s Lines iri Contactor a Fuse input Output Fieldbus Modbus RTU B Switch 24V OC Power Fieldbus AC power NOSWING Design and manufacturing by Functionality of Straight up lifting function This way of connecting and parameterisation gives the operator full control over straight up lifting function When the operator presses the dedicated button on the pendant drives gives over the control of the cranemotors to NS100 NS100 starts both drives and gives speedreference according to ropeangledifference from zero angle When both drives have run to the zeroangle position the control returns to the drives and normal operation resumes Signals and parameters Straight Up Lifting interacting with hoist control schematics Schematics below shows how control signals are connected and what parameter typically are used Fieldbus Modbus RTU ACS880 and NoSwing NS100 Straight up lifting schematics communication Starts both drives when enable With hoist interaction button is pressed and Ro3 disables hoist lifting When lift command is given both motors run towards zero ropeangle a A When ropangle is zero done signal deactivates Ro3 and enables normal hoistoperation Trolley Longtravel Enable signal to Di Parameters in tolley drive Lift signal to Di activate Parameters in longtravel dr
3. Ext sway control word 1 bit 4 Direct Lift Done Note rising edge will start the drive automatically and will keep it run until direct lifting condition is reached or normal command to start motion is received Type Def 78 05 Actual speed unscaled Crane actual speed unscaled without decimals 1584 4 rpm 1584 rpm Type Def signal 78 20 User status word 1 Signals and parameters The NS100 reads this status word User can set them according NS100 configuration with parameters 78 30 78 35 bits 0 0 External sway control enabled 1 Toggle bit to NS100 Start command is active from operator Started ready to follow reference Boo DW Speed reference is limited drive is limiting itself for some reason e g torque limit Source is taken from 6 16 7 5 Drive is stopped not modulating 6 Direct lift command to NS100 it is connected directly to status of 78 03 Direct lift enable 7 Reserved for follow me 8 Modbus id identified 9 15 Free for future use Type Def Index Name Selection Description Type Def FbEq 78 30 User status word 1 bit 0 Defines source for 78 20 User status word 1 bit 0 Type External sway control is enabled Def e g TRUE 78 31 User status word 1 bit 1 Defines source for 78 20 User status word 1 bit 1 Type Toggle bit to NS100 Def e g P 31 215 0 78 32 User status word 1 bit 2 Defines source for 78 20 User stat
4. device is fastened securely 4 Ensure that the device is securely fastened After completing steps 1 4 correctly the electrical installation can be initiated Program features 14 T p Picture 1 Device correctly against the rope Modbus connection cable facing upwards led lamp facing downwards The device is ready to be fastened Program features Picture 2 Ensuring the correct installation onto the crane Cable facing upwards led lamp facing downwards Program features 16 Electrical installation guide WARNING All electrical installation and maintenance work should be performed by qualified electricians The adjoining equipment for No Swing drive crane should be properly earthed Do not attempt any work on a powered crane or drive After switching off the mains always allow the intermediate circuit capacitors 5 to discharge before working on the No Swing device Neglecting to take the appropriate safety measures can cause physical injury or death Note Correct mechanical installation of the No Swing is required before starting the electrical installation 1 A 10 meter long cable is attached to the device the cable is intended to connect the No Swing and the frequency converter or PLC Please take a moment to identify the five color coded wires at the other end of the cable brown 24 VDC white 0 V grey Modbus data A pink Modbus data B green Modbus gnd yellow Earth on NS bo
5. electrical wiring practices electronic components and electrical schematic symbols This Sway control with NoSwing NS100 supplement describes the operation and the settings of the sway control functions with ABB ACS880 Crane control program N5050 The rest of the program is equal to the ABB ACS880 Crane control program manual which is documented in the Firmware manual ACS880 crane control program option N5050 3AXD50000027678 English The 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 Sway control function the core of the Sway control program Describes the user adjustable settings for tuning the operation of the Sway control function Introduction to this manual Related documents This Sway control with NoSwing NS100 supplement is to be used together with ABB Firmware manual ACS880 crane control program option N5050 SAXD50000027678 English Hardware Manual appropriate Hardware Manual is delivered with the drive Option manuals appropriate option manual is delivered with the option device Product and service inquiries Address any inquiries about the product to your local NOSWING representative quoting the type code and serial number of the unit in question A listing of NOSWING sales support and service contacts can
6. 100 Configuration words Type Angle value resolution 1 100 degree filtered active only in Def Measure mode See 78 60 78 68 Ext sway measured value 2 NS100 Configuration words Type Angle Speed value resolution 1 100 degrees s filtered Def active only in Measure mode See 78 60 Signals and parameters 24 Index Name Selection Description Type Def FbEq 78 69 Ext sway measured value 3 NS100 Configuration words Type Acceleration along the axis resolution 1 100 G degree Def active only in Measure mode See 78 60 78 70 Fixed correction span NS100 Configuration words Type Correction span RPM Def 0 Example Motor nominal speed 3000rpm maximum speed 3300rpm 78 702300 NS corrects the speed reference with values 300 to 300 after the add block in the drive reference chain the reference will be from 2700 3300 RPM at full speed 8000rpm Zero value means that fixed correction span is not used sensor will calculate the optimal span from min and max speed NOTE Check max and min speed limits from the ACS880 Group 30 78 71 Configuration Word Spare Type Def 78 72 Configuration Word Spare Type Def 78 73 Configuration Word Spare Type Def 78 74 Configuration Word Spare Type Def 78 75 Configuration Word Spare Type Def 78 76 Configuration Word Spare Type Def 78 77 Configuration Word Spare Type Def 78 78 HW revision Displays NS100 Hardware rev
7. 4 21 FBA B Par21 0 54 22 FBA B Par22 0 54 23FBA B Par23 1 54 24 Protocol check 1 54 25 Protocol Modbus Program features 18 Crane fieldbus control Crane fieldbus control is made selected fieldbus protocol in fieldbus control group A therefore all settings must be done in groups 51 53 Below is example when used protocol is MODBUS with FSCA 01 fieldbus adapter 51 1 FBAA type 51 2 Profile 51 3 Station ID 51 4 Baud rate 51 5 Parity 51 6 Modbus timeout 51 7 Timeout mode 51 8 OK messages 51 9 CRC errors 51 10UART errors 51 11 Word order 51 12Address mode 51 13FBA A Par13 51 14 FBA A Par14 51 15FBA A Par15 51 16FBA A Par16 51 17 FBA A Par17 51 18FBA A Par18 51 19FBA A Par19 51 20FBA A Par20 51 21FBA A Par21 51 22FBA A Par22 5 b b 23 Init status 24 Protocol check 25 Protocol RS 485 comm ABB Classic 5 57 6 kbit s 8 None 1 10 None 35083 Select control signal sources to be fieldbus see list below 20 1 Ext1 commands 22 11 Speed refi source Program features Fieldbus A FB A ref1 Signals and parameter Chapter overview This chapter describes the user adjustable parameters of the Sway function Only new added parameters and signals are listed here Descriptions for the rest pf parameters are listed So these parameters are extra to the parameters described in ABB Firmware manual ACS880 crane control program option N5050 3AXD50000027678 English Terms and abb
8. NS100 Sway control Supplement Sway control with ABB ACS880 Crane control N5050 For Smarter Overhead Cranes NO SWING NS100 Sway control Supplement Sway control with ABB ACS880 Crane control N5050 MAN3920151001 Rev A EN EFFECTIVE 2015 09 23 2015 NOSWING All rights reserved Table of contents IN yesnicpcmem e M 3 Introduction to this manual inicio sews conata sacatenensccdevitazescodacesadeteyd cenedavecededevececetavedesetevecs 5 Chapter QVBrVIBW cct retta ccu dte ub dun en Geta Ee DeL LU cad aie ate DU MEE 5 orar 5 Compatibility ansaa enmana ea E e et a AE a TE ENA uiuo TENNA t carn ENIRE 5 Readef cenean E e A OER E E E 5 oua EE AE ELE T E TEE 5 Relat d documents coe et ed o Ec erat eet Es ee ua t paste Oe eaa editis eme etd eee te note 6 Product and service InquilBS soscocuos ioes store restore So rte rte eoe ord le pae enero aiia eto ta IU S onc ear arti ad 6 Providing feedback on Tharnilals ecce riorem rt rere ir tirer Peer oci Pu eoo Lev Headings leone 6 Document library on the InterrieL ere Eoo e hunt Rte phc E e reca te eer perta eae 6 Start p and OONO occas Soares os taal se cc a a aa a aaa a ea ar ra tendon deta arseetveed cere teeesie eee 7 Ghiecklist Tor a Quick Start up 3i ettet eot eet hei pe Do uetus Meee 7 Figure 3 NS100 and ACS880 Connection example sssssss
9. aeli postes ect anaes Dir E paetos o Mese pede t Ebor 29 Fed lamps sigh ling so etse Ene cer one bites ecu datei dui aede Ek ae ec adt 30 PFOGUCT safely Ret E 30 No Swing hardware module has undergone the following tests seeesseeessesss 30 Environmental Safoty Mrs 30 Warranty and liability information eaae esses eese eee e eee n nnne nnn n nana a aaa nn nana aha sana hana anna aaa 31 FAQ Froubleshoollnhg iot erit No ciet Loren Materi et teal use oui eene esed oie E qus 31 Introduction to this manual Chapter overview This chapter describes the contents of the manual It also contains information on the compatibility safety and intended audience Safety instructions Compatibility Reader Contents Follow all safety instructions delivered with the drive Read the complete safety instructions before you install commission or use the drive The complete safety instructions are given at the beginning of the Hardware Manual 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 The manual is compatible with ACS880 Crane control program version 2 0 0 0 or later version code can be found from a signal 07 07 LOADING PACKAGE VER The reader of the manual is expected to know the standard
10. ard 2 Locate the Modbus adapter in the frequency converter The color coded wires cables need to be correctly connected to the Modbus adapter Follow the instructions provided on the product label for the correct attachment of wires cables 3 Follow the instructions provided on the product label in order to attach the color coded cables to the Modbus adapter Please remember that this document is specifically crafted to conform to the ACS 680 frequency converter manufactured by ABB If a different kind of frequency converter is installed always refer to the manufacturer s instructions for additional reference Program features Fieldbus communication settings NS100 communication NS100 communication is made by MODBUS protocol therefore it needs FSCA 01 fieldbus adapter to be installed into the drive Communication settings is done to the group B parameter groups 54 56 Fieldbus B settings See basic settings to the group 54 below Note REMEMBER to check position of termination resistor switch in the fieldbus adapter 54 1 FBA B type RS 485 comm 54 2 Profile ABB Classic 54 3 Station ID Longtravel ID 1 trolley ID 2 54 4 Baud rate 57 6 kbit s 54 5 Parity 8 None 1 54 6 Modbus timeout 10 54 7 Timeout mode None 54 11 Word order HiLo 54 12 Address mode Mode 0 54 13 FBA B Par13 0 54 14 FBA B Par14 0 54 15FBA B Par15 0 54 16 FBA B Par16 0 54 17 FBA B Par17 0 54 18 FBA B Par18 0 54 19FBA B Par19 0 54 20 FBA B Par20 0 5
11. be found by navigating to www noswing com Providing feedback on manuals Your comments on our manuals are welcome Go to www noswing com Document library on the internet You can find manuals and other product documents in PDF format on the Internet Go to www noswing com Introduction to this manual Start up and control Checklist for a Quick Start up Step Instruction Additional Information 1 Execute basic crane commissioning ABB ACS880 Check brake control and limit switches Crane control program N5050 2 Install NS100 and MODBUS communication Check fieldbus adapter s strapping settings between ABB ACS880 according adapter s user s manual 3 Check NS100 mechanical installation and correct Long travel FWD positive speed reference and direction trolley To right positive speed reference see picture below 4 In ACS 880 open the hided NS100 settings Password 584 into the parameter passcode 96 02 parameters After the settings change passcode back to 1 5 Do the settings according a table on chapter xx 6 Check status indicator from NS100 Green OK sway control activated Blinking Green OK but sway control disabled Blinking RED No MODBUS connection Red General fault 7 Trial run LISW NG For Smarter Overhead Cranes Model NS 100 Wirecolours Supply Brown 24VDC White OVDC Modbus Grey Data A Pink Data B Yellow Data GND Green GND Screen Technical GND LED functio
12. cation setlings reir ocee aetate une e usan eset ap anao ek e ky pene aUo a aeo opea eaa auus 17 NS100 COI IG AMON ics cats eR E 17 Crane Tieldbus Cohlrol aeta e dome eap ede p etudes tiet rcd sedes detecte 18 SIGnalS anG Parameter eM D 19 G apter OVervie EE 19 Terms and abbreviations nece i eee epee ues EEEE EEE AEE EE EE EKE EEEE BEARES EE EERE 19 Group 9 Added signal from sway coritrol e eri ter pr eee RR eH e uae AER 20 Group 78 External sway CONUO lig ctr el de t e nete lu ette el Ubi dta diti re retta E enc 20 Examples of typical connections and parameter settings eeeeeeeee serene eene nnne 25 Chapter QVOFVIBWOL sce ct cC AM AR M Mad 25 Automatic system idernfiflGallOli o teer Et ese pc oe ue decent an caet Rip cu n needs 25 Straight Up Errig sehemallbs So castes tt der eru greet reo dte Eb poe E Corgi aes be Erie depends 26 Functionality or Straight up lifting TUFIGHOFT aieo oon tero E tree three ire Pe trm Sterne 26 Straight Up Lifting interacting with hoist control schematics seeeseeeeee 27 Functionality of Straight up lifting function interactive with NOiSt cccceeeeceeeeeeeeeeeeeeeeeeeeeeees 27 FOllGW me SeHel tial B ce ya teen cans m diee bod gud tested A Eo pep DLL E 28 Functionality of Follow me TU LOT ced tiere o koe tin po eae rete E p el tesa elata ae eoa pint 28 Detailed information on the pFodliel dure oae popalo c
13. endant and crane direction markings match Note 1 If the crane is moving in forward direction when testing locally at low speed rev switch motor direction by switching 2 phases on motor or by parameter Do the test again and make sure the crane is moving in the right direction Note 2 If the crane is moving in the opposite direction from the markings of the pendant and crane switch DI1 and DI2 signals on drive Mechanical mounting WARNING Mechanical installation of the No Swing M requires operations on altitudes and additional safety measures need to be taken Before starting the mechanical installation of the No Swing M ensure that all the risks of operating on altitudes are properly addressed Follow the safety instructions given in this manual and always refer to the safety instructions of the industrial crane as well as the installed frequency converter for further guidance Note To avoid damages to No Swing caused by the hoist winding back and unwinding the wire hoist reeving pay particular attention to ensuring the correct positioning the device on the wire 1 Locate the correct placement of the No Swing on the industrial crane Picture 6 3 Prepare the snap on fastening by correctly attaching the screws 2 Ensure that the device is correctly aligned against the rope with Modbus connection cable facing upwards and led lamp facing downwards Picture 5 3 Fasten the device to the rope and ensure that the
14. he slowdown distance of the load is in this case t 2 x sqrt 16 8 s s 0 5 4 x 8 4 1 5 m Program features 12 Commissioning instructions for Sway function How to decide mounting direction Sensor is to be mounted in long travel direction meaning the sensor is aligned so that sensor points in long travel direction when mounted Workflow for easy setup of drives direction command Look at the label on sensor for long travel and trolley default directions Make sure that long travel drive has node number 1 on Modbus Long travel setup Start long travel drive in rev direction at a slow speed locally or by drives PC software Check that the crane is moving in rev direction according to label on sensor DO NOT start motor if there is a risk of personal or structural damage If the direction matches the label on sensor switch drive to remote control and continue to test direction from pendant otherwise note1 Press the button for long travel on pendant and check that crane moves according to markings on pendant and crane If everything is ok then continue with trolley drive otherwise note 2 Trolley setup Program features The trolley rev direction is now on your left hand when looking in long travel fwd direction Check that modbus node number is set to 2 Repeat the same procedure as for long travel First local test to make sure that the motor is turning the right way Second pendant test to check that the p
15. ing When this mode is enabled and function started NS100 controls start command and speed reference of both directions NS100 runs towards zero angle at a predefined speed until zero angle is reached or function start command removed This function can be integrated to the hoist drive control helping the operator center the lifting point and make it impossible to lift the load with an angle on the ropes Follow me When enabeling Follow me function the crane will follow the hook with the rope in almost vertical position during the run This function is mainly used on small cranes with light loads Preferable use this function when operator wants to move emty hook across the workshop the crane will follow the hook in both longtravel and trolley direction getting there as fast as possible with minimum loadswing at stop Program features Limit switches The distance to stop the crane from full speed can be estimated by formula units are SI units s r t 4 Here cis the longest possible pendulum time constant it can be estimated from the hoisting height c 2 sqrt height Example Hoisting height is 16 m and crane full speed is 30 m min 2 0 5 m s and normal deceleration time for manual driving is 5 sec Par 22 02 According to linear ramp the slowdown distance of the crane would be 0 5 x VX tasc 1 25 m With Sway engaged the basic ramp time can be set shorter for example 4 sec Par 22 09 ASWAY RAMP TIME s T
16. ing enable Mechanicalbrake DIO2 NS function enable DIO2 NS function enable Symbols Lines e Contactor m Fuse Input Output ter Smarter Overheed Crime Fieldbus Modbus RTU Switch MM 2 OC Power Fieldbus Cum Design and manufacturing by Figure 3 NS100 and ACS880 Connection example Start up and control Program features Chapter overview This chapter describes the operation of the Sway function Overview of the Sway function Swing of the load causes problems when a crane is being operated in manual control particularly if the operator has only little experience Depending on the mass of the load quite a significant amount of kinetic energy is bound in the swinging load and may cause dangerous situations or damages either to the load itself or to the environment By Sway control program the load and initial sway problems can be essentially reduced without any significant changes in the crane itself The purpose of the Sway control program is to help to drive the crane manually For the best result the driver should rather control the load directly not indirectly by the bridge and or trolley The driver can leave the sway compensation task for the frequency converter Program features 10 How does the NS100 Sway control operate Initial sway correction while starting When load is lifted and the operator starts to move the load long travel trolley or both NS100 have different modes of sway control Ful
17. ision Type Def 78 79 SW version Displays NS100 Software version Type Def Signals and parameters Examples of typical connections and parameter settings Chapter overview This chapter lists typical connections and parameter settings for basic setup and functions Automatic system identification It is very important to set the Modbus id for Longtravel to 1 and Trolley to 2 NOTE Remember to check that Modbus is up and running in connected drives check ok packages NS100 identifies who is connected and operating on the Modbus line automatically When the drives id are identified 1 2 or both NS100 sets the status bit 8 in parameter 78 20 configures communication and function according to the identified drives Signals and parameters 26 Straight Up Lifting schematics Schematics below shows how control signals are connected and what parameter typically are used ACS880 and NoSwing NS100 Straight up lifting schematics Fieldbus Modbus RTU communication a A ui Starts both drives when button pressed and runs towards zero Trolley Longtravel ropeangle Sends Done signal when ready Parameters in tolley drive Signal connected to Di gt Parameters in longtravel drive 78 03 Enable 78 03 Enable 78 60 bit 4 False i 78 60 bit_3 Connected Di activate 78 65 Desired speed 78 60 bit_4 True for straght up lifting r 78 65 Desired speed in RPM for straght up liftin in RPM Dedicated gt g um
18. ive 78 03 Di signal Enable 78 03 Di signal Enable 78 60 bit 4 False Lift signal to Ro3 common 78 60 bit 3 Activate Connected Di 78 65 Desired speed 78 60 bit 4 True for straght up lifting Lift signal from Ro3 NC 78 65 Desired speed in RPM for straght up liftin in RPM Dedicated Hoist gontrol z enables SU NoSwing NS100 Smart Sensor enables SUL in 4 combination 3 1 Trolleymotor with hoist Lift Longtravel motor s button Symbols Lines E Contactor I3 Fuse Miput NOSWJNG Output fieldbus Modbus R pg sene bus 24V DC Pawer alai Bu Design and manufacturing by AC power E urng ov Functionality of Straight up lifting function interactive with hoist This way of connecting and parameterisation automatically runs the straight up lifting function before the load leaves the floor When the operator presses the Straight up lifting button on the pendant NS100 disables hoist lift function waits for lift signal from operator When operator presses lift button straight up lifting process starts When zero angle is achieved done signal enables normal host lift function By releasing the enable button the straight up lifting is aborted Signals and parameters 28 Follow me schematics Schematics below shows how control signals are connected and what parameter typically are used Fieldbus Modbus RTU communication ACS880 and NoSwing NS100 Follow me schematics bd des UI CH button i
19. l correction at start When NS100 receives start command it finds the best moment to start and starts according to a optimal curve based on the rope angle This start sequence takes care of possible initial sway at start and minimizes sway caused by the pendulum effect into the full speed run when moving the load Calculated start NS 100 ramps up the motors according to a profile that minimizes sway based on the rope angle Ramp start Starting according to ramp settings in drive Sway correction while moving load While load is moving towards its destination NS100 minimizes sway caused by external forces such as wind Sway correction while stopping When crane operator removes start command wants to stop NS100 have different modes of stopping Full correction at stop NS100 waits for the best moment to stop and stops according to the optimum ramp down based on the ropes angle speed This mode removes most of the sway and the load is stable at stop Due to the stop curve of this mode the load moves a bit after stop command is given Calculated stop NS100 stops as fast as possible according to a standard ramp down curve The curves correction parameter is based on behavior at start and ropes angle speed This mode stops the load faster but the load can have some sway at stop Ramp stop NS100 monitors the stop behaviour but do not make any corrections Motors ramp down according to drives rampprofile and ramptime Straight up lift
20. n 55 steady green System running O O O flashing green NoSwing active O O O flashing red No modbus communication GD steady red Flashing red green with 3 sec intervals Manufacturer Noswing Oy Ab Jakobstad Finland www noswing fi infoenoswing fi Topview of sensor Lifting rope NoSwing Sensor Get the installerguide Start up and control Control operation The drive can be controlled by the panel local control during commissioning or through the external control signal interface remote control Switch between local and external control modes with the LOC REM key on the control panel or with the DriveComposer PC tool When the Drive is controlled through the fieldbus the commands are given and received over the fieldbus communication link see chapter Fieldbus communication How the Sway control program works is described in chapter Program features ACS880 and NoSwing NS100 core conections e a A im Fieldbus Modbus RTU communication Sends speed correction based on swayangle Trolley Longtravel IV Speed reference and startcommand Crane specificl O Crane specific 1 0 DI4 Slowdown DI4 Slowdown DIS Endlimit left DIS Endlimit left DIS Endlimit right DI6 Endlimit right r s a Digital I Analog Digital 1 0 e Nogwing NsyDOSmartSenior 7 Did fwd All spd ref S DI2 rew Did fwd Trolleymotor DI3 hi lo spd DI2 rew Longtravel motor s Mechanicalbrake DiO1NoSwingenable DIO1 NoSw
21. peed for correction in RPM When motor speed falls below this value NS correction functions are disabled Type Def Type Def Signals and parameters Index Name Selection Description Type Def FbEq 78 63 P value for NS correction PID NS100 Configuration words Type P value for NS correction PID value divided by 100 Def internally Default 0 78 64 D value for NS correction PID NS100 Configuration words Type D value for NS correction PID value divided by 100 Def internally Default 0 78 65 Direct lift speed NS100 Configuration words Type Direct lift speed RPM This speed is used when direct lifting Def is executed only 78 66 Status Alarm word1 NS100 Configuration words Type NS Status Alarm word Def 0 NS ready for operation 0 Not ready 1 Ready Led behaviour on sensor Steady Green 1 NS active NS sends correction value to drives according to other parameter settings 0 Not active 1 Active Led behaviour on sensor Blinking Green 2 Direct lifting function active 0 Not active 1 Active 3 Measure mode active 0 Not active 1 Active 4 Bit4 5 Alarm Measured angle error Angle outside sensors measure area O Ok 1 Angle error Check mechanical installation 6 Bit6 7 Alarm Sensor Fault O Ok 1 Fault Led behaviour on sensor Steady Red 8 15 Free 78 67 Ext sway measured value 1 NS
22. reviations Term Definition FbEq Fieldbus equivalent Shows how the value on control panel is converted to a integer value when communicated over a serial communication link fieldbus interface Def Default value Type Data type B Data type Boolean Data type integer Pb Data type packed Boolean R Data type real S Data type string Signals and parameters 20 Group 9 Added signal from sway control Index Name Selection Description Type Def FbEq 9 06 Crane speed Incoming crane speed reference to the NS100 reference Group 78 External sway control Type Def 1 Index Name Selection Description Type Def FbEq 78 001 Enable ext sway control Enale Disable Other pointer connection Enables the external sway control will make changes to speed reference logic NOTE It is allowed to external sway control provide correction of the speed reference 78 02 Ext speed corr to drive src Source selection from which signal is taken speed correction value to the drive E g 47 1 NS100 transmits value to this signal 47 1 Type Def 78 03 Direct lift enable With this parameter is selected source to activate direct lift function E g DIx or fieldbus control word bit This information will be sent to the NS100 in 78 20 User status word 1 bit 6 Rising edge activates function When hook ropes are in direct line NS100 sent feedback in 78 50
23. s Detailed information on the product Table 1 Functions and components FUNCTION COMPONENT Power supply 19 30 VDC nominal input range 18 36 VDC Connectors Color coder wires refer to page 18 Light LED lamp red and green see picture 3 Power consumption Table 2 Product specification 3 W max PRODUCT SPECIFICATION Control input Modbus messages Control output Auxiliary input requirements Modbus messages Enable disable digital i o Temperature range From 40 C to 85 C Relative humidity From 35 to 58 no condensation Ingress protection 66 according to IEC 60529 IP class Dimensions Diameter 90 mm height 180 mm Casing Aluminum painted black Signals and parameters 30 Led lamps signaling At the bottom of the No Swing casing a small led lamp is installed The flashing led lamp will indicate the status of the device as follows Steady green system is running Flashing green No Swing inactive Flashing red no Modbus communication Steady red fault Please refer to the indications of the led lamp for the reference on the device status Since the led lamp is installed at the bottom of the device which if placed correctly on the wire the status of the device can be observed from the ground without the need to Product safety No Swing hardware module has undergone the following tests EMC measurements to prove tha
24. s pressed and monitors the rope angle When ropeangle deviates from vertical NS100 gives speedref to drive to reach the zero angle NS100 continously doeas e a A m this as long as enable button is pressed Trolley Longtravel When enable button is released ee crane resumes normal operation Enable signal to Di Parameters in tolley drive Parameters in longtravel drive 78 20 bit Di signal Enable 78 20 bit Di signal Enable Dedicated i button that q NoSwing NS100 Smart Sensor enables Follow Ld me ed Trolleymotor Longtravel motor s mbols Lines a Contactor Fuse Lo input Output Fieldbus Modbus RTU Fieldbus NOSWJNG m Switch Ml 0000 24VDC Design and manufacturing by AC power Functionality of Follow me function This way of connecting and parameterisation makes the crane follow the movement of the hook Drive s starts when enable button is pressed and monitors the rope angle When ropeangle deviates from vertical NS100 gives speedref to drive to reach the zero angle Deviation is caused by operator that pushes the hook in desired direction and the crane automatically follows NS100 continously does this as long as enable button is pressed When enable button is released crane resumes normal operation This function is mostly used with emty hook or with light load attached to the hook for fast and easy positioning NOTE This mode is not safe to use with heavy loads Signals and parameter
25. ssseseeeeee enne 8 PrOGFam ICANN CS oon ase euro ott eratac ooi tom arah aer eaa Taari iaoa rakirina Ei Tarek DEL TETE 9 Chapter OVerVieW M 9 Overview Of the Sway function sie rrt ether ort eae occ cnc e as duse bikers Susi RN e kk RR 9 How does the NS100 Sway control operate ssssssssseeeeeeseeeee ener 10 Initial sway correction while SEartihigi coco een oett cet vo tc pt eut cocti eeie Enti e cue nee ERR 10 Sway correction while moving IOS ir e eer rb Pe eo ure Pete Eee Der bh re eorr toi ea DE 10 Sway correction while stopping esee ert etr er esa RR ERE CQ R RE Leer Rag EXE RI ensenen nee 10 Straight up MING 5o o p ai m RD NUM MD M M EM 10 FOOTER E eM IRAM E Me ere no Medis 10 PT SWIG IOS cab eon coat tet uae tle P t emp iod ipta eene mete ccd D d 11 Commissioning instructions for Sway function eee eeee eiae eese eene eene anita n nnn 12 How to decide mounting dIFecti nk escort ette EIERERS te erp OSEE heed Leib a rede cues 12 Workflow for easy setup of drives direction command sssssseeeene 12 orig Iravel SeIUD eto eie oi be Sr etre ettet edificio nad emite edite 12 Bip 12 Mechanical mounllhg elei v te tee casas seat ates aaa ended 13 Electrical installation guide iati rite tetur Ia IUE Lea Pansa a UEM d on n apa yo as oe aue ers 16 Fieldbus communi
26. t the device complies with generic standards EN 61000 6 2 and EN 61000 6 4 Industrial environment and test standard EN 55011 EN 61000 4 2 3 4 6 8 HALT Highly Accelerated Life Test HASS Highly Accelerated Stress Screen It has been proven that the device fulfills the requirements defined in the tests standards mentioned above Official test documentation available from the manufacturer upon request Environmental safety The product has been manufactured in compliance with Restriction of Hazardous Substance RoHs Directive This implies that No Swing is free from Lead Pb Mercury Hg Cadmium Cd Hexavalent Chromium Cr Polybrominated biphenyls PBB Polybrominated diphenyl ether PBDE Official statement available from the manufacturer upon request Signals and parameters Warranty and liability information Inquiries on the current status of warranty and liability in your country mailto info onoswing fi FAQ Troubleshooting Further inquiries regarding No Swing mailto info noswing fi Signals and parameters For Smarter Overhead Cranes NO SWING Noswing Oy Jakobsgatan 41D FIN 68600 JAKOBSTAD FINLAND Telephone 358 71 446 0101 Internet www noswing fi MAN3920151001 Rev A
27. us word 1 bit 2 Type Start is active from operator Def e g P 6 198 0 78 33 User status word 1 bit 3 Defines source for 78 20 User status word 1 bit 3 Type Started ready to follow refererence Def e g P 6 16 4 78 34 User status word 1 bit 4 Defines source for 78 20 User status word 1 bit 4 Type SPEED REFERENCE IS LIMITED Limit bit Def e g P 6 16 7 78 35 User status word 1 bit 5 Defines source for 78 20 User status word 1 bit 5 Type Stopped Not modulating Def e g P 6 16 6 78 36 User status word 1 bit 6 Defines source for 78 20 User status word 1 bit 6 Type HIDDEN signal DirectLift command HIDED connected directly to status Def 78 03 Direct Lift enable 78 50 Ext sway control word 1 Control word to crane from NS100 Type Def 0 Toggle bit back from NS100 1 Keep brake closed at the moment of the start wait the good time togo swaying angle 2 Keep start command active after stop command from operator it is kept drive running to correct swaying 3 Force reference to zero if it is needed speed ref ramp can be forced ro be zero 4 Direct lift is done hook ropes have zero angle 5 15 Free for future use 78 51 Timeout delay Timeout delay of external sway control After stop command _ Type T it is waited this time and if ext sway still working drive will Def 10s forced to stop safety issue Signals and parameters 22 Index Name Selection Description
Download Pdf Manuals
Related Search