K10616 V01 35 00 English 111208 HK PDF

SM-DCP Elevator Module K1061-6
Document part number : 0178-6521
Drive Family:
_______________________________________________
UNIDRIVE SP
Software number SM-Application:
_______________________________________________
BV 80 – M1061 – 6
Version :
_______________________________________________
V01.35.XX
Function :
_______________________________________________
DCP-
(Drive Control & Position)
Drive Control for geared and
gearless elevators
Variants :
_______________________________________________
DCP3 and DCP4
1/81 11.12.2011
Warning
The drive components are with electrostatic sensitive construction units
built. With the handling, and of the devices during their examination, the
following of references are to be considered absolutely, since otherwise it
can to a destruction of these circuits come.
With service work, first the equalization of potential (static loading) between
equipment, tools, measuring instruments and personnel must be provided.
Of the assembly components, only at the edges touch, and with the
elements within and their connections do not affect.
Safety References:
The drive manual Unidrive SP User Guide contains safety information that should be read and considered.
© Control Techniques GMBH

Without our previous agreement this document may neither be multiplied nor otherwise third copy be made. It may
not by the receiver or third party also in other way be copied or by EDP be transcribed. The manufacturer reserves
itself this right, without changing previous publication contents of this documentation, and/or the technical
specifications of the product, in order to be able to supply the optimum product.
To the equipment the guarantee of regulation of the manufacturer in existence at the time of the purchase the valid
version does apply.
Module type SM-Application Plus

BV – No. 80 – M1061 - 6
Bin – File Name M10616_V0135XX.BIN
Art. No. Software 9671 – 7061
Art. No. Documentation 0178 – 6521
Version 01.35.XX
Author Dr. H. König
Drive Center Control Techniques / Hennef / D/A
Stand 11.12.2011
C:\Daten\1_Software\SMA\K1061_6\DOC\V135\K10616_V01.35.00_English_111208_HK.DOC
2/81 11.12.2011
Agreement over the supply of application software for the technology building groups
MD29, MD29AN, UD7x and SM Applications of CT drives
Supplier: Fa. Control Techniques GmbH, Meysstraße 20, 53773 Hennef
Article: Software and software documentation for the technology of automatic controllers MD29,
UD70, SM Applications as well as the technology for automatic controller developing on
the MD29 and/or UD70 (MD29AN, UD73, UD74 etc..)
With the delivery the following agreements step the software or the software documentation at the customers into
strength:
1.Scope of supply:
The scope of supply is limited depending upon contractual agreement to the delivery of the software in the form of
source text, compiled program or as programmed option module and the software description electronic or printed
form.
2. Guarantee:
If substantial deviations from the associated software description should arise in the case of the regulation-fair use
of the software as a result of the customer, then the company Control Techniques is entitled and obligated to the
rework. The right for changing or reducing is impossible. The warranty claim is limited to substitution of the scope
of supply described above. Travel expenses and journey even costs are excluded from the warranty claim. The
warranty engagement exists only, if the customer places verifiable documents over kind and occurrence of the
deviation from the software description to the order. Warranty claims are impossible, if the customer changes him,
the elevator software, or their documentation. The guarantee period amounts to 6 months and begins with the
supply of the software and the description.
3. License conditions:
The software is copyright property of the company Control Techniques GmbH of software source texts, compiled
program files or their descriptions may neither completely nor in part without previous written agreement of the
company Control Techniques GmbH be multiplied or third party be passed on on. Copying of the source text and
the executable programs is permissible only for the purpose of the data protection.
4. Adhesion
Although the software with largest care was developed and tested, the company Control Techniques GmbH does
not take over adhesions for the suitability of the software for possibly a certain purpose. It lies in the responsibility
of the customer to examine the software before the passing on of the machine for intended application.
Requirements for compensation, same from which argument, are impossible, as far as they are not based on a
deliberate or roughly negligent behaviour of the company Control Techniques. The non-liability applies in particular
to escaped profit and all adhesion and/or requirements for product liability, which refer to the product of the user of
the software, as well as to indirect and/or direct damages, directly from which argument.
If any of the regulations specified in the adhesion and license conditions should be due to any applicable regulation
or a law ineffective or applicable, then thereby the effectiveness of the remaining conditions is not affected.
These conditions are considered as addition of the "general terms of delivery to products and achievements of the
electrical industry" and must be agreed upon during placing of order additionally.
3/81 11.12.2011
1 GENERAL ...............................................................................................................................................8
2 MECHANICAL INSTALLATION .............................................................................................................9

2.1 IDENTIFICATION ..........................................................................................................................................9
3 FEEDBACK SYSTEMS.........................................................................................................................10
3.1 RESOLVER CONNECTION ..........................................................................................................................10
3.2 TTL OR SINCOS ENCODER........................................................................................................................10
3.3 ENCODER SIMULATION (OUTPUT)..............................................................................................................11
4 CONTROL INTERFACE .......................................................................................................................12
4.1 CONTROL OF MOTOR CONTACTORS ...........................................................................................................12
4.2 CONTACTOR RELEASE MONITORING..........................................................................................................12
4.3 SWITCHING OF THE INVERTER OUTPUT .......................................................................................................12
4.4 FAST DISABLE INPUT OF UNIDRIVE SP FROM FIRMWARE V1.10 ..................................................................13
4.5 UNIDRIVE SP AS ELEVATOR DRIVE WITHOUT MAIN CONTACTORS .................................................................13
4.5.1 Contactor less Safety Circuit without shorting contactors............................................................................13
4.5.2 Contactor less Safety Circuit with shorting contactors.................................................................................13
4.5.3 Monitoring functions by the drive .................................................................................................................14
4.6 BRAKE CONTACTS MONITORING .................................................................................................................17
4.7 SELECTION OF THE CONTROL INTERFACE ...................................................................................................17
5 DCP INTERFACE..................................................................................................................................18
5.1 DCP OVERVIEW.......................................................................................................................................18
5.2 DCP INTERFACE CONNECTIONS ................................................................................................................19
5.3 DCP COMMUNICATION .............................................................................................................................19
5.3.1 DCP command and status byte .....................................................................................................................19
5.3.2 DCP Speed Selection.....................................................................................................................................20
5.3.3 Extended Status from inverter .......................................................................................................................20
5.3.4 Enable 16 Bit Distance Format.....................................................................................................................20
5.3.5 Enable Travel Distance Transmission for Slip Monitoring...........................................................................20
5.3.6 Diagnostic of the DCP Telegram content in real time ..................................................................................21
5.4 EXTENDED DATDATA EXCHANGE OVER THE COMMUNICATION CHANNEL ......................................................21
5.4.1 I0 – Telegram : Initialising ...........................................................................................................................21
5.4.2 I1 – Telegram: Data – Information type .......................................................................................................21
5.4.3 I3 – Telegram : Date/ Time ...........................................................................................................................21
5.4.4 I6 – Telegram : Rescue supply and Energy saving level...............................................................................21
5.4.5 I7 – Telegram : Start parameter....................................................................................................................21
5.4.6 I8 – Telegram : Cabin Load ..........................................................................................................................21
5.4.7 I9 – Telegram : Position................................................................................................................................21
5.5 DCP TRAVEL SEQUENCE..........................................................................................................................22
5.5.1 DCP3 Mode (lift controllers without absolute encoder) ...............................................................................22
5.5.2 DCP4 Mode (lift controllers with absolute encoder) ....................................................................................23
5.5.3 DCP4 Positioning .........................................................................................................................................24
5.6 DCP MONITORING ...................................................................................................................................24
5.6.1 DCP Wire Proof Detection and Protocol Monitoring...................................................................................24
5.6.2 Monitoring the direction control ...................................................................................................................24
5.6.3 Monitoring DCP4 remaining distance error.................................................................................................24
5.7 DCP- CONNECTION DIAGRAM ...................................................................................................................25
6 TERMINAL INTERFACE.......................................................................................................................26
6.1 GENERAL OVERVIEW ................................................................................................................................26
6.2 CONTROL CONNECTIONS ..........................................................................................................................26
6.3 I/O CONFIGURATION .................................................................................................................................27
6.4 SPEED SELECTION ....................................................................................................................................28
6.4.1 Binary speed selection...................................................................................................................................28
6.4.2 Priority speed selection (1 of n) ....................................................................................................................28
6.5 TERMINAL CONTROL SEQUENCE ...............................................................................................................29
6.5.1 Brake control provided by the Unidrive SP ..................................................................................................29
6.5.2 Brake control provided by the elevator controller ........................................................................................30
4/81 11.12.2011
6.6 DIRECTION CONTROL (TERMINALS 27 AND 28) ..........................................................................................30

6.7 PROFILES TERMINAL CONTROL ..................................................................................................................31
6.7.1 Positioning with creep speed.........................................................................................................................31
6.7.2 Direct-to-floor positioning ............................................................................................................................32
6.7.3 Floor sensor correction.................................................................................................................................33
6.8 TERMINAL CONTROL .................................................................................................................................35
7 SETUP THE PARAMETERS ................................................................................................................36
7.1 HANDLING OF THE DISPLAY .......................................................................................................................36
7.2 REMOTE KEYPAD OPERATION WITH THE LIFT CONTROLLER (DCP) ..............................................................37
7.3 PARAMETER STRUCTURES ........................................................................................................................38
7.3.1 Arrangement of the Parameters in the Unidrive SP......................................................................................38
7.3.2 F- Menu Operation........................................................................................................................................38
7.3.3 Menu 0 Structure:..........................................................................................................................................39
7.4 MODE EXAMPLES AND HANDLING ...............................................................................................................40
7.4.1 SM Keypad after power up............................................................................................................................40
7.4.2 Select Parameter ...........................................................................................................................................40
7.4.3 Edit parameter...............................................................................................................................................40
7.4.4 Edit Parameter in another Menu 0 level .......................................................................................................41
8 SETTING AND OPTIMISATION FUNCTIONS .....................................................................................42
8.1 NOMINAL ELEVATOR RPM CALCULATION AND ADJUSTMENT ..........................................................................42
8.1.1 Fine adjustment of the operational rpm and operational speed with DCP4.................................................42
8.1.2 Additional speed limit via #01.06..................................................................................................................42
8.1.3 Display of cabin position #20.38...................................................................................................................42
8.2 PROFILE OPTIMISATION .............................................................................................................................43
8.2.1 Start profile optimisation...............................................................................................................................43
8.2.2 Deceleration and stopping distance calculation ...........................................................................................43
8.2.3 Profile optimisation - Peak curve operation .................................................................................................44
8.2.4 Fast Stop........................................................................................................................................................45
8.2.5 Fast Start .......................................................................................................................................................46
8.3 SPEED LOOP OPTIMISATION......................................................................................................................47
8.3.1 Speed loop optimisation ................................................................................................................................47
8.3.2 Separate speed loop gains for start and run (#18.48 = 1) ............................................................................47
8.3.3 Separate Speed Loop Gains for all travel sections (#18.48 = 1 und #19.48 = 1) ........................................48
8.3.4 Position controller for brake release ............................................................................................................49
8.3.5 Inertia compensation.....................................................................................................................................49
8.3.6 Load cell compensation.................................................................................................................................50
8.3.7 Automatic Brake Load Compensation...........................................................................................................51
8.3.8 Following error detection .............................................................................................................................51
8.4 SAVING DRIVE SETTINGS WHEN CHANGING THE DRIVE MODE .......................................................................53
8.5 LOAD MEASUREMENT FOR EMERGENCY RESCUE ........................................................................................53
8.6 ELECTRICAL EMERGENCY RESCUE USING UPS ..........................................................................................54
8.7 ENERGY SAVING MODE FOR UPS EMERGENCY SUPPLY ..............................................................................55
8.7.1 Switching off of energy consuming comfort functions...................................................................................55
8.7.2 Current Limit Control ...................................................................................................................................55
8.7.3 UPS Power Control.......................................................................................................................................55
8.8 MOTOR PHASE LOST DETECTION ..............................................................................................................56
8.9 CABIN RELEASE FUNCTION .......................................................................................................................56
8.10 LONGLIFE CONTROL .............................................................................................................................56
8.11 STABILISING MOTION USING SWITCHING FREQUENCY MODULATION .........................................................56
8.12 ELECTRONIC NAMEPLATE ENP .............................................................................................................57
8.12.1 Programming the Drive with the Electronic Nameplate ...............................................................................57
8.12.2 Parameter of the Electronic Nameplate ........................................................................................................57
8.12.3 Diagnostic of the Electronic Nameplate........................................................................................................58
8.13 DISPLAY ENERGY SAVING LEVEL ............................................................................................................58
8.14 SERVO MOTOR OFFSET TUNING AT STANDSTILL......................................................................................59
8.14.1 Activation of the des Servo Motor Offset Tuning at standstill.......................................................................59
8.14.2 Diagnostic of the Servo Motor Offset Tuning at standstill............................................................................59
8.15 TESTING OF THE UNINTENDED CAR MOVEMENT MONITORING UNIT EN81-1/A3.......................................60
9 SET UP OF THE LIFT DRIVE ...............................................................................................................61
5/81 11.12.2011
9.1 SMART CARD PARAMETER SETTING ..........................................................................................................61

9.2 MANUAL PARAMETER SETTING .................................................................................................................62
9.2.1 Operation Hints.............................................................................................................................................62
9.2.2 Changing the operating mode .......................................................................................................................62
9.2.3 Setting the Lift Controller Interface ..............................................................................................................62
9.2.4 Set-Up with Electronic Nameplate ................................................................................................................62
9.3 CONFIGURING THE FEEDBACK DEVICE (CLOSED LOOP AND SERVO MODES ONLY) ........................................63
9.3.1 Configuring the feedback device for Closed Loop Vector mode ...................................................................63
9.3.2 Configuring the feedback device for Servo mode..........................................................................................63
9.4 SETTING OF MOTOR AND ELEVATOR PARAMETERS ....................................................................................64
9.5 AUTOTUNING ............................................................................................................................................65
9.5.1 Open Loop Vector – Induction motor without speed feedback .....................................................................65
9.5.2 Closed Loop Vector – Induction motor with speed feedback ........................................................................65
9.5.3 Servo – Permanent magnet synchronous motor with speed feedback...........................................................65
9.6 FIRST START WITH EMPTY CAR ..................................................................................................................66
9.6.1 Activate the first start: ...................................................................................................................................66
9.6.2 Adjustment of the speed loop gains (only Closed Loop and Servo) ..............................................................66
9.6.3 Adjust motor contactor delay ........................................................................................................................66
9.6.4 Adjust deceleration distances (DCP3 or Terminal control): ........................................................................66
9.6.5 Fine Trimming of Operational Speed (DCP4) ..............................................................................................66
9.7 OPTIMISE ELEVATOR PERFORMANCE (CLOSED LOOP AND SERVO) ..............................................................67
9.7.1 Optimise start ................................................................................................................................................67
9.7.2 Optimise constant speed................................................................................................................................67
9.7.3 Optimise stop.................................................................................................................................................67
9.7.4 Following error detection set up ...................................................................................................................67
9.8 DCP 3 SEQUENCE ....................................................................................................................................68
9.9 DCP4 SEQUENCE ....................................................................................................................................69
9.10 TERMINAL CONTROL SEQUENCE.............................................................................................................70
10 ELEVATOR COMMISSIONING SOFTWARE ......................................................................................71
11 DIAGNOSTIC ........................................................................................................................................72
11.1 TRIP CODES AND CORRECTIVE ACTIONS.................................................................................................72
11.2 AUTO – RESET .....................................................................................................................................74
11.3 CONTROL INTERFACE DIAGNOSTICS .......................................................................................................74
11.4 DIAGNOSTIC OF TRAVEL INTERRUPTS #20.39 .........................................................................................75
12 PARAMETER OVERVIEW....................................................................................................................76
12.1 MENU 18 PARAMETER ..........................................................................................................................76
12.2 MENU 19 PARAMETER ..........................................................................................................................77
12.3 MENU 20 PARAMETER ..........................................................................................................................78
12.4 MENU 02 – DECELERATION DISTANCES .................................................................................................79
12.5 MENU 03 – DCP4 POSITION AND SPEED WINDOW ..................................................................................79
12.6 MENU 04 – CURRENT LOOP PARAMETER ...............................................................................................79
12.7 MENU 21 – PARAMETER .......................................................................................................................79
12.8 MENU 70 – INTERNAL PARAMETERS ......................................................................................................80
12.9 F- MENU PARAMETER ...........................................................................................................................81
6/81 11.12.2011
Safety information
The safety informations and the SM DCP Manual should be read carefully and should be followed
The drive must be installed by professional assemblers who are familiar with the requirements for safety and
EMC. The assembler is responsible for ensuring that the end product or system complies with all the relevant
laws in the country where it is to be used.
The ground loop impedance must conform to the requirements of local safety regulations. The drive must be
grounded by a connection capable of carrying the prospective fault current until the protective device (fuse, etc.)
disconnects the AC supply. The ground connections must be inspected and tested at appropriate intervals.
The AC supply to the drive must be fitted with suitable protection against overload and short-circuits. The
recommended fuse ratings can be found in the Unidrive SP User Guide. Failure to observe this requirement will
cause risk of fire.
The drive contains capacitors that remain charged to a potentially lethal voltage after the AC supply has been
disconnected. These drive voltages can cause severe electric shock and may be lethal. If the drive has been
energised, the AC supply must be isolated at least ten minutes before work may continue. Normally, the
capacitors are discharged by an internal resistor. Under certain, unusual fault conditions, it is possible that the
capacitors may fail to discharge, or be prevented from being discharged by a voltage applied to the output
terminals. If the drive has failed in a manner that causes the display to go blank immediately, it is possible the
capacitors will not be discharged. In this case, consult Control Techniques or their authorised distributor.
The AC supply must be disconnected from the drive using an approved isolation device before any cover is
removed from the drive or before any servicing work is performed.
The voltages present in the following locations can cause severe electric shock and may be lethal:
• AC supply cables and connections
• DC and brake cables, and connections
• Output cables and connections
• Many internal parts of the drive, and external option units
Unless otherwise indicated, control terminals are single insulated and must not be touched.
Incorrect adjustment of some parameter can affect the safety of the system, and damage the drive and or
external equipment. Before attempting to adjust any of these parameters, refer to the Unidrive SP Advanced
User Guide.
A motor contactor is required to be fitted between the drive and motor for safety purposes. The recommended
motor contactor is the AC3 type. Switching of an output contactor should only occur when the output of the drive
is disabled.
Opening or closing of the contactor with the drive enabled will lead to:
1. OI.AC trips (which cannot be reset for 10 seconds)
2. High levels of radio frequency noise emission
3. Increased contactor wear and tear
Braking resistors can reach high temperatures. Locate braking resistors so that damage cannot result.
When an external braking resistor is used, it is essential that an overload protection device is incorporated in the
braking resistor circuit; this is described in the Unidrive SP User Guide
Only type B ELCB / RCD are only suitable for use with 3 phase inverter drives.
The ground leakage current depends upon whether the internal EMC filter is fitted. The drive is supplied with the
filter fitted. The ground leakage current is 28mA AC at 400V 50Hz (proportional to supply voltage and frequency)
30µA DC (10M.)
Ensure that no damage or safety hazard could arise from the motor starting unexpectedly.
The values of the motor parameters affect the protection of the motor. The default values in the drive should not
be relied upon. It is essential that the correct value is entered in Pr 0.46 Motor rated current. This affects the
thermal protection of the motor.
Under following conditions motor chokes are recommended:
• AC-supply voltage over 500V
• Usage of old motors (pole switched motors or Darlander motors), which are not designed for inverter
operation
In doubt please contact the supplier.
7/81 11.12.2011
1 General
The DCP Lift Module is an extension module for Unidrive SP. It realises the DCP interface (DCP3 and DCP4),
creates a position / velocity motion profile and includes elevator application specific functions. It can be used for
geared or gearless elevators. Brushless synchronous motors with encoders and induction motors with or without
encoders can be controlled. The software also provides creep to position (DCP3) and direct-to-floor positioning
(DCP4) capability.
The Unidrive SP is a high performance drive making it an excellent choice for elevators applications. The
following additional Elevator functions are provided with the SM- DCP Module.
Elevator software features Advantages

• Speed profile with separately adjustable jerk, ⇒ Separate optimisation for the start characteristic,
acceleration and deceleration deceleration and the stop distance
• 7 – 10 speeds with priority or binary selections ⇒ Flexible interface, sufficient number of reference
values to optimise elevator performance
• 3 speed thresholds ⇒ Applicable for the functions like entry with open
doors or over speed monitoring
• Integrated brake control ⇒ Simplified elevator interface
• Following error detection ⇒ Protection against motor and feedback cable
break, loss of feedback, incorrect parameter
setting
• Separate speed loop gains for brake release and ⇒ The optimisation of the load and in motion drive
elevator in motion characteristics
• Start Position controller ⇒ High ride comfort at start with gearless elevators
• Acceleration feed forward control and load ⇒ Movement quality optimisation of the load
measurement behaviour, and positioning accuracy
• Peak curve operation ⇒ Automatic Profile Optimisation
• Dedicated Unidrive Menu 0 ⇒ Simplified operation, reduced parameter sets
• Conventional data input units (mm/s, mm/s2,) ⇒ No calculation required to set-up the elevator
drive
• Text display with elevator terms ⇒ Commissioning without User Guide is possible
The application software provides the special functions required for an elevator drive. The elevator drive is
controlled by a digital interface from the elevator controller. The elevator controller provides direction and speed
commands to the drive. The elevator controller software interprets the calls and produces the speed and direction
signals for the elevator drive. The complex algorithms for motor control and profile generation are done by the
elevator drive. The elevator controller provides the safety related functions in this system configuration.
Using the DCP Lift module the lift inverter Unidrive SP can be controlled via terminal interface as well as via DCP
interface.
The DCP- Interface (Drive Control and Position) is a serial connection between the lift inverter and the lift
controller. It supports both protocol types DCP3 (Positioning with creep speed) and DCP4 (Direct to Floor).
DCP is not only another kind of control interface, but offer additional advantages like:
• Reduction of installation time
• Easier setup
• 1mm positioning accuracy
• Brake control
• High Robustness
• Operation of drive parameters over the lift controller
Using terminal control the lift drive is controlled over the control terminals of the drive.
8/81 11.12.2011
2 Mechanical Installation
The SM-DCP module consists of an

SM Applications Module Plus with this
software preloaded. The Unidrive SP Slot 1
must be powered down when the SM-CANopen
module is installed. To fit the
Solutions Module press down until it
clicks into place. If an SM Resolver or
SM I/O Plus Module is required, they
also have to be installed while the
Slot 2
Unidrive SP is powered down. It is SM-Resolver
recommended that the Solutions
Module slots be populated in the
following order: slot 3, slot 2 and then Slot 3
slot 1.
SM-Applications
Figure 1: Fitting of a Solutions Module Plus
2.1 Identification
The following labelling is applied to the SM- Applications Module after the application software has been loaded.
The Module is then labelled as follows:
BV 80-M1061-6 V01.35.XX
Unidrive SP
DCP- Aufzugssteuerung
SMA / Control Techniques GmbH
• The Software Version and Identity number are displayed in parameter #20.01 (Version) and #20.02 (Identity
number)
• A number of settings are necessary in order to use this software. To simplify adjustment, an additional function
is included to provide default settings for the initial run.
9/81 11.12.2011
3 Feedback systems
3.1 Resolver Connection
Alternatively to the TTL- or Sincos Encoder a Resolver as Motor Feedback system. It offers encoder also outputs
on terminals A, /A, B, /B. The Resolver connection is done at the 15 wire screw terminals as follows:
T. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
COS High
REF High
COS Low
REF Low
SIN High
Function
SIN Low
Resolver
0V
0V
0V
0V
0V
A\
B\
Z\
A
Figure 2: Resolver connection Unidrive SP
Unidrive SP Resolver
O verall shield O verall shield
SM R esolver on M otor
C onnection C onnection to
to 0V A-bracket Shield connection to
connector housing
Resolver
Resolver
15
14
SM
13
12
11
10
9
m ax . 5 cm
not shielded D ouble shield with
tw isted pairs
Inner Shield Inner Shield
3.2 TTL or Sincos Encoder

The universal encoder connection is the 15 wire SUB D connector on the base drive as follows:
Pin TTL Sincos Sincos with Sincos with Sincos with

Encoder Encoder Hiperface Endat SSI
Feedback Type: AB SC SC.Hiper SC.Endat SC.SSI
1 A COS COS COS COS
2 A\ COS REF COS REF COS REF COS REF
3 B SIN SIN SIN SIN
4 B\ SIN REF SIN REF SIN REF SIN REF
5 Z* DATA DATA DATA
6 Z\* DATA\ DATA\ DATA\
7 U **
8 U\ **
9 V **
10 V\ **
11 W ** CLOCK CLOCK
12 W\ ** CLOCK \ CLOCK \
13 + 5V + 5V + 8V + 5V + 5V
14 0V 0V 0V 0V 0V
15 TH TH TH TH TH
* Z is optional
** The commutation signals U, V, W are only needed for operation of Servomotors with TTL Encoders
Figure 3: Universal Encoder connector of Unidrive SP
10/81 11.12.2011
Unidrive SP Encoder
O verall Shield O verall Shield on M otor
Connection Connection to A-
to 0Volt bracket Shield connection to
connector housing
14
Encoder
SUB D-15
Encoder
13
6
5
4
3
2
1
m ax . 5 cm
not shielded Double shielded with Connection
twisted pairs to 0Volt
SinC os
U nidrive SP O verall shield O verall shield on M otor
C onnection C onnetion to A-
to 0Volt Bracket Shield connection to
connector housing
SinCos- Encoder
14
SUB D-15
Encoder
13
6
5
4
3
2
1
m ax . 5 cm
N ot shielded D ouble shield w ith C onnection
tw isted pairs to 0Volt
Inner Shields Inner Shield
3.3 Encoder Simulation (Output)
The optione module „SM Encoder Output Plus“ offers encoder outputs on terminals A, /A, B, /B of connector PL2:
PL1 PL2
Encoder Input Encoder Output
Kl. 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 9
Funktion
Encoder
+Ub
Output Plus
0V
0V
0V
0V
A\
B\
A\
B\
Z\
Z\
A
B
Z
Figure 3: SM Encoder Ouput Plus Unidrive SP
11/81 11.12.2011
4 Control Interface
For safe stopping of the elevator usually 2 motor contactors are placed between the drive and the motor. The TUV
certified safety function of the SD input allows the operation without motor contactors by using 2 safety relays in the
SD input circuit.
4.1 Control of motor contactors
The motor contactors could be controlled by the drive over terminal 41/42 or by the lift controller. The interface is
designed, that both control modes are possible.
The condition for the correct control is the control of the T.31 by the contactor feedback signal or an accelerated
signal by a fast relay control by the safety circuit. The following sequence is initiated as before by the Enable
signal.
The control of the motor contactors follows:

1. Close of the motor contactors: if a Start command is detected (Speed selection and valid direction or Start
command over DCP) and the contactor feedback not yet active.
2. Open of the motor contactors: If the travel completed, the current reduced to zero and drive disabled.
From software version 1.26 onwards a new function „Contactor release delay“ is available. This function is
especially needed for high inductance servo motors for gearless elevator drives to allow current decay before
switching the motor contactors after stop. The setting of the contactor release delay is done in Parameter #20.40 in
ms. The default setting is 100ms.
4.2 Contactor Release Monitoring
The contactor release monitoring according EN81-1 could be done by the Unidrive SP inverter. To activate the
release monitoring one digital input terminal 24 to 29 of the base drive has to be assigned to this function by setting
the terminal function 8.2X = 19.33. The digital input terminal is monitored to be “ON” (+24V) when contactors are
released and to be “OFF” (0V), when contacts are closed. If the state does not follow inside 3 sec Trip 78 will be
caused at the next stop. The function can be checked by interrupting the Contactor Release signal at Standstill for
more than 3 sec.
4.3 Switching of the inverter output
Switching the motor contactors with the inverter output enabled can lead to high overvoltages especially with
gearless winch motors considering their high inductances. A result of this can be damage to the motor windings or
an induced disturbance in the encoder signals.
An auxiliary contact of the motor contactor has to be placed in the SD input control of T.31. The software enable of
the inverter’s output is delayed by about 100msec after drive enable at terminal 31. OI.AC trips, which could be
caused by chatter of the motor contactor, are prevented by this delay.
After stopping following normal run, the inverter output is additionally disabled after the brake-apply delay (figure
5). The delay between the internal drive disable and contactor opening is shown by #20.20 in milliseconds. A
negative value means that a contactor was opened while the inverter output was enabled, which should be
prevented. If the delay time is negative the brake apply delay #18.24 should be reduced not to be less than the
value of #20.20.
When using a short cut contactor for servo motors to hold the motor at low speed without the brake, the interruption
of the enable signal by the auxiliary contacts is not sufficient. An advanced contact is needed, which can be
produced by a fast relay (Finder) controlled by the safety circuit. Because of the delay of the SD input, the fast
disable function should be used (see below). Further the motor windings should be protected by suitable MOV’s.
Auxillary Contact
Motor Contactor
or Fast relay
(Finder)
Elevator
Controller Unidrive SP
Enable T. 31
Figure 4: Enable circuit
12/81 11.12.2011
4.4 Fast Disable Input of Unidrive SP from Firmware V1.10

With the „EN81-1“- issue of the Unidrive SP the SD- Input was changed in a way, that a dynamic checking by fast
test signals < 1 ms is possible. To prevent unwanted function of the drive, a filter was introduced. Therefore the
reaction time of the SD input is about 8…20ms.
This is no problem when using induction motors. Using high induction gearless servo motor with short circuit
contactors can lead to OIAC during inspection or after stopping when switching of the contactor, if the following
recommendations are disregarded.
To prevent this an additional Fast Disable (FD) Input was introduced into Unidrive SP from Firmware V01.10.00
onwards, which has a reaction time of < 0.5ms. Normally terminal 26, but any digital input of the drive (Term. 24 –
29) could be used. The destination parameter of the input has to be programmed with the FD function 6.29. When
using shorting contactor with servo motors the FD function has to be used.
4.5 Unidrive SP as Elevator drive without main contactors

The Secure Disable (SD) function of the Undive SP prevents with a very high degree of reliability, the torque is
produced in the motor controlled by the inverter. The SD function is failsafe. This function of Unidrive SP allows the
operation of the elevator without main contactors, which has normally to be used according EN81-1.
Attention: The SD funktion does not protect the motor, the contacts ort he cables from electrical voltage.
Before working on the installation, isolate from line voltage and wait for capacitors discharged.
Die SD function is a basic function of the Unidrive SP and is available from production datecode P07 (KW7/ 2006).
All this inveters are marked with the symbol „EN81-1“ at the rating label.
The Unidrive SP has an IP rating of IP20 and is intended to build into a cubicle. The installation has to follow
pollution degree 2 (dry, non-conducting pollution). Because of it’s constrction the usage of the SD function does not
demand an IP5X housing.
The installation has to follow today’s technical rules. The wiring of SD input has to use protected wiring. This can
be achieved by placing into a cubicle or using screened or armed cables, with the screen connected to earth.
4.5.1 Contactor less Safety Circuit without shorting contactors

According the requirements of EN81-1 the energy flow has to be interrupted by 2 independant devices. This is met
by using 2 safety relais with guided contacts and a self monitoring safety device according the following principle
wiring diagrams.
The coils of the relais are supplied by the safety circuit of the elevator. If the safety circuit detects an error, the
contacts of the relais will open, which interrupts the power supply to the power switches (IGBT’s). This prevents
torque in the motors. The relais have to meet EN60664-1. The isolation between coil and contacts has to designed
for 4kV voltage, the air gapes > 3 mm and creepages > 4mm.
Note 1: The energy supply to the brake has to be switched with 2 independent devices. These could be
the same devices interrupting the energy supply to the motor.
Note 2: The monitoring function has to be checked with the recurrent inspection of the elevator.
The function of the relais contacts is monitored by a elevator controller. Does the contact not open after the travel,
a start after a change of the direction has to be prevented.
4.5.2 Contactor less Safety Circuit with shorting contactors

With the use of PM servo motors as lift motors shorting contactors are often used. With the shorting of the motor
winding an additional braking torque is produced during standstill or to limit the speed during emergency rescue.
One auxiliary contact of the shorting contactor is used as the travel relay replacing the 2nd travel relay. The auxiliary
contacts of the shorting contactor have to meet the requirements described above.
To monitor the contactor release a NC auxiliary contact of the shorting relay is connected in series with the forcibly-
guided NC contact of the travel relay to an input of the LC or FC. As the result, drop-off of the contactor can be
clearly detected.
13/81 11.12.2011
When closing the shorting contactor after the travel a over current trip could be caused if the drive is not completely
disabled. To disable the drive very fast the Unidrive SP contains beside the SD input a non safety related Fast
Disable function the FD input (see 4.4) has to be used and controlled via a fast relay (Finder). This circuit does not
need safety requirements.
Note 3: The Fast Disable function FD is available from Firmware V01.10.00 des Unidrive SP (Mai 2006).
4.5.3 Monitoring functions by the drive

The opening of the relay contacts is monitored by the elevator controller or other suitable device. If one relay does
not open after the travel, the next travel after direction change has to be prevented. Additional to the monitoring
device the DCP option with software V1.26 or higher of the Unidrive SP does monitor these signals after each start
and each stop as follows:
1. After each start initiated by speed selection over parallel or DCP interface inside 6 sec:
a. the SD- Eingang is closed and
b. if used the FD- input is closed.
2. After each stop after the travel initiated by zero speed inside 4 sec:
a. the SD- Eingang is opened and
b. if used the FD- input is opened.
c. the current in the motor is decreased to < 25%
If one of these conditions are not met, the drive will trip and show a trip code identifying the cause and save it to
the trip log. With the trip the drive is disabled, and could only be activated after reset The trip codes are:
a. „Trip 75“: No correct control of the SD-input or failed control of the spped selection
b. „Trip 74“: No correct control of the FD-input or failed selection of terminal 26 function 6.29 (FD)
c. „Trip 72“: No current decay or failure of the internal disable function
Note 4: The monitoring of the SD input is available from Firmware V01.14.00 of Unidrive SP (July 2007).
Note 5: The wiring can be checked by applying the SD or SSP for more than 6 sec, which will cause
Trip74 or Trip75 if corrected wired.
Note 6: The monitoring functions may be switched off when 2 contactors are used by setting parameter
70.65 = 1001001
Note 7: The input Fast Disable FD is according the last TÜV approval and certificate not relevant for
safety. Therefore the monitoring function can be switched off setting Parameter #70.65 = 74
even when no motor contactor used.
14/81 11.12.2011
15/81 11.12.2011
16/81 11.12.2011
4.6 Brake contacts monitoring

The monitoring of 2 mechanical brake feedback contacts could be done by the Unidrive SP. There are 2
terminal functions available. To activate the brake contacts monitoring one or two digital input terminal(s) of
terminal 24 to 29 of the base drive has to be assigned to the function by setting the terminal function 8.2X =
19.34 (for Brake contact 1) and / or setting the terminal function 8.2X = 19.36 (for Brake contact 2). The
digital input terminal is monitored to follow the brake output state 18.31. If the state of the activated brake
monitoring contacts do not follow the brake control output inside 3 seconds the drive will cause a trip Trip
83. If one contact is missing, the trip will be initiated at the next stop. If both contacts do not follow the trip will
be initiated immediately.
4.7 Selection of the control interface
Before version 01.34.04 the control interface for terminal control was selected as follows:
#19.26 = 0 Terminal control with 1 Direction signal

- 1 Direction signal connected to Term. 28
- #18.42 speed selection by #18.42 = 0: “binary”, #18.42 = 1 : “1 of n”
#19.26 = 1 Terminal control with 2 Direction signals

- 2 Direction signals connected to Term. 28 and Term. 27
From version 01.34.04 Parameter #19.26 the control interface type could be selected as follows.
#19.26 = -1 Terminal control with 1 Direction signal and “1 of n” speed selection

- Term. 27 is Speed Selection Bit 2
#19.26 = 0 Terminal control with 1 Direction signal and binary speed selection
- Term. 27 is Speed Selection Bit 2
#19.26 = 1 Terminal control with 2 Direction signals and binary speed selection
- Term. 27 is Direction Up
#19.26 = 2 Terminal control with 2 Direction signals and “1 of n” speed selection

- Term. 27 is Direction Up
The selection of the DCP interface is unchanged as follows:
#19.26 = 3 DCP3 Interface (Default)

- Creep to floor- Positioning with serial control over DCP.
#19.26 = 4 DCP4 Interface

- Direct to floor- Positioning with serial control over DCP.
Change of the control interface

To become a change of the control effective the following procedure must be followed:
• store parameters in drive by setting parameter #01.00 = 1000 and press Reset button
• cycle the power of the drive so that the display disappears when switched off
17/81 11.12.2011
5 DCP Interface
5.1 DCP Overview
The DCP Module allows the control of the Unidrive SP lift drive over a serial interface. The bidirectional,
serial interface allows to control and to monitor the drive from the controller, the master of the
communication, over a 3 wire cable. The wiring is dramatically reduced:
DCP Interface
Encoder
Lift Drive Lift Controller
U, V, W
Remote
Operation
DCP
Motor
RS485
Position
Counter
Weight Floor calls
Floor calls
Cabin
Cabin
calls
Remote
Operation
Floor calls
Shaft
Figure 5: DCP Overview
The lift controller transfers all control signals to the lift drive over the DCP interface. The lift drive transmits
the status signals to the lift controller.
18/81 11.12.2011
5.2 DCP Interface connections

The DCP Interface is connected to the SM- Applications Options Module as follows:
Screened twisted
5 pair signal cables Lift Controller
4 120 Ohm
3 A
2 B
1 0V
Optional 0V Screen connected

connection to earth at inverter
Figure 6: DCP connection
Control Techniqu. Kollmorgen Osma Controller Böhnke & P. NEW Control. Strack SLC 4
Unidrive SP Control MPK400 BMPS SUB-D9 BP304 / BP306 FST SUB-D9 Controller
3, 5 - Signal A 87 Klemmleiste Pin 6 Kl. 7 DCP Plug Pin 4, Pin 7 L4 (weiß)
2, 4 - Signal B 88 Klemmleiste Pin 7 Kl. 6 DCP Plug Pin 8, Pin 9 L5 (schwarz)
1 - 0V - Pin 5 Kl. 5 DCP Plug Pin 5

Table: DCP Connection to Controllers
5.3 DCP Communication

The communication telegram uses 6 Bytes in both directions. The master is the lift controller and is sending
the master telegram. The inverter responses with the Slave telegram.
Telegrammtyp 1. Byte 2. Byte 3. Byte 4. Byte 5. Byte 6. Byte

Master telegram Command byte Data byte 2 Data byte 3 Comm.byte 1 Comm.byte 2 CRC
Slave telegram Status byte Data byte 2 Data byte 3 Comm.byte 1 Comm.byte 2 CRC
Please refer to the DCP description on the website of the DCP Newsgroup:
http://www.kollmorgen.de/DCP-news.aspx for a detailed description of the DCP protocol.
5.3.1 DCP command and status byte

Using the DCP interface the control of the lift drive is completely done over a serial interface.
Command Byte #20.03 Status Byte #20.05
Bit B0: Drive controller enable Bit S0: Drive controller ready
Bit B1: (DCP3) 1 = Travel command; Bit S1: Travel active
Bit B1: (DCP4) 0 = Remaining / 1 = actual distance
Bit B2: Stop switch Bit S2: Advance warning active
Bit B3: Transfer of travel commands in the 3rd byte Bit S3: General fault active
Bit B4: Direction of travel Bit S4: Motor speed below levelling v < 0,3 m/s (#18.21)
Bit B5: Speed change Bit S5: Speed accepted
Bit B6: Desired distance / actual distance Bit S6: Mechanical brake
Bit B7: Error in last replay message Bit S7: Error in last message received
Except the safety related control with the Secure Disable input (T. 31) no other digital in- or output has to be
connected. The sequence is controlled over the command bytes B0…B7. The inverter feeds back the drive
state via the status byte S0…S7.
19/81 11.12.2011
5.3.2 DCP Speed Selection

The speeds are set before the start of the travel using the speed byte, which initiates the sequence to close
contactors and magnetise the motor. Each bit of the speed byte represent a speed, which could be adjusted
by the following parameters:
Speed Byte #20.06 Speed Parameters
Menu 0 Source Display #18.10
G0: Creep Speed V1 #0.15 #18.11 1811
G1: Releveling Speed Vn #0.16 #18.12 1812
G2: Used for Fast Start / Fast Stop 0 1810
G3: Intermediate Speed #0.17 #18.13 1813
G4: Inspection Vi #0.18 #18.14 1814
G5: Low Speed V1 #0.19 #18.15 1815
G6: Medium Speed V2 #0.20 #18.16 1816
G7: Fast Speed V3 #0.21 #18.17 1817
G8: V4 Additional Speed 1 #20.22 2022
5.3.3 Extended Status from inverter

The data bytes 2 and 3 from the inverter could show the the extended status or braking distance from the
actual speed and acceleration to the next possible stop.
Extended Status word #20.04
Byte 3 Byte 2
Bit 0: Below Speed threshold 2, d.h. v < V_G2 (#18.22) Bit 8: reserved
Bit 1: Below Speed threshold 3, d.h. v < V_G3 (#20.07) Bit 9: Emergency rescue supply active (#19.38 = 1)
Bit 2: Below Over Speed, d.h. v < 1,1 * V3 (#18.30) Bit 10: Recommended direction for rescue (#19.37)
Bit 3: reserved Bit 11: Maximum temperature Motor reached *)
Bit 4: reserved Bit 12: Maximum temperature Inverter reached *)
Bit 5: reserved Bit 13: reserved
Bit 6: reserved Bit 14: reserved
Bit 7: reserved Bit 15: = 1 Extended Status / = 0 Braking distance
*) Added in Version V01.35.00 according DCP Specification V1.0.0.8
5.3.4 Enable 16 Bit Distance Format

The position format according the DCP specification is limited to 15 Bit = 32767mm. For higher speeds of
more than 6 m/s the deceleration distance could exceed 32 meters. Therefore the following extension was
made: Setting #70.85 = 1 allows deceleration and braking distance in 16 Bit format = 65535 mm.
Because parameter 19.09 for display of braking distance and 19.10 for display of remaining distance are
limited to 15 Bit plus sign, the 16 bit wide parameters 70.60 (remaining distance controller), 70.61 (remaining
distance inverter) and 70.62 (braking distance inverter) were added to display the full range.
In Version V01.35.00 the setup of the 16 Bit Format of the distances using the I1- Protocol by sending the
Data information type according DCP Specification V1.0.0.8 added:
Daten Information type Receive data Byte 2 & 3 Transmit data Byte 2 & 3
0 15 Bit remaining distance 15 Bit braking distance/ Status word
alternating
1 15 Bit remaining distance 15 Bit braking distance
2 15 Bit remaining distance Status word
3 16 Bit remaining distance 16 Bit braking distance
5.3.5 Enable Travel Distance Transmission for Slip Monitoring

In Version V01.35.00 the transmit of the measured travel distance from the inveter to the lift controller using
the I1- Protocol by sending the Protocol type for the extended communication according DCP Spezifikation
V1.0.0.8 was added.
extended communication I9 Response telegramm from the inverter

0 Base protocol I9 Response without additional information
1 Extended protocol I9 Response with measured travel distance
20/81 11.12.2011
5.3.6 Diagnostic of the DCP Telegram content in real time

The DCP telegram content is entered in the parameters 70.51 - 70.58 in real time and could be monitored
via the LiftSP PC Lift Setup software using a Ethernet Modul. The following parameters are available:
#70.51: from the Lift controller Command Byte

#70.52: from the Lift controller Data bytes (Speed setpoint or remaining distance)
#70.53: from the Lift controller Communication bytes
#70.54: from the Lift controller CRC checksum
#70.55: from the drive (inverter) Status byte
#70.56: from the drive (inverter) Data bytes (Extended Status or Stopping distance)
#70.57: from the drive (inverter) Communication bytes
#70.58: from the drive (inverter) CRC checksum
5.4 Extended DatData Exchange over the communication channel

Beside remote operation and error messages the DCP Modul supports the following telegrams of the DCP
communication channel:
5.4.1 I0 – Telegram : Initialising

The lift controller and the drive controller start the communication with the following initialisation messages.
After that both controller could check and adjust their settings. The drive controller receives the language
settings from the lift controller and switch to the same language. Didn’t the drive controller support the
received language setting, it need to switch to English speech as a default setting.
5.4.2 I1 – Telegram: Data – Information type

By transmitting this message during the initialisation it is determined:
• if the lift controller transmits the remaining distance in 15bit- or 16bit-mode
• if the drive controller transmits the deceleration distance in 15bit- or 16bit-mode or not at all
• if the drive controller transmits the extended status
• if the drive controller alternately transmits the extended status and the 15bit-deceleration distance
• if the drive’s response message to the message (‘I’ ‘9’) should be transmit with or without additional
Information
5.4.3 I3 – Telegram : Date/ Time

The lift controller can transmit the current time and date to the drive controller. This can be used by drive
controllers without a real time clock to synchronise their calculated clock.. This telegram will be answered,
but no function is supported.
5.4.4 I6 – Telegram : Rescue supply and Energy saving level

After switching on the emergency supply, the drive controller is sending an information to the drive controller.
With this information the drive controller is able to execute the travel with reduced energy consumption.
Further the Unidrive SP responds with the energy saving state.
5.4.5 I7 – Telegram : Start parameter

Before starting a travel the lift controller transmit the desired travel distance and the allowed maximum lift
speed to the drive controller. After calculating the optimal speed the drive controller answers with the
minimum distance to travel and the needed deceleration distance regarding the calculated speed.
5.4.6 I8 – Telegram : Cabin Load

To improve the drive’s starting behaviour, optionally the lift controller can send the percentage value of the
car’s load weight before starting a travel.
5.4.7 I9 – Telegram : Position

The actual position of the lift car will be send after each stopping from the lift controller to the drive controller.
It will be the distance in mm between the actual position and the lowest floor level. If the extended protocol
mode was activated by the message (‘I’ ‘1’) before the drive controller transmits the travel distance in its
response message. This information can be used by the lift controller to calculate the slip.
21/81 11.12.2011
5.5 DCP Travel Sequence
5.5.1 DCP3 Mode (lift controllers without absolute encoder)

In most cases the creep speed positioning (DCP3) is used. Therefore the default setting of the DCP module
is #19.26 = 3 for DCP3. The speeds are selected from the lift controller according the floor level. The change
from run speed to creep speed is generated as well from the lift controller depending on the distance to the
target floor level.
The DCP3 mode is the translation of the terminal control to a serial communication. The lift controller sends
the command byte B0…B6 and the speed byte G0…G7. The drives response is the status byte S0…S6.
For each individual section of the travel different profile parameters for acceleration and jerk could be used.
This allows the individual optimisation of each section of the travel as shown in the figure 7. The profile
parameters are location in the application menus 18 – 20 of the drive.
Additionally the deceleration distances dependant on the speed and the profile setting are calculated and
displayed for the actual set speed in #19.08 in mm. To adjust the deceleration distances in the lift controller
activate the speed and read out the value in #19.08 and adjust the distance in the lift controller. The
deceleration distance depends on the load, as it is not possible to control the distance. The measured
deceleration distance is displayed after every travel in #19.10 in mm.
#19.15 #19.15
#18.11 - #18.17
#0.04
#0.03
#19.15 #19.16
#19.14
#18.11 #19.13
#19.08
Speed
Current
motor contactor control

#19.32
motor contactor closed
T. 31
motor magnetised #18.43
B0: Drive controller enable
B1: Travel command
B2: Stop switch
B3: Travel commands
B4: Direction of travel
B5: Speed change
B6: Desired distance
S0: Drive controller ready
S1: Travel active
S2: Advance warning active
S3: General ault active
S4: v < 0,3m/s
S5: Setpoint accepted
S6: Mechanical brake
Figure 7: DCP3- control sequence
22/81 11.12.2011
5.5.2 DCP4 Mode (lift controllers with absolute encoder)

For using DCP 4 mode „direct to floor positioning” the setting is #19.26 = 4. The lift controller transmit the
distance to the next floor to the lift drive. During the travel the distance to travel is updated. If no call for the
next floor is active at the point of deceleration the distance to travel is elongated by the lift controller to the
next floor. The limit for the remaining distance extension was reduced in version V01.34.00 from 100 mm to
10 mm.
With this method the lift drive controls the complete travel from acceleration during constant travel to starting
the deceleration and positioning.
Independent of reaching the speed the lift drive starts to decelerate if it detects that deceleration for reaching
the next floor should be started. Thereby the adjusted values or the jerk will be kept. For each individual
section of the travel different profile parameters for acceleration and jerk could be used. This allows the
individual optimisation of each section of the travel as shown in the figure 8.
The difference to other solutions is that the profile is permanent updated. With this method a high position
accuracy with a very good performance can be ensured.
An adjustment of the travel profile because of a distance to travel which depends to a sensor will be avoided.
Figure 8: DCP4- control sequence
23/81 11.12.2011
5.5.3 DCP4 Positioning

With direct to floor positioning the target floor has to be reached without position error and to zero decreased
acceleration and spped. Because this is not realistic, the folowing termination condition for „in position“
werde defined:
• Position error < Position window #03.06 in mm Default: 5 mm

• Speed < Speed window #03.07 in mm/s Default: 5 mm/s
• Settling time in window #20.36 in ms Default: 500 ms
Additionally the transfer time of the position information to the drive has to be compensated. This is done by
the following setting:
• Compensation of the transfer of the position #20.37 in ms Default: 50 ms
If this value iss et to small the acceleration with increase during constant acceleration phase of the
deceleration to the floor.
5.6 DCP Monitoring
5.6.1 DCP Wire Proof Detection and Protocol Monitoring

The Quality of the Communication may be checked in Parameter #18.01 = Number of telegrams per sec.
With correct Communication this value varies between 65 and 67. When communication lost for more than
100ms the drive will trip with Trip81. The wire proof detection is active (#19.40 = ON) in default setting and
may be switched off by setting #19.40 = OFF. To prevent a trip during reset of the lift controller the wire proof
detection is only enabled during travel from software version 1.29 onwards.
According the DCP description until V1.31 after 10 faulty (wrong CRC) or 10 missing (wire break)
consecutive telegrams the drive was switched off with Trip 81.
For better diagnostic from V1.33 after 10 consecutive telegrams with wrong CRC Trip 68 is initiated. For
wire break stays Trip 81. Additional the error bit B7 of the command byte is monitored. After 10 consecutive
telegrams with Bit B7 = 1 Trip 69 is initiated.
Additional DCP4 Protocol errors are monitored. If a protocol error is detected, command byte, velocity byte
and number of errors are stored in parameter 70.77 in the following formate. Drive trips are prevented to
contain compatibility:.
#70.77 = Number of errors + 2^16 * DCP_Commandbyte% + 2^24 * DCP_Speedbyte%
5.6.2 Monitoring the direction control

The direction control signal is monitored during the travel. If a change of the direction signal Bit B4 of the
command byte is detected after the setting of the direction with the speed telegram, Trip 67 will be caused.
To continue the operation the motor contactors have to be opened and after that a new travel initiated.
5.6.3 Monitoring DCP4 remaining distance error

Trip 65 is detected during DCP4 operation, if the actual speed exceeds von 50 mm/s and the remaining
distance does not decrease for more than 500 ms.
24/81 11.12.2011
5.7 DCP- Connection diagram
Secure Disable
0V lift controller
Moto rthermistor
braking resistor
(Servomotor)
Fast Disable
connection for
from PLC or
sefety chain
L1 DCP
L2 Interface
protection
Optional
Thermal
L3
PE
+24V
EMV K0
gerechte
~ Verlegung
KF
PE L1 L2 L3 + BR 3 8 30 26 31
Seperate routing of the signal and
Fast Disable FD
Analogue input 3
Secure Disable SD
0V
SM- motor cables
Application
Unidrive SP Encoder or
Resolver Motor contacter 1) only if the lift drive controls the
option control1) motor contactors
U V W 0V 41 42
K1
K0 K1 K0
EMV
gerechte K0 K1 KF
K0 Verlegung
Motor Finder- Relays or

contactor other solution for
switching the
Motor contactor
motor contactor
Safety circuit feedback controlled by
with zero current
M the lift controller
Figure 9: DCP- Connection diagram

3∼
25/81 11.12.2011
6 Terminal Interface
6.1 General overview
The elevator drive is controlled by a digital interface from the elevator controller. The elevator controller
provides direction and speed commands to the drive. The complex algorithms for motor control and profile
generation are done by the elevator drive.
Control Techniques
Shaft Copy Elevator drive Solution
Unidrive SP
Shaft- Elevator
position Controller Digitale Interface: SM-DCP
Enable,
Absolute Direction,
Encoder Speeds
Motor control
Cage
⎫ Servo or
Closed Loop
⎬ Calls Brake-
Elevator
⎭ Control
device M
Shaft
Figure 10: The control system including the Elevator Controller

6.2 Control connections
The following connection table shows the terminal connection recommendations according to default:
External Function Terminal Display Internal Function
0V 3 0V - common
+10 V ← 4 +10 V Reference voltage
Medium Speed Speed select Bit 3 → 5 #07.01 Analogue input not inv. +
→ 6 Analogue input inverted -
Releveling Speed Speed select Bit 4 → 7 #07.02 Analogue input 2
→ 8 #07.03 Analogue input 3
← 9 Analogue output 1
Motor Thermistor
← 10 Analogue output 2
0V 11 0V - common
21 Not used
24 V Output ← 22 #08.08 +24V supply ( 200mA )
0V 23 0V - common
Entry w. open doors V - Threshold 1 ↔ 24 #08.01 F1 Digital I/O
Brake control Brake apply ↔ 25 #08.02 F2 Digital I/O
Inspection Speed Speed select Bit 1 ↔ 26 #08.03 F3 Digital I/O
Nominal Speed Speed select Bit 2 → 27 #08.04 F4 Digital input
Direction 1 = up / 0 = down → 28 #08.05 F5 Digital input
Creep Speed Speed select Bit 0 → 29 #08.06 F6 Digital input
0V 30 0V - common
Enable Contactor Feedb. → 31 #08.09 Controller enable
Drive healthy Contactor control → 41 #08.07 Relay output 1
(isolated contact) ← 42 Relay output 1
Figure 11: Unidrive SP Terminal Layout
26/81 11.12.2011
1) Depending on the driver circuit of the lift controller and the noise level on site, a 4,7kOhm pull-down
resistor is recommended. (Internal 100kOhm pull-down resistor present)
2) To use T. 22 to control the motor contactors, change Parameter #08.28 = 19.32 und #08.18 = 0 and
save it.
This terminal assignment is an example only and can be changed if required. To change from this
configuration refer to menus 7 (Analogue I/O) and 8 (Digital I/O) of the Unidrive SP. Information on
parameter settings can be found in the Unidrive SP User Guide.
6.3 I/O Configuration
The functions of all terminals of the Unidrive SP except terminal 31 are configurable. The elevator software
uses the following functions and parameters:
Bit No. Function In/ Out Associated parameters
06.29 Fast Disable FD Input Switch off Drive power output in 0.5ms
10.01 Drive healthy Output
18.31 Brake Output Apply time #18.24 / release time #19.25
18.32 Speed threshold V1 Output Adjust threshold in #18.21
18.33 Speed threshold V2 Output Adjust threshold in #18.22
18.34 Standstill Output
18.35 Short distance Input Adjust distance in #18.20
18.36 Speed select Bit 0 Input Adjust speed in #18.11
18.43 Motor magnetised Output Threshold for induction motors #18.23
18.44 Direction/ “DOWN” Input Down direction input
19.32 Motor contactor control Output To control the motor contactors over the inverter.
19.33 Contactor release monit. Input To check contactor release after travel according EN81
19.34 Brake feedback 1 Input To check brake feedback contact 1.
19.35 Motor over temperature Output Display thermistor state connected to T. 8
19.36 Brake feedback 2 Input To check brake feedback contact 2.
19.37 Load direction Output Used for emergency rescue
19.38 Emergency supply active Input For DCP message to the lift controller
19.44 Direction “UP” Input Up (available with 2 direction signals when 19.26 = 1 or 2)
19.46 Fast Start Input Input Terminal Interface, opening the brake when doors closing
Source or destination parameters are used for mapping of I/O terminals to specific functions. The signal for
every terminal can be inverted with a dedicated bit parameter. Terminals 24 – 26 can be configured as
inputs or outputs. Furthermore the status of every terminal can be monitored, which is helpful for diagnostics
and troubleshooting. The following table shows an overview of the I/O configuration parameters:
Terminal Status Source or destination Invert Direction input or output
# # Value*) # Value*) # Value*)
24 08.01 08.21 18.32 08.11 OFF 08.31 ON (output)
25 08.02 08.22 18.31 08.12 OFF 08.32 ON (output)
26 08.03 08.23 06.29 08.13 OFF 08.33 OFF (input)
27 08.04 08.24 18.38 08.14 OFF Only input -
28 08.05 08.25 18.44 08.15 OFF Only input -
29 08.06 08.26 18.36 08.16 OFF Only input -
Rel. 41, 42 08.07 08.27 10.01 08.17 OFF Only Relay -
22 08.08 08.28 00.00 08.18 OFF Only output
31 08.09 Hardware input, not configurable Only input -
5 07.01 07.10 18.39 07.09 0 Only input -
7 07.02 07.14 18.37 07.13 0 Only input -
8 07.03 07.18 00.00 07.17 0 Only input -
Value*) - Value of the default setting
27/81 11.12.2011
The 3 analogue input channels, terminals 5, 7 and 8 can be configured as digital inputs. It is recommended
to use 4.7kOhm pull-down-resistors.
Terminal 22 (+24V user output) can be configured as a digital output. To use T. 22 to control the motor
contactors, change Parameter #08.28 = 19.32 und #08.18 = 0 and store it.
Adding a SM I/O Plus Module can provide additional terminals. The SM I/O Plus Module increases the I/O
count by adding the following to the existing I/O in the drive: 3 digital inputs, 3 digital I/O, 2 analogue inputs,
and 2 relay contacts. For further information refer to the SM I/O Plus User Guide
6.4 Speed selection

The speed selection can be binary (up to 10 speeds) or priority (up to 6 speeds). The default setting is
binary selection. In this case, the following table applies:
6.4.1 Binary speed selection

To select Binary speed selection set parameter #18.42 = 0 (before Software V01.34.04) or #19.26 = 0 or 1
(from Software V01.34.04):
Binary Selection Preset speed # Displayed
Speed Bit 0 Bit 1 Bit 2 Bit 3 Menu 0 # #
T. 29 T. 26 T. 27 T. 5 (Advanced #) 18.10
Zero speed 0 0 0 0 - = 1810
V1 (Creep Speed) 1 0 0 0 #0.15 (#18.11) = 1811
V2 (Inspection) 0 1 0 0 #0.16 (#18.12) = 1812
V3 (Nominal 1) 1 1 0 0 #0.17 (#18.13) = 1813
V4 (Medium 1) 0 0 1 0 #0.18 (#18.14) = 1814
V5 (Releveling) 1 0 1 0 #0.19 (#18.15) = 1815
V6 (Medium 2) 0 1 1 0 #0.20 (#18.16) = 1816
V7 (Additional 1) 1 1 1 0 #0.21 (#18.17) = 1817
V8 (Additional 2) 0 0 0 1 #0.31 (#20.22) = 2022
V9 (Additional 3) 1 0 0 1 #0.32 (#20.23) = 2023
V10 (Additional 4) 0 1 0 1 #0.33 (#20.24) = 2024
Speed = 0 1 1 0 1 - = 1810
Speed = 0 0 0 1 1 - = 1810
Speed = 0 1 0 1 1 - = 1810
Speed = 0 0 1 1 1 - = 1810
Speed = 0 1 1 1 1 - = 1810
Table 1: Binary Speed Selection
6.4.2 Priority speed selection (1 of n)

To switch to priority speed selection (1 of n) set parameter #18.42 = 1 (before Software V01.34.04) or
#19.26 = -1 or 2(from Software V01.34.04):
Priority Selection „1 of n“ Preset Speed # Display
Speed Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Menu 0 # #
T. 29 T. 26 T. 27 T. 5 T. 7 T. 8 (Advanced #) 18.10
Zero Speed 0 0 0 0 0 0 - = 1810
V1 (Creep Speed) 1 0 0 0 0 0 #0.15 (#18.11) = 1811
V2 (Inspection) x 1 0 0 0 0 #0.16 (#18.12) = 1812
V3 (Nominal 1) x x 1 0 0 0 #0.17 (#18.13) = 1813
V4 (Medium 1) x x x 1 0 0 #0.18 (#18.14) = 1814
V5 (Releveling) x x x x 1 0 #0.19 (#18.15) = 1815
V6 (Medium 2) x x x x x 1 #0.20 (#18.16) = 1816
Table 2: Priority Speed Selection “1 of n”
To use terminal T. 8* the following setting has to be done: 07.18 = 18.41 and save parameters.
28/81 11.12.2011
6.5 Terminal Control Sequence
6.5.1 Brake control provided by the Unidrive SP

After setting defaults, the internal Brake controller can be used. The Brake is controlled via terminal 25. The
parameter setting for this function is #08.22 = 18.31. The timing sequence is shown below. The brake apply
delay is adjusted in #18.24 and the brake release delay in #19.25. If the Unidrive trips the brake will be
forced to close.
1. The elevator controller closes the motor contactor and enables the elevator Terminal 31 = 24V
drive.
2. The drive filters the input signals and enables the inverter output.
3. The elevator CONTROLLER applies the direction and speed signals. Terminal 28,26,27,29=24V
4. The drive controls the magnetising of the motor and opens the brake. Terminal 25 = 24V
5. The drive holds zero speed until the brake-release delay and load
measurement time has elapsed. Then the elevator drive starts to run.
6. The elevator controller receives the speed signals. Terminal 28,26,27,29 = 0V
7. After the motor has stopped the elevator drive activates the brake. Terminal 25 = 0V
8. After brake-apply delay, the elevator drive disables the inverter output. Output at zero current
9. The elevator controller waits for brake-apply delay and opens the motor Terminal 31 = 0V
contactor and the drive enable.
#0.24
Optimiser #19.28
Debounce contactors (100 ms)
#0.24 #0.18 V3 Nom. Speed

Brake release delay #19.25
Load measuring time #20.08
Brake apply delay #18.24

Time for Start
Flux Motor ( t > 100ms )
Interlock Delay > 50 ms

Deflux Motor (200 ms)
Motor contactor delay

measured #20.20
#0.16 V1 Speed 1
#0.03 #0.04
Magnetising- #0.24 #0.25
Threshold
#18.23 #19.17
#0.23 #0.15 Ve
Creep Speed
#18.18 #0.22
Speed #0.25
Current
Inverter active
Direction T. 28
Main contactor
Enable T. 31
Speeds V1 (T.26), V2 (T.27), V3 (T.5), Vn (T.7)

Creep Speed
(T.29)
Brake output T. 25
0,3 m/s T. 24
KP Position Control: #19.20
KD Position Control #19.12 #19.11
KP Speed Control: #18.27

#18.25
KI Speed Control: #18.28 #18.26
Current Filter #19.34: 0 / #4.12 #4.12
KP Current Contol #4.13
KI Curent Control #4.14
t0 t1 t2 t3 t4 t5 t6 t7 t0
Figure. 12: Control Sequence
29/81 11.12.2011
6.5.2 Brake control provided by the elevator controller

If the elevator controller is controlling the brake, set #08.22 = 18.43. This setting changes the function of
terminal 25 to be “motor magnetised”. The control sequence is as follows:
1. The elevator controller applies drive enable without a speed command. Terminal 31 = 24V
2. The elevator drive is magnetising the motor and sets the signal „motor Terminal 25 = 24V
magnetised“ output.
3. The elevator controller releases the brake and waits for brake release delay.
4. After brake release delay the elevator controller applies the speed signals. Terminal 28,26,27,29=24V
5. After the motor has stopped the elevator controller deactivates the speed Terminal 28,26,27,29 = 0V
signals.
6. After that the elevator drive applies the signal “stand still“. Terminal 24 = 24V
7. The elevator controller applies the brake.
8. After brake apply delay the elevator controller deactivate the output. Terminal 25 = 0V
The elevator controller deactivates the enable and opens the motor contactor. Terminal 31 = 0V
It is recommended to set the brake release delay, #19.25, to a non zero minimum value (=100).
6.6 Direction Control (Terminals 27 and 28)
Before version 01.34.04 the control interface for terminal control was selected as follows:
#19.26 = 0 Terminal control with 1 Direction signal
#19.26 = 1 Terminal control with 2 Direction signals

From version 01.34.04 Parameter #19.26 the control interface type could be selected as follows.
#19.26 = -1 Terminal control with 1 Direction signal and “1 of n” speed selection
- if terminal 28 is active / not active, the direction “DOWN” / “UP” is selected
#19.26 = 0 Terminal control with 1 Direction signal and binary speed selection
- if terminal 28 is active / not active, the direction “DOWN” / “UP” is selected
#19.26 = 1 Terminal control with 2 Direction signals and binary speed selection
- if terminal 28 / 27 is active, the direction “DOWN” / “UP” is selected
#19.26 = 2 Terminal control with 2 Direction signals and “1 of n” speed selection

- if terminal 28 / 27 is active, the direction “DOWN” / “UP” is selected

To become a change of the control effective the following procedure must be followed:
1. store parameters in drive by setting parameter #01.00 = 1000 and press Reset button
2. cycle the power of the drive so that the display disappears when switched off
The demanded direction can be inverted by setting #18.45 = 1.
The applied direction is controlled during the travel. If there is a change of the demanded direction, the
elevator will be stopped and the brake will be applied. If the demanded direction remains the same, the
travel can be continued at any time. The opposite direction will only be accepted if the motor contactor has
opened terminal 31 that will disable the drive.
30/81 11.12.2011
6.7 Profiles Terminal control

There are two different profiles that are selectable:
1. Positioning with creep speed
2. Direct-to-floor positioning
For both profiles an additional floor sensor can be use, which provides the following benefits:
a) The accuracy of the direct-to-floor positioning can be increased if the sensor is detected shortly before
reaching the intended stop position.
b) A quasi direct-to-floor positioning mode using creep speed positioning can be realised if the sensor is
detected before creep speed would be activated.
c) A distance controlled positioning at creep speed can be realised, if the sensor is detected during
positioning.
The functions of start optimisation, peak curve operation and short distance landing are available to optimise
the different segments of the velocity profile.
6.7.1 Positioning with creep speed

Positioning with creep speed is used in most applications. Therefore it is also the default setting of the
elevator software #20.13 = 0. The speed is applied according to the selected floor distance. The elevator
controller controls the start of deceleration and then switches to creep speed and then the stop at the floor.
The elevator controller selects speeds depending on the distance called for the by applying signals to the
terminals of the Unidrive SP.
V: #18.12...#18.17 #19.15
#19.15
#0.04
V
#0.03 #19.15
#18.11
#19.14
Calculated #19.16
deceleration
distance:
#19.08 #19.13
Speed signals
Creep speed signal
Level sensor
Figure 13: Velocity profile with creep speed positioning including profile parameters.
For the several profile segments, independent parameters for acceleration and jerk are available, with which
the performance can be optimised. The relevant parameters are shown above.
In additional to controlling the velocity profile, the required deceleration distance, dependent on the speed
and profile settings, can be calculated and displayed in mm for the activated speed in #19.08. For setting
the deceleration points, the speed has to be activated and the value displayed in #19.08 has to be set in the
elevator controller. The deceleration distance depends on the load because it is not possible to control the
distance. The measured deceleration distance is displayed after every travel in #19.10 in mm.
In this mode the real time demand on the elevator control system is low due to the compensation functions
available. With a typical cycle time of the elevator controller (5 ... 20 ms) and the elevator drive (8 ms) the
minimal positioning distance with creep speed is calculated as:
The max creep speed distance is: positioning distance [m] >= VNominal [m/s] * 30 ms
The stop accuracy is: accuracy [mm]<= Vcreep speed [m/s] * 30 ms
The time required for creep speed is: time creep speed [s]= positioning distance [m] / Vcreep speed [m/s]
31/81 11.12.2011
6.7.2 Direct-to-floor positioning

For some applications, especially those with high-speed elevators and long travel distances, direct-to-floor
positioning control is often used. With this function, the speed is applied according to the selected floor
distance. As a function of the distance to the desired final position, the elevator controller will disable the
speed signal and the direct deceleration to the target position will take place. Creep speed positioning is not
executed nor required. The following graph shows the characteristics of this motion profile:
For the several profile segments, different parameters for acceleration and their associated jerk are
available, with which the performance can be optimised. The relevant parameters are shown above. To go
directly to the target, the deceleration is dependent on the required stopping distance. The maximum
deceleration is limited to 2 * #0.04. If the correction of the deceleration rate is not sufficient, it is possible
that the car will stop too late.
#19.15 V: # 18.12...# 18.17

#19.15
V
# 0.03
# 0.04
#19.14
Calculated
deceleration #19.16
distance:
#19.08
Speed signals
Stop signal**
Floor sensor
** Only if direct-to-floor positioning with stop signal
Figure 14: Direct-to-floor positioning profile
The distance to be controlled, in direct-to-floor positioning mode, uses as a reference the speed and profile
settings to calculate the deceleration distance in #19.08 in mm. To set the deceleration points, the speed
has to be activated and the value displayed in #19.08 must then be set in the elevator controller. During
operation, the deceleration distance is controlled to this value independent of the load. The actual distance
moved is displayed in #19.10 in mm
The direct-to-floor positioning mode is enabled with parameter #20.13. The following settings can be
selected:
1. #20.13 = 0 – Direct-to-floor positioning disabled, i.e. positioning with creep speed
2. #20.13 = 1 – Activate the direct-to-floor positioning with Stop signal via Analogue input 1 (T.5)
3. #20.13 = 2 – Activate direct-to-floor positioning with Stop signal via Analogue input 2 (T. 7)
4. #20.13 = 3 – Activate direct-to-floor positioning with Stop signal via Analogue input 3 (T. 8)
5. #20.13 = 4 – Activate the direct-to-floor positioning with disable the speed control signals
6.7.2.1 Position accuracy

The deceleration distance is calculated from the activated speed. If the speed signal is deactivated
(#20.13 = 4), then the stop signal is activated (#20.13 = 1...3) and the calculated deceleration distance will
be controlled independent of the load level. At higher travel speeds the actual position where the car will
stop is highly dependent on the time when deceleration begins. For example, if the I/O read cycle time of the
drives inputs is 1msec, and if the cycle time of the elevator controller is 1msec the position accuracy is:
Accuracy [mm] = Vnominal [m/s] * 2 mm.
Because of this, the usage of direct-to-floor positioning is limited to about 1m/sec. At higher speeds,
additional distance control for accurate stopping has to be used. For these higher speeds, an additional
Floor Sensor should be used to control the final distance moved. This is explained in the following section.
32/81 11.12.2011
6.7.3 Floor sensor correction
Independent of the selected profile an additional floor correction sensor can be utilised. Accurate distance
correction is possible if a floor sensor can be detected in the range of 50-500mm before the flush or level
with floor target position. Given this:
a) Rope slip can be compensated for as long as the normal stopping distance would be short without the
additional compensation provide by the direct-to-floor positioning mode.
b) A quasi direct-to-floor positioning can be realised if the additional sensor is detected before positioning
travel at creep speed, in the creep-speed positioning mode.
c) A Floor sensor correction can be utilised if detected during the positioning travel at creep speed, in the
creep-speed positioning mode.
#19.15
V
(1) (2) (3)

#0.04
max. 2 * #0.04[0]
Target correction #18.11

Distance: max. #19.16
#18.19
Speed signal
Floor sensor
signal**
Creep speed
Floor sensor
** only if available
Figure 15: Floor sensor correction profiles
The floor sensor correction uses as a reference, the floor sensor target distance in #18.19 in mm. The floor
sensor target distance is controlled independent of the load to the value of the remaining distance to the floor
sensor in mm as displayed #18.09. Additionally #19.09 displays the distance relative to the flush or level
sensor, in mm, at which the floor sensor signal was recognized.
If the Stop distance is too low, or the floor sensor signal was given at too high speed, it is possible that the
car will not be able to stop smoothly and a hard stop will occur (see Figure 15 profile (3)).
Using parameter #20.14 the source of the floor sensor signal can be selected:
1. #20.14 = 0 – Floor sensor correction disabled
2. #20.14 = 1 – Floor sensor correction via Analogue input 1 (T. 5)
5. #20.14 = 4 – Distance controlled creep speed
The Floor sensor correction or the distance controlled creep speed can only be used
in closed loop or servo mode. In open loop mode, a normal deceleration with the
Note ramp parameter will occur.
To enable the Floor sensor correction, set #19.42 = 1. If #19.42 = 0, the function of the floor sensors can be
checked. All measured values depending on the floor sensor like the deceleration distance, time from floor
sensor and speed at floor senor will be displayed. This means, that the function of the floor sensor correction
can be proofed, before it is activated.
33/81 11.12.2011
6.7.3.1 Mode 2, 3, 4: Floor sensor correction via analogue input (#20.14 = 1...3 – curve 2)
If the floor sensor correction signal is activated, the floor sensor controls the target distance. Because of
direct deceleration from a higher speed, the real time demand on the control system is high and highly
dependent on the parameter settings and I/O speed. For example, if the cycle time of the elevator controller
is 1msec and of the drives inputs is also 1msec the position accuracy is:
Accuracy [mm] = vabstell [m/s] * 2 mm.
It should be noted that the Floor sensor correction signal should be activated instantaneously at that position
which is #18.19 (Floor sensor target distance) millimeters away from the floor sensor. The stop signal can
be used for all speeds. The creep speed signal can be deactivated at any time after the floor sensor
correction signal is activated. If the creep speed signal is still active at standstill the motor will accelerate to
creep speed.
6.7.3.2 Mode 5: Distance controlled with creep speed (#20.14 = 4 – Curve 1)

If the creep speed signal is deactivated, the controlled stop distance #18.19 will be controlled. The relevant
profile parameters are #19.13 (deceleration) and #19.16 (jerk).
In this case, because the deceleration is from creep speed, the real time demand to the elevator controller is
low. For example if the cycle time of the elevator controller is 10ms and the elevator drive 1ms, the accuracy
can be calculated and the stop accuracy would be:
Accuracy [mm] <= vcreep speed [m/s] * 11 mm
34/81 11.12.2011
6.8 Terminal control

ELEVATOR CONTROLLER
L1
Creep speed
Drive enable
UP / DOWN
V < 0,3 m/s
L2
Inspection
Releveling
Medium 1
Medium 2
Nominal
L3
Brake
PE
OK 0V 0,3 VI V2 RL V4 Br En V0 V3 V1
1 3 5
K1 NC contact to
2 4 6 switch of K1 13
K2
14
* If sincos encoder with 1Vss
signals are used a double screened
Line filter 13 encoder cable is recommended.
Rb KF
14
The inner shield is connected
double sided to 0V and the overall
22 11 24 26 27 28 7 25 30 31 29 5 8 6 3
shield is connected double sided
PE L1 L2 L3 + BR - A4 0V E/A1 E/A3 E4 E5 A2 E/A2 0V E7 E6 A1+ A3 A1- 0V to the housing/ PE.
Kl. 26 = Inspection speed Kl. 5 = Medium speed 1 ** The U, /U, V, /V, W, /W
commutation signals are required
Unidrive SP Kl. 27 = Nominal speed Kl. 7 = Releveling speed
with an incremental type encoder
Kl. 29 = Creep speed Kl. 8 = Medium speed 2 Motor contactor when used with a servo motor
ENCODER SUB-D15 control 1)
U V W A /A B /B Z /Z U /U V /V W /W +5V 0V 41 42
1 2 3 4 5 6 7 8 9 10 11 12 13 14
13 21 31 43
1 3 5
K2
2 4 6 K2 K3
14 22 32 44
KF
13 21 31 43
1 3 5
K3
2 4 6
Finder- Relays
14 22 32 44
or other solution
for switching the
ENCODER** Ua1 /Ua1 Ua2 /Ua2 U /U V /V W /W +5V 0V motor contacter
M Cos /Cos Sin /Sin Dat /Dat Clk /Clk +5V 0V
Safety circuit with zero
SINUSGEBER*
Only Endat current
3∼
35/81 11.12.2011
7 Setup the parameters

There are several possibilities to setup the parameters. For setting the parameters directly at the Elevator drive
two different Displays are available. The SM Keypad with a LED display and the SM-Keypad Plus a keypad with
an alpha-numeric LCD display with Help function. Both displays can be fitted or removed with drive powered up.
The drive can also be used without keypad.
It is also possible to setup the drive via the DCP Protocol. The parameter of the elevator drive will be displayed
in the display of the elevator drive. The setup of the elevator drive can be done with the elevator controller
keypad. So it is not necessary to have a keypad fitted to the drive.
The setup and the display of the parameter directly at the drives display or with the elevator plc is similar. This
makes it possible to use in the following chapters the same representation of functions and settings.
7.1 Handling of the display
Status mode: Help button

Drive status und value
Edit mode:
Parameter and value
Status mode:
Parameter text or Scroll up and down in the
Helptext selected menu
Edit mode:
Mode button Change parameter value
Change between Status
and edit mode
Status mode:
Reset Select menu
Edit mode:
Scroll right and left
Figure 16: SM Keypad Plus
Status mode:
Drive status
Edit mode: Parameter
Parameter value
Figure 17: SM Keypad
NOTE: The LCD Display is recommended for set up the parameter. It has the capability to display
helptext for the different parameter. Furthermore are the displayed text in the LCD Display
similar to the displayed text in the elevator plc. Only one of these two operator panel is
required. After the commissioning the LCD Keypad can be removed and can be used for
the commissioning of the next elevator drive.
36/81 11.12.2011
7.2 Remote keypad operation with the Lift Controller (DCP)

If DCP- Interface is used it is possible to set up the parameters via the remote keypad operation of the lift
controller keypad
The set up of the parameters with the lift controller keypad is similar to the Unidrive SP keypad. After enable the
remote keypad operation the parameter displayed at power up is #0.10. This is the same behaviour like the
Unidrive SP. With the evaluation of the keycode the parameters of the Unidrive SP are selected and changed.
The following figure shows the available buttons of the lift controller:
The handling of the remote keypad operation is as follows:
Button / Aktion Action in status mode Action in edit mode

(Static display) (Digit is flashing)
Enable remote keypad Display Status of the drive and -- : --
operation M key #0.10
⇑ key Increase Parameter number Increase Parameter value
⇓ key Decrease Parameter number Decrease Parameter value
⇐ key or ⇒ key a) F- Menu (>V1.25 mit #19.47 = 1): Increase / Decrease digit
⇒ No function
else (if < V1.26 or #19.47 = 0
b) Menu 0 operation (#19.50 = 0):
⇒ Change Menu 0 assignment
c) Menu 1 – 22 access (#19.50 = 1):
⇒ Change menu number
M key or ⇑ und ⇓ together Enter edit mode Return to Status mode
(Böhnke / Osma / Strack)
Leave remote keypad operation ESC for 3s (MPK400) / END for 3s (BP306) / ESC+CR (SLC4) /
ESC+RET (BMPS)
For the remote keypad operation 4 lines with 16 characters are used for the simulation of the Unidrive SP
display.
Display line left-aligned right-aligned
1. line: Status (INH, RUN, READY, FAULT, …) Typ of the Parameters (RW or RO)
2. line Parameter number (mm.pp) Parameter value
3. line Parameter name 1. line
4. line Parameter name 2. line
37/81 11.12.2011
7.3 Parameter structures
7.3.1 Arrangement of the Parameters in the Unidrive SP

The parameters of the Unidrive SP are arranged in menus according their function. Following groups of menus
exists:
Menu 0: Basic Menu 0 Parameters

Menu 1 – 13: Basic Drive Functions Parameters
Menu 14 – 17: Drive Option Parameters
Menu 18 – 20: Available Application Parameters
Menu 21 – 22: 2nd motor map / Menu 0 Settings
Menu 40 – 41: LCD Keypad Parameters
The Elevator software uses the application menus 18 – 20 mainly. Functions are described in this document.
To simplify the operation for the elevator application, the main drive and elevator function parameters were
arranged in Menu 0 with 6 different configurations, switched over by parameter 0.12 according menu 0 chapter.
Because switching between 6 configurations could become confusing, a new feature of the LCD keypad was
introduced in V1.26, which allows the setup of the most used functions over 1 menu, the F(ast setup)- Menu.
7.3.2 F- Menu Operation

The F- menu consists of 50 free selectable parameters, which was ranged in the order of the setup to guide the
user. The arrangement of the parameters shows the F-Menu parameter list at the end of this manual.
7.3.2.1 F-Menu of the LCD Keypad SM-Keypad Plus
ATTENTION: The Elevator F- menu and functions are only supported by a SM-Keypad Plus programmed
with correct LCD text file.
Pls find at the end of this manual the arrangement of the parameters of the F-menu of a LCD Keypad SM-
Keypad Plus programmed with Elevator text file parameters. The display could be changed between F-menu
mode or expert mode with access to all parameters using parameter F51 / #41.51 as follows.
• Activate F-Menu display: #41.51 = Filter + new parameter > Display changes to F- Menu
• Activate Expert –Mode display: F51 = Normal + new parameter > Display changes to Unidrive SP
7.3.2.2 F-Menu over Remote Keypad operation
ATTENTION: The following described function is only available from SW V1.26 of the DCP Elevator
Software K1061-6.
The arrangement of the F-menu parameters is pre-selected according the F-menu parameter list at the end of
this manual. The arrangement is over Menu 74 (Open Loop) and 75 (Closed Loop Vector/ Servo) with up to 100
parameters free programmable. The programming is done by entry of the parameter number #ab.cd as number
abcd. The parameter F-1 is defined by #74.01 (OL) and #75.01 (CL). Parameter numbers from 0.01 to 71.99 are
valid. Incorrect or not available parameter numbers are not displayed. The end of the list is defined by value of 0
in the parameter and the following parameters until #74.99 or #75.99.
The display could be changed between F-menu mode or expert mode with access to all parameters using
parameter F51 / #41.51 as follows:
• Activate F-Menu display:
#19.47 = 1 (Filter) > Display changes with next keystroke to F-Menu
• Activate Expert –Mode display:
F- 51 = 0 (Normal) > Display changes with next keystroke to Unidrive SP-Menus
38/81 11.12.2011
7.3.3 Menu 0 Structure:
The menu 0 of the Unidrive SP is structured as follows: The parameters #0.00 - #0.12 and #0.31 - #0.50 are
fixed and have a single meaning but the #0.13 - #0.30 can be selected in sets or groups by the user. Menu 0,
parameter #0.12, can be changed to select different sets or groups of elevator parameters. These are:
[0] Basic Parameters

[1] Installation Parameters
[2] Control Parameters
[3] Distance Parameters
[4] Diagnostic Parameters
[5] DCP Parameters
After power-up or the saving of parameters, the standard configuration for #0.13 - #0.30 is loaded automatically.
By setting parameter #0.12 to the predefined codes 1, 2, 3 or 4, other configurations of #0.13 - #0.30 are
selected as shown in the following figure:
Using Menu 0 initiates Auto- Save of parameters changes, so it is not neccesarry to select #0.00 = 1000 and
press Reset Button for parameter save! In this documentation the value of #0.12 is shown in square brackets
after the menu zero parameter to indicate which configuration is selected. For example:
• Parameter #0.26 of the elevator parameters #0.12 = 1: ⇒ #0.26[1]

• To select parameter #0.18[2] ⇒ Set #0.12 = 2 and select #0.18
#0.12 = 5
#0.12 = 4
Fixed Assignment
#0.12 = 3 #0.12 = 5:
#0.00
[5] DCP
#0.01 #0.12 = 2 #0.12 = 4:
Parameter
... [4] Diagnostic
#0.12 = 3: #0.13[5]
Parameter
#0.12 = 1 [3] Distance #0.14[5]
#0.12 #0.12 = 2: #0.13[4]
Parameter ...
[2] Control #0.14[4]
#0.12 = 1: #0.13[3]
Parameter ...
[1] Installation #0.14[3] #0.30[5]
#0.12 = 0: #0.13[2] = L1SIGMA
Parameter ...
Switched Assignment [0] Basic #0.14[2] = I-Filter #0.30[4]
#0.13[1] = VSchwelle1
#0.13 Parameter ...
#0.14[1] = VSchwelle2 #0.30[3]
#0.14 #0.13[0] = nB
...
... #0.14[0] = VB #0.30[2]
...
#0.30[1]
#0.37
#0.30[0] = Strichzahl
Fixed Assignment
#0.38
#0.39
...
Remote operation via
#0.50 Lift controller
#0.51
Figure 18: Menu 0 Structure
39/81 11.12.2011
7.4 Mode examples and handling
7.4.1 SM Keypad after power up

Status Display
Initialising
Keypad Plus
Initialising
Ver: 01.00.00
Only first power up Keypad Plus

READING DATABASE
Drive
Keypad Plus
Only first power up PROGRAMMING FLASH
Drive
Display inh SErVO

operating Mode Operating mode
Initialising finished inh 0.0 trip Enc3 If the drive has tripped the
Drive ready Motor speed display is flashing. See
diagnostic.
7.4.2 Select Parameter

inh 0.0
Status Motor speed
For Parameter Mode press the M key or M

one of the arrow keys .
0.10 0.0
Upper display flashing Motor speed
Use key or key to select a

parameter for editing.
0.14 800
[0] Nominal elevator
speed in mm/s
7.4.3 Edit parameter

To enter Edit Mode press the M key. M
Parameter value is flashing.
0.14 800
speed in mm/s
Select a character with key or key.
Change parameter values using key

or key. 0.14 900
speed in mm/s
40/81 11.12.2011
To exit Edit Mode , press the M key.

0.14 900
To return to Status Mode press M key or speed in mm/s
after a delay time of 240s the
display returns to Status Mode.
7.4.4 Edit Parameter in another Menu 0 level

M
For Parameter Mode press the M key or
one of the arrow keys.
0.14 900
speed in mm/s
Select Parameter #0.12 with UP key or

DOWN key.
0.12 0
Menu Selector
To enter Edit Mode press the M key. M

0.12 0
Menu Selektor
Change parameter value using key

or key.
0.12 1
Menu 0 Selector
To exit Edit Mode , press the M key.

0.12 1
Menu 0 Selector
Use key or key to select a

parameter for editing. 0.15 480
[1] Sheave
Diameter in mm
M
To enter Edit Mode press the M key.
0.15 480
[1] Sheave
Diameter in mm
Select a character with key or key
Change parameter values using key or
key.
0.15 320
[1] Sheave
Diameter in mm
41/81 11.12.2011
8 Setting and Optimisation Functions

8.1 Nominal elevator rpm calculation and adjustment
The ratio is set by nominal elevator rpm parameter #0.13[0] (#18.29), and the nominal elevator speed
#0.14[0] (#18.30). The nominal elevator rpm is defined by the mechanical conditions as follows:
i / Gz G
#0.13[0] (#18.29) [nNominal ] = #0.14[0] (#18.30) [vNominal] * iG * Z * 60 / (π * D * GZ)
vNominal D nNominal
With: nNominal - Nominal elevator rpm #0.13[0] (#18.29) in min-1

vNominal - Nominal elevator speed #0.14[0] (#18.30) in mm/s
Z - Roping (1, 2, 3 or 4) #20.10 (1=1:1 / 2=2:1 / 3=3:1 / 4=4:1)
D - Sheave Diameter #19.29 in mm
iG - Gear Ratio Numerator #19.30
GZ - Gear Ratio Denominator #19.27
After adjustment of these parameters, the nominal elevator speed is displayed by parameter #18.03 in rpm
but could be further adjusted in #0.13[0] (#18.29). Although the calculations are exact, manual corrections
may be necessary. This is achieved by changing the value of parameter #0.13[0] (#18.29) as follows:
• If the speed of the elevator is too high, the nominal rpm #0.13[0] (#18.29) must be reduced.
• If the speed of the elevator is too low, the nominal rpm #0.13[0] (#18.29) must be increased.
8.1.1 Fine adjustment of the operational rpm and operational speed with DCP4
The control interface DCP4 (Absolute encoder present) allows a fine adjustment of the ratio using the
measurement of the travel distance of the drive and the controller, if the controller supplies the I9- telegram.
Up to V1.29 a corrected operational speed is calculated and displayed in parameter #20.35. The value has
to be transferred into parameter #18.30 to take effect. To prevent a correction of the operational rpm #18.29,
which will cancel the correction, the automatic calculation of the operational rpm #19.31 = 1 is automatically
reset in DCP4 mode.
From V1.31 onwards a new sheave diameter D is calculated from the measured distances and displayed in
parameter #20.35 in mm. This value is then to put into Parameter #19.29. The advantage of this changed
method is that the automatic calculation of the operational rpm (#19.31 = 1) could be activated. It will not be
automatically cleared in V1.31. If the automatic calculation is not activated (#19.31 = 0), the calculated
operational rpm has to be taken out from #18.03 and to be adjusted in #18.29 to take effect.
8.1.2 Additional speed limit via #01.06

In Version V1.31 an additional speed limit was introduced using Parameter #01.06, which will limit as well
the speed setpoint as the operational rpm #18.29 and so the ratio and the acceleration.
8.1.3 Display of cabin position #20.38

In Version V1.34.XX an additional display of the cabin position with parameter #20.38 was added. There are
2 operation modes possible, which can be changed with parameter #70.63 as follows:
#70.63 = 0: #20.38 = Display of the position relative to the last stopp in mm (as before)
#70.63 <> 0: #20.38 = Display of the absolute position of the cabine in the shaft. The reference to the
absolute position can be done by setting #20.38 at stopp to the absolute position. The
position change will be calculated from the motor encoder when the drive is powered. The
absolute position can be used as a SSI output using the option module SM Universal
Encoder Plus. For more information pls refer to the manual SM Universal Encoder Plus.
Because of rope slip the position reference can be lost after some time.
Default setting of parameter #70.63 = 0 so that parameter 20.38 behaves as before.
42/81 11.12.2011
8.2 Profile optimisation
8.2.1 Start profile optimisation
To overcome static friction or difficult starting problems a starting optimiser function is available. This
function is activated by setting #19.28 > 0. Also, #18.18 must be set > 0.
#19.17 Jerk in mm/s3 for starting Setting from 10 up to 20 (must be less than the acceleration jerk #0.22,
optimisation smaller values give smoother but also slower acceleration
#19.28 Time in ms for starting Setting between 500...800ms
optimisation
#18.18 Target speed in mm/s for Setting between 2...5mm/s
starting optimisation
#19.17 #19.28
#18.18
Figure 19: Start profile optimisation
If the target speed #18.18 is not reached during the time #19.28 there is a continuous transition to the
nominal acceleration.
8.2.2 Deceleration and stopping distance calculation
If the speed or profile parameters are changed then the deceleration or stopping distances will probably
change. The elevator controller could compensate for these changes. To change the parameters in the
elevator controller correctly, the drive calculates the deceleration and stop distances and displays them in
the following parameters:
Display Creep speed positioning Direct-to-floor positioning

#18.09 Remaining floor sensor distance Remaining floor sensor distance
#19.05 Stopping distance (from v1 to v=0) in mm Stopping distance in mm
#19.08 Calculated deceleration Distance from vset Calculated deceleration Distance from vset to
to v1 in mm 0 in mm
#19.09 Speed at floor sensor activation in mm/s Speed at floor sensor activation in mm/s
#19.10 Measured deceleration Distance from vset Measured deceleration Distance from vset to
to v1 0 in mm
The profile parameters and the creep speed setting are used for calculating distances. At a default setting,
the creep speed in parameter #0.15[0] (#18.11) is used. This assignment can be changed with #20.12.
The calculated deceleration distance for speeds #18.12 - #18.17 will be displayed in parameters #02.13 -
#02.18 and for speeds #20.22 - #20.24 in parameters #02.23 - #02.25 according the following table:
Speed in #18.12 #18.13 #18.14 #18.15 #18.16 #18.17 #20.22 #20.23 #20.24
mm/s
Distance in #02.13 #02.14 #02.15 #02.16 #02.17 #02.18 #02.23 #02.24 #02.25
cm
43/81 11.12.2011
8.2.3 Profile optimisation - Peak curve operation

This function guarantees a constant stopping distance, independent of the moment when the signal to stop
occurs. This allows the use of a single speed for different floor levelling distances.
The Peak curve operation is enabled by setting #18.47 = 1 (Default = 0) and for SW version < 1.29 only
when priority speed selection #18.42 = 1 is also enabled. Depending on the speed when the speed signal is
disabled, 3 different results can occur:
1. If the final speed is achieved ⇒there is no influence on the speed profile.
2. If increasing or constant acceleration ⇒braking occurs with normal profile parameters in the
calculated time.
3. If decreasing acceleration: ⇒ transition to stop, the profile parameters are automatically
adjusted
Calculated Braking
Distance
#19.08
Set-point Peak
curve Distance
#19.06
V1...V3
Vs
Figure 20: Normal run Peak curve operation
The reference speed before and after speed reduction is used as the calculation base for the controlled
stopping distance. The set-point Peak curve Distance is calculated from the profile parameters and
displayed in #19.06. This value is equivalent to the deceleration distance for the applied speed. The braking
distance is measured during peak curve operation and displayed in #19.07.
Attention: Condition for correct function of peak curve operation is the correct assignment of the creep
speed. Preset setting is parameter #18.11. If any other set-point speed is used as creep
speed e.g. #18.14, this can be assigned using parameter #20.12 (eg. #20.12 = 1814)
Attention: The activation of speed curve operation is caused by transition from run speed to creep
speed during acceleration. If the transition is not definite eg. with binary selection
intermediate speed selections could occur. To exclude the influence of the intermediate
speed selections a new filter time #70.87 was introduced in V1.29, which has to be adjusted
to the time of the intermediate states. Parameter #70.87 can be adjusted using the LCD
Keypad or the PC Software LiftSP.
44/81 11.12.2011
8.2.4 Fast Stop

The Fast Stop function was introduced in V1.26 to allow a faster but controlled stop of the elevator in
inspection mode.
The Fast Stop function is activated depending of the selected control interface as follows:
a) Parallel or terminal interface (#19.26 = -1, 0, 1 or 2)

If during the travel a speed (preferred speed V3 #18.13) is selected which is programmed to 0 mm/s, the
Fast Stop function is selected as long as this selection is active.
b) DCP interface (#19.26 = 3 or 4)

If during the travel a speed change telegram (Command Byte Bit 5 = 1) selects speed V_G2 = 0 (Speed
byte Bit 2 = 1), the Fast Stop function is selected until stop.
In Version V01.35.00 the activation of the Fast Stop Function according DCP Specification V1.0.0.8
using the Speed telegram (DCP3: B3=1, B2=1, B1=1, B0=1; DCP4: B3=1, B2=1, B1=0, B0=1) with
speed VF (0x0004) in the data bytes was added.
If the Fast Stop function is active, the elevator is stopped with the Fast Stop deceleration ramp #21.05 until
standstill. Parameter #21.05 was added as Fast Stop ramp (Closed Loop in m/s2 / Open Loop in cm/s2). The
change of the acceleration is fixed with 200ms to prevent jerk althrough fast deceleration.
Fast Stop
#21.05
Fig. 14: Fast Stop operation
45/81 11.12.2011
8.2.5 Fast Start

In Software Version V1.29 is a new Fast Start function available, which allows to magnetise the motor and
open the brake when the doors are closing. The car is hold in the position and could immediately start
moving when the doors are completely closed, which saves a lot time.
Attention: The Fast Start function should only be used in the door zone region. The safety cicuit
has to be bridged in a suitable way. The requirements of EN81-1 has to be followed.
The activation of the Fast Start function depends on the used control interface as follows:
a) Parallel or terminal interface (#19.26 = -1, 0, 1 or 2)
Activation of the Fast Start function:

The Fast Start is activated by activation of the Fast Start input controlling #19.46 with no speed selection
(#18.10 = 1810).
Transition from Fast Start to normal Travel:

The Fast Start function is completed, if a speed selection is activated (#18.10 > 1810) and a normal
travel is started with the selected speed.
Travel interruption from Fast Start with „Electric Hold“:

If the Fast Start input is de-activated before a valid speed selection is applied, the Fast Start function is
aborted. The brake will be closed immediately. After completing the brake sequence, the motor will be
de-magnetised and the main contactor opened.
b) DCP interface (#19.26 = 3 or 4)
Activation of the Fast Start function:

The Fast Start is activated by a speed selection telegram (Command Byte Bit 0 and 3 = 1) with speed
selection V_G2 = 0 (Speed Byte Bit 2 = 1).
Transition from Fast Start to normal Travel:

The Fast Start is completed, if a new speed selection telegram (Command Byte Bit 0 and 3 = 1) or a
speed change telegram (Command Byte Bit 5 = 1) is applied. The travel will start immediately with the
speed selected in the Speed Byte.
Travel interruption from Fast Start with/ without „Electric Hold“:

The Fast Start function can be aborted without “Electric Hold” by Command Byte = 0 or with “Electric
Hold” by Command Byte Bit 0 = 1. The brake will be closed immediately. After completing the brake
sequence, the motor will be de-magnetised and the main contactor opened.
For more information about DCP Fast Start sequence and abort see DCP Specification www.kollmorgen.de.
8.2.5.1 Fast Start Monitoring

To monitor the movement during Fast Start a new feature was introduced in V01.34.00. The Fast Start
Monitor causes the drive to Trip immediately if the motion during Fast Start exceeds the distance in #70.59
in mm and distance #70.59 is set > 0. If Fast Start not used or the monitoring function is not needed the
monitoring function can be disabled by setting #70.59 = 0. After default setting the function is disabled
(#70.59 = 0).
46/81 11.12.2011
8.3 Speed Loop Optimisation
8.3.1 Speed loop optimisation

With common speed loop gains the following parameters can be used for optimisation the speed loop.
#0.07 (#03.10) P –Gain Higher values improve the smooth running and the stiffness
Use values between 0.100 (Incremental Encoder) and 0.500
(Sincos).
#0.08 (#03.11) I -Gain Higher values decrease the effect of the load; smaller values
reduce the overshoot of the speed loop.
Usually adjust the value between 1.00 and 5.00
#0.09 (#03.12) D –Gain Operates as a feed forward term in the speed loop;
Increased values reduce overshoot of the speed loop
However, normally not used: set to 0.
#03.42 Speed feedback Used with high inertia loads and high gains to smooth the torque
filter in msec demand and prevent latch up effects of the speed loop
#04.12 Torque demand Acts in the speed loop output, reduces acoustic noise caused by
filter in ms high speed loop gains
Typically user values are between 0 and 5
8.3.2 Separate speed loop gains for start and run (#18.48 = 1)
The default setting of the gain control is separate speed loop for starting and running, which is needed for
gearless winches or winches with planetary gearboxes. This feature is activated with #18.48 = 1. This
offers different speed loop gains for run #18.25 / #18.26 and brake release #18.27 / #18.28. The parameters
#0.07 (#03.10) and #0.08 (#03.11) are only display parameters and cannot be changed. If common gains
are selected by #18.48 = 0, both sets of P- gain and I- gain get their values from #03.10 and #03.11.
The transition from starting gains to the normal run gains starts after the brake released and is linear the
transition time #19.11, to prevent transitional effects. When the brake releases gain values 2 times or 3
times higher can be used. As a result the position error caused by the load can be reduced to ¼ or 1/9. To
prevent roll-back the I-gain for Starting #18.28 has to be increased.
#18.27 #19.11
#18.28
#18.25
#18.26
#04.23 #04.12
Figure 20: Standard transition speed loop gains
47/81 11.12.2011
The following parameters are available to optimise the speed loop:
#18.25 P- Gain run Higher values improve the smoothness during run
Use values between 1000 (Encoder) and 20000 (Sincos)
#18.26 I-Gain run Higher values decrease the effect of the load, smaller values reduce the
overshoot. Typically use values between 25% and 50% in #18.25
#18.27 P- Gain start Higher values improve the smoothness during run and stiffness
Use values between 1000 (Encoder) and 20000 (Sincos)
#18.28 I- Gain start Higher values decrease the effect of the load and hence the amount of jerk
when the brake opens. Use values between 50% and 200% of #18.27
#19.11 gain transition time in Change of the speed loop gains from brake opening to normal run beginning
msec with the ramp start. Default 500 = 0.5 s.
#04.12 Current demand filter Reduction of control noise caused by high speed loop gains or low encoder
run resolution (< 4096)
#04.23 Current demand filter Reduction of control noise caused by high speed loop gains or low encoder
start resolution (< 4096) during start
8.3.3 Separate Speed Loop Gains for all travel sections (#18.48 = 1 und #19.48 = 1)
Using this mode each section of the travel can get it’s own gain setting. This mode can be used for critical
lifts, if the approaching gains have to be separated from the running gains. The transition between the gains
is proportional controlled with the speed. The running gains for constant speed are reached at nominal
speed. The following parameters can be used:
Travel Section Start Run at constant Approach

Speed
P- Gain Speed Loop # 18.27 # 18.25 # 20.27
I- Gain Speed Loop # 18.28 # 18.26 # 20.28
Current Demand Filter # 04.23 # 04.12 # 21.16
P- Gain Current Loop # 20.25 # 04.13 # 21.22
I- Gain Current Loop # 20.26 # 04.14 # 21.23
#18.27
#20.27
#18.28
#20.28
#18.25
#20.25
#18.26
#20.26 #04.13 #21.22
#04.14 #21.23
#21.16
#04.23
#04.12
Figure 21: Separate Speed Loop Gains for all travel sections
48/81 11.12.2011
8.3.4 Position controller for brake release

The position controller is especially suitable for gearless elevator winches or elevator winches with planetary
gear boxes to assume control of the load when the brake opens. This control has the same aim as the
separation of the gains for brake opening and normal run. Both methods can be used at the same time.
The position controller uses a PD- controller, which tries to hold the car in the position, when the brake
opens. The position controller is only active until the ramp starts – it acts against the movement of the car
when the brake is released.
If the P- gain #19.20 > 0, then the car is drawn back to the position where it had been before the brake was
opened. The maximum position difference is determined by the value of #19.20. Settings from 3 up to 30
are recommended.
The D- gain #19.12 prevents a fast movement of the car. It provides a soft reaction and minimal position
error. Settings from 10 up to 100 are recommended.
The effects of the gains are limited by the stiffness of the speed loop. The encoder type mainly determines
the maximum speed loop gains possible. Sincos encoders provide the highest performance.
#19.20 P- gain start locking Values > 0 hold the sheave in the position, when the brake opens, higher
values reduces the jerk. Use values between 3 and 30
#19.12 D- gain start locking Values > 0 prevents a movement of the sheave, when the brake opens
and reduces the jerk. Use values between 10 and 100
This function is only active if a speed #18.10 > 1810 is selected. A speed is selected if the
drive displays “run”. If “STOP” is displayed by the drive this function is inoperative.
Note
8.3.5 Inertia compensation

This function controls the dynamic acceleration torque for movement of the lift car in parameter #04.09. This
allows to reduce the speed loop gains without loosing the dynamic performance. This is especially important
when the encoder is not ideally backlash free mounted to the motor shaft.
The inertia compensation is enabled with #18.49 = 1 and writes then on parameter #04.09 as shown in
control diagram – Figure 8.
Fig. 8: Logikstruktur der Lastmessung und der Trägheitskompensation
The setting of the gain #19.19 should be adjusted so that the changes in #04.09 are identical to the changes
of the speed controller output #03.04. This results in a nearly constant speed controller output #03.04 as
shown in Fig. 9 when the torque feed forward #04.09 is enabled with #04.10 = 1.
49/81 11.12.2011
Without Inertia Compensation With Inertia Compensation
Acceleration Torque
#04.09
Speed Loop Output

#03.04
Fig. 9: Setting. Activation and Effect of the Inertia Compensation
8.3.6 Load cell compensation

The load cell compensation is enabled by parameter #18.46 = 1. It realises the torque compensation of the
cabin load. The following load signals could be used:
a) a voltage signal +/-10V proportional to the cabin load connected to terminal 7 and 11 (0V) displayed
in parameter #07.02 in percent or
b) a load value in the I8- protocol of the DCP interface (from SW V01.35.00) proportional to the cabin
load and displayed in parameter #12.43 in percent
To scale the load signal into motor torque a load offset parameter #19.22 (1000 = 100%) and a load gain
parameter #19.21 (1000 = 100% Tn) can be adjusted. The load value will be measured until the start and
frozen for the travel.
The tuning of gain and offset could be done by scope function or with measurements with different loads at
standstill. The standstill could be achieved by increasing the brake release time #19.25 to 10000 msec. For
this measurement the load cell compensation should be enabled #18.46 = 1, but the effect should be
disabled with #04.10 = 0. The following measurements are done:
Load #4.09 #4.20

Empty cabin X1 Y1
Half Load X2 Y2 should about 0.0
Full Load X3 Y3
Die setting of gain and offset could be calculated as follows:

1. Offset #18.22 = 10 * X2
2. Gain #18.21 = 1000 * (Y3 - Y1) / (X3 - X1)
After correct adjustment the value of #04.09 and #04.20 after brake release should be identical. The torque
feed forward #04.09 is enabled with #04.10 = 1. If inertia compensation was disabled to adjust gains it
should be re-enabled with #18.49 = 1.
50/81 11.12.2011
8.3.7 Automatic Brake Load Compensation

The automatic brake load compensation does measure the brake load at stopping and applies the value as
torque feed forward for the next start. This allows to compensate a twist of the motor shaft caused by a wear
out brake to prevent the noise when releasing the brake at the next start if tension built up in the brake.
The automatic load compensation is enabled with the following parameters:

#71.62 = 1 1 = Enable Automatic Load Compensation
#71.63 = xx Measured Load when stopping in 0.01%
After enabling the automatic load compensation the correction can be enabled with #04.10 = ON.
8.3.8 Following error detection

The Following error detection is used to protect against the following failures:
• Errors in the motor connection and phase co-ordination
• Errors in the encoder connection and encoder functionality
• Errors in the motor model including feedback phase angle (brushless synchronous motors)
To provide maximum protection the following speed and position error detection functions are provided.
Trip 70 – Speed error

The speed error is calculated from the difference between the ramp speed #19.03 to the actual speed of the
motor #19.02. This error is compared with the setting of the threshold #19.24. If threshold is exceeded for
more than 100msec an error trip 70 is generated. If #19.24 = 0 the function is deactivated.
The maximum speed error during one travel is displayed in #18.07 independent of the activation of the error
detection. The display is set to 0 on each start.
Trip 71 - Distance error

The position error is the integral of the difference between the ramp speed #19.03 and the actual speed of
the motor #19.02. The error is compared with the threshold given by #19.18. If the value is exceeded the trip
71 is generated. If #19.18 = 0 the function is deactivated.
The maximum speed error during one travel is displayed in #18.07 independent of the activation of the error
detection. The display is set to 0 with each start.
8.3.8.1 Open Loop Mode

Trip 70 - Speed error
If the current limit active (#10.09 = ON) longer than the time in #19.24 the trip 70 is activated.
51/81 11.12.2011
Load Input Load timeconst. Load scaling
#19.19
#07.02
1000
TF: #19.23
Load Offset
Inertia scaling
#19.22
#19.19
#19.04 #18.08
1000
Set Acceleration
Ratio
Speed Loop
#18.29 #18.49 = 1 &
#19.03 Gain Switch #0.10 = 0
#18.30
(Stop) #04.09
Set Speed
Run Gains Current
#01.21 Demand Filter
Position Loop TF: #04.12

Current Loop Voltage
KP: #18.25
KI : #18.26 0
#03.19 #03.01 #03.03 #03.04 0
1 #05.02
Start Gains 1
KP: #19.20
Speed Loop
KD: #19.12 KP: #04.13
Output
x -1 KI : #04.14
TF: #04.23 #04.02
KD: #03.12 KP: #18.27
KI : #18.28 1 Second
dt Trip 70
Active Current
Ratio #19.24 Speed Error Trip

inverted
#18.30 #18.30 Trip 71

0
#18.29 100
1
Actual Speed
Position Error Trip
#19.18
#03.02
Figure
Pic. 22: Overview over the control loops structure
52/81 11.12.2011
8.4 Saving drive settings when changing the drive mode
The motor, interface and elevator parameters are stored in the non-volatile ram in the SM-ELV option module.
The configuration can completely restored after a drive mode change provided the following procedure is
followed:
1. #01.00 = 1255 (EUR) or 1256 (US)

2. #00.48 = Set drive mode
3. Press the reset button –the drive mode change will then be executed
The following parameters are restored after drive mode change:

# 02.11 # 02.21 # 03.34 # 03.36 # 03.38 # 04.09 # 04.13 # 04.14
# 05.06 # 05.07 # 05.08 # 05.09 # 05.10 # 05.11 # 05.18
# 08.21 # 08.11 # 08.31 # 08.22 # 08.12 # 08.32 # 08.23 # 08.13 # 08.33 # 08.24
# 08.14 # 08.25 # 08.15 # 08.26 # 08.16 # 08.27 # 08.17 # 12.06 # 12.07 # 12.26
# 12.27
If step 1: setting #01.00 = 1255 (EUR) or 1256 (US) is not executed, the factory default settings will be restored
to the drive without saving the application parameter settings.
When the drive mode is changed from Open to Closed Loop or Servo, the following parameters are restored:
# 04.12 # xx.10 # xx.15 # xx.13 # xx.16 # 03.25
Using this function the elevator can be operated without any additional settings after a mode change to Closed
Loop or Servo has occurred.
8.5 Load measurement for emergency rescue
The load measurement determines the load difference between the cabin and the counterweight. It can be used
to decide the direction for emergency rescue or to generate an overload signal. The measurement is activated
by setting #20.08 <> 0 and is executed after the brake release delay #19.25 has passed. The result is displayed
in #20.19 as % of nominal torque Mn. The length of time for load measurement can be set by the absolute value
of #20.08 in msec. For an exact load measurement, a time of 500msec is recommended. The default setting of
200msec is sufficient to determine the load direction.
There are 2 measurement methods implemented, which are selected by the sign of the parameter #20.08. For
positive values #20.08 > 0 the measurement will be done at starting only, which is suitable for gearless motors.
If #20.08 is negative, the measurement will be continuously repeated at constant speed, which gives better
results for geared motors.
The direction of the load is displayed in #19.37. This signal should be given via a programmable digital output
#08.xx = 19.37 or Bit 10 Status Word (DCP) to the elevator controller to use as a direction with lowest power
consumption. This allows to limit the UPS power for emergency rescue supply. The direction of the load could
be inverted #19.39 = 1. The elevator controller derives from that the direction for the rescue operation.
An efficiency parameter #70.86 was introduced in V1.29, which allows adjusting the mechanical efficiency of the
lift in %. The default setting of the efficiency is 85% (#70.86 = 85). The load measurement can be improved by
adjusting the efficiency parameter #70.86 during empty car up and down tests to get identical load values.
53/81 11.12.2011
8.6 Electrical emergency rescue using UPS

The selection of the UPS depends on the power required for emergency rescue operation. It will be the summation of motor power and the other necessary
electrical loads (light, door drives, etc.). For this calculation please contact your supplier:
Input load direction Output load direction
Motor
Elevator Controller Elevator drive 3∼ 400V
Unidrive SP
230V AC
Q1
A)
Start
Q2
UPS > 40 Ohm

Power dependent on the > 1 kJ
230V 480V
Elevator data
Q1 Contactor for Autotransformer

UPS- supply
Figure 23: Recommended connections for evacuation
Recommendations for control:

1. An autotransformer can be used, to increase the voltage from 230V to 480V.
2. With Q1 the UPS supply for the elevator drive is switched on.
3. The start signal for the emergency rescue has to be applied by the elevator controller, after the contactor Q2 has been opened.
4. The contactor Q2 has to be applied 1 s after start of the emergency rescue
A) ATTENTION: For Unidrive SP >= 30kW (from UNI4401) the supply from the UPS has to be connected over a rectifier directly to the DC link (+DC, - DC).
54/81 11.12.2011
8.7 Energy saving mode for UPS Emergency supply

The activation of the Energy saving mode for UPS emergency supply can be done in two ways:
a) activation of a digital input programmed with the function #19.38 (see section 6.3.)
b) activation over the DCP communication via the I6- telegram (from SW version V01.35.00)
The activation of the Energy saving mode for UPS emergency supply will be messaged to the controller via
status bit 9 of the extended status word or via response to the I6- telegram (from SW version V01.35.00).
8.7.1 Switching off of energy consuming comfort functions

If the Energy saving mode for UPS emergency supply is activated the following energy consuming comfort
functions are disabled:
- Position controller (#19.12 and #19.20 = 0)
- Following error detection (#19.18 and #19.24 = 0)
- Soft Start Function (#19.28 = 0)
- Load Measurement (#20.08 = 0)
8.7.2 Current Limit Control

To protect the UPS from overloading and switching into standby a DC link voltage control of the current will
be activated with activation of the Energy Saving mode. If the DC link voltage decreases below UU_Reset-
voltage + 60V (= 510V for 400V drives), the current limit will be decreased linear from the normal value
#21.28 at low load for 510VDC linear to the reduced value #21.29 at full load for 450VDC. The function
could be disabled by starting the drive with disabled Energy Saving mode with #19.38 = OFF.
8.7.3 UPS Power Control

The control of the power consumtion from the UPS could be limited to the maximum active power of the UPS
by Parameter #20.15. The power control is only active, if the Energy Saving mode is active and if the max.
UPS power Parameter #20.15 is set > 0. If the power consumption of the drive exceeds the max UPS power
in #20.15, the speed will be reduced by setting the speed setpoint to 0. The max. UPS power parameter
should be set to the max. active power of the UPS, which is very often only 70% of the power in VA, reduced
by other consumers like light, brakes and the lift controller supplied by the UPS.
Active Power
Current Limit
DC voltage
Active Current
Speed
Picture. 21: Control of the supply power from the UPS

55/81 11.12.2011
8.8 Motor Phase Lost Detection

The Motor Phase Lost Detection was introduced into software version V1.26. This function will be activated
by setting #19.43 = ON. If a phase lost error is detected, the drive will trip with code trip 77. The default
setting is #19.43 = OFF, so the phase lost detection is not active.
The phase lost detection is only active in the operation modes Closed Loop Servo (Servomotor with
encoder) or Closed Loop Vector (Induction motor with encoder). The detection acts from start until 10% of
the nominal speed. If the output voltage exceeds an internal limit for more than 200ms, trip 77 will occur.
8.9 Cabin Release Function

The Cabin Release Function was introduced into software version V1.26. This function is used to release the
cabin after the TUV test.
The cabin release function is activated with cabin release parameter #19.45 = ON. If this function was
enabled, the lift should be operated with inspection mode to release the cabin from sticking. The drive will
start with a fast ramp and maximum allowed current. If the cabin could not be released, the drive will try to
shake it as long as the inspection switch is active.
During cabin release the drive will run the motor with creep speed (#18.11) independent from the selected
speed. During cabin release soft start function and following error detection is de-activated.
ATTENTION: If the inspection switch is released the drive will stop the motor and the cabin release
parameter will be reset to #19.45 = OFF.– If cabin still sticking reactivate #19.45 = ON and restart.
8.10 Longlife Control

The Unidrive SP calculates the IGBT temperature in Parameter #07.34 using a thermal model of the inverter.
This is used in the firmware of the base drive to prevent excessive junction temperature by reducing the
switching frequency. This prevents very effective a thermal distortion of the IGBT’s.
Beside the maximum junction temperature also the temperature change is important for the lifetime of the
power electronic. The new function „Longlife Control“ of the lift software allows to ensure a long lifetime of
the power electronic independent from the setting of the switching frequency and load. This fuction is
enabled as default by #70.74 = 1, which will control the switching frequency so, that a temperature change of
40 degrees will not be exceeded. This value ensures a lifetime of 10 years for a lift with 500 travels a day.
Especially with lean sized drives there may be a short increase of the acoustic noise at low speeds. If the
low speed noise is too high, the temperature threshold #70.76 may be increased against the 40 degrees for
elevators with low travels per day. It has to be considered, that the life time will be halved if the temperature
change is increased by 10 degrees.
The actual temperature change of the last travel may be checked by parameter #70.70. Further #70.71
shows the travel count and #70.73 the average temperature change to consider the lifetime expectation.
8.11 Stabilising motion using Switching Frequency Modulation

With some motors vibrations can be caused during constant speed by non symmetric power devices. This
function can be selected alternativelys to the Longlife function with the setting #70.74 = 2.
If the function is activated the half switching frequency from setting in #05.18 will be used until the speed
threshold #71.76 (in % of the operation speed #18.30). Above the speed threshold #71.76 the switching
frequency will be modulated as follows. The full switching frequency will be used fort he time #71.77
alternating with the half switching frequency for the time of #71.78.
56/81 11.12.2011
8.12 Electronic Nameplate ENP

The electronic nameplate ENP allows to pre- program the drive with all data needed for immediate operation
after selecting the control interface. These are motor data, mechanical data but also control loop gains, so
that it can start immediately.
Attention: This function is only available, if an encoder of type SC.Endat is used and the encoder was
programmed at the supplier of the motor with the electronic nameplate.
8.12.1 Programming the Drive with the Electronic Nameplate

The programming with the electronic nameplate can be done immediately in the delivery state in the
operation mode Open Loop. The programming sequence will change the operation mode to Servo and
change the encoder type to SC.Endat automatically.
To program the drive only the 2 following entries are needed:
• F02 = -1 bis 2 Setting the Interface- Type

• F00 = 24006 and wait for 10 – 15s, until F00 = 0 Reading the electronic Nameplate
- Automatic setting of the operation mode Servo
- Automatic setting of the encoder type SC.Endat
- Reading the electronic Nameplate
The reading of the electronic nameplate will only be executed, if the drive is not enabled (#10.02 = 0). This
could be checked n the display state „inh“. The Reading takes about 10s – 15s. If the reading was not
successful a trip will be caused and displayed. Any trip display could be chaecked with the diagnostic
chapter. For some trips an additional trip code may be displayed in parameter 71.58 for deeper diagnostic.
Attention: If the operation mode is not set to Servo before activating trip „th“ and/or „EnC2“ may be
displayed during the reading of the ENP. If the operation mode has to be changed the trip
log will be cleared and show one trip „EnC2“.
8.12.2 Parameter of the Electronic Nameplate

With the electronic nameplate the following parameter could be read:
Servo Parameter description Unit

11,31 Operation Mode (OPEn LP, CL VECt or Servo) 1 - OL / 2 = CL / 3 = SV
1,06 Maximum Motor rpm u/min
5,07 Nominal Motor current in A A
5,09 Nominal Motor voltage in V V
5,11 Motor Pole count p
0,45 CL = Nominal rpm / Servo = Thermal Timeconst. u/min / s
0,43 CL = Motor cos phi / Servo = Phase angle in ° - / grad
5,18 Switching frequency 0 - 5 = 3 - 16 kHz 0 - 5 = 3 - 16 kHz
- Nominal Motor Frequency in Hz Hz
19,29 Sheave Diameter in mm mm
19,27 Gear numerator - -
19,30 Gear denominator - -
18,30 Operational speed in mm/s mm/s
4,07 Current limit in % %
2,11 Acceleration in mm/s2 mm/s2
2,21 Deceleration in mm/s2 mm/s3
19,25 Brake release time in msec msec
18,24 Brake apply time in msec msec
18,27 P- Gain Speed Loop 1 Start - -
18,28 I – Gain Speed Loop 1 Start - -
18,25 P- Gain Speed Loop 2 Run - -
18,26 I – Gain Speed Loop 2 Run - -
4,13 Current Loop P-Gain - -
4,14 Current Loop I-Gain - -
57/81 11.12.2011
8.12.3 Diagnostic of the Electronic Nameplate

If a trip was caused during reading the electronic nameplate the following messages could be displayed:
t050 Wrong ENP Wrong ENP data Type, will be generated if the ELNP is not
Data programmed or of a wrong type.
t051 Wrong Motor Will be generated if the electronic Nameplate is not programmed
type for the operation mode Servo F01 (#11.31).
t052 Wrong Will be generated, if wrong encoder type F03 (#03.38) is used.
encoder type
t054 Trip during Will be generated if an error occurs during the ENP is read. The
operation detailed error code is stored in #71.58.
#71.58 = 1 ok.
#71.58 = -3 Checksum error, Encoder defect
#71.58 = -4 Parameter range exceeded, wrong inverter
#71.58 = -5 ENP not supported from Encoder
#71.58 = -6 Encoder error
#71.58 = -7 Encoder detected checksum error in data transfer
#70.58 = -8 Timeout, Encoder does not respond
#70.58 = -9 Wrong encoder option slot selected or no SM-
Universal Enc Plus present
#70.58 = -10 Encoder not connected
If no transfer error parameter #70.58 = 1
8.13 Display Energy saving level

With the I6 – telegram of the DCP communication the Unidrive SP displays the actual energy saving level.
These levels are defined as follows:
Energy saving level 0: The drive is ready to start or just stopped and cooling down. The energy
consumption depending on the drive size shows table below. There is no delay for a
next start.
Energy saving level 1: The inverter output is not active and the automatic standby operation has started.
There is no delay for a next start. The energy consumption depending on the drive
size is:
Drive Types Power range Energy saving Energy saving

level 1 level 0
SP1404 – SP1406 2,2 – 4,0 kW 16W 18W
SP2401 – SP2494 5,5 – 15 kW 18W 21W
SP3401 – SP3403 15 – 22 kW 28W 37W
SP4401 – SP4403 30 – 45 kW 40W 71W
SP5401 – SP5402 55 – 75 kW 47W 105W
Energy saving level 2: The mains voltage is disconnected with an energy saving contactor (main contactor).
If the control board is supplied with 24V the energy consumption is about 12W, else
0W. A next start is after 4 seconds possible. This switch on is limited to 20 times per
hour which means every 3 minutes.
58/81 11.12.2011
8.14 Servo motor Offset Tuning at standstill

The measurement of the commutation offset is the condition of the usage of servo motors as traction drives
for elevators. The usage of the autotune function of Unidrive SP with mode 2 (#0.40 = 2) is only possible if
the is not loaded. For an elevator this means removal of the ropes by settling of the counterweight on the
ground and fixation of the cabin. Using the standstill tuning the commutation offset could be measured under
load with the brake applied. The condition is a suitable fixation of the motor by the brakes, which have to
withstand an additional motor torque of about 20% of the nominal torque. Because of the fixation this
measurement can’t identify wrong motor cable connection and wrong adjustment of the pole count of the
motor or of the number of lines of the encoder.
Attention: The servo motor offset tuning at standstill is only available, if the motor is fixed with the
mechanical brake and a high resolution sincos encoder of the following types is used:
SC.Endat, SC.Hiper or SC.SSI. During the measurement an additional torque of 20% - 100%
of the nominal will be applied. Correct motor and encoder cable connection, correct
setting of the motor pole count and the number of encoder lines is the condition of a
correct result.
8.14.1 Activation of the des Servo Motor Offset Tuning at standstill

To activate the tuning at standstill the following procedure has to follow:
1. Adjustment of parameter #0.40 = 1
2. Start inspection – State display will change to „run“
3. Automatic change of parameter #0.40 = 4
4. Current loop autotune of about 3 sec – after automatic change of parameter #0.40 = 0
5. Start of Servo Motor Offset measurement for the time set in #12.47 (Default 10 sec)
6. If drive display will change to “inh“ – Stopp inspection (Phase offset measurement completed)
7. The servo motor offset will be stored and displayed in Parameter #03.25 / F15
If the motor is not fixed enough and the motor starts to turn or if the resolution of the encoder is not high
enough to estimate the servo motor offset a trip will be caused. The old servo motor offset before the test will
restored and hence stay unchanged.
Attention: The stationary PM servo motor phase offset measurement should be carried out a
minimum of 3 times to ensure a consistent accurate value is derived. The maximum
deviation between tests is 5 degrees, where the value is greater the test should be
repeated with increased test current Pr 21.27 (Default 20[%]) ensuring the brake is
securely closed.
8.14.2 Diagnostic of the Servo Motor Offset Tuning at standstill

If a trip is caused by the Servo Motor Offset Tuning at standstill, the following message will be displayed:
t055 Forbidden Movement Will be caused, if the motor is insufficient fixed and has turned by
1/16th motor turns. Please check mechanical brakes to be applied
during the complete test. .
t056 Insufficient Encoder Will be caused if the encoder resolution is not sufficient to detect
Resolution the phase angle. Please try again or check encoder resolution and
setting. .
t057 Abort Standstill- Will be generated, if the drive will be disabled via the STO input
Autotune disable during Autotune. Pls check the setting of the lift controller
for time setting of the starting. Reduce Time in #12.47.
59/81 11.12.2011
8.15 Testing of the Unintended Car Movement Monitoring Unit EN81-1/A3
For testing of the monitoring and ptrotection device against Unintended Car Movement (UCM) according
EN81-1/A3 in Version V01.25.00 a function was added, which allows to start the car with the maximum
acceleration in the given direction. To get the maximum acceleration, some comfort functions as soft start
and load measurement will be switched off. Further the following error diction of speed and position are
switched off to allow the test of the UCM monitoring unit.
The testing is executed as a spezial travel, which has to be activated by 2 settings. These settings are not
stored and therefore are not active during switch on. Further both settings are disabled after each travel. If a
new test is to be executed, the settings have to be repeated. All settings are disabled after 60 seconds.
The activation of the UCM test travel are as follows:

1. Parameter #13.21 = 3333 and
2. Parameter #01.44 = 1
The following travel is axecuted as simulation of the UCM movement. From start of the car will be
accelerated with the maximum current in #04.07 in the selected direction. To measure the maximum
distance the travels with maximum should be tested:
1. Travel with empty cabin Upwards
2. Travel with full load Downwards
The torque level for the acceleration can be adjusted by Parameter #04.07. Starting with 100% load the
maximum adjustable value in #04.07 has to be checked. This can be calculated using a servo motor as
follows:
MAX(#04.07) = 175% * Nominal inverter current / Nominal motor current
The over speed detection of the inverter could lead to over speed trips if the threshold of #01.06 + 10% is
exceeded. To prevent drive tripping the parameter #01.06 has to be increased for the testing.
The activation of parameters #01.44 could also be done using a digital input terminal. Pls see 6.3 I/O
Configuration. If the terminal activated only the code 3333 has to be entered in parameter #13.21 to activate
the special UCM simulation travel.
To prevent a movement with open cabin doors the activated of the Fast Start is not accepted, if UCM
simulation mode is selected, and will not lead to a start of the travel.
Attention: This function must only be used, if it is ensured, that no person is in the cabin or can enter
the lift. Further it must be ensured, that the mechanics of the lift and the braking devices
are suitable for the high acceleration of 3 – 6 m/s2 and there must be a sufficient travel
distance in both directions.
60/81 11.12.2011
9 Set up of the lift drive

Unidrive SP with DCP option module can operate geared and gearless motors for lifts. With the 1st start of
DCP option module software it does a basic set up of the drive depending of the operation mode, which has
to be adjusted in advance. The most effective parameter set up is the use of the smart card as follows:
9.1 Smart Card Parameter Setting
To program the drive with the smart card using the drive
keypad or DCP remote keypad operation:
1. Save drive parameters to the Smart Card:

• Erase Data Block x by #0.00 = 700x (7001 for
Data Block 1, x = Number)
• Reset by #0.51 = 1 (DCP remote keypad
operation) or by pressing the Reset-Button
• Save Data Block x by #0.00 = 400x (4001 for
Data Block 1)
#0.00 = 700x
• Check #0.00 = 0 (Save complete) #0.51 = ON or Reset-Taste
#0.00 = 400x
• If trip C.Chg (179) the Data Block is already #0.51 = ON or Reset-Taste
in use, then erase as described above
2. Programming the drive with a Smart Card Data Block
Attention: For programming the drive from the Smartcard, it has to be disabled and the elevator
to be out of operation.
• Select Data Block x by #0.00 = 600x (6001 for

Data Block 1, x = Number)
• Save Parameters by setting #0.00 = 1000
• trip C.rtg (186) indicate, that the source data

block was created from a drive with another #0.00 = 600x
power rating. Motor data and current limit will #0.51 = ON or Reset-Taste
not be programmed. Manual adjustment:
- #0.06: Current Limit 175...250
#0.00 = 1000
- #0.41: Switching Frequency 6 – 16 kHz #0.51 = ON or Reset-Taste
- #0.46: Motor current
Attention: When transferring the parameter set from one drive to the other, also the encoder
phase angle #03.25 will be copied. If the phase angle was already adjusted using
autotune, it should be noted before and restored after the Smartcard transfer.
Attention: In V1.31 and earlier the transfer of a #17.13 = 0

setting using multiple speed loop gains #17.19 = 1
will result in gains set to starting gains. #xx.00 = 600x
To prevent this, the programming
sequence has to be changed according Wait 10 sec until #xx.00 = 0
the right block. This is not needed for cycle power
V1.34.00 or higher.
Programming the drive with a data block from the Smart Card will set operation mode, motor and feedback
encoder parameters as well as the basic parameters for the lift drive operation. After Smart Card operation
the set up could be continued directly with 9.6 First Start with empty car.
61/81 11.12.2011
9.2 Manual Parameter Setting

The manual parameter setting could be done using a display on the drive, which could be removed after
finishing. Furthermore parameters could be adjusted using remote operation of the drive from the lift
controller display.
9.2.1 Operation Hints

• Change operating mode: #0.00 = 1253 / adjust # 0.48 / Reset- Button
- Operating mode, induction motor without encoder Open Loop Vector (OL)
- Operating mode, induction motor with encoder Closed Loop Vector (CL)
- Operating mode, synchronous motor with encoder Servo (SV)
• Access to all menus: #0.49 = L2 and M- Button
• Save settings: #0.00 = 1000 and red Reset- Button
• Load standard defaults: #0.00 = 1233 and red Reset- Button
• Change drive mode without defaults setting #0.00 = 1255 and red Reset- Button
• Reset DCP Remote Operation over the lift controller # 0.51 = 1
9.2.2 Changing the operating mode

• The drive enable signal terminal 31 must be open.
• Apply power to the drive.
• At delivery the drive is set to operate an induction motor without encoder in OPEN LOOP (OL). If the
motor has an encoder the operating mode has to be changed, as follows:
• Enable drive mode change #0.00 = 1253
• Induction motor operation with speed feedback #0.48 = Cl. Vect. (CL) and RESET- button
• Permanent magnet motor with feedback #0.48 = SERVO (SV) and RESET- button
• With the change of the operation mode the default setting of the elevator software occurs
• To verify that the software is running monitor: #20.02 = 10616 and -10616 (toggles 1s)
• Note the Software Version from : #20.01 = 13404 for Version 1.34.04
9.2.3 Setting the Lift Controller Interface

DCP3 Interface
• At delivery the Interface of the Lift drive is set to DCP3 (#19.26 = 3)
DCP4 or Terminal Interface (from Software V01.34.04)

• Set DCP4 #19.26 = 4
• Parallel – 1 Directions – 1 of n #19.26 = -1
• Parallel – 1 Direction – binary #19.26 = 0
• Parllel – 2 Directions – binary #19.26 = 1
• Parallel – 2 Directions – 1 of n #19.26 = 2

• Save settings: #0.00 = 1000 and red Reset- Button
• Reset SM- Applications #0.00 = 1070 and red RESET Button
9.2.4 Set-Up with Electronic Nameplate

To set-up the inverter with the data of the electronic nameplate following steps :
• F00 = 24006 and wait 5sec until F00 = 0 Read Electronic Nameplate
All motor- and encoder data as well as basic parameters of the lift are set-up by the Elektronic Nameplate.
The elevator could start immediately and the setup continued with 9.6 First Start with empty cabin.
Attention: This function is only available, if the encoder type is SC.Endat and the encoder was
programmed at the motor manufacturer with the electronic nameplate.
62/81 11.12.2011
9.3 Configuring the feedback device (Closed Loop and Servo modes only)
It is possible to use different encoder types. The following settings must be performed.
9.3.1 Configuring the feedback device for Closed Loop Vector mode
Feedback Setting Parameter Default Note
Encoder #03.26 = drv (0) drv(0) Speed feedback selector => drive
#03.34 = ... 1024 Drive encoder lines per revolution
#03.36 = ... 5V Drive encoder supply voltage: 5V(0) / 8V(1) / 15V(2)
#03.38 = Ab (0) Ab(0) Drive encoder type: Ab(0) => Incremental encoder
#03.39 = 0 /1 /2 1 If encoder supply voltage is 8V or 15V then set drive encoder
termination selection #03.39 = 0
SinCos #03.26 = drv (0) drv Speed feedback selector => drive
03.34 = ... 1024 Drive encoder lines per revolution
#03.38 = SC (6) Ab Encoder type SC => SinCos-encoder with no serial
communication
Resolver #03.26 = Slot2 (2) drv Speed feedback selector via Slot 2 => adjustment in Menu 16
#03.40 = 0 1 Deactivate drive encoder error detection
#16.13 = ... 2:1 Resolver excitation: 3:1(0), 2:1(1 or 2)
#16.24 = xx.05 0.00 Source Encoder simulation
#16.25 = ... 0.25 Scaling of the Encoder simulation
xx = 15 (Slot 1), 16 (Slot 2) or 17 (Slot 3)
9.3.2 Configuring the feedback device for Servo mode
Feedback Setting Parameter Default Note

Encoder #0.43(#03.25) = ... Encoder phase angle
#03.26 = drv (0) drv Speed feedback selector => drive
#03.38 = Ab.Servo Ab.Servo Encoder type Ab.Servo(3)
#03.39 = 0 /1 /2 1 If encoder supply voltage 8V and 15V then set drive encoder
termination selection #03.39 = 0
SinCos #0.43(03.25) = ... Encoder phase angle
#03.26 = drv (0) drv Speed feedback selector => drive
#03.35 = ... 16 Drive encoder single turn comms resolution
#03.38 = SC.HiPEr (7) Ab.Servo Encoder type: SC.HiPEr Stegmann
#03.38 = SC.EndAt (9) Ab.Servo SC.EndAt Heidenhain
#03.38 = SC.SSI (11) Ab.Servo SC.SSI
#03.41 = 1 Ab.Servo Drive encoder auto-configuration / SSI binary format select
Resolver #0.43(03.25) = ... Ab.Servo Encoder phase angle, if known (EPM300= 0, ECD100= 180)
#03.26 = Slot x (x) 0 Drive encoder auto-configuration / SSI binary format select
#03.40 = 0 1 Deactivate drive encoder error detection
#16.13 = … 2:1 Resolver excitation: 3:1(0), 2:1(1 or 2)
#16.24 = xx.05 1 Deactivate drive encoder error detection
#16.25 = ... 0 Resolution
*Note: If a Resolver is used and “EnC2“ is displayed, please check that #3.40 = 0.
63/81 11.12.2011
9.4 Setting of Motor and Elevator Parameters

Before the initial start, the data for the winch motor and the elevator must be entered. Refer to the motor
nameplate and elevator calculations.
Parameter No. Unit Open Lp Servo Setting recommendation
Cl. Vect Wittur- Winches Alpha- Winches
EPM100/
Default Default WSG06 WSG18 EPM300 EPM500
-1
Max. rpm: #00.02 min 1500 3000 Max. Speed 2000 2000
2
Acceleration #00.03 m/s 0,500 0,500
2
Deceleration #00.04 m/s 0,800 0,800
Current limit #00.06 % 150 175
Speed loop P-Gain #00.07 - 0.01 0.01 0.5000 0.5000 0.1000 0.1000
Speed loop I- Gain #00.08 - 1.00 1.00 10.00 10.00 4.00 4.00
Nom. elevator rpm ∗ #00.13 min-1 1500 3000 From the elevator calculation
Nom. elevator speed #00.14 mm/s 1000 1000 From the elevator calculation
V1 (Creep speed) #00.15 mm/s 50 50
V2 (Inspection) #00.16 mm/s 300 300
V3 (Nominal 1) #00.17 mm/s 500 500
V4 (Medium 1) #00.18 mm/s 0 0
V5 (Releveling) #00.19 mm/s 10 10
V6 (Medium 2) #00.20 mm/s 0 0
V7 (Additional 1) #00.21 mm/s 0 0
Stop- Deceleration #00.22 mm/s2 1000 1000
Start- Jerk #00.23 mm/s3 1000 1000
Run- Jerk #00.24 mm/s3 1600 1600
Stop- Jerk #00.25 mm/s3 2000 2000
Encoder lines #00.29 1024 4096
V8 (Additional 2) #00.31 mm/s 50 50
V9 (Additional 3) #00.32 mm/s 400 400
V10 (Additional 4) #00.33 mm/s 800 800
Current loop P-Gain #00.38 - 150 130 300 300 130 130
Current loop I- Gain #00.39 - 2000 1200 8000 8000 1200 1200
Switching frequency #00.41 kHz 9 9 8 - 16 8 - 16 8 - 16 8 - 16
Motor poles: #00.42 - 4 Pole 6 Pole 24 Pole 24 Pole 18 Pole 12 Pole
Power Factor/ #00.43 - 0,92 Auto- See See
Encoder phase angle tune Label Label 0 180.0
Motor voltage: #00.44 V 400
Nom.rpm / Therm. TC #00.45 min-1 1450 7 40 120 20 / 25 30
Motor current: #00.46 A In Motor In Motor See Nameplate
Motor frequency: #00.47 Hz 50
Current dem. filter #04.12 ms 0 0 1 2 1 2
(x) Display in CTLift or in the Lift Controller (Remote Operation)
∗ The adjustment of the speed to rpm ration is done via operational speed and operational rpm. The calculation of
the operational rpm is done using the following equation:
#18.03 = #18.30 * Ratio numerator * Roping * 60 / (π * Ratio dominator * Sheave diameter [mm])
with:
#20.10 = Roping
#19.29 = Sheave diameter [mm]
#19.30 = Ratio numerator
#19.27 = Ratio denominator
For Synchronous motors only the number of motor poles and the motor current is required. Do not enter the
motor data that is greyed out.
For the initial test run, only the motor data and the elevator data that is listed in the examples must be
adjusted. For winches with induction motors, with or without encoders, the full motor map must be set.
Further settings will be done in later steps of this set-up.
64/81 11.12.2011
9.5 Autotuning
For the first set-up of a winch, adjustment of the control loops for the motor must be carried out. This is
performed by the drive through automatic self-tuning techniques. During self-tuning the elevator must be
operated manually, therefore the inspection command has to be provided.
• Reconnect Terminal 31
If inspection is active and the drive is not enabled or motor does not run, please refer to Setting of terminal
functions.
9.5.1 Open Loop Vector – Induction motor without speed feedback

Measurement of motor characteristics
• For the vector control mode it is necessary to measure the stator resistance, which is automatically
done by the drive at the start of the motor
• To measure the stator resistance ⇒ #0.40 = 1 – start inspection run
⇒ wait until #0.40 = 0 then stop inspection run
⇒ Save parameters
9.5.2 Closed Loop Vector – Induction motor with speed feedback

Current controller autotune
• This measurement is very convenient, because it is done at stop with closed brakes.
• For optimisation of the elevator drive measures the stator resistance, stator inductance
• Leakage inductance measurement ⇒ #0.40 = 1 – start inspection speed
⇒ wait until #0.40 = 0 then stop inspection speed
• Note setting of #0.38 / #0.39 ⇒ Save parameters
Current controller autotune and motor characteristic measurement
• This measurement is needed for the adaptation of the motor model to the motor temperature
• It is necessary to remove the ropes, because the motor will be running for several seconds.
• Stator inductance measurement ⇒ #0.40 = 2 – start inspection speed
• Activate automatic speed optimiser ⇒ #05.16 = 1 and Save parameters
9.5.3 Servo – Permanent magnet synchronous motor with speed feedback

It is necessary to adjust the commutation offset of the motor. Also the current loop gains can be adjusted.
Manual setting of the phase angle parameter for known winches
• If the value is known proceed as follows:
• Typ XA (LS), WSG (Wittur) ⇒ Phase Offset #0.43 = 0
• Setting the phase angle ⇒ set #0.43 = Offset and Save parameter
Automatic measurement of the phase angle
• If the commutation offset is not known, it can be measured automatically by the drive as follows:
• To get exact values it is necessary to remove the ropes from the sheave. (balanced load may be ok)
• Activate high precision phasing ⇒ #0.40 = 2 – start inspection speed and maintain for 30s
• if trip ENC1occurs ⇒ swap motor cables U with V at the drive
• check Offset in # 0.43 ⇒ must have changed, if not, check motor contactor
Current controller autotune
• For optimisation of the elevator drive measures the stator resistance, stator inductance
• Leakage inductance measurement ⇒ #0.40 = 4 – start inspection speed
• Note setting of #0.38 / #0.39 ⇒ Save parameters
Servomotor – Phase offset Standstill Tuning
• Phase Offset measurement ⇒ #03.09 = 1 – Inspection start – State „run“
⇒ wait 10s until State „inh“ – Stop Inspection
65/81 11.12.2011
9.6 First start with empty car
9.6.1 Activate the first start:

• Make sure, that Enable (Terminal 31) is connected and active current #0.11 is displayed
• Start Inspection and check the active current display and the shaft rotation
• If status display doesn’t change to ”run“ ⇒ Check logic polarity, terminals and motor conductors
• If the motor current #0.11 = 0.00 ⇒ Check logic polarity, terminals and motor conductors
• Following error trip (trip 70 or trip 71) ⇒ Check Motor connections and phase angle
• The motor shaft does not turn ⇒ Check setpoint selection #18.10 (run command applied)
• If #18.10 = 1810 instead of 1812: ⇒ Check terminal functions and terminal state
• If Trip It.AC occurs ⇒ Check load balance, phase angle and motor connection
• If motor turns shortly / stops with current ⇒ Check pole count #0.42 and encoder lines #03.34
• If motor turns opposite direction ⇒ Set: #18.45 = ON
• For CL / SV and poor motor running ⇒ Check encoder, cable connection and screening
• Other trips ⇒ See Diagnostics
• If no trip ⇒ Continue with adjustment of speed loop gains
9.6.2 Adjustment of the speed loop gains (only Closed Loop and Servo)
• With recommend gain values (→ 3) only a few adjustments will be necessary
• Adjustment of the speed loop P- Gain ⇒ Increase #18.25 in steps of 0.01 until noisy or unstable
• If it produces regulation noise ⇒ Increase current filter #04.12 from 0 to 1...max. 3 (ms)
• If unstable ⇒ Reduce #18.25 to 60% of the instability value
• Adjustment of speed loop I- Gain ⇒ Increase #18.26 to 20...50% of #18.25
9.6.3 Adjust motor contactor delay

The delay between the drive output disable and the opening of the motor conductors is displayed in
#20.20 in ms. A negative value indicates that the motor contactor opened under current flow, which
should be prevented. In this case the brake apply time, #18.24, must be increased.
• Start normal floor level runs ⇒ Check the measured conductor delay in #20.20 in ms
⇒ Increase #18.24 in ms if a negative values is in #20.20
⇒ Positive values of 50...100 ms in #18.24 are acceptable.
9.6.4 Adjust deceleration distances (DCP3 or Terminal control):
• Read stopping distance V0 #19.05 ⇒ Set in the lift controller

• Read deceleration distance V3 #02.16 ⇒ Set in the lift controller (! cm)
• Start test runs ⇒ Check measured creeping distance #0.13[3] >50mm
#0.04
#19.15
Deceleration distance
#02.16 Stopping dist. #19.05

#02.17
#02.18 #18.11 #19.16
Figure 24: Deceleration and stopping distance
9.6.5 Fine Trimming of Operational Speed (DCP4)

• After DCP4 Travel ⇒ Read #20.35 and set #19.29 to the displayed value
Attention: Use only, if the lift controller supports I9 Telegrams (MPK4000)
66/81 11.12.2011
9.7 Optimise elevator performance (Closed Loop and Servo)

During this step the elevator performance is optimised so that the travel is fast and comfortable. Therefore
the designed speeds and accelerations have to be achieved. In addition to the subjective test of the
elevator performance, it is advisable to use the scope function included in the PC elevator set-up software
SPLift
9.7.1 Optimise start

• If car lurches at start separate the start ⇒ Increase brake release delay #19.25 to 2500ms
• If car lurches or rotation at brake release ⇒ Activate separate speed gains #18.48 = 1
⇒ P- Gain start controller #18.27 = 2 x #18.25 (harder)
⇒ I- Gain start controller #18.28 =2 x #18.26 (stiffer)
and / or
⇒ Enable P-gain position loop: #19.20 = 3 30
⇒ Enable D-gain position loop: #19.12 = 10 100
• If jerk is to high at start of ramp profile ⇒ Reduce start jerk #0.23...300 mm/s3 (softer)
and / or
⇒ Activate start optimiser by setting #18.18 > 0
⇒ Set Speed for start optimiser #18.18 e.g.: 10 mm/s
⇒ Set time for start optimiser #19.28 e.g.: 800...1000 ms
⇒ Set jerk for start optimiser #19.17 e.g.: 10...20 mm/s3
• Check elevator starts ⇒ If OK, reduce brake release delay as follows
• Adjustment of brake release delay ⇒ Reduce #19.25 to 300ms as long as no lurch at start
9.7.2 Optimise constant speed

• Vibration of gearless motors ⇒ Increase I- gain of the current controller #0.38 (max. 10000)
⇒ Increase P- gain of the current controller #0.39 (max. 1000)
⇒ Stop if regulation noise increases
• If OI.AC- trip or instability occurs ⇒ Reduce by 60% (for example) the chosen, P, I, values
• Over/ undershoot during acceleration ⇒ Reduce run jerk level #19.15, e.g.: ...500 mm/s3 (softer)
⇒ Consider increased deceleration distances
and / or
⇒ Activate inertia compensation 18.49 = 1
• Check speed loop output #03.04 ⇒ Adjust #19.19, so that #03.04 nearly constant
9.7.3 Optimise stop

• Lurch at stop from creep speed ⇒ Reduce stop jerk #19.16 ...500 mm/s3 (softer)
⇒ Reduce zero speed threshold #03.05 = 2...4 rpm
• Unwanted rotation at brake engage ⇒ Increase brake apply delay #18.24

⇒ Check motor contactor delay to #20.20 > 0
9.7.4 Following error detection set up

• Check speed error of travel #18.07 ⇒ Set max speed error #19.24 = 10 x #18.07 (200 mm/s)
• Check position error of travel #18.06 ⇒ Set max position error #19.18 = 10 x #18.06 (200 mm)
• Save Setting: #0.00 = 1000 and RESET (#0.51 = 1)
67/81 11.12.2011
9.8 DCP 3 sequence
68/81 11.12.2011
9.9 DCP4 sequence
69/81 11.12.2011
9.10 Terminal control sequence
70/81 11.12.2011
10 Elevator Commissioning Software

For elevator commissioning a PC program SPLift has been developed which is easy to use. It is possible to set up
the parameter for elevators and the winches. Furthermore the adjustment and control of the elevator can be
optimised with the integrated scope function.
Figure 25: PC- Commissioning Software for elevators with scope function
Unter the point Interface / Setting adjust the COM- Port of the adapter, the used protocol according #11.24
and the Baud rate #11.25 of the inverter. The address #11.23 is entered in the address box right on bottom
of the start page. This address contains the slot number of the SM-Application module as and extension
with „.3“ for slot 3. In most cases slot 3 is used, therefore address „1.3“ is adjusted. If not errors can be
caused. If the function of the serial interface is correct the status field will change to Online and the field
software version will contain the version and field Software Variante will contain the Identy number 10617
with alternating sign.
71/81 11.12.2011
11 Diagnostic
11.1 Trip Codes and corrective actions
The Unidrive protects itself, the control environment and motor by many monitoring many functions and operating
levels. If the monitor system detects a problem, a trip is initiated. To identify the causes of a trip refer to the
following table:
Trip Trip type Trip cause Corrective actions

Trip 50 ENP Data file • Encoder not Is detected during reading from the encoder, if the
programmed Electronic Nameplate ENP was not programmed or from
another type.
Trip 51 ENP Motor type • Wrong Motor type Is detected during reading from the encoder, if the
Electronic Nameplate ENP is not for the motor type F01
(#11.31) selected.
Trip 54 ENP Trasfer Error • Encoder defect Will be generated if an error occurs during the ENP is read.
• Encoder type The detailed error code is stored in #71.58.
• Encoder cable #71.58 = 1 ok.
#71.58 = -3 Checksum error, Encoder defect
#71.58 = -4 Parameter range exceeded, wrong inverter
#71.58 = -5 ENP not supported from Encoder
#71.58 = -6 Encoder error
#71.58 = -7 Encoder detected checksum error in data
transfer
#70.58 = -8 Timeout, Encoder does not respond
#70.58 = -9 Wrong encoder option slot selected or no
SM-Universal Enc Plus present
#70.58 = -10 Encoder not connected
If no transfer error parameter #70.58 = 1
Trip 55 Forbidden • Encoder defect Will be caused, if the motor is insufficient fixed and has
Movement • Encoder type turned by 1/16th motor turns. Please check mechanical
brakes.
Trip 56 Insufficient • Encoder type Will be caused if the encoder resolution is not sufficient to
Encoder detect the phase angle. Please try again or check encoder
Resolution resolution and setting. .
Trip 57 Abort • Controller Is generated, if the STO Input is disabled before completing
Stillstandstune • Operator the autotune. Check controller settings (Start monitoring).
Reduce time for standstill tuning #12.47.
trip 61 Current Limit • Wrong setting of Trip initiated at standstill if setting of nominal current #05.07
Error #05.07 exceeds the drive HD current #11.32 and the maximum
allowed nominal current #21.07. After correction of #05.07
the current limit #04.07 has to be corrected, because it was
reduced automatically. Switch off by setting of #21.07 to the
higher value with consideration of the current limit
reduction.
trip 62 Faststart • Encoder error Trip if the motion during Faststart exceeds the distance in
monitoring • Inverter error #70.59 and #70.59 is set > 0. Check setting of #70.59
and/or disable the trip if needed with #70.59 = 0.
trip 63 DCP without • Controller Start einer Fahrt über DCP Schnittstelle ohne Initialisierung.
Initialisition • Protokollfehler
trip 65 DCP4 remaining • Controler error During DCP4 operation detected, if speed exceeds von 10
distance error • Absolut position mm/s and remaining distance does not decrease for more
encoder than 500 ms.
trip 67 DCP direction • EMC disturbance During DCP3 or DCP4 operation, if direction command (Bit
change during • Control error B4) change after speed setting telegram detected.
travel • Protocol error
trip 68 DCP checksum • EMC disturbance During or DCP4 operation, if 10 consecutive telegrams with
error • Protocol error CRC error detected.
trip 69 DCP Timeout • EMC disturbance During or DCP4 operation, if 10 consecutive telegrams with
Error Bit B7 • Protocol error Error Bit B7 set from controller detected.
72/81 11.12.2011

trip 70 Speed error • Encoder, motor Check motor and encoder connection, as well as gain
connection setting and phase angle, Increase threshold #18.07 if
• Gain setting necessary. Disable following error detection by setting
#19.24 = 0.
trip 71 Position error • Encoder, motor Check motor and encoder connection, as well as gain
connection setting and phase angle. Increase threshold #18.06 if
• Gain setting necessary. Disable following error detection by setting
#19.18 = 0.
trip 72 Current decay • Control electronic Check IGBT’s. Change controller.
after stop
trip 73 Protection against • Ambient Check temperature display in #7.04, #7.05 und #7.06 to
Freeze temperatur too greater than min. temperature defined in #70.81.
low Add Heating in cubicle.
trip 74 FD Fast Disable • FD input control If Fast Disable FD input not active 3sec after Start by Speed
control error wrong selection or still active 3sec after stop. Check control signal.
Check programming of terminal 26.
Disable the monitoring function with #70.65 = 74 or if 2
motor contactors used #70.65 = 1001001.
trip 75 SD Secure • SD input control If Secure Disable SD input not active 3sec after Start by
Disable control error Speed selection or still active 3sec after stop. Check SD
error control signal. Check if constant speed selection.
Disable the monitoring function if 2 motor contactors used
#70.65 = 1001001.
trip 77 Motor phase lost • Motor phase If at start phase losdt detected during start. Check motor
interrupted windings, motor terminals and contactor. De-activate with
#19.43 = 0.
trip 78 Contactor release • Contactor Checks the serial connection of the NC contacts of the
monitoring contacts motor contactors after activation on a terminal (T. 24 – 29)
• Contactor of the drive. If the input does not confirm the state change
function inside 3 sec after motor contactor switched via 19.32 the
trip will be activated. Disable monitoring by reset of the
terminal function from 19.33 to 0.00.
trip 79 Version check • Software version If FD input used and firmware not suitable. Check #11.29 >
1.10. Firmware 1.10 onwards needed. Update Firmware.
trip 80 Phase sequence • Motor connection Only active if following error det6ection activated. If
error • Encoder cable following error detected which could be caused by wrong
phase sequence. Change 2 motor phases or encoder
connection. Disable following error detection.
trip 81 DCP Timeout • DCP cable Check transmission quality in #18.01
• Termination Check wiring and screening of the DCP cable.
• Distortion Switch off protection #19.40 = OFF
trip 82 DCP Sequence • Start without Telegram error, Inform lift PLC manufacturer.
error Speed setting
trip 83 Brake contact • Brake Checks the brake contacts after activation on 1 or 2
monitoring • Contacts terminals of the base drive (T. 24 – 29). If the contact does
not follow the brake output 18.31 inside 3 sec the drive will
trip. Deactivation via change of the terminal function from
19.34 / 19.36 to 0.00.
It.AC Motor overload • Motor overload Check brake release. Check load balancing.
• Disturbance in Check Sincos encoder disturbance1), if yes check shielding
encoder signals of the encoder.
Check setting of thermal time constant #04.15.
Check commutation offset of servomotors.
OI.AC Overload drive • Short circuit Caused if output current > 210% of nominal current.
output • ground fault Check insulation of the motor winding.
• motor winding Check encoder signals.
• Encoder fault
Enc1 Overload Encoder • Encoder cable Check Encoder connection and Encoder supply,
Supply • Enc. Connection Check Setting of Encoder supply.
• Encoder supply
73/81 11.12.2011

Enc2 Encoder wire • Wire Break Check Encoder connection to be complete.
break • Encoder cable Check Setting of Encoder supply.
Enc3 Encoder • Commutation Check serial interface setting.
commutation offset incorrect - SSI encoder with gray code: #03.41 = OFF
Error • Encoder Check serial interface connection.
disturbance
Enc4 Encoder • No serial comms Check encoder supply.
communication • Wrong Baud rate Check encoder type and baud rate.
Error • Connection Check Encoder connection.
wrong
OU Over voltage • Braking power Check insulation of the dynamic brake resistor and resistive
• Motor earth fault value.
Check insulation of the motor winding.
PH Phase lost • Mains fuse Check fuses and mains supply.
UU Under voltage • Mains connection Caused at every switch off of the mains. If generated during
normal operation check fuses and supply.
OI.br Overload brake • Earth fault brake Check insulation of the dynamic brake resistor.
resistor resistor Check resistance value to specification.
11.2 Auto – Reset

The Auto- Reset function is used to clear trips automatically. The Auto- Reset is only active, if parameter #10.34 >
0 (Auto- Reset trials) and parameter #10.35 > 0 (Auto- Reset delay). If the Auto- Reset function is active, every trip
will be reset after the reset dealy #10.35. If a further trip occurs, the reset will work maximum for #10.34 times. If
the maximum trip count is reached, the next trip will not be reset anymore. If no trip occurs for 5 minutes, the trip
counter will be cleared.
11.3 Control interface diagnostics

If the normal run command is applied and the elevator does not start or a trip is generated, then proceed as
follows:
Speed Selected Brake Motor

State "run" > 1810
selected ? speed >0 output =1 magnetised
Dispay (enabled) (Speed selected)
# 18.10 #18.1x # 08.02 # 18.43
= 1810
"inh" (disabled)
(no speed selected)
state # 08.03 OR =0 =0
Terminal 31 # 08.04 OR =0 (active) (not active)
#08.09 =1 # 08.06 =1
(active) (aktiv)
= 0 (not active) =0 (not active)
Check Logic Check SM

Applications Ckeck
Polarity Check Control Adjust the Check Check state of
present and Terminal
#08.29 and Signals at the speed external brake the motor
program is function
Signal at Terminals selected control circuit conductor
running programming
Terminal 31
#20.02
Figure 26: Diagnostic control interface
74/81 11.12.2011
11.4 Diagnostic of travel interrupts #20.39

To diagnose the travel sequence pof a travel interrupt by opening of terminal 31 occuring Version V1.24 offers an
additional diagnostic display #20.39 which can have the following values:
- #20.39 = 0 = no external travel interrupt

- #20.39 = 2 = Travel interrupt during motor magnetising
- #20.39 = 3 = Travel interrupt during brake opening
- #20.39 = 4 = Travel interrupt during normal travel
- #20.39 = 5 = Travel interrupt during brake applying
- #20.39 = 6 = Travel interrupt during defluxing the motor
75/81 11.12.2011
12 Parameter Overview
12.1 Menu 18 Parameter
Parameter Menu 18 Type Range Default Unit
Process data cycles #18.01 RO ± 32000 66 cycles per sec for TA = 15 ms
No. of 1F-Telegrams #18.02 RO ± 32000
Calcul. nom. elevator rpm #18.03 RO ± 32000 1/min
Terminal Status #18.04 RO ± 32000 1/min T. 24/ 25/ 1/ 28/ 30 (s. 7.3)
Terminal Status #18.05 RO ± 32000 ms T. 29/ 26/ 27/ 5/ 7 (see 7.3)
Distance error last travel #18.06 RO ± 32000 mm
Speed error last travel #18.07 RO ± 32000 mm/s
Torque for inertia comp #18.08 RO ± 32000 0,1%Mn
Remaining floor sensor distance #18.09 RO ± 32000 mm
Reference value selector #18.10 RO ± 32000 mm.nn
Creep Spped V1 #18.11 R/W +10000 50 mm/s
Releveling Speed Vn #18.12 R/W +10000 10 mm/s
Intermediate Speed Vz #18.13 R/W +10000 100 mm/s
Inspection Vi #18.14 R/W +10000 300 mm/s
Low Spped V1. #18.15 R/W +10000 500 mm/s
Medium Speed V2 #18.16 R/W +10000 800 mm/s
Fast Speed V3 #18.17 R/W +10000 1000 mm/s
Speed for start optimizer #18.18 R/W +10000 10 mm/s
Floor sensor target distance #18.19 R/W ± 32000 0 mm
Short distance #18.20 R/W ± 32000 0 mm
v- threshold 1 #18.21 R/W ± 32000 300 mm/s
v- threshold 2 #18.22 R/W ± 32000 800 mm/s
OL+CLV: Magnetising threshold #18.23 R/W + 990 500 0,1% OL/CL: Threshold to release the brake
SRV: Demagnetisation Time +5000 200 ms SRV: Demagnetise after brake applied
Brake apply delay #18.24 R/W <10000 1000 ms
speed loop P- gain run #18.25 R/W ± 32000 500
speed loop I- gain run #18.26 R/W ± 32000 500
speed loop P- gain start #18.27 R/W ± 32000 1000
speed loop I- gain start #18.28 R/W ± 32000 1000
Nominal elevator rpm #18.29 R/W ± 32000 1000 1/min Closed loop / Servo
Nominal elevator speed #18.30 R/W ± 32000 1000 mm/s
Brake output #18.31 R/O OFF/ON
1: n < v- threshold 1 #18.32 R/O OFF/ON
Start short distance landing #18.35 R/W OFF/ON
Reference Select Bit 1 #18.36 R/W OFF/ON
Reference selector type #18.42 R/W OFF/ON 0 0: Binary / 1: Priority
Motor magnetised #18.43 R/O OFF/ON
CCW direction #18.44 R/O OFF/ON
INVERT direction #18.45 R/W OFF/ON
Load measurement #18.46 R/W OFF/ON 0 1: Enable
Peak curve operation #18.47 R/W OFF/ON 0 1: Enable
Enable switch gain #18.48 R/W OFF/ON 0 1: Enable
Inertia compensation #18.49 R/W OFF/ON 0 1: Enable
Default setting #18.50 R/W OFF/ON 1 1: Setting Lift Defaults done
76/81 11.12.2011

Parameter Menu 19 Type Range Default Unit Comment
Speed set-point #19.01 RO ± 32000 mm/s
Actual speed #19.02 RO ± 32000 mm/s
Ramp speed #19.03 RO ± 32000 mm/s
2
Reference acceleration #19.04 RO ± 32000 mm/s
Stopping distance #19.05 RO ± 32000 mm
Set-point peak curve distance #19.06 RO ± 32000 mm
Measured peak curve distance #19.07 RO ± 32000 mm
Calculated deceleration distance #19.08 RO ± 32000 Mm
DCP4: Byte 2 & 3 from control mm
Speed at floor sensor active #19.09 RO ± 32000 mm/s
DCP4: Brake distance to control mm
Remaining Distance to go #19.10 RO ± 32000 mm
Gain transition time #19.11 R/W ± 32000 500 ms
D-Gain start locking #19.12 R/W + 32000 0 -
2
Stop deceleration #19.13 R/W ± 32000 1000 mm/s
3
Start jerk #19.14 R/W ± 32000 500 mm/s
3
Run jerk #19.15 R/W ± 32000 1000 mm/s
3
Stop jerk #19.16 R/W ± 32000 500 mm/s
3
Jerk for start optimiser #19.17 R/W ± 32000 10 mm/s
Max. Distance error #19.18 R/W ± 32000 200 mm
Scaling Accel. FF #19.19 R/W ± 32000 1000 0,1%
P-Gain start locking #19.20 R/W + 32000 0 -
Scaling load measurement #19.21 R/W ± 32000 1000 0,1%
Offset load measurement #19.22 R/W ± 32000 0 0,3125mV
Filterconst. Load meas. #19.23 R/W ± 32000 100 ms
Max. speed error #19.24 R/W ± 32000 200 mm/s
Brake release delay #19.25 R/W <10000 1000 ms
Control Interface type #19.26 R/W ± 32000 0 0 / 1 = Term., 3 = DCP3, 4 = DCP4
Gear ratio denominator #19.27 R/W 1 - calculate #0.13[1] (18.03)
Time for start optimiser #19.28 R/W ± 32000 0 ms
Sheave Diameter #19.29 R/W ± 32000 480 mm calculate #0.13[1] (18.03)
Gear Ratio numerator #19.30 R/W ± 32000 31 - calculate #0.13[1] (18.03)
Operational RPM setting #19.31 R/W OFF/ON OFF OFF = Manual / ON = Auto #18.29
Brake contact 2 Monitoring #19.32 R/O OFF/ON - ON = close contactor
Contactor Release Monitoring #19.33 R/W OFF/ON OFF Trip 78 if error detected
Brake contact 1 Monitoring #19.34 R/W OFF/ON OFF Trip 83 if error detected
Thermistor error display #19.35 RO OFF/ON - ON = Thermistor error
Brake contact 2 Monitoring #19.36 R/W OFF/ON OFF Trip 83 if error detected
Load direction for evacuation #19.37 R/O OFF/ON - OFF = UP / ON = DOWN
Status evacuation #19.38 R/W OFF/ON OFF OFF = Inactive / ON = Active
Invert direction of evacuation #19.39 R/W OFF/ON OFF ON = Invert #19.37
Enable DCP Timeout Protection #19.40 R/W OFF/ON OFF ON = DCP Timeout protection
Reference Select Bit 7 #19.41 R/W OFF/ON OFF
Floor sensor correction enable #19.42 R/W OFF/ON OFF ON = enable
Motor phase lost detection #19.43 R/W OFF/ON OFF ON = enable
CW direction #19.44 R/W OFF/ON -
Cabin release function #19.45 R/W OFF/ON OFF 1= Release cabin at next start, cleared
automatically
Terminal Fast Start #19.46 R/W OFF/ON OFF 1= Fast Start active
DCP Remote Display F-Menu #19.47 ON = F-Menu / OFF = Modus #19.50
Speed Controller gain switching in #19.48 R/W OFF/ON OFF 0 ON = separate gains start, run and stop
sections
Reset Drive #19.49 R/W OFF/ON OFF 0 ON = Reset, geht nach 1s auf 0
Remote control menu access #19.50 R/W OFF/ON OFF 0 OFF = Menu 0 / ON = all Menus 0- 22
77/81 11.12.2011

Software Version #20.01 RO ± 32000
Software Ident No. #20.02 RO ± 32000
DCP Command byte #20.03 R/W - See Table 12.5.6
DCP Status word #20.04 R/W - See Table 12.5.6
DCP Status byte #20.05 RO 32000 - See Table 12.5.6
DCP Speed byte #20.06 RO ± 32000 - See Table 12.5.6
DCP V-Threshold 3 #20.07 RO ± 32000 500 mm/s
Time for Load measurement #20.08 R/W ± 32000 200 ms
Max. Overload #20.09 R/W ± 32000 % Mn
Roping #20.10 R/W 4 1 - calculate #0.13[1] (18.03)
Program status #20.11
Par. No. Creep speed #20.12 R/W ± 32000
Direct-to-Floor Sensor Source #20.13 RW 0...2 0 - 1: T.5 / 2: T.7 / 3: T.8 /
4: with speed selection
Floor sensor correction source #20.14 RW 0...4 0 - 1: T.5 / 2: T.7 / 3: T.8 /
4: Distance controlled creep speed
USV nominal active power #20.15 RW 32767 W Setpint for Energy saving mode during UPS
Emergency supply
Menu 0 Select #20.16 RW 0...4 0 - Switching Menu 0 (see 8.4)
Type last 1F-Telegram #20.17 RO 9 - - 0 = Initialisation, 1 = Def. Byte2/3
7 = Travel type, 9 = Act. Position
Overload Threshold #20.18 RW + 32000 120 % Hoist load in % of Mn
Value load measurement #20.19 RO + 32000 - % Hoist load in % of Mn
Motor contactor delay #20.20 RO ± 32000 - ms „- / +„ : contactor to early / late
Creep Distance #20.21 RO + 32000 - mm Measured any travel
V8 (Additional speed 2) #20.22 RW 10000 50 mm/s
Current controller P-Gain Start #20.25 R/W 30000 150 - Only if #19.48 = ON
Current controller I-Gain Start #20.26 R/W 30000 2000 - Only if #19.48 = ON
Speed controller P- Gain #20.27 R/W 30000 100 - Only if #19.48 = ON
positioning
Speed controller I- Gain #20.28 R/W 30000 100 - Only if #19.48 = ON
positioning
DCP Remote control lang. #20.29 RW 1 0 - 0 = German / 1 = English
I7 Brake Distance #20.30 RO + 32000 - cm calculated from profile settings
I7 Total Distance #20.31 RO + 32000 - cm calculated from profile settings
I7 Set Distance #20.32 RO + 32000 - cm From lift controller
I9 Distance Drive #20.33 RO 100000 - mm Last travel, by Lift-drive
I9 Distance Controller #20.34 RO 100000 - mm Last travel, by Lift-controller
<V1.31: Lift Operation Speed #20.35 RO 10000 - mm/s For fine tune of ratio
>V1.29: Sheave Diameter calc. mm
DCP4 Settling Time #20.36 RW 2000 500 ms delay of the brake apply after Stop
DCP4 Time delay comp. #20.37 RW 100 10 ms transmission time for actual Distance
DCP4 Actual Position #20.38 RO 100000 - mm #70-63 = 0 – relative to last stopp
#70-63 = 1 – absolute in the shaft
Diagnostic Travel Interrupt #20.39 RO 0-6
Contactor Apply Delay #20.40 RW 100 ms
78/81 11.12.2011
12.4 Menu 02 – Deceleration Distances

2
Acceleration #02.11 R/W 3200.00 0.500 m/s CL
50.0 cm/s2 OL
2
Normal Deceleration #02.21 R/W 3200.00 0.800 m/s CL
80.0 cm/s2 OL
Deceleration Distance von V2 auf 0 #02.13 RO 3200.00 cm
Decelerat. Distance von V10 auf 0 #02.25 RO 3200.00 cm
Movement at Standstill Autotune #02.29 RO 3200,00 Increm. 1 turn = 65536 Increm.
12.5 Menu 03 – DCP4 Position and Speed window

Parameter Menü 03 Type Range Default Unit
Position window #03.06 RW 1000.0 5.0 mm If both conditions are met, the travel
Speed window #03.07 RW 1000.0 5.0 mm/s will be terminated after 20.36!
12.6 Menu 04 – Current Loop Parameter

Global Current Limit #04.07 RW 175.0 %
Current Filter 2 Travel #04.12 RW 25.0 2.0
P-Gain Current Loop 2 Travel #04.13 RW 30000 150
I- Gain Current Loop 2 Travel #04.14 RW 30000 2000
Current Filter 1 Start #04.23 RW 25.0 2.0 Only if #18.48 = ON
DCP cabin load value #12.43 RO 150% - %

Time for Servo Standstill Tuning #12.47 RW 25,0 10,0 s
Activation bit for A3 Test EN81-1 #01.44 Bit 1 0 - = 1 for Test / = 0 after pwr on/ travel
Activation code for A3 Test EN81-1 #13.21 RW 3200.00 0 - = 3333 Test / = 0 after pwr on/ travel
12.7 Menu 21 – Parameter

2
Fast Stop Deceleration #21.05 RW 3200 2.0 m/s CL
200.0 cm/s2 OL
Current filter positioning #21.16 R/W 25,0 2,0 ms Only if #19.48 = ON
Current Loop P-Gain positioning #21.22 R/W 30000 150 - Only if #19.48 = ON
Current Loop I-Gain positioning #21.23 R/W 30000 2000 - Only if #19.48 = ON
Test Current Standsstill tuning #21.27 R/W 175,0 20 %
Current Limit Rescue charged #21.28 RW 175% 110 % DC link full charged
Current Limit Rescue discharged #21.29 RW 175% 80 % DC link discharged
79/81 11.12.2011
12.8 Menu 70 – Internal Parameters

DCP Command Byte #70.51 RO 255 - from the Lift controller
DCP Data bytes (Speed setpoint or #70.52 RO 65536 - from the Lift controller
remaining distance)
DCP Communication bytes #70.53 RO 65536 - from the Lift controller
DCP CRC checksum #70.54 RO 255 - from the Lift controller
DCP Status byte #70.55 RO 255 - from the drive (inverter)
DCP Data bytes (Extended Status #70.56 RO 65536 - from the drive (inverter)
or Stopping distance)
DCP Communication bytes #70.57 RO 65536 - from the drive (inverter)
DCP CRC checksum #70.58 RO 255 - from the drive (inverter)
Fast start – Monitoring #70.59 RW 10000 0 mm =0: Monitoring not aktiv
>0: If exceeding Trip 62
Remaining Distance from Control #70.60 RO 2 * 109 - mm
Remaining Distance in Inverter #70.61 RO 2 * 109 - mm
Braking Distance to Control #70.62 RO 2 * 109 - mm
Mode Position dispaly #20.38 #70.63 RW 1 0 - 0 – Position relative to last stopp
1 – Position absolute in the shaft
Monitoring Remaining distance #70.64 R/W 10000 0 ms >0 Monitoring time in ms
=0 no monitoring
#70.65 R/W Trip 74, 75 OFF if 70.65 = 1001001
Disable 0-contactor monitoring
Trip 74 OFF. If 70.65 = 74
Code last trip option module #70.66 RO Memory for 17.50
DPL line last trip option module #70.67 RO Memory for 17.48
Last IGBT Temperature change #70.70 RO 135 - °C Should not exceed 40°C ni
Travel counter #70.71 RO 2 * 109 - -
Medium IGBT temperature change #70.73 RO 135 - °C Should not exceed 40°C ni
Enable Longlife Control #70.74 R/W 0/1 0 - 1 = activation
DCP4 Interpolation Remaining #70.79 RW 0/1 0 - 0 – No interpolation between
Distance distance transfer every 15ms
1 – Interpolation between remaining
distance transfer every 4 ms
Threshold Freeze Protection #70.81 RO -15…0 0 °C
Enable 16 Bit DCP Distance #70.85 RO 0/1 0 - For remaining and deceleration
Format distance (only with Boehnke Contr.)
Shaft Efficiency #70.86 R/W 100 85 % For correct load measurement
#70.87 R/W 200 0 ms For correct peak curve operation with
Filter Time speed selection control
binary speed selection
Diagnostic ENP Function #71.58 RO -10…1 0 1 = OK, < 0 See Trip 54

Brake Load Compensation #71.62 RW 0/1 0 - 1 = Enable
Measured Load when stopping #71.63 RO 20000 - 0.01% % of nominal load
Enable End Jerk Acceleration #71.67 RW 1 0 - = 0: End Jerk Accel. = #19.15
= 1: End Jerk Accel. = #20.18
80/81 11.12.2011
12.9 F- Menu Parameter

F-Menu Drive- Menu Parameter description Setting
0 01.00 Parameter 00 for Code entry
1 11.31 Operation Mode Drive (OPEn LP, CL VECt oder Servo)
2 19.26 Interface (0 = Kl., 3 = DCP3, 4 = DCP4, 5 = CAN)
3 03.38 Encoder type
4 03.41 Encoder Auto configuration
5 03.34 Encoder Counts
6 03.36 Encoder Supply Voltage
05.06 -
7 Nominal Motor Frequency in Hz
Cl.Lp. Servo
8 05.07 Nominal Motor current in A
9 05.09 Nominal Motor voltage in V
10 05.11 Motor Pole count
11 00.45 CL = Nominal rpm / Servo = Thermal Timeconst.
12 00.43 CL = Motor cos phi / Servo = Phase angle in °
13 05.18 Switching frequency in Hz
14 04.07 Current limit in %
15 05.12 Autotuning
16 19.29 Sheave Diameter in mm
17 20.10 Roping
18 19.27 Gear denominator
19 19.30 Gear numerator
20 18.30 Operational speed in mm/s
21 19.31 Enable Calculation operational RPM
22 18.29 Actual operational RPM
23 01.06 Maximum Speed in rpm (CLV + SRV) / Hz (OL)
24 18.45 Direction invert
25 18.11 Creep Spped V1
26 18.12 Releveling Speed Vn
27 18.13 Intermediate Speed Vz
28 18.14 Inspection Vi
29 18.15 Low Speed V1.
30 18.16 Medium Speed V2
31 18.17 Fast Speed V3
32 19.28 Soft Start time in msec
2
33 02.11 Acceleration in mm/s
2
34 02.21 Deceleration in mm/s
3
35 19.14 S-Ramp Start Jerk in mm/s
3
36 19.15 S-Ramp Run Jerk in mm/s
3
37 19.16 S-Ramp Stop Jerk in mm/s
38 19.25 Brake release time in msec
39 18.24 Brake apply time in msec
40 04.23 Current demand filter 1 Start
41 04.12 Current demand filter 2 Run
42 04.13 P-Gain Current Loop
43 18.27 P- Gain Speed Loop 1 Start
44 18.28 I – Gain Speed Loop 1 Start
45 18.25 P- Gain Speed Loop 2 Run
46 18.26 I – Gain Speed Loop 2 Run
47 19.20 P-Gain Lock control Start
48 04.20 Actual active current in %
49 19.02 Actual Speed in mm/s
50 18.10 Parameter number selected speed
51 41.51 / 19.47 Change F-Menu <-> Drive Menu (LCD / Remote keypad.)
52*) 20.29 Remote keypad operation: Englisch / Deutsch
53*) 20.01 Software version
54*) 20.02 Software veriante
55*) 19.49 Remote keypad operation: Reset
*) Parameter 52 – 55 are only available with Remote Keypad Operation over the lift controller display.
81/81 11.12.2011

K10616 V01 35 00 English 111208 HK PDF

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

K10616 V01 35 00 English 111208 HK PDF

Uploaded by

Copyright:

Available Formats

SM-DCP Elevator Module K1061-6

Document part number : 0178-6521

DCP3 and DCP4

© Control Techniques GMBH

Module type SM-Application Plus

2 MECHANICAL INSTALLATION .............................................................................................................9

6.6 DIRECTION CONTROL (TERMINALS 27 AND 28) ..........................................................................................30

9.1 SMART CARD PARAMETER SETTING ..........................................................................................................61

Elevator software features Advantages

The SM-DCP module consists of an

Figure 2: Resolver connection Unidrive SP

3.2 TTL or Sincos Encoder

Pin TTL Sincos Sincos with Sincos with Sincos with

3.3 Encoder Simulation (Output)

Figure 3: SM Encoder Ouput Plus Unidrive SP

The control of the motor contactors follows:

4.4 Fast Disable Input of Unidrive SP from Firmware V1.10

4.5 Unidrive SP as Elevator drive without main contactors

4.5.1 Contactor less Safety Circuit without shorting contactors

4.5.2 Contactor less Safety Circuit with shorting contactors

4.5.3 Monitoring functions by the drive

4.6 Brake contacts monitoring

4.7 Selection of the control interface

#19.26 = 0 Terminal control with 1 Direction signal

#19.26 = 1 Terminal control with 2 Direction signals

#19.26 = -1 Terminal control with 1 Direction signal and “1 of n” speed selection

#19.26 = 2 Terminal control with 2 Direction signals and “1 of n” speed selection

The selection of the DCP interface is unchanged as follows:

#19.26 = 3 DCP3 Interface (Default)

#19.26 = 4 DCP4 Interface

Change of the control interface

Figure 5: DCP Overview

5.2 DCP Interface connections

Optional 0V Screen connected

Figure 6: DCP connection

2, 4 - Signal B 88 Klemmleiste Pin 7 Kl. 6 DCP Plug Pin 8, Pin 9 L5 (schwarz)

1 - 0V - Pin 5 Kl. 5 DCP Plug Pin 5

5.3 DCP Communication

Telegrammtyp 1. Byte 2. Byte 3. Byte 4. Byte 5. Byte 6. Byte

5.3.1 DCP command and status byte

5.3.2 DCP Speed Selection

5.3.3 Extended Status from inverter

5.3.4 Enable 16 Bit Distance Format

5.3.5 Enable Travel Distance Transmission for Slip Monitoring

extended communication I9 Response telegramm from the inverter

5.3.6 Diagnostic of the DCP Telegram content in real time

#70.51: from the Lift controller Command Byte

5.4 Extended DatData Exchange over the communication channel

5.4.1 I0 – Telegram : Initialising

5.4.2 I1 – Telegram: Data – Information type

5.4.3 I3 – Telegram : Date/ Time

5.4.4 I6 – Telegram : Rescue supply and Energy saving level

5.4.5 I7 – Telegram : Start parameter

5.4.6 I8 – Telegram : Cabin Load

5.4.7 I9 – Telegram : Position

5.5 DCP Travel Sequence

5.5.1 DCP3 Mode (lift controllers without absolute encoder)

motor contactor control

B0: Drive controller enable

B1: Travel command

B2: Stop switch

B3: Travel commands

B4: Direction of travel