Gearless Closed Loop Commissioning

The Elevator Core drive can control Gearless Permanent Magnet Motors in Closed Loop (with Encoder Feedback).

Below are the steps for commissioning the drive for a Gearless Closed Loop application:

Step 1 - Wiring Connections

For this guide it is assumed that the electrical wiring follows the default wiring example from below.

Figure 3. Default Wiring Configuration

For full detail on electrical installation see the topic electrical installation.Electrical Installation - Whole System

Step 2 - Pre-Power Checks

Below are all the checks that must be preformed before applying any power to the drive.

	Action/Checks
Do Not Apply Electrical Power Yet!	Check that all safety circuits/safety chains are in the correct state, failure to do so could result in damage to the equipment and possible injury or death. Check that the intended voltage source matches that of the drive voltage rating. Check that any unexpected movement in the motor will not result in damage to equipment / safety risk to persons. Check that the elevator controller will not give a start signal to the drive when Electrical power is applied. Ideally the Lift car should be balanced (i.e. with brakes off the lift car should not naturally move) and with enough shaft headroom to prevent reaching end stops during initial test travels.
Check all necessary electrical connections	Check Electrical Supply cables are connected to the Input power terminals of the drive. Check Motor Cables are connected to the drive U, V, W terminals (If cables have identification markers connect correct phase sequence). Check Brake resistor is connected to the “+DC” and “BR” terminals of the drive and that the resistance is higher than the minimum allowable value (as shown in the Drive Data topic) and resistor is suitably protected from Thermal Overload. Check correct control connections are made between the Elevator Core control panel and the drive (For full detail on electrical installation see the topic electrical installation).Electrical Installation - Whole System
Check all necessary electrical connections to the Encoder Module	Check encoder module has been installed and the correct connections are made between the drive and the Encoder (as detailed in the topic Universal Encoder Module Installation). The encoder module expects that the Encoder A channel leads the B channel when the motor is running clockwise (looking in the direction of the motor shaft), if this is not the case then parameter P6-02 (Encoder feedback direction) can be set to a 1 to change the sequence internally in the drive.

Step 3 - Apply Power

	Action/Checks
Apply Electrical Power to the drive	Apply rated voltage to the drive. Check that the drive displays Stop or Inhibit Check that the Encoder module (Optional) left hand LED light is illuminated Red
Check Encoder Module	If Stop or Inhibit is not shown refer to the Troubleshooting topic. If there is no green light shown on the encoder module: Check encoder module is pushed fully home. Check the encoder wiring is correct.

Step 4 - Motor Nameplate Data Entry

Step 4 is entering the values from the motor nameplate into the parameters in Group 4.

Warning

This step is mandatory and each parameter needs to have the correct value. If these parameters are not entered or incorrect then the motor could be damaged.

Action	Parameter Change	Additional Information
Select Geared (Induction) motor control	Set P4-01 to 3	This setting supports both IPM and SPM motors
Enter Motor Rated Current (P4-03)	Enter value into P4-03	Enter Current value as shown on the motor nameplate (Amps).
Enter Motor Rated Frequency (P4-04)	Enter value into P4-04	Enter Frequency value as shown on the motor nameplate (Hz).
Enter Number of Motor Poles (P4-05)	Enter value into P4-05	Enter motor pole value as shown on the motor nameplate, if unknown set P4-05 to 0 where the drive will automatically calculate the value providing P4-04 (Motor Rated Frequency) and P4-06 (Motor Rated Speed) have been entered correctly.
Enter Motor Rated Speed (P4-06)	Enter value into P4-06	Enter motor rated speed value as shown on the motor nameplate (rpm). The drive display will now show motor speed in estimated rpm. All speed related parameters, such as Minimum and Maximum Speed, run Speeds etc. will also be displayed in rpm. This parameter must be entered in setting P4-05 to 0. If you want the drive to display the speed in Hz leave this parameter at 0.
Enter the Maximum speed (P8-01)	Enter value into P8-01	This is the maximum allowable speed.

Step 5 - Encoder setup

During this step we will set up the encoder. This step assumes that the Universal Encoder Module is connected to the drive and correctly wired up. For full details on the mechanical or electrical installation of the Universal Encoder Module refer to the topic - Universal Encoder Module Installation.

For details on the encoder connections see the section Universal Encoder Module - Encoder Connections in this topic.

Action/Check	Parameter Change	Additional Information
Enter Encoder Resolution	Enter Encoder Pulses Per Revolution	Refer to the Encoder datasheet or Encoder nameplate
Select Encoder Type	Select the Encoder type in parameter P6-04	P6-04 Setting	Encoder Type	Encoders
		0 (Default)	No Encoder Type Selected	N/A
		3	SinCos (Heidenhain) (With C/D Lines)	ERN 1387
		4	EnDat 2.1 (With Incremental Signals)	ECN 1313 ECN 113 ECN 413 ECN 1325 ECN 125 ECN 425
		11	EnDat 2.2 (Without Incremental Signals)	Encoders with no A & B channels
		12	SinCos (Generic) (With C/D Lines)	Non-Heidenhain models
Enable Encoder	Set P6-05 to 1	Setting P6-05 to 1 enables encoder feedback so the drive can be run in closed loop.

Note

Regardless of the encoder type selected the encoder shield must always be connected to the Universal Encoder Module. Failure to do so could result in dropped messages between the encoder and drive causing instability in the motor.

For details on the connection quality between the encoder and the Universal Encoder Module refer to the parameter P6-14 Encoder comms quality.

Universal Encoder Module - Encoder Connections

Below is the connection table for the Universal Encoder Module.

Encoder Type	0V	5V/8V	A+/Sin+	A-/Sin-	B+/Cos+	B-/Cos-	C+/CLK+	C-/CLOCK	D+/DATA+	D-/DATA	Shield
SinCos (ERN1387)	0V	5V	A+	A-	B+	B-	C+	C-	D+	D-	Cable Shield
EnDat with Incremental Signals	0V	5V	A+	A-	B+	B-	CLOCK	/CLOCK	DATA	/DATA
EnDat without Incremental Signals	0V	5V					CLOCK	/CLOCK	DATA	/DATA

Step 6 - Motor Auto-tune

A Motor Auto-tune must be carried out in order to measure the motor electrical characteristics, brakes will be applied by the drive (unless controlled by other means) during this test.

Action/Check

Additional Information

System Check

If the motor contactor(s) are controlled by the elevator controller then they should be activated to close so that the motor is electrically connected to the drive, otherwise the “Auto-tune” cannot be carried out.
If the motor contactor(s) are controlled by the drive (connected to relay 1) the motor contactor will automatically be energised when the “Auto-tune” is enabled.

Note

For the motor contactor to close the safety chain will need to be closed. Unless using Macro 9 or Macro 11.

Safety Chain Check

Check Safe Torque off input connections have been made.

Geared_Comissioning_-_Geared_Closed_Loop_-_Safety_Chain.svg

To start the Auto-tune the Safety Chain inputs must be closed (STO1 & STO2).

You are able to pre-load the Auto-tune in P4-08 while the drive shows inhibit (Safety Chain open), so as soon as the Safety Chain close.

Note

The STO input status can be viewed in parameter P0-03 (0 = Open 1 = Closed).

Enable Auto-tune

Electrical & Encoder Offset measurements

Set P4-08 to a 3 and press the NAVIGATE button.

Elevator_Core_Size_2_navigate_button.eps

Auto-tune Sequence

The motor contactors will close (if controlled by the drive through Relay 1 with P1-30 set to 11.
The Motor brake will remain applied if connected to Relay 2.
The display will show Auto-t. This display indicates that the Auto-tune is in progress.
Once the Auto-tune is completed P4-08 will return to 0 and the display will show Stop (P4-24 through to P4-28 & P6-09 will be populated) and the Motor contactors (Relay 1) will open.

Note

If the drive trips on AtF-06 it means that the motor has surface mount magnets, in this case set P4-08 to a 4 for the drive to perform an alternative Encoder offset measurement.

Note

The Motor Auto-tune will need to be repeated if the motor, motor cables, motor parameters or drive control mode is changed in P4-01.

Encoder offset value (P6-09) will be wrong if the motor poles (P4-05) has been set incorrectly or if phase orientation is incorrect P11-09 (Output Phase sequence)

Step 7 - First run of the Elevator

This step details the procedure to run the elevator car for the first time.

Action/Check

Guidance

Check for Suitable travel headroom

Ideally the Lift car should be balanced (i.e. with brakes off, the lift car should not naturally move) and with enough shaft headroom to prevent reaching end stops during initial test travels.

Run the elevator at reduced speed

Steps to run the elevator at a reduced speed

Close STO1 & STO2 inputs and the drive should show Stop.
Provide a reduced speed reference to the drive. This value is normally around 10% of the maximum running speed of the elevator.
This can be done with either of the 2 methods listed below:
- Inspection speed terminal can be used. If P1-02 is at default value (P1-02=1) then inspection speed is defined in parameter P8-08, in this case inspection speed is selected when DI6 is high.
- Alternatively, the maximum speed parameter (P8-01) can be used to limit the maximum speed reference.
Provide a run-direction command to the drive.

Note

If the drive trips refer to the Troubleshooting topic.

If no problems are encountered then the lift can now be run normally

To optimise the travel comfort see the topics in Comfort Optimisation Topics ListComfort Optimisation Topics List

In this section:

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