Group 9 Parameter Descriptions

Group 9.1 - Comfort Optimisation - S-ramps/Jerk Adjustment

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P9-01	Acceleration Start Jerk	sec	1.0s	0.0 ... 5.0s	RW	Y	1 = 0.1s	2	2385h	901
P9-02	Acceleration End Jerk	sec	1.0s	0.0 ... 5.0s	RW	Y	1 = 0.1s	2	2386h	902
P9-03	Deceleration Start Jerk	sec	1.0s	0.0 ... 5.0s	RW	Y	1 = 0.1s	2	2387h	903
P9-04	Deceleration End Jerk	sec	1.0s	0.0 ... 5.0s	RW	Y	1 = 0.1s	2	2388h	904
P9-05	Levelling End Jerk	sec	1.0s	0.0 ... 5.0s	RW	Y	1 = 0.1s	2	2389h	905
P9-06	Stopping Ramp Time	sec	1.0s	0.0 ... 600.0s	RW	Y	1 = 0.01s	2	238Ah	906
P9-07	Stopping Jerk	sec	1.0s	0.0 ... 5.0s	RW	Y	1 = 0.1s	2	238Bh	907

P9-01 - Acceleration Start Jerk

Sets the acceleration jerk for the start of the acceleration ramp in P8-03.

P9-02 - Acceleration End Jerk

Sets the acceleration jerk for the end of the acceleration ramp in P8-03.

P9-03 - Deceleration Start Jerk

Sets the deceleration jerk for the start of the deceleration ramp in P8-04

P9-04 - Deceleration End Jerk

Sets the deceleration jerk for the end of the deceleration ramp in P8-04.

P9-05 - Levelling End Jerk

Sets the Jerk for the start of the Stopping Ramp set in P9-06 when decelerating from a speed to 0.

P9-06 - Stopping Ramp Time

Defines the time to decelerate from a speed reference to zero, when a stop command is given. Used in conjunction with the setting of P8-13 which defines the stop command.

P9-07 - Stopping Jerk

Sets the Jerk for the end of the Stopping Ramp set in P9-06 when decelerating from a speed to 0.

Group 9.2 - Comfort Optimisation - Smooth Start Function

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P9-08	Smooth Start Time	sec	0.0s	0.0 ... 5.0s	RW	Y	1 = 0.1s	1	238Ch	908
P9-09	Smooth Start Speed	Hz / rpm / Linear	0.00Hz	0.00 ... P8-01	RW	Y	1 = 0.01Hz	2	238Dh	909
P9-10	Smooth Start Ramp Time	sec	0.50s	0.00 ... 600.00s	RW	Y	1 = 0.01s	2	238Eh	910

P9-08 - Smooth Start Time

Sets the time that the Smooth Start Function is active for once the drive reaches the speed set in P9-09.

Must have a value > 0 for Smooth Start to be active.

P9-09 - Smooth Start Speed

Sets the target speed for the drive during the Smooth Start Function.

Must have a value > 0 for Smooth Start to be active.

P9-10 - Smooth Start Ramp Time

Sets the ramp time to reach the target speed set in P9-09.

Group 9.3 - Comfort Optimisation - DC Injection operation to solve rollback during starting

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P9-11	DC Injection Time At Start	sec	0.5s	0.0 ... 10.0s	RW	Y	1 = 0.1s	1	238Fh	0	911
P9-12	DC Injection Current At Start	%	50.0%	0.0 ... 200.0%	RW	Y	1 = 0.1%	2	2390h	0	912

P9-11 - DC Injection Time at Start

The drive injects DC current into the motor for the time set in this parameter at the start of the travel sequence while a 0 speed to hold the motor in place.

Function Disabled if value entered = 0.0.

Best value is the shortest time but with the least amount of rollback. Also note that while DC Injection is active the speed error detection is turned off.

P9-12 - DC Injection Current at Start

Sets the level of current injected into the drive for the time set in P9-11.

The parameters value is a percentage of the Motor Rated Current in P4-03.

Group 9.4 - Comfort Optimisation - DC Injection operation to solve rollback during stopping

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P9-13	Position Lock / DC Injection Time At Stop	sec	0.5s	0.0 ... 10.0s	RW	Y	1 = 0.1s	1	2391h	913
P9-14	DC Injection Current At Stop	%	50.0%	0.0 ... 200.0%	RW	Y	1 = 0.1%	2	2392h	914
P9-15	Position Lock / DC Injection Speed At Stop	Hz / rpm / Linear	0.0Hz	0.0 ... P8-01	RW	Y	1 = 0.01Hz	2	2393h	915

P9-13 - Position Lock / DC Injection Time At Stop

Sets the time Position Lock or DC Injection will be active for at stop.

Position Lock is used when controlling an IM or PM motor with an encoder.

DC Injection is used when controlling an IM Motor without and encoder.

P9-14 - DC Injection Current At Stop

Sets the level of current injected into the drive for the time set in P9-13.

Best value is the lowest value but with the least amount of rollback, the higher the value the more heat generated in the motor and nuisance over current trips.

Function Disabled if value entered = 0.0.

The parameters value is a percentage of the Motor Rated Current in P4-03.

P9-15 - Position Lock / DC Injection Speed At Stop

Sets the speed at which either Position Lock or DC Injection activates, depending on the motor and encoder configuration.

Best to aim for the lowest suitable value, as too high a value can cause the motor to stop to early resulting in the lift car stopping before reaching the floor.

Function is disabled if value entered = 0.0.

Position Lock is used when controlling an IM or PM motor with an encoder.

DC Injection is used when controlling an IM Motor without and encoder.

Group 9.5 - Comfort Optimisation - Position Lock to solve rollback during starting

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P9-16	Rollback Control P-gain at Start	%	50.0%	0.0 ... 400.0%	RW	Y	1 = 0.1%	2	2394h	0	916
P9-18	Rollback Control Activation Pulses	PPRx4	4PPRx4	0 ... 10PPRx4	RW	Y	N/A	1	2396h	0	918

P9-16 - Rollback Control P-Gain at Start

Sets the P-Gain during rollback control.

Rollback control is only active when the drive is at 0 speed.

P9-18 - Rollback Control Activation Pulses

This parameter determines the number of measured encoder feedback pulses before the Rollback Control gain parameters activate.

Group 9.6 - Comfort Optimisation - Holding Time during Stopping

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P9-22	Zero Speed Holding Time on Disable	sec	0.2s	0.0 ... 100.0s	RW	Y	1 = 0.1s	2	239Ah	0	922

P9-22 - Zero Speed Holding Time on Disable

Sets the zero speed holding time. This time is used once the drive reaches 0 speed during stop. After this time has ellapsed the Motor Apply Delay in P5-02 starts.

Group 9.7 - Comfort Optimisation - Speed Loop Gains

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P9-23	Speed Loop Proportional Gain at Start	%	50.0%	0.0 ... 400.0%	RW	Y	1 = 0.1%	2	239Bh	923
P9-24	Speed Loop Integral Gain at Start	ms	50ms	0 ... 1000ms	RW	Y	1 = 1ms	2	239Ch	924
P9-25	Speed Loop Gain Transition Speed During Acceleration	Hz / rpm / Linear	0.00Hz	0.0 ... P8-01	RW	Y	1 = 0.01Hz	2	239Dh	925
P9-26	Speed Loop Gain Transition Bandwidth During Acceleration	Hz / rpm / Linear	0.00Hz	0.0 ... P8-01	RW	Y	1 = 0.01Hz	2	239Eh	926
P9-27	Speed Loop Proportional Gain During Run	%	50.0%	0 ... 400.0%	RW	Y	1 = 0.1%	2	239Fh	927
P9-28	Speed Loop Integral Gain During Run	ms	50ms	0 ... 1000ms	RW	Y	1 = 1ms	2	23A0h	928
P9-29	Speed Loop Differential Gain During Run	%	0.0%	0.0 ... 400.0%	RW	Y	1 = 0.1%	2	23A1h	929
P9-30	Speed Loop Proportional Gain During Deceleration	%	50.0%	0 ... 400.0%	RW	Y	1 = 0.1%	2	23A2h	930
P9-31	Speed Loop Integral Gain During Deceleration	ms	50ms	0 ... 1000ms	RW	Y	1 = 1ms	2	23A3h	931
P9-32	Speed Loop Gain Transition Speed During Deceleration	Hz / rpm / Linear	0.00Hz	0.0 ... P8-01	RW	Y	1 = 0.01Hz	2	23A4h	932
P9-33	Speed Loop Gain Transition Bandwidth During Deceleration	Hz / rpm / Linear	0.00Hz	0.0 ... P8-01	RW	Y	1 = 0.01Hz	2	23A5h	933
P9-34	Speed Loop Proportional Gain at Zero Speed	%	50.0%	0 ... 400.0%	RW	Y	1 = 0.1%	2	23A6h	934
P9-35	Speed Loop Integral Gain at Zero Speed	ms	50ms	0 ... 1000ms	RW	Y	1 = 1ms	2	23A7h	935

Speed Loop Gains During Start

P9-23 - Speed Loop Proportional Gain During Start

Sets the proportional gain that is used until the speed in parameter P9-25 is reached.

Not active by default needs a value > 0 to be set in P9-25 to become active.

P9-24 - Speed Loop Integral Gain at Start

Sets the integral gain that is used until the speed in parameter P9-25 is reached.

Not active by default needs a value > 0 to be set in P9-25 to become active.

P9-25 - Speed Loop Gain Transition Speed During Acceleration

Sets the transition point to move from the gains at start (P9-23 & P9-24) being active to the run gains (P9-27 & P9-28) being active.

Used with P9-26 to set the transition band.

When a value > 0 is set in this parameter activates parameters P9-23 & P9-24.

P9-26 - Speed Loop Transition Bandwidth During Acceleration

Sets the speed bandwidth for parameter P9-25.

Speed Loop Gains During Run

P9-27 - Speed Loop Proportional Gain During Run

Sets the proportional gain during run.

This gain is active throughout the whole travel curve by default unless the transition speed parameters have a value > 0.

When both transition point speed parameters P9-25 & P9-33 have a value > 0, this gain is active while the drive is at a speed above P9-25 during acceleration & above P9-33 during deceleration.

P9-28 - Speed Loop Integral Gain During Run

Sets the integral gain during run.

This gain is active throughout the whole travel curve by default unless the transition speed parameters have a value > 0.

When both transition point speed parameters P9-25 & P9-33 have a value > 0, this gain is active while the drive is at a speed above P9-25 during acceleration & above P9-33 during deceleration.

P9-29 - Speed Loop Differential Gain During Run

Sets the differential gain during run.

This gain is active throughout the whole travel curve by default unless the transition speed parameters have a value > 0.

When both transition point speed parameters P9-25 & P9-33 have a value > 0, this gain is active while the drive is at a speed above P9-25 during acceleration & above P9-33 during deceleration.

This parameter does not normally need to be adjusted.

Speed Loop Gains During Deceleration

P9-30 - Speed Loop Proportional Gain During Deceleration

Sets the proportional gain during deceleration.

Not active by default needs a value > 0 to be set in P9-32 to become active.

P9-31 - Speed Loop Integral Gain During Deceleration

Sets the integral gain during deceleration.

Not active by default needs a value > 0 to be set in P9-32 to become active.

P9-32 - Speed Loop Transition Speed During Deceleration

Sets the transition point to move from the gains at run (P9-27 & P9-28) being active to the deceleration gains (P9-30 & P9-31) being active.

When a value > 0 is set in this parameter activates parameters P9-30 & P9-31.

P9-33 - Speed Loop Gain Transition Bandwidth During Deceleration

Sets the speed bandwidth for parameter P9-32.

Speed Loop Gains During Zero Speed

P9-34 - Speed Loop Proportional Gain at Zero Speed

Sets the proportional gain during zero speed while stopping.

This gain is always active for the time set in P9-22 regardless of the other gains statuses.

P9-35 - Speed Loop Integral Gain at Zero

Sets the integral gain during zero speed while stopping.

This gain is always active for the time set in P9-22 regardless of the other gains statuses.

Group 9.8 - Comfort Optimisation - Motor Pre-torque Adjustment

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P9-36	Motor Pre-Torque in Clockwise Direction	%	0.0%	-100.0 ... 100.0%	RW	Y	1 = 0.1%	2	23A8h	936
P9-37	Motor Pre-Torque in Counter-Clockwise Direction	%	0.0%	-100.0 ... 100.0%	RW	Y	1 = 0.1%	2	23A9h	937
P9-38	Speed Error Dead Band	%	2.0%	0.0 ... 100.0%	RW	Y	1 = 0.1%	2	23AAh	938
P9-39	Torque Feed forward Source	N/A	0: Disabled	0: Disabled 1: Torque Sensor 2: Pre-loaded value	RW	N	N/A	1	23ABh	939

P9-36 - Motor Pre-Torque in Clockwise Direction

Used to provide torque immediately as the drive starts. Used to stop rollback. Is active as the Torque Source if P9-39 is set to 0 and this parameter has a value > 0.

P9-37 - Motor Pre-Torque in Counter-Clockwise Direction

Used to provide torque immediately as the drive starts. Used to stop rollback. Is active as the Torque Source if P9-39 is set to 0 and this parameter has a value > 0.

P9-38 - Speed Error Dead Band

When the speed error value is below this parameter the speed gains are reduced.

P9-39 - Torque Feed forward Source

Selects the torque feed forward source from the three options.

Setting	Function
0	Disabled parameters P9-36 and P9-37 are used as the torque feed forward source. If both P9-36 and P9-37 are 0 then there is no torque feed forward source.
1	Torque Sensor Input via an analog input which has the Torque Sensor function assigned to it. This is available in Macro 7. The Torque Sensor function can be assigned to Analog Input 1 or Analog Input 2 using P1-03 or P1-09 respectively.
2	Pre-loaded value of torque based on 50% of torque which was required at the last stop.

Setting

Function

Disabled parameters P9-36 and P9-37 are used as the torque feed forward source.

If both P9-36 and P9-37 are 0 then there is no torque feed forward source.

Torque Sensor Input via an analog input which has the Torque Sensor function assigned to it.

This is available in Macro 7.

The Torque Sensor function can be assigned to Analog Input 1 or Analog Input 2 using P1-03 or P1-09 respectively.

Pre-loaded value of torque based on 50% of torque which was required at the last stop.

In this section:

Elevator Core Reference Guide