ACS 600 Supplement to Firmware Manual

Standard Application Program 6.x

Master/Follower
Application Guide
 Master/Follower
Application Guide

Supplement to Firmware Manual

Standard Application Program 6.x

3AFY 58962180 R0225

EFFECTIVE: 1.1.2001

ã 2001 ABB Industry Oy. All Rights Reserved.

 Table of Contents

Chapter 1 – Overview
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Checklist for a Quick Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Chapter 2 – M/F Link Wiring and Specification

Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Master/Follower Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Follower Supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Follower Fault Information Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Master/Follower Link Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

Chapter 3 – M/F Communication and Parameter Set-up

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Follower Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
The Follower Control Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Reference 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Reference 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
Parameter Settings – Master Station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
60.01 MASTER LINK MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
60.02 TORQUE SELECTOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
60.03 WINDOW SEL ON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
60.04 WINDOW WIDTH POS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
60.05 WINDOW WIDTH NEG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
60.06 DROOP RATE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
60.07 MASTER SIGNAL 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
60.08 MASTER SIGNAL 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
Parameter Settings – Follower Station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
10.01 EXT1 STRT/STP/DIR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
10.02 EXT2 STRT/STP/DIR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
11.02 EXT1/EXT2 SELECT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
11.03 EXT REF1 SELECT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
11.06 EXT REF2 SELECT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
16.01 RUN ENABLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
16.04 FAULT RESET SEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
30.18 COMM FAULT FUNC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
30.19 MAIN REF DS T-OUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
60.01 MASTER LINK MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
60.02 TORQUE SELECTOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
60.03 WINDOW SEL ON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
60.04 WINDOW WIDTH POS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
60.05 WINDOW WIDTH NEG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
60.06 DROOP RATE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15

ACS 600 Master/Follower Application Guide iii

 Fieldbus Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
Pulse Encoder Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17

Appendix A – Follower Control Signal Connections

Follower Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Follower Station, Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Follower Station, Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3

Appendix B – Examples

iv ACS 600 Master/Follower Application Guide

 Chapter 1 – Overview

General The Master/Follower function is designed for applications in which the

system is run by several ACS 600 drives and the motor shafts are
coupled to each other via gearing, chain, belt etc. Thanks to the
Master/Follower function, the load can be evenly distributed between
the drives.
The external control signals are connected to the Master ACS 600 only.
The Master controls the Follower(s) via a fibre optic serial
communication link.
The Master station is typically speed-controlled and the other drives
follow its torque or speed reference. In general,
• Torque control of the Follower should be used when the motor
shafts of the Master and Follower drives are coupled solidly to each
other by gearing, a chain etc., so that no speed difference between
the drives is possible (see Figure 1-1)
• Speed control of the Follower should be used when the motor shafts
of the Master and the Follower drives are coupled flexibly to each
other, so that a slight speed difference between the drives is
possible (see Figure 1-1). When both the Master and Followers are
speed-controlled, drooping is also typically used (Parameter 60.06
DROOP RATE).
In some applications, both speed control and torque control of the
Followers are required. In those cases an “on-the-fly” change between
speed and torque control can be performed via a digital input of the
Follower (see Chapter 3 – M/F Communication and Parameter Set-up).

• Speed-Controlled Master • Speed-Controlled Master

• Follower Follows the Torque Reference • Follower Follows the Speed Reference
of the Master of the Master
ACS 600 ACS 600

External Con- External Con-

trol Signals trol Signals
n 3 n 3
Mains Mains
Supply 3 3
Supply

Follower Fault 2 2 Master/Fol- Follower Fault 2 2 Master/Fol-

Supervision lower Link Supervision lower Link
ACS 600 ACS 600

3 3
Mains
Supply Mains
3 3
Supply

Figure 1-1 Master/Follower applications, schematic representation.

ACS 600 Master/Follower Application Guide 1-1

Chapter 1 – Overview

Checklist for a The installation and start-up procedure of the drive is explained in its
Quick Start-up manuals. A checklist for the Master/Follower function is given below.
1 Switch off the power supplies of the ACS 600 units. Wait for five
minutes to ensure that the intermediate circuits are discharged.
2 Install NDCO communication boards onto the NAMC boards of all
drives to be used in Master/Follower communication (if not already
installed). Follow the instructions included in the NDCO package.
3 Build the Master/Follower Link. See Chapter 2 – M/F Link Wiring and
Specification.
4 Connect the external control signals to the Master. Wire the Run
enable signal of the Master via the fault indicating relay output of the
Followers. See Chapter 2 – M/F Link Wiring and Specification.
5 Switch ON the power to the drives.
6 On the Master drive, change Parameter 60.01 MASTER LINK MODE
to MASTER.
7 On the Follower drive(s), adjust the parameters according to your
application. (The parameters are listed in Chapter 3 – M/F
Communication and Parameter Set-up.) Switch all drives to external
control with the LOC

REM key on the Control Panel (there should be no “L” on

the first row of the display).
8 Perform a test run with the motors still de-coupled from the driven
machinery. Feed the control signals both through the Master analogue/
digital inputs and from the Master Control Panel. Check the correct
operation of the Master and Follower drives visually (by observing the
motor & Control Panel display):
• Start, Stop, Direction and Run enable signals given to the Master
are received by all drives.
• The Master follows the speed reference.
• The Follower follows Master speed reference or torque reference. In
torque control, Window control restricts the excessive speed rise of
the motor. Thus the actual speed of an unloaded Follower is higher
than that of the Master, but will not reach the maximum speed limit.
9 Disconnect the Control Panels from the Follower drives to avoid
accidental use. See CAUTION! below.
10 Switch the power to the drives OFF.
11 Couple the motor shafts to the driven machinery and switch on the
power supplies.

CAUTION! To avoid conflicting control, drives coupled to the same

machinery should receive the external control signals only via the
Master. General rules:
– Connect all external control signals to the Master drive only.
– Never control the Follower(s) with the Control Panel or through a
fieldbus system.

1-2 ACS 600 Master/Follower Application Guide

 Chapter 2 – M/F Link Wiring and Specification

Installation

WARNING! Before installation, switch off the ACS 600 power supply.
Wait for five minutes to ensure that the intermediate circuit is
discharged. Switch off all dangerous voltages connected from external
control circuits to the relay output terminals of the ACS 600.

WARNING! Do not touch the printed circuits. They are extremely

sensitive to electrostatic discharge.

Master/Follower Link

Master Follower Follower

ACS 60x ACS 60x ACS 60x

NAMC-XX NAMC-XX NAMC-XX

CH2 NDCO-0X CH2 NDCO-0X CH2 NDCO-0X

V17

V17

V17
V18

V18

V18
T R T R T R

Figure 2-1 Connections. T = Transmitter; R = Receiver; NAMC = Application and Motor Control Board.
(Please note that channels CH0/CH2/CH3 are located on the optional NDCO-0x board.)

The ring configuration can be used in most applications. A parallel

connection can also be implemented by using a branching unit. (For
more information, contact your local ABB representative.)
Handle the fibre optic cables with care. Do not touch the ends with bare
hands, as fibre optic cables are extremely sensitive to dirt.

Note: For best results, all NDCO boards on the link should be of the
same type.

Note: On Master or Follower drives, the NTAC-02 Pulse Encoder

Interface Module (if present) must be connected to channel CH1
instead of CH2. See Chapter 3, section Pulse Encoder Connection.

ACS 600 Master/Follower Application Guide 2-1

Chapter 2 – M/F Link Wiring and Specification

Follower Supervision There are two analogue outputs and three relay outputs in the ACS 600
for the external supervision purposes. By default, analogue output AO1
gives the motor speed and AO2 the motor current as 0 to 20 mA
current signal. The relay outputs give the indications Ready (RO1),
Running (RO2) and No fault (RO3).
It is possible to supervise the M/F Link with Parameters 30.18 COMM
FAULT FUNC and 30.19 MAIN REF DS T-OUT. Parameter 30.18
defines the action (NO/FAULT/WARNING) when an error is detected on
the M/F Link. Parameter 30.19 sets the time between the detection and
the action defined by Parameter 30.18. For more information, see the
Firmware Manual, Appendix C.

CAUTION! The Follower does not send any feedback data to the
Master via the serial Master/Follower Link. Therefore it is highly
recommended to separately wire the fault information of the Follower to
the Master.

Follower Fault The connection will stop both the Master drive and the Follower drives
Information Wiring upon a Follower fault.

ACS 601, ACS 604, ACS 607 without Terminal Block X2

Master Follower Follower

ACS 60x ACS 60x ACS 60x

NIOC-xx Board

NIOC-xx Board

NIOC-xx Board
DI6: RUN ENABLE

Relay Output 3

Relay Output 3
FAULT(-1)

FAULT(-1)
+24 V d.c.

X22 1 2 3 4 5 6 7 8 9 X27 1 2 3 X22 1 2 3 4 5 6 7 8 9 X27 1 2 3 X22 1 2 3 4 5 6 7 8 9 X27 1 2 3

ACS 607 with Terminal Block X2 (Optional)

Master Follower Follower

ACS 60x ACS 60x ACS 60x

DI6: RUN ENABLE

Relay Output 3

Relay Output 3
FAULT(-1)
+24 V d.c.

FAULT(-1)

X2 18 19 20 30 31 32 X2 18 19 20 30 31 32 X2 18 19 20 30 31 32

Figure 2-2 Follower fault information wiring.

2-2 ACS 600 Master/Follower Application Guide

 Chapter 2 – M/F Link Wiring and Specification

Master/Follower Link Size of the Link: One Master and max. 10 Follower stations. If more
Specification than 10 followers are required, an ABB representative should be
consulted.
Transmission medium: Fibre Optic Cable.
• Construction: Plastic core, diameter 1 mm, sheathed with
plastic jacket
• Attenuation: 0.23 dB/m
• Maximum Length between Stations: 10 m
• Other:

Parameter Minimum Maximum Unit

Storage Temperature -55 +85 °C

Installation Temperature -20 +70 °C

Short Term Tensile Force 50 N

Short Term Bend Radius 25 mm

Long Term Bend Radius 35 mm

Long Term Tensile Load 1 N

Flexing 1000 cycles

Various lengths of fibre optic cables are available as optional add-on

kits for the ACS 600.
Connectors: Blue – receiver (HP 9534, T-1521); grey – transmitter
(HP 9534, R-2521)
Serial Communication Type: Synchronous, full Duplex
Transmission Rate: 4 Mbit/s
Transmission Interval: 4 ms
Maximum Transmission Delay: 16 ms
Protocol: ABB Distributed Drives Communication System (DDCS)

ACS 600 Master/Follower Application Guide 2-3

Chapter 2 – M/F Link Wiring and Specification

2-4 ACS 600 Master/Follower Application Guide

 Chapter 3 – M/F Communication and Parameter Set-up

Overview This chapter describes the communication between the Master station
and the Follower stations, and presents the Master/Follower
communication set-up parameters.
For other parameters, see the Firmware Manual delivered with the
drive.

WARNING! The Follower must always be controlled by the Master

while the motors are running and coupled to each other. Do not
change the control location of the Follower to Local, i.e. do not
LOC
press the key on the Control Panel!
REM

ACS 600 Master/Follower Application Guide 3-1

Chapter 3 – M/F Communication and Parameter Set-up

Follower Control The Master broadcasts a Follower Control Word and two references
(Reference 1 and Reference 2) to all Follower stations.

The Follower The Follower Control Word (Actual signal 3.11 FOLLOWER MCW) is a
Control Word packed 16-bit word. The commands in the Control Word are effective
when the Follower Parameter 10.01 EXT1 STRT/STP/DIR or
10.02 EXT2/STRT/STP/DIR (whichever control location is selected) is
set to COMM. MODULE.

Table 3-1 The Follower Control Word (Actual Signal 3.11 FOLLOWER
MCW).

Bit Name Description

0 OFF1

1 OFF2 Not in use

2 OFF3

3 RUN 0 = Stop (Master not running)

1 = Run (Master running)

4 RAMP_OUT_ZERO

5 RAMP_HOLD Not in use

6 RAMP_IN_ZERO

7 RESET 0 -> 1 Fault Reset (if an active fault exists)

8 INCHING_1 Not in use

9 INCHING_2 Not in use

10 REMOTE_CMD Fieldbus control enabled

11 EXT_CTRL_LOC Not in use

12-15 Reserved

Reference 1 Reference 1 is a 16-bit word containing a sign bit and a 15-bit integer.
It is formed from the speed reference of the Master using the values of
Parameters 20.01 MINIMUM SPEED or 20.02 MAXIMUM SPEED:
whichever has the greater absolute value determines both the positive
and negative limits that correspond to Reference levels +20000 and
–20000. See the examples in Figure 3-1 below.
In the Follower, Reference 1 is decoded as follows: 20000
corresponds to the value of Follower Parameter 11.05 EXT REF1
MAXIMUM.

3-2 ACS 600 Master/Follower Application Guide

 Chapter 3 – M/F Communication and Parameter Set-up

Example 1:
20.01 MINIMUM SPEED = 0 rpm
20.02 MAXIMUM SPEED = 1000 rpm

Master Reference Reference 1 Follower Reference

20.02 MAXIMUM SPEED 20000 11.05 EXT REF1 MAXIMUM

(1000 rpm) rpm

20.01 MINIMUM SPEED 0 0 rpm

(0 rpm)

Example 2:
20.01 MINIMUM SPEED = –1500 rpm
20.02 MAXIMUM SPEED = 3000 rpm

Master Reference Reference 1 Follower Reference

20.02 MAXIMUM SPEED 11.05 EXT REF1 MAXIMUM

20000
(3000 rpm) rpm

1500 rpm 10000

0 rpm 0 0 rpm

20.01 MINIMUM SPEED

-10000
(-1500 rpm)

-20000 –(11.05 EXT REF1 MAXIMUM)

rpm

Example 3:
20.01 MINIMUM SPEED = –5000 rpm
20.02 MAXIMUM SPEED = 2500 rpm

Master Reference Reference 1 Follower Reference

20000 11.05 EXT REF1 MAXIMUM

rpm

20.02 MAXIMUM SPEED

10000
(2500 rpm)

0 rpm 0 0 rpm

-2500 rpm -10000

20.01 MINIMUM SPEED

-20000 –(11.05 EXT REF1 MAXIMUM)
(-5000 rpm)
rpm

Figure 3-1 Relation between the speed references of the Master and
the Follower.

ACS 600 Master/Follower Application Guide 3-3

Chapter 3 – M/F Communication and Parameter Set-up

Reference 2 Reference 2 is a 16-bit word containing a sign bit and a 15-bit integer.
It is formed from the relative torque reference of the Master: the motor
nominal torque (calculated by the ACS 600) of the Master corresponds
to the Reference value of 10000. In the Follower Reference 2 is
decoded as follows: 10000 corresponds to the maximum reference
setting of the Follower (Parameter 11.08 EXT REF2 MAXIMUM, given
as a percentage of Follower motor nominal torque).

Master Reference Reference 2 Follower Reference

300% of Master
30000 300% of 11.08 EXT REF MAXIMUM
motor nominal torque

100% of Master 10000 11.08 EXT REF MAXIMUM

motor nominal torque

0% of Master 0 0% of Follower
motor nominal torque motor nominal torque

Figure 3-2 Relation between the torque references of the Master and
the Follower.

3-4 ACS 600 Master/Follower Application Guide

 Chapter 3 – M/F Communication and Parameter Set-up

Parameter Settings – The Master station can be set up and controlled quite like an
Master Station independent ACS 600 drive. (Follow the instructions in the Firmware
Manual.) In addition, the table below lists the parameters that need to
be adjusted for a Master/Follower application. The parameters are
detailed further in the text.

Typical Setting
Parameter
for Master

60.01 MASTER LINK MODE MASTER

60.02 TORQUE SELECTOR TORQUE

60.03 WINDOW SEL ON NO

60.04 WINDOW WIDTH POS 0.0 rpm

60.05 WINDOW WIDTH NEG 0.0 rpm

60.06 DROOP RATE see text

60.07 MASTER SIGNAL 2 202

60.08 MASTER SIGNAL 3 213

60.01 MASTER LINK This parameter determines the role of the drive on the Master/Follower
MODE link. On the Master station, set this parameter to MASTER. The drive
will now start transmitting the Follower Control Word and the two
selected References (see Parameters 60.07 MASTER SIGNAL 2 and
60.08 MASTER SIGNAL 3) through fibre optic channel CH2.
60.02 TORQUE The default value of this parameter is TORQUE. Typically, the value
SELECTOR needs to be changed for Follower stations only. For more information,
see section Parameter Settings – Follower Station below.
60.03 WINDOW SEL ON This parameter selects Window control. Typically, Window control is
used in Follower stations only.
The default value of this parameter is NO (i.e. Window control is OFF).
For more information, see section Parameter Settings – Follower
Station below.
60.04 WINDOW See section Parameter Settings – Follower Station below.
WIDTH POS
60.05 WINDOW See section Parameter Settings – Follower Station below.
WIDTH NEG

ACS 600 Master/Follower Application Guide 3-5

Chapter 3 – M/F Communication and Parameter Set-up

60.06 DROOP RATE Drooping prevents conflict between the Master and Follower stations
by allowing a slight speed difference between them. The default value
is 0%.
The droop rate needs to be adjusted only if both the Master and the
Follower are speed-controlled, i.e.
• External control location 1 (EXT1) is selected (see Parameter 11.02
EXT1/EXT2 SELECT), or
• External control location 2 (EXT2) is selected (see Parameter 11.02
EXT1/EXT2 SELECT) and Parameter 60.02 TORQUE SELECTOR
is set to SPEED.
The correct droop rate for a process must be found out case by case in
practice. The droop rate must be set for both the Master and the
Follower.
The droop rate is set as a percentage of the nominal speed of the
motor. The actual speed decrease at a certain operating point depends
on the droop rate setting and the drive load (i.e. torque reference /
speed controller output). Drooping decreases the drive speed slightly
as the load increases. When the speed controller output is 100%,
drooping is at the level specified by Parameter 60.06 DROOP RATE.
The drooping effect decreases linearly to zero along with the
decreasing load.

Speed Decrease =
Speed Controller Output × Drooping × Max. Speed
Motor Calculation Example:
Speed DROOP RATE is 1%, Speed Controller output is
% of 50%, maximum speed of the drive is 1500 rpm.
nominal Speed decrease = 0.01 × 0.50 × 1500 rpm = 7.5 rpm

No Drooping
100% } Par. 60.06 DROOP RATE
Drooping

Speed Controller Drive load

100% Output /%

60.07 MASTER Selects the signal that is sent by the Master to the Followers as
SIGNAL 2 Reference 1 (speed reference).
The format is as follows: (x)xyy, where (x)x denotes Parameter Group
and yy denotes Index. For example, the default value of 202
corresponds to Group 2, Index 02, i.e. 2.02 SPEED REF 3.

3-6 ACS 600 Master/Follower Application Guide

 Chapter 3 – M/F Communication and Parameter Set-up

60.08 MASTER Selects the signal that is sent by the Master to the Followers as
SIGNAL 3 Reference 2 (torque reference).
The format is as follows: (x)xyy, where (x)x denotes Parameter Group
and yy denotes Index. For example, the default value of 213
corresponds to Group 2, Index 13, i.e. 2.13 TORQ REF USED.

TORQ REF 1

WINDOW CONTROL SPEED CONTROLLER 60.02 TORQUE

SELECTOR
0
SPEED

EXT2 TORQUE 1 0
SPEED REF 3 + + TORQ REF 2 2 TORQ REF 3
TORQUE
2.02 2.09 MIN 3 2.10 REFERENCE
– – PID EXT1 4 CHAIN
MAX
5

ADD

ACTUAL SPEED

SPEED REF = Speed Reference DROOP

RATE
TORQ REF 1 = Torque Reference
TORQ REF 2 = Speed Controller Output EXT1 = External control location 1
TORQ REF 3 = Internal Torque Reference EXT2 = External control location 2
See Parameter 11.02 EXT1/EXT2 SELECT

Figure 4-3 Window control, Torque selector and Droop rate settings. For information on tuning the
speed controller, see the Firmware Manual, Parameter Group 23 Speed Control.

ACS 600 Master/Follower Application Guide 3-7

Chapter 3 – M/F Communication and Parameter Set-up

Parameter Settings – The table below lists the parameters that need to be adjusted for a
Follower Station Master/Follower application. The parameters are detailed further in the
text.
For other parameter settings, see the Firmware Manual.

Typical Setting Typical Setting

Parameter for Speed-controlled for Torque-controlled
Follower Follower

10.01 EXT1 STRT/STP/DIR COMM. MODULE COMM. MODULE

10.02 EXT2 STRT/STP/DIR COMM. MODULE COMM. MODULE

11.02 EXT1/EXT2 SELECT REQUEST REQUEST

11.03 EXT REF1 SELECT COMM. REF COMM. REF

11.06 EXT REF2 SELECT COMM. REF COMM. REF

16.01 RUN ENABLE COMM. MODULE COMM. MODULE

16.04 FAULT RESET SEL COMM. MODULE COMM. MODULE

30.18 COMM FAULT FUNC FAULT FAULT

30.19 MAIN REF DS T-OUT 1.00 s 1.00 s

60.01 MASTER LINK MODE FOLLOWER FOLLOWER

60.02 TORQUE SELECTOR SPEED ADD

60.03 WINDOW SEL ON NO YES

60.04 WINDOW WIDTH POS 0.0 rpm 30.0 rpm

60.05 WINDOW WIDTH NEG 0.0 rpm 30.0 rpm

60.06 DROOP RATE see text see text

10.01 EXT1 This parameter defines the source of the Start, Stop and Direction
STRT/STP/DIR commands for the Follower when it has EXT1 selected as the active
control location.
The direction of rotation is determined as in fieldbus control; see the
Firmware Manual, Appendix C.
COMM. MODULE
This is the typical setting for a Follower. The Follower Control Word,
received from the Master station through channel CH2 on the NAMC
(Application and Motor Control) board, is the signal source of the Start
and Stop commands when EXT1 is the active control location for the
Follower.
For information on the selection between speed and torque control, see
description of Parameter 11.02 EXT1/EXT2 SELECT.
(ALL OTHER SELECTIONS)
See the Firmware Manual.

3-8 ACS 600 Master/Follower Application Guide

 Chapter 3 – M/F Communication and Parameter Set-up

10.02 EXT2 Defines the source of Start, Stop and Direction commands for External
STRT/STP/DIR control location 2 (EXT2). See Parameter 10.01 EXT1 STRT/STP/DIR
above for the alternative settings.
11.02 EXT1/EXT2 This parameter sets the input used for selecting the External control
SELECT location, or fixes it to EXT1 or EXT2. The parameter determines the
active External control location for both the Start/Stop/Direction
commands and the reference.
EXT1; EXT2; DI1 ... DI6; COMM. MODULE
See the Firmware Manual.

Note: The Follower Control Word sent by the Master does not contain
control location selection information. Thus, do not set this parameter
to COMM. MODULE on a Follower station.

The selection between EXT1 and EXT2 is illustrated in the control

connection diagrams (see Appendix A – Follower Control Signal
Connections):
When EXT1 is selected,
• the control commands are read from the source defined with
Parameter 10.01 STRT/STP/DIR
• the external speed reference is read from the source defined with
Parameter 11.03 EXT REF1 SELECT
• the ACS 600 is speed-controlled; Window control is not possible.
When EXT2 is selected,
• the control commands are read from the source defined with
Parameter 10.02 STRT/STP/DIR
• the external speed reference is read from the source defined with
Parameter 11.03 EXT REF1 SELECT (Note that the critical speeds
(Parameter Group 25) are ignored in the speed control chain.)
• the external torque reference is read from the source defined with
Parameter 11.06 EXT REF2 SELECT
• the ACS 600 is speed-controlled or torque-controlled depending on
the value of Parameter 60.02 TORQUE SELECTOR which selects
the internal torque reference. The parameter fixes it to the speed
controller output (SPEED) or direct torque reference (TORQUE), or
the MINIMUM, MAXIMUM or ADD function is used to automatically
switch between speed and torque control. See description of
Parameter 60.02 TORQUE SELECTOR below.

ACS 600 Master/Follower Application Guide 3-9

Chapter 3 – M/F Communication and Parameter Set-up

WARNING! The Follower should always be controlled by the Master

while the motors are coupled to each other. Do not change the control
location if this activates a control signal source other than Master:
• Do not change the External control location if Parameter 10.01,
10.02, 11.03 or 11.06 is set to a value other than COMM. MODULE.
LOC

• Do not switch to local control (do not press the REM key on the
Control Panel).
If the Master and Follower are controlled with different control signals,
the drives will conflict with each other.

Hint: In some applications, both speed control and torque control of the
Followers are required, e.g. if it is necessary to accelerate all drives
along the same speed ramp up to a certain speed before torque control
can be implemented. In those cases, “on-the-fly” switching between
speed and torque controls is required. The switching can be done
through a digital input on the Follower. One solution is to set Parameter
11.02 EXT1/EXT2 SELECT to DI3, 60.02 TORQUE SELECTOR to
TORQUE and 60.03 WINDOW SEL ON to OFF. With these settings,
0 V d.c connected to DI3 External control location 1 is selected and
the Follower follows the speed reference of the Master. Window control
is disabled.
+24 V d.c. connected to DI3 External control location 2 is selected
and the Follower follows the torque reference of the Master. Window
control is enabled.

11.03 EXT REF1 This parameter selects the signal source of External reference 1
SELECT (speed reference). The selection is illustrated in the control connection
diagrams (see Appendix A – Follower Control Signal Connections).
COMM. REF
Reference 1 received from the Master is External reference 1.
COMMREF+AI1; COMMREF*AI1; COMMREF+AI5; COMMREF*AI5
Reference 1 received from the Master is added to, or multiplied with,
the rpm value converted from the signal connected to Analogue input
AI1 or AI5. The effect of the correction on the reference is as with a
fieldbus reference signal; see the Firmware Manual, Appendix C.
FAST COMM
Reference 1 received from the Master is External reference 1. With
FAST COMM, the reference is transferred to the core motor control
program every 2 milliseconds (as opposed to 6 ms with COMM. REF).
However, the motor rotation direction cannot be controlled through the
interfaces defined by Parameter 10.01 EXT1 STRT/STP/DIR nor from
the Control Panel. Furthermore, critical speeds (Group 25) are not
effective.

3-10 ACS 600 Master/Follower Application Guide

 Chapter 3 – M/F Communication and Parameter Set-up

Note: If any of the following selections is TRUE, the selection

FAST COMM is not effective, and the operation is as with COMM. REF:
• 99.02 APPLICATION MACRO is PID
• 99.04 MOTOR CTRL MODE is SCALAR
• 40.14 TRIM MODE is PROPORTIONAL or DIRECT

(ALL OTHER SELECTIONS)

See the Firmware Manual.
11.06 EXT REF2 This parameter selects the signal source of External reference 2
SELECT (torque reference). The selection is illustrated in the control connection
diagrams (see Appendix A – Follower Control Signal Connections).
COMM. REF
Reference 2 received from the Master is External reference 2.
COMMREF+AI1; COMMREF*AI1; COMMREF+AI5; COMMREF*AI5
Reference 2 received from the Master is added to, or multiplied with,
the % value converted from the signal connected to Analogue input AI1
or AI5. The effect of the correction on the reference is as with a fieldbus
reference signal; see the Firmware Manual, Appendix C.
FAST COMM
Reference 2 received from the Master is External reference 2. With
FAST COMM, the reference is transferred to the core motor control
program every 2 milliseconds (as opposed to 6 ms with COMM. REF).
However, the motor rotation direction cannot be controlled through the
interface defined by Parameter 10.02 EXT2 STRT/STP/DIR nor from
the Control Panel. Furthermore, critical speeds (Group 25) are not
effective.

Note: If any of the following selections is TRUE, the selection

FAST COMM is not effective, and the operation is as with COMM. REF:
• 99.02 APPLICATION MACRO is PID
• 99.04 MOTOR CTRL MODE is SCALAR
• 40.14 TRIM MODE is PROPORTIONAL or DIRECT

(ALL OTHER SELECTIONS)

See the Firmware Manual.

ACS 600 Master/Follower Application Guide 3-11

Chapter 3 – M/F Communication and Parameter Set-up

16.01 RUN ENABLE This parameter selects the source of the Run enable signal. The
selection is illustrated in the control connection diagrams in
Appendix A.
YES; DI1; ...; DI12
See the Firmware Manual.
COMM. MODULE
The Run enable signal is read from Bit 3 of the Follower Control Word
received from the Master.

16.04 FAULT RESET SEL NOT SEL; DI1; ...; DI12; ON STOP
See the Firmware Manual.
COMM. MODULE
The fault reset signal is read from Bit 7 of the Follower Control Word
received from the Master.
30.18 COMM FAULT Defines the action in case communication with the Master is lost. The
FUNC supervision is based on monitoring of received Follower Control data
sets. For the available selections, see the Firmware Manual.
30.19 MAIN REF See the Firmware Manual.
DS T-OUT
60.01 MASTER LINK This parameter determines the role of the drive on the Master/Follower
MODE link. On Follower stations, set this parameter to FOLLOWER. The drive
will now start reading the Follower Control Word and the two
References through fibre optic channel CH2.

Note: Selecting FOLLOWER does not mean that data received from
the Master takes effect at once. The data only becomes available as a
one possible source of control, and is accessible by parameters as
“COMM. MODULE” or “COMMREF”.

60.02 TORQUE This parameter is only visible when Parameter 99.02 APPLICATION
SELECTOR MACRO is set to T CTRL (Torque Control). The parameter selects the
reference used in motor torque control, and only affects External
control location 2 (EXT2).
SPEED
The Follower speed controller output is used as the reference for motor
torque control. The drive is speed-controlled. This setting can be used
both in the Master and the Follower if the motor shafts of the Master
and the Follower have a flexible connection, so that a slight speed
difference is possible/allowable between them.

3-12 ACS 600 Master/Follower Application Guide

 Chapter 3 – M/F Communication and Parameter Set-up

TORQUE
The drive is torque-controlled. This is the default value.
This selection should be used in the Follower(s) when the motor shafts
of the Master and the Follower(s) are coupled solidly (e.g. by gearing or
a chain), so that no speed difference is possible/allowable between
them.

Note: If TORQUE is selected, the ACS 600 does not restrict the speed
variation as long as the speed is within the limits defined with
Parameters 20.01 MINIMUM SPEED and 20.02 MAXIMUM SPEED.
More definite speed supervision is often needed. In these cases, the
selection ADD should be used instead.

MINIMUM
The torque selector compares the torque reference and the speed
controller output, the smaller of which is used as the motor torque
reference. Used in special cases only.
MAXIMUM
The torque selector compares the torque reference and the speed
controller output, the greater of which is used as the motor torque
reference. Used in special cases only.
ADD
The torque selector adds the speed controller output to the torque
reference. The drive is torque-controlled within the normal operating
range.
The selection ADD, together with Window control, forms a speed
supervision function for a torque-controlled Follower station as follows:
• Within the normal operating range, the Follower follows the torque
reference of the Master (TORQ REF 1)
• Window control keeps the speed controller input and output to zero
as long as speed error (speed reference minus actual speed)
remains within the parameterised window
• If the speed error moves out of the window, Window control
connects the error to the speed controller. The speed controller
output increases or decreases the internal torque reference,
stopping the change in actual speed.
ZERO
Forces the torque selector output to zero.

ACS 600 Master/Follower Application Guide 3-13

Chapter 3 – M/F Communication and Parameter Set-up

60.03 WINDOW SEL ON Window control, together with selection ADD at Parameter 60.02
TORQUE SELECTOR, forms a speed supervision function for a
torque-controlled drive.
The parameter is visbile only when Parameter 99.02 APPLICATION
MACRO is set to T CTRL. External control location 2 (EXT2) must be
active to enable Window control.
NO
Window control is off. This is the default value.
YES
Window control is on. Use this setting only when Parameter 60.02
TORQUE SELECTOR is set to ADD.
Window control supervises the speed error value (speed reference
minus actual speed). Within the normal operating range, Window
control keeps the speed controller input to zero. The speed controller is
active only when
• speed error exceeds the value of Parameter 60.04 WINDOW
WIDTH POS, or
• absolute value of the negative speed error exceeds the value of
Parameter 60.05 WINDOW WIDTH NEG.
When the speed error moves outside the window, the exceeding part of
the error value is connected to the speed controller. The speed
controller produces a reference term relative to the input and gain of
the speed controller (Parameter 23.01 GAIN) which the torque selector
adds to torque reference. The result is used as the internal torque
reference for the ACS 600.
For example, in a load loss condition, the internal torque reference of
the drive is decreased, preventing the excessive rise of motor speed
(see Figure 4-4). If Window control were deactivated, the motor speed
would rise until a speed limit of the ACS 600 were reached.
(Parameters 20.01 MINIMUM SPEED and 20.02 MAXIMUM SPEED
define the speed limits.)
60.04 WINDOW See Parameter 60.03 WINDOW SEL ON. The parameter is only visible
WIDTH POS when Parameter 99.02 APPLICATION MACRO is set to T CTRL.
0 … 1500 rpm
Default: 0.
60.05 WINDOW See Parameter 60.03 WINDOW SEL ON. The parameter is only visible
WIDTH NEG when Parameter 99.02 APPLICATION MACRO is set to T CTRL.
0 … 1500 rpm
Default: 0.

3-14 ACS 600 Master/Follower Application Guide

 Chapter 3 – M/F Communication and Parameter Set-up

60.06 DROOP RATE See section Parameter Settings – Master Station above.

CAUTION! Follower speed control or drooping should not be used if

the motor shafts of the Master and the Follower are coupled solidly by a
mechanical construction (gearing, chain etc.).

ACS 600 Master/Follower Application Guide 3-15

Chapter 3 – M/F Communication and Parameter Set-up

Window Control

Speed Reference 60.05 WINDOW WIDTH NEG

60.04 WINDOW WIDTH POS

Actual Speed
e
Torque Reference

Internal Torque Reference =

Torque Reference + Speed Controller Output
G = Speed controller gain G·e
e = Value connected to speed Speed Controller Output
controller Time

Example 1: Window Control Off Example 2: Window Control On

in a Load Loss Condition in a Load Loss Condition
% %
20.02 SPEED MAXIMUM 3. Actual Speed

Actual Speed
3.
60.05 WINDOW
Speed Reference WIDTH NEG Speed Reference
1. 2. 1. 2.
Torque Reference Torque Reference

Internal Torque Reference

Internal Torque Reference

Load Load
torque torque

Time Time

The Follower drive is torque-controlled. Parameter 11.02 The Follower drive is torque-controlled. Parameter 11.02
EXT1/EXT2 SELECT is set to EXT2 and 60.02 TORQUE EXT1/EXT2 SELECT is set to EXT2 and 60.02 TORQUE
SELECTOR to TORQUE. SELECTOR to ADD.
1. Normal operating range. The Follower is controlled by torque 1. Normal operating range. Window Control keeps the speed
reference of the Master. controller input zero. The Follower is controlled by torque refer-
2. Load loss occurs. Follower actual speed starts to rise. ence of the Master.
3. The speed increases until the maximum speed limit of the 2. Load loss occurs. Follower actual speed starts to rise.
ACS 600 is reached (Parameter 20.02 MAXIMUM SPEED). 3. The speed increases until the absolute value of the negative
Internal torque reference is restricted to stop the speed speed error exceeds WINDOW WIDTH NEG. Window Control
increase. connects the value outside the window to the speed controller.
Negative speed controller output value is produced and added to
torque reference received from the Master. Internal torque refer-
ence is restricted to stop the speed increase.

Figure 4-4 Window control.

3-16 ACS 600 Master/Follower Application Guide

 Chapter 3 – M/F Communication and Parameter Set-up

Fieldbus Connection A fieldbus adapter can be used for monitoring the Follower, but not for
controlling it.
The Master can be controlled through a fieldbus system as described
in the Firmware Manual, Appendix C.

Pulse Encoder If speed measurement is required with Master or Follower stations, the
Connection NTAC-02 Pulse Encoder Interface Module must be connected to
channel CH1 on the NDCO board. The following parameter values
must also be set:
• 50.04 ENCODER CHANNEL: CHANNEL1
• 70.03 CH1 BAUDRATE: 4 Mbit/s.
Note that the new parameter values take effect only after the power to
the drive and the NTAC-02 module is cycled.

ACS 600 Master/Follower Application Guide 3-17

Chapter 3 – M/F Communication and Parameter Set-up

3-18 ACS 600 Master/Follower Application Guide

 Appendix A – Follower Control Signal Connections

Follower Control

ACTUAL
SIGNAL/
PARAMETER
TABLE

1.01

1.02
CH2
FOLLOWER NOT IN USE (I/O Link)
••• CONTROL MASTER
FOLLOWER
DATA SET
MCW FOLLOWER
FOLLOWER
3.11 3.11 60.01
CONTROL WORD

REFERENCE 1
•••
REFERENCE 2

3.99
60.07

•••

10.01

60.08
•••
Fibre Optic Link
99.99

MASTER

30.18 COMM FAULT FUNC

30.19 MAIN REF DS T-OUT

FOLLOWER NOT IN USE FOLLOWER

CH2
MASTER CONTROL To Figures
(I/O Link) DATA SET A-2 and A-3
FOLLOWER
FOLLOWER
60.01 CONTROL WORD

REFERENCE 1
REFERENCE 2

Figure A-1 Follower control data transfer.

ACS 600 Master/Follower Application Guide A-1

 Appendix A – Follower Control Signal Connections

Follower Station, Torque Control

Reference Selection

EXT1/EXT2 KEYPAD REF

SELECT 11.02 SELECT 11.01

DI3

Reference Source Selection Speed Control

EXT REF2 EXT REF1 CRITICAL SPEEDS

SELECT 11.06 SELECT 11.03 Group 25
Analogue EXT1

& Digital External

Inputs MINIMUM SPEED 20.01 2.01
EXT2
MAXIMUM SPEED 20.02 SPEED
AI/DI
REF 2
COMM. REF
EXT1 Local
KEYPAD External ACCEL/DECEL 2.02
EXT2 Group 22 SPEED
CH2 Local
REF 3

FOLLOW- Window Control 2.09

ER CTRL AI/DI TORQ
DATA COMM. REF
REF 2
External
SET EXT1
KEYPAD REF (%)
from SPEED CTRL
Local
Fig. A-1 Group 23
REF1 (rpm)
EXT2
EXT1
CDP 60.02 TORQUE
External
SELECTOR
Control EXT2 0
Panel SPEED

TORQUE 1 0
2
Local
MIN 3
4
REF MAX

ADD
REF (%)

REF1 (rpm)
Torque Controller
LOC
MAXIMUM TORQUE 2.10
REM 20.04 TORQ
REF 3

TORQUE CTRL 2.13

Group 24 TORQ
REF USED
NOT SEL
DI Start/Stop
Local
COMM. MODULE EXT1 REQUEST
KEYPAD External FORWARD Direction
NOT SEL REVERSE
EXT2
DI
COMM. MODULE

KEYPAD

COMM. MODULE

Start/Stop/
Direction EXT1 STRT/STP/ EXT2 STRT/STP/ DIRECTION RUN ENABLE
Source DIR 10.01 DIR 10.02 10.03 16.01
Selection

Figure A-2 Control signal connections for the Follower station when the Follower Torque Control
settings of the parameters are valid and local control (Control Panel) is not active.

A-2 ACS 600 Master/Follower Application Guide

 Appendix A – Follower Control Signal Connections

Follower Station, Speed Control

Reference Selection

EXT1/EXT2 KEYPAD REF

SELECT 11.02 SELECT 11.01

DI3

Reference Source Selection Speed Control

EXT REF2 EXT REF1 CRITICAL SPEEDS

SELECT 11.06 SELECT 11.03 Group 25
Analogue EXT1

& Digital External

Inputs MINIMUM SPEED 20.01
EXT2 2.01
MAXIMUM SPEED 20.02 SPEED
AI/DI
REF 2
COMM. REF
EXT1 Local
KEYPAD External ACCEL/DECEL 2.02
EXT2 Group 22 SPEED
CH2 REF 3

FOLLOW- Local
Window Control 2.09
ER CTRL AI/DI TORQ
DATA REF 2
COMM. REF External
SET EXT1
KEYPAD REF (%)
from SPEED CTRL
Local
Fig. A-1 Group 23
REF1 (rpm)
EXT2
EXT1
CDP 311 60.02 TORQUE
External
SELECTOR
Panel EXT2 0
SPEED

TORQUE 0
2
Local
MIN 3
4
REF MAX
5
ADD
REF (%)

REF1 (rpm)
Torque Controller
LOC
MAXIMUM TORQUE 2.10
REM 20.04 TORQ
REF 3

TORQUE CTRL 2.13

Group 24 TORQ
REF USED
NOT SEL
DI Start/Stop
Local
COMM. MODULE EXT1 REQUEST
KEYPAD External FORWARD Direction
NOT SEL REVERSE
EXT2
DI
COMM. MODULE

KEYPAD

COMM. MODULE

Start/Stop/
Direction EXT1 STRT/STP/ EXT2 STRT/STP/ DIRECTION RUN ENABLE
Source DIR 10.01 DIR 10.02 10.03 16.01
Selection

Figure A-3 Control signal connections for the Follower station when the Follower Speed Control
settings of the parameters are valid and local control (Control Panel) is not active.

ACS 600 Master/Follower Application Guide A-3

Appendix A – Follower Control Signal Connections

A-4 ACS 600 Master/Follower Application Guide

 Example 1: Master and Follower Drives Coupled Solidly to Each Other

ACS 600 Master

START/STOP
0 L 1242.0 rpm I
FREQ 45.00 Hz DIRECTION
CURRENT 80.00 A TO MASTER
AC PA FU DRI
RUN ENABLE
FAULT RESET SPEED TORQUE REFER- TORQUE REFER- INVERTER
EN
TO FOLLOWER CONTROLLER ENCE SELECTOR ENCE CONTROL CONTROL
LO RE RE 0
RE
SPEED
SPEED REF 3 + TORQUE 0
2
2.02 MIN 3
EXTERNAL – =
PID 4
MAX 5
CONTROL I/O
SIGNALS ADD ~
Inverter
EXTERNAL
SUPERVISION
SIGNALS 2.09 2.10
RUN ENABLE (DI6) ACTUAL SPEED TORQ REF 2 TORQ REF 3

+24 V DC

TORQ REF USED

2.13

ACS 600 Master/Follower Application Guide

ACS 600 Follower

WINDOW SPEED TORQUE REFER- TORQUE REFER- INVERTER

CONTROL CONTROLLER ENCE SELECTOR ENCE CONTROL CONTROL
0
SPEED
SPEED REF 3 + TORQUE 1 0
2
2.02
MIN 3
– =
PID 4
I/O MAX 5
ADD ~
Inverter

2.09 2.10 2.13

NO FAULT (RO3)
ACTUAL SPEED TORQ REF 2 TORQ REF 3 TORQ REF USED

Example 1: Master and Follower are coupled solidly by a mechanical construction Operation:
(gearing, chain etc.) When driven at normal operating conditions, the speed controller output (TORQ REF 2) of the
To equalise the load between the Master and the Follower, Master is speed controlled and Fol- Follower is zero due to Window Control. The Follower follows the torque reference of the Master
lower follows the torque reference of the Master. (TORQ REF 1).
For parameter settings, see Chapter 3 – M/F Communication and Parameter Set-up. In a Follower load loss condition, Window Control activates the speed controller, thus preventing
the Follower drive from rushing up to the maximum speed limit:
– Follower actual speed starts to rise rapidly.
– Absolute value of the speed error (SPEED REF 3 - ACTUAL SPEED) exceeds the value set
with Parameter 60.05 WINDOW WIDTH NEG. As a consequence, the Window Control block
connects the error to the speed controller.
– The speed controller starts adding a negative term to the torque reference (TORQ REF 1).
The motor torque is limited and speed rise prevented.
The Run enable signal to the master is wired through Relay Output RO3 of the Follower. By
default, RO3 switches off the Run enable signal upon a Follower fault or power loss.

B-1
Appendix B – Examples
B-2
Example 2: Master and Follower Drives Coupled Flexibly to Each Other

ACS 600 Master

START/STOP
0 L 1242.0 rpm I
FREQ 45.00 Hz DIRECTION
CURRENT 80.00 A TO MASTER
AC PA FU DRI
RUN ENABLE
FAULT RESET SPEED TORQUE REFER- TORQUE REFER- INVERTER
EN
TO FOLLOWER CONTROLLER ENCE SELECTOR ENCE CONTROL CONTROL
LO RE RE 0
RE
SPEED
SPEED REF 3 + TORQUE 0
2
2.02 MIN 3
– =
Appendix B – Examples

EXTERNAL 4
PID MAX 5
CONTROL I/O
SIGNALS ADD ~
Inverter
EXTERNAL
SUPERVISION
SIGNALS 2.09 2.10
RUN ENABLE (DI6) ACTUAL SPEED TORQ REF 2 TORQ REF 3

+24 V DC

TORQ REF USED

2.13

ACS 600 Follower

SPEED TORQUE REFER- TORQUE REFER- INVERTER

CONTROLLER ENCE SELECTOR ENCE CONTROL CONTROL
0
SPEED
SPEED REF 3 + + TORQUE 0
2
2.02
MIN 3
– – =
PID 4
I/O MAX 5
ADD ~
Inverter

2.09 TORQ REF 2 2.10 2.13

NO FAULT (RO3)
ACTUAL SPEED TORQ REF 3 TORQ REF USED
DROOP
RATE

Example 2: Master and Follower are coupled flexibly. Operation:

To equalise the load between the Master and the Follower, they are controlled with the same The Follower follows the same speed reference as the Master (SPEED REF 3). Drooping
speed reference. Torque control of the Follower cannot be used due to varying friction of the belt ensures even load distribution in all operating conditions. An example:
driven; a sudden fall in friction of the follower wheel would cause the motor to rush as the drive – Friction under the follower wheel drops, causing slipping. The torque is decreased to prevent
would be trying to retain a certain torque level. Drooping should be used to ensure smooth oper- the speed rise.
ation and even load distribution between the Master and the Follower. – The load of the master increases -> Internal torque reference increases to keep the speed
For parameter settings, see Chapter 3 – M/F Communication and Parameter Set-up. constant -> Drooping in the Master increases -> Speed decreases slightly.
– The Follower now runs a little faster than the Master. When the friction returns to normal, the
Follower load increases, causing a rise in the internal torque reference. Drooping in the Fol-
lower increases -> Follower actual speed decreases. The Master load increases. This cycle is
repeated until the balance is regained.
The Run enable signal to the master is wired through Relay Output RO3 of the Follower. By
default, RO3 switches off the Run enable signal upon a Follower fault or power loss.

ACS 600 Master/Follower Application Guide

 Master/Follower Guide for Appl Prg 6.x/EN
3AFY 58962180 R0225
EFFECTIVE: 1.1.2001

ABB Industry Oy ABB Automation Inc.

Drives Drives
P.O. Box 184 16250 West Glendale Drive
FIN-00381 Helsinki New Berlin, WI 53151
FINLAND USA
Telephone: +358 10 222 000 Telephone: 262 785-3416
Fax: +358 10 222 2681 800 243-4384
Internet: http://www.abb.com/automation Fax: 262 785-8525