ABB ACS 600 Owner's manual

ACS 600 Supplement to Firmware Manual
Standard Application Program 5.0
Master/Follower
Application Macro

1999 ABB Industry Oy. All Rights Reserved.
Master/Follower
Application Macro
Supplement to Firmware Manual
Standard Application Program 5.0
3AUA489002B6145 R0125 Rev B
EFFECTIVE: 1.1.1999
SUPERSEDES: 1997-06-09

ACS 600 Master/Follower Application Macro iii
Table of Contents
Chapter 1 – Overview
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
Checklist for a Quick Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2
Chapter 2 – Installation and M/F Link Specification
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
Master/Follower Link. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
External Control Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
Master/Follower Link Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
Chapter 3 – Operation
Master Station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1
Control and Supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Master/Follower Connection Activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1
Follower Station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
Master/Follower Connection Activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
Follower Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Follower Supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
Pulse Encoder Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-6
Chapter 4 – Parameters
Control Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1
Group 60 MASTER/FOLLOWER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-4
Appendix A – Control Signal Connections
Master Station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Follower Station, Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Follower Station, Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
Appendix B – Parameter Settings
Default Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
Follower Torque Control Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-2
Follower Speed Control Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-3
Appendix C – Examples

iv ACS 600 Master/Follower Application Macro

ACS 600 Master/Follower Application Macro 1-1
Chapter 1 – Overview
General
The Master/Follower Application macro 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 macro 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 Followers 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 fixedly to each
other by gearing, a chain etc. 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. 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 a flying change between speed
and torque control can be performed via a digital input of the Follower
(see
Chapter 3 – Operation ).
Figure 1-1 Master/Follower applications, schematic representation.
Mains 33
Speed-Controlled Master
Follower Follows the Torque Reference
of the Master
External Con-
trol Signals
Mains 3
n
3
22 Master/Fol-
lower Link
Follower Fault
Supervision
3
22 Master/Fol-
lower Link
Follower Fault
Supervision
33
External Con-
trol Signals
Mains 3
n
Speed-Controlled Master
Follower Follows the Speed Reference
of the Master
Mains
ACS 6 00
ACS 6 00
ACS 6 00
ACS 6 00

Chapter 1 – Overview
1-2 ACS 600 Master/Follower Application Macro
Checklist for a
Quick Start-up
The installation and start-up procedure of the ACS 600 is explained in the
Start-up Guide and the Hardware Manual . An additional checklist for the
Master/Follower application 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 Build the Master/Follower Link. See Chapter 2 – Installation and M/F
Link Specification
.
3 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 – Installation and M/F Link Specification .
4 Switch on the power supplies.
5
Activate the M/F Macro in all ACS 600 drives (Parameter 99.02).
6 On the Master ACS 600: Change Parameter 60.01 MASTER LINK
MODE to MASTER.
7 On the Follower ACS 600: Adjust the parameters according to the
basic set suitable for your application. The Follower Torque Control
and Follower Speed Control parameter sets are given in Appendix B
– Parameter Settings.
Switch all ACS 600 units to external control with the 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. Give 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 (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, the window control restricts the excessive speed rise
of the motor. Thus the actual speed of the unloaded Follower is
greater than that of the Master, but does not reach the maximum
speed limit.
9 Disconnect the Control Panels from the Follower drives to avoid
accidental use. See CAUTION! below.
10 Switch off the power supplies.
11 Couple the motor shafts to the driven machinery and switch on the
power supplies.
CAUTION! To avoid contradictory control, the drives coupled to the same
machinery should receive the external control signals only via the Master.
As 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.
LOC
REM

ACS 600 Master/Follower Application Macro 2-1
Chapter 2 – Installation and M/F Link 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
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-03 board.)
The ring configuration can be used in most applications. A parallel
connection can also be implemented by using a branching card. (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: On drives with the Master/Follower Application Macro, the
NTAC-02 Pulse Encoder Interface Module (if present) must be
connected to NAMC channel CH1 instead of CH2. See Chapter 3,
section Pulse Encoder Connection.
Note:
Fieldbus adapter modules can be used for monitoring
(but not for controlling) the Follower stations.
ACS 60x
NAMC-XX
Follower
ACS 60x
NAMC-XX
Follower
ACS 60x
NAMC-XX
V18
V17
CH2
RT
Master
V18
V17
CH2
RT
V18
V17
CH2
RT

Chapter 2 – Installation and M/F Link Specification
2-2 ACS 600 Master/Follower Application Macro
External Control
Connections
The default parameter settings of the Master/Follower macro define the
control connections according to the circuit diagram below.
Figure 2-2 External control connections for the Master station. The markings of the NIOC board
terminals are given above. Note that the external input/output signals of ACS 601 and ACS 604 units
connect directly to the NIOC board I/O terminal blocks. On ACS 607, the I/O terminals of the NIOC
board are optionally wired to a separate terminal block (X2) at the factory. See the ACS 604/607
Installation and Start-up Manual for the corresponding terminal markings.
Relay output 2
1
2
3
4
7
8
8
7
1
2
3
4
5
6
9
10
11
12
1
2
3
1
2
3
1
2
3
VREF
GND
AI1+
AI1-
AI3+
AI3-
+24 DVDC
+24 DVDC
DI1
DI2
DI3
DI4
DI5
DI6
AO1+
AO1-
AO2+
AO2-
RO11
RO12
RO13
RO21
RO22
RO23
RO31
RO32
RO33
Terminal Block X21 Function
Reference voltage 10 VDC
External reference 1 (Speed reference)
Not specified in this application
+24 VDC max. 100 mA
STOP/START
FORWARD/REVERSE
RUN ENABLE4)
CONST SPEED SEL2)
Speed
Current
Relay output 1
Relay output 3
A
rpm
ACCEL/DECEL 1/2 SEL3)
EXT1/EXT2 SELECT1)
Terminal Block X25
Terminal Block X26
Terminal Block X27
5
6
AI2+
AI2- External reference 2
9DGND Digital ground
Terminal Block X22
1
2
+24 VDC
GND Auxiliary voltage output 24 VDC
Terminal Block X23
Ready
Running
No Fault
1) Changes external speed reference source. In most
cases this is not required (can be left unconnected).
2) Open switch = Constant speed is not activated.
Closed switch = Constant speed defined with Parameter
12.05 replaces the external speed reference.
3) Changes the speed acceleration/deceleration ramp.
Note: Does not change the Follower ramp. In most
cases should be left unconnected.
4) See Follower fault information wiring. Note that the
external input/output signals of ACS 601 and ACS 604
units connect directly to the NIOC board I/O terminal
blocks. On ACS 607, the I/O terminals of the NIOC
board are optionally wired to a separate terminal block
max. 10 mA
0 ... 10 V
0 ... 20 mA
0 ... 20 mA
0 ... 20 mA <–> 0 ... Motor nom. speed
0 ... 20 mA <-> 0 ... Motor nom. current
max. 250 mA
READY
RUNNING
FAULT (–1)

Chapter 2 – Installation and M/F Link Specification
ACS 600 Master/Follower Application Macro 2-3
Follower Fault
Information Wiring
The Follower does not send any feedback data via the serial Master/
Follower Link. Therefore it is highly recommended to separately wire
the Follower fault information back to the Master. The connection stops
both the Master drive and the Follower drives upon a Follower fault.
Figure 2-3 Follower fault information wiring. Note that the externalinput/output signals of ACS 601 and
ACS 604 units connect directly to the NIOC board I/O terminal blocks. On ACS 607, the I/O terminals
of the NIOC board are optionally wired to a separate terminal block (X2) at the factory.
ACS 60x
Follower
ACS 60x
Follower
ACS 60x
Master
X2
Relay Output 3 FAULT(-1)
Relay Output 3 FAULT(-1)
18 19 20
ACS 60x
Follower
ACS 60x
Follower
ACS 60x
Master
123123456789
NIOC-xx Board
X27X22
+24 V d.c. DI6: RUN ENABLE
1 2 3
Relay Output 3 FAULT(-1)
123456789
NIOC-xx Board
X27X22 123
Relay Output 3 FAULT(-1)
123456789
NIOC-xx Board
X27X22
ACS 601, ACS 604, ACS 607 without Terminal Block X2
30 31 32
+24 V d.c. DI6: RUN ENABLE
X2 18 19 20 30 31 32 X2 18 19 20 30 31 32
ACS 607 with Terminal Block X2 (Optional)

Chapter 2 – Installation and M/F Link Specification
2-4 ACS 600 Master/Follower Application Macro
Master/Follower Link
Specification
Size of the Link: One Master and max. 10 Follower stations. If more
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:
Various lengths of fibre optic cables are available as optional add-on
kits for the ACS 600.
Connectors on the NAMC Board: 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: Distributed Drives Communication System (DDCS)
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

ACS 600 Master/Follower Application Macro 3-1
Chapter 3 – Operation
Master Station
The default settings of the Master/Follower macro parameters meet the
requirements of a typical Master station. The Master station follows
speed reference. The reference and the control commands are given
through the standard input/output signal interface (NIOC board) of the
ACS 600.
Control and Supervision The default settings of parameters define the external control of the
master as follows (see Figure 2-2):
• Speed reference is given through analogue input AI1 (0 to 10 V).
• Start, Stop commands are given through digital input DI1.
• Direction command is given through digital input DI2.
• Run enable signal is given through digital input DI6.
• A constant speed is activated through digital input DI4
(the speed value is defined with Parameter 12.05).
The control commands and the reference can also be given from the
Control Panel. To switch between local (i.e. Control Panel) and external
control, use the LOC/REM key on the Panel. “L” on the first row of the
display indicates that the ACS 600 is in local control.
There are two analogue outputs and three relay outputs for external
supervision purposes. By default, analogue output AO1 indicates the
motor speed and AO2 the motor current as a 0 to 20 mA current signal.
The relay outputs give the indications
Ready (RO1), Running (RO2)
and No fault (RO3).
The actual signals shown on the Control Panel display are speed,
torque and control location.
)LHOGEXV&RQWURO A fieldbus adapter connected to Channel CH0 on the NAMC board can
be used for controlling the Master-Follower drive system.
Master/Follower
Connection Activation
To activate the connection to the Follower stations, Parameter 60.01
MASTER LINK MODE must be changed to MASTER. Parameters
60.07 and 60.08 define the references (EXT1/EXT2) to be sent to the
Follower(s).

Chapter 3 – Operation
3-2 ACS 600 Master/Follower Application Macro
Follower Station
The default settings of the Master/Follower macro parameters meet the
requirements of a typical Master station. The settings have to be
adjusted for the Follower station(s).
The parameters that typically need to be adjusted on the Follower
stations are listed in Table 3-1. The given settings meet the
requirements of a typical Follower station. The Speed Control column
gives the settings which are valid for a drive that follows the speed
reference of the Master. The Torque Control column gives the settings
which are valid for a drive that follows the torque reference of the
Master.
Table 3-1 The Follower Speed Control settings and Follower Torque
Control Settings. See also Appendix B – Parameter Settings.
Note:
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, a “flying”
switching between speed and torque controls is required. The switching can be done
through a digital input of the Follower. A solution is to set Parameter 11.02 EXT1/EXT2
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.
Master/Follower
Connection Activation
To activate the connection to the Master stations, Parameter 60.01
MASTER LINK MODE must be changed to FOLLOWER.
Parameter Speed Control Torque Control
10.01 EXT1 STRT/STP/DIR COMM. MODULE COMM. MODULE
10.02 EXT2 STRT/STP/DIR COMM. MODULE COMM. MODULE
10.03 DIRECTION REQUEST REQUEST
11.02 EXT1/EXT2 SELECT EXT1 EXT2
11.03 EXT REF1 SELECT COMM. REF COMM. REF
11.06 EXT REF2 SELECT COMM. REF COMM. REF
12.01 CONST SPEED SEL NOT SEL NOT SEL
16.01 RUN ENABLE COMM. MODULE COMM. MODULE
60.01 MASTER LINK MODE FOLLOWER FOLLOWER
60.02 TORQUE SELECTOR SPEED ADD
60.03 WINDOW SEL ON NO YES
60.04 WINDOW WITH POS 0.0 rpm 30.0 rpm
60.05 WINDOW WITH NEG 0.0 rpm 30.0 rpm
60.06 DROOP RATE 1.0 % 0.0 %

Chapter 3 – Operation
ACS 600 Master/Follower Application Macro 3-3
Follower Control The master broadcasts a Control Word and two references (Reference
1 and Reference 2) to the Follower stations. All the Follower stations
receive the same message.
The Follower
Control Word
The Follower Control Word (Actual signal 3.11 FOLLOWER MCW) is a
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 3-2 The Follower Control Word.
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.
Bit Name Description
0OFF1
Not in use1OFF2
2OFF3
3 RUN 0 = Stop (Master not running)
1 = Run (Master running)
4 RAMP_OUT_ZERO
Not in use5 RAMP_HOLD
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

Chapter 3 – Operation
3-4 ACS 600 Master/Follower Application Macro
Example 1:
20.01 MINIMUM SPEED = 0 rpm
20.02 MAXIMUM SPEED = 1000 rpm
Example 2:
20.01 MINIMUM SPEED = –1500 rpm
20.02 MAXIMUM SPEED = 3000 rpm
Example 3:
20.01 MINIMUM SPEED = –5000 rpm
20.02 MAXIMUM SPEED = 2500 rpm
Figure 3-1 Relation between the speed references of the Master and
the Follower.
20.02 MAXIMUM SPEED
(1000 rpm) 20000
20.01 MINIMUM SPEED
(0 rpm)
Master Reference Reference 1
11.05 EXT REF1 MAXIMUM
rpm
0 rpm
Follower Reference
0
20000
20.01 MINIMUM SPEED
(-1500 rpm)
0
Master Reference Reference 1
11.05 EXT REF1 MAXIMUM
rpm
0 rpm
Follower Reference
10000
-10000
-20000 –(11.05 EXT REF1 MAXIMUM)
rpm
0 rpm
20.02 MAXIMUM SPEED
(3000 rpm)
1500 rpm
20000
20.01 MINIMUM SPEED
(-5000 rpm)
0
Master Reference Reference 1
11.05 EXT REF1 MAXIMUM
rpm
0 rpm
Follower Reference
20.02 MAXIMUM SPEED
(2500 rpm) 10000
-10000
-20000 –(11.05 EXT REF1 MAXIMUM)
rpm
0 rpm
-2500 rpm

Chapter 3 – Operation
ACS 600 Master/Follower Application Macro 3-5
To define the Reference 1 as the source for the External reference 1
(speed reference) in the Follower, Parameter 11.03 EXT REF1
SELECT must be set to COMM. REF.
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).
Figure 3-2 Relation between the torque references of the Master and
the Follower.
To define Reference 2 as the source for the External reference 2
(torque reference) in the Follower Parameter 11.06 EXT REF2
SELECT must be set to COMM. REF.
Keypad Control The control commands and the reference can also be given from the
Control Panel. To switch between local (i.e. Control Panel) and external
control, the LOC/REM key of the Panel is pressed. Letter L on the first
row of the display indicates that the ACS 600 is in local control. By
default the Panel gives speed reference.
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, ie. do not
press the key on the Control Panel!
Fieldbus Use A fieldbus adapter connected to Channel CH0 on the NAMC board can
be used for monitoring the Follower, but not for controlling it.
100 % of Master
motor nominal torque 10000
0 % of Master
motor nominal torque
Master Reference Reference 2
11.08 EXT REF MAXIMUM
0 % of Follower
motor nominal torque
Follower Reference
0
300 % of Master
motor nominal torque 30000 300 % of 11.08 EXT REF MAXIMUM
LOC
REM

Chapter 3 – Operation
3-6 ACS 600 Master/Follower Application Macro
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).
The actual signals shown on the Control panel display are speed,
torque and control location.
It is possible to supervise the M/F Link with Parameters 30.18 COMM
FAULT FUNC and 30.19 COMM FAULT TIMEOUT. Parameter 30.18
defines theaction (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. Therefore it is recommended to separately wire the fault
information of the Follower to the Master. See Chapter 2 – Installation
and M/F Link Specification .
Pulse Encoder
Connection
If speed measurement is required with Master or Follower stations, the
NTAC-02 Pulse Encoder Interface Module must be connected to
channel CH1. 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 are switched off and on.

ACS 600 Master/Follower Application Macro 4-1
Chapter 4 – Parameters
In this chapter, only the parameters relevant for the Master/Follower
Application macro are described (for more information on other
parameters, see the accompanying Firmware Manual) . The complete
Master settings (i.e. the default parameter settings), Follower Speed
Control settings and Follower Torque Control settings are given in
Appendix B – Parameter Settings.
Control Connections
The parameter values can only be altered with the ACS 600 stopped.
10.01 EXT1
STRT/STP/DIR
This parameter defines the source of Start, Stop and Direction
commands for External control location 1 (EXT1). The selection is
illustrated in the control connection diagrams (see
Appendix A –
Control Signal Connections) .
NOT SEL; DI1; DI1,2; DI1P,2P; DI1P,2P,3; DI1P,2P,3P; DI6; DI6,5;
KEYPAD
See
the Firmware Manual for information.
COMM. MODULE
Overriding system via channel CH0 (fieldbus master) or CH2 (Master
ACS 600) of the NAMC (Application and Motor Control) board is the
signal source of Start/Stop and Direction commands. This is the typical
selection for the Follower.
1. Start/Stop commands are read from the
Control Word received from
the Master.
2. Direction command is read from the sign bit of
•
Reference 1 when the Follower is speed controlled by the Master.
•
Reference 2 when the Follower is torque controlled by the Master.
For information on the selection between speed and torque control, see
description of Parameter 11.02 EXT1/EXT2 SELECT.
10.02 EXT2
STRT/STP/DIR
This parameter defines the source of Start, Stop and Direction
commands for External control location 2 (EXT2). See Parameter
10.01 EXT1 STRT/STP/DIR above for the alternatives.
11.01 KEYPAD REF SEL This Parameter defines the unit and type of the reference given from
the Control Panel. The selection is illustrated in the control connection
diagrams (see
Appendix A – Control Signal Connections ).
REF1 (rpm)
Keypad reference is speed, given in rpm.
REF2 (%)
Keypad reference is torque, given in %.

Chapter 4 – Parameters
4-2 ACS 600 Master/Follower Application Macro
11.02 EXT1/EXT2
SELECT
This parameter sets the digital input used for selecting the External
control 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
ACS 600 Programming Manual . DI3 is the default setting in the
Master/Follower Macro. The selection COMM. MODULE is not used
with the Master/Follower Application macro.
The selection between EXT1 and EXT2 is illustrated in the control
connection diagrams (see
Appendix A – Control Signal Connections ):
1. EXT1 is selected:
• The control commands are read from a source defined with
Parameter 10.01 STRT/STP/DIR
• The external speed reference is read from a source defined with
Parameter 11.03 EXT REF1 SELECT.
• ACS 600 is always speed controlled; window control is not possible.
2. EXT2 is selected:
• The control commands are read from a source defined with
Parameter 10.02 STRT/STP/DIR
• The external speed reference is read from a source defined with
Parameter 11.03 EXT REF1 SELECT. Note that the critical speeds
(Parameter Group 25) are not considered in speed control chain.
• The external torque reference is read from a source defined with
Parameter 11.06 EXT REF2 SELECT.
• ACS 600 is speed or torque controlled depending on the value of
Parameter 60.02 TORQUE SELECTOR which chooses the internal
torque reference: The parameter fixes it to speed controller output
(SPEED) or direct torque reference (TORQUE), or MIN, MAX or
ADD function is used to automatically switch between speed and
torque control. For more information see the description of
Parameter 60.02 TORQUE SELECTOR later in this chapter.
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.
• Do not switch to local control (do not press the key on the
Control Panel).
If the Master and Follower are controlled with different control signals,
the drives conflict with each other.
LOC
REM