Canopen Lifts

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8 CAN Newsletter 1/2004

Doors are closing. Thesynthetic voice in the lift

becomes silent. The elec-tronic devices controlling the

lift start to communicate in-audibly for human beings

before the lift moves the pas-senger to the requestedfloors. In the past, the em-bedded lift control system

used proprietary networksand device interfaces. Thislead either to high efforts in

system integration or the liftmanufacturer had to buy allelectronic devices from one

single manufacturer.In the near future, lift

control systems may be

based on the CANopen Liftapplication profile. It was of-

ficially introduced at theInterlift exhibition in Augs-

burg (Germany) on the jointbooth of the non-profit CANin Automation (CiA) interna-

tional users’ and manufac-turers’ group. CiA’s CAN-

open Special Interest Group(SIG) Lift has developed thespecification, which de-

scribes the communicationin multiple lift control system.

It is the first time that differ-

CANopen lifts peopleBy Holger Zeltwanger (CiA)

ent vendors have jointly developed an

embedded lift com-munication system.

The exhibitingcompanies showed

prototypes of panels,drives, doors, con-trollers, etc. compli-ant to the CANopen

Lift standard. Be-sides the prototypelift control system at

the CiA booth, sev-eral CiA membercompanies exhibited

CANopen Lift prod-ucts at their own booths.

Boehnke & Partner (www.

bp-online.de) exhibited an-other CANopen multi-vendor

lift application based on theirlift controller and a CAN-

open-compatible drive byControl Techniques. Thedemonstrated bp306 lift con-

troller with two CANopen in-terfaces is configurable via

the CANwizard tool that canalso be used for any otherCANopen Lift-compliant de-

vice. Additional interfaces in-cluded ISDN, modem and

Ethernet. The company also

p r e -sented the CAP-01 board

to be used in external and in-ternal panels, and the CLK-

01 cabin controller.Weber Lifttechnik (we-

ber-lifttechnik.de) introduced

the weCAN lift control con-troller featuring 60 landings

and group control capability(up to lifts). The controller iscompliant to the CANopen

Lift application profile. Thecompany also offered plaintext menu-driven displays.

The CANopen Lift

specification (DSP 417) is

available at the CiA officein Germany (www.can-

cia.org). The specificationdescribes the default com-

munication of a controlsystem for up to eight lifts

with up to 254 floors each.The default communica-tion can be changed bymeans of configuration.

The CANopen Lift specifi-cation does not standard-ize physical devices. The

specification defines “vir-tual devices”. They are, ina manner of speaking, the

atomic granularity of func-tions to be implemented in

the same physical device.

A virtual device must not bedistributed to several physi-

cal devices. However, it ispossible to combine several

virtual devices in one physi-cal device.

This concept supports

the description of transpar-ent gateways. This means

the design of the networktopology is not predicted.The lift system designer is

not restricted by the specifi-cation regarding the layout of

networks.

Wittur (www.wittur.com) has

developed the CAN-basedWLC-4000 lift control sys-tem consisting of the con-

trol cabinet, frequency in-verter cabinet, car installa-

tion cabinet with inspectionunit, and hand-terminals.The CAN communication

protocol is proprietary but

can be integrated into CAN-open Lift applications viagateways.The CAN-based Liftronic

3000 controller from Findili(www.liftronic.ch) supports

up to 32 landings and up to

three car doors. The groupcontrol option provides RS-485 communication up to

eight other lift controllers.The CAN network links

cabin, storey, display, andcontroller. The S3 lift controlsystem designed by P. Dahl

Elektronik & Data (www.pdahl.com) consists of con-

troller (based on MC68HC812), contactors for

motor, safety and 24-V

power supply. All contactorsand motor circuit breakers inthe cabinet are by Tele-

mechanique. There are twoCAN networks for connect-

ing panels and displays.Crouzet, Selectron, andTelemechanique, daughter

companies of SchneiderElectric (www.schneider-

electric.de), offer a broadrange of components and

devices for lift control appli-

cations. Among them thereare CAN and CANopenconnectable devices, e.g.

decentralized car control-lers and floor controllers

with I/O functionality. TheSpanish company Micelectoffers load weighing sen-

sors and controllers for lift

applications with CAN con-nectivity. The ILC3 wirerope sensor can be linkedvia CAN to the LM3D or

LM6D programmable con-trol unit.

CAN-based lift controllers and devices

Specification




Panels, displays, andencoders

A lift control system ismade of very different parts

including electronic devicesthat measure, control and

actuate. The communicationbetween the electronic con-trol devices is done silently

and invisible for passengers.They only see some displays

indicating in which floor thelift is at the very moment or

push buttons to call the liftcar. The CANopen lift profiledefines control devices (call

controller car door controller,car drive controller, etc.), aswell as virtual devices, such

as output and input panel,car door unit, car positionunit, car drive unit, load

measuring unit, etc.WS Schaefer (www.ws-

schaefer.de) has developed

a broad range of CAN-con-nectable tableaus. Via theCiA DSP 417-compliant

gateway the tableau sub-system can easily be inte-

grated in a CANopen-basedlift control system. Kronen-

berg (www.kronenberg-gmbh.de) has launched lift-

operating panels for landingstations as well as for lift

cars. They are compliant toCiA DSP 417. The first carposition devices compliant to

the CANopen lift profilebased on standard encoderswere introduced by Fraba

(www.posital.com) and IVO(www.ivo.de). Schmersal

(www.schmersal.com) haschosen a different technol-ogy: The USP elevator posi-tioning system is a non-con-

tact sensor for positioningmeasurements of up to 130

m. The DSP-based sensorsupports the CANopen Liftprofile. At the Interlift exhibi-

tion, several companieslaunched car drive units (fre-

quency converters) compli-ant to CiA DSP 417. The fre-quency inverters are func-

tionally compatible to stand-ard CANopen drives, option-

ally they may support addi-tional functions such as jerkcontrol. The Micovert 2000

frequency converter fromMicotrol (www.micotrol.com)

supports open- and closed-loop control functions as wellas six driving speeds. The 5-Star (DSV 5445 Lift) fre-

quency converter from DietzElectronic features a maxi-

mum of 132-kW lifting power.The car drive unit provides

speed, position, and torquecontrol in all quadrants. Sie-mens (www.siemens.de/

edm) has developed a CAN-open DSP 417 gateway forits lift car door unit. The AT-

series drives doors up to 400kg. The AT 25 lift door unitand the corresponding CAN-open gateway can easily be

connected to any CANopenDSP 417 door controller.

These modules were used in

the CiA prototype applica-tion. The lift builder benefits

from standardized device-interfaces. System design

needs much less effort whenusing standardized commu-nication networks. In addi-

tion, the lift builder can inte-grate more easily devicesfrom third parties. Another

benefit is the availability ofoff-the-shelf configuration

and maintenance tools. De-vice manufacturers benefitfrom the reduction of vari-ants they have to provide in

order to supply several liftbuilders. The lift car decel-

erates unnoticeably. The softvoice says: “Doors are open-ing”. In order to educate in-

terested lift builders as wellas device manufacturers,

CiA is going to organize aseminar dedicated on theCANopen Lift application

profile in Spring 2004. In or-der to make developers’

work as easy as possible,Boehnke & Partner has in-troduced the CANopen

starter kit for developers ofCANopen lift devices.

CANopen Lift encoders for elevator engineering

Precise positioning of thelift cabin is a vital pre-

condition for optimized travelof the elevator. The formerly

applied magnet switches,which required rather largeefforts in installation aremore and more replaced by

encoder systems nowadays.Encoders for monitoring po-sition and speed allow any

required curve of way and

time. Whereas incrementalencoders are perfect for

measuring speed, absoluteencoders are designed to fit

positioning applications.The position values remainavailable even after power

loss and make the referencerun superfluous. New, “intel-ligent” solutions do not only

allow comfortable installa-tion and setup but reduce

operational costs by ena-bling selective maintenancework. Thus, for example,service intervals can be

adapted to individual re-

quirements. The CANopenprotocol (EN 50325-4) is ex-periencing a breakthrough

now also in elevator engi-neering as flexible serialcommunication system for

electronic component net-work. The correspondingapplication profile (CiA DSP

417) is clearly defined butstill allows utmost individual-

ity. To the elevator manufac-turer the new, OEM-inde-

pendent (Original EquipmentManufacturer) standardabove all means devices

with better price/perform-ance ratio and a consider-

able relief in system integra-

tion. IVO (www.ivo.de), hascontributed their experience

in bus systems to CiA’s

CANopen SIG (Special In-terest Group) Lift by design-

ing an encoder correspond-ing to the application profileand capable of direct con-

nection to CANopen. Thisopens up advantages of bustechnology to the user, start-

ing with comfortable set-upand ending with comprehen-sive diagnostic options. The

company’s compact multi-turn absolute encoder oper-

ates without any mechanical

gears, but the number ofturns is captured without any

wear and tear by the pat-ented „touchless encoder

principle“. Even tempera-

Device




tures from - 20 ˚C to +80 ˚Chave no impact on the en-

coder’s reliability. The en-coder is shock-protected upto 2 m/s2. The encoder

resolution is 29 bit, whereas13 bit are for the angular in-

formation and 16 bit for thenumber of turns.

Control tasks in eleva-

tor technology often imply acombination of two encodertypes: During traveling up

and downwards the signalsof an incremental encoderare being evaluated for con-

trolling the speed of thecabin drive. The incremen-tal encoder supplies a

speed-irrelevant clock pulsethat can be changed rather

easily by a frequency/volt-

age transformer into aspeed-relevant voltage. Pre-cise travel to the individualfloors however calls for the

absolute position sig-nals of a multi-turn

encoder. For this andsimilar applications,

for example swingforklift trucks in highmulti-store shelves

now one device andconsequently the oc-curring costs can be

saved. An electronicmulti-turn encoder of thecompany’s Multivo product

series features two addi-tional incremental track sig-nals shifted by 90 degrees.

The integrated ASIC proc-esses both absolute and in-

cremental signals andmakes them available to thecontrol unit for speed and

position regulation via stand-

ardized interfaces. The in-cremental signals for exam-ple are for regulating travelprofiles whereas the abso-

lute signals are for capturingthe stop positions. The de-vice provides processing

speeds of more than 10 kHz.The basic encoder fits allcurrent bus systems by plug-

ging on the desired buscover. Separate connectors

for the incremental signalsenable simple installation.

Besides speed control,

the encoder’s incrementalsignals shifted by 90 de-

grees open up further pos-sibilities and applications, for

example in monitoring slip-page tolerances at belt

drives or steel cables. Slip-page means the difference

between the path covered bythe cable and the drive rollrespectively motor. Slippage

tolerances are needed toavoid extreme loads onreels, fan belts or steel ca-

bles but certain limit valuesmust not be exceeded. Ittakes two encoders to cap-

ture the slippage tolerance,one for the cable and one forthe drive line. The measured

values supplied may beused for example by the el-

evator’s control unit for per-manent slippage monitoring.Preventive maintenance

service for controlling the

slippage tolerances are thusbecoming superfluous.

[email protected]

Device

Control Techniques(www.controltechniques.com)

has introduced the Unidrive

SP that can be stopped in acontrolled, damage-free way

– and given them the means,for example, to bring liftssafely to the nearest floor for

the evacuation of their occu-pants. This is due to the

drive’s power supply input.This feature is relevant forany equipment that needs

UPS back-up – e.g. fair-ground rides and machine

tools, so that it can be shut-

down safely. With pendingEuropean elevator regula-

tions, the key application forthis feature is likely to be lifts.

Public safety is of keyconcern for building owners

and lift contractors – one is-sue being the ability to get

lift passengers rescued dur-

ing a catastrophic power fail-ure, such as those recently

experienced on the easternseaboard of the USA and inLondon. In the vast majority

of instances a full uninter-ruptible power supply back-

up with a generator thatkicks in to take over criticalsupplies is too costly. An al-

ternative solution could bethe fitting of the company’s

drives as lift drives. Built into

every Unidrive SP is a 48-VDC back-up power supply

connection. In the event of apower-loss, connection of a

simple 48-V battery-oper-ated UPS allows full load

operation of the lift motor al-beit at a slower speed.

The drive is designed

for both geared and gearlesslifts and supports open-loop

vector, closed-loop vector,brushless synchronous mo-tor modes. Multiple feedback

types are supported asstandard, including Sin/Cos

feedback. Additional controland communications optionmodules such as CANopen

(CiA DSP 402 and CiA DSP417) are available. The drive

includes features such as

brake control, excellentspeed and torque control

designed specifically to pro-vide smooth, high-perform-

ance lift operation and con-trol.

The ARTDrive L fromSIEI America (www.amicon-

drive.com) is powered by a

Vecon micro-processor cou-pled with a proven IGBT

power section design. TheCANopen-connectable de-vice provides multiple con-

trol modes for AC induction(asynchronous) motors in-

cluding V/F, sensor-less fluxvector, and closed-loop fluxvector.

For the AC drive enthu-siast, the motion controller

provides AC brushless con-

trol for synchronous motors.This allows covering all el-

evator applications from theresidential to the high rise,

geared or gearless, tospeeds exceeding 5 m/s.

Drive for CANopen lift For lifts

Canopen Lifts

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