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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
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10 CAN Newsletter 1/2004
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
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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.
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
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