APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
Crane Control
Software Change Note
APFIFF20
Application: APFIFF20
Application Name: Crane Control application
Manual: DPD01974
Update Note 1: This application parameters are not kept
backwards compatible if new features or improvements would be
difficult to implement by doing so. Read this change note and
chapter “Compatibility issues in parameters between versions” from
manual before updating the application.
Update Note 2: It’s recommended to use compare function for
parameter changes when updating application, especially in cases
when version number change is considerably high.
Application is constantly developed; this includes changing
parameter default values, and if parameters are directly
downloaded to drive improved default values may be lost.
Classified as Public 1 | Page
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V098
Replaced Application: APFIFF20V096
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: -
Used in production: -
Changes in new application:
• It was possible to get License Fault in power up situation even
if correct license has been given, fixed.
Classified as Public 2 | Page
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V096
Replaced Application: APFIFF20V091
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: -
Used in production: -
Changes in new application:
• Added Time Scale selection for delayed digital outputs.
• Rope length calculation was in mm, fixed to cm.
Classified as Public 3 | Page
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V093
Replaced Application: APFIFF20V091
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: -
Used in production: -
Changes in new application:
• In tandem operation when brake is closed the position
correction controller is forced to zero.
Classified as Public 4 | Page
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V091
Replaced Application: APFIFF20V090
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: -
Used in production: -
Changes in new application:
• Parameter P2.4.7.1 Inversion control
o Added B06 to invert Quick Stop digital input.
Classified as Public 5 | Page
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V090
Replaced Application: APFIFF20V089
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: -
Used in production: -
Changes in new application:
• Parameter relocations
o Manual updated
• New Datalogger reset handling
o Auto
o Reset To Auto
o SW Default
o Auto Fast
o No Change
Classified as Public 6 | Page
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V089
Replaced Application: APFIFF20V086
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: -
Used in production: -
Changes in new application:
• Added selection how the rope length is handled in the drive.
Classified as Public 7 | Page
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V088
Replaced Application: APFIFF20V086
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: -
Used in production: -
Changes in new application:
• Entering Rope Length in Single drive operation did not work.
• Added Drive Synch function.
Classified as Public 8 | Page
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V087
Replaced Application: APFIFF20V086
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: -
Used in production: -
Changes in new application:
• Added rope length calculation.
o Rope length can be set to maximum by digital input
o Rope length can be set to zero by digital input
o Rope length is kept in memory over power down.
• Rope length can be send over system bus to trolley and
bridge drives.
Classified as Public 9 | Page
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V086
Replaced Application: APFIFF20V085
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: -
Used in production: -
Changes in new application:
• When Follower is in Ramp follower mode it will send End Limit
Digital information to master and master will make the stop.
Classified as Public 10 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V085
Replaced Application: APFIFF20V084
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: -
Used in production: -
Changes in new application:
• F74 Follower fault did not have coasting option in a code,
parameter had, added.
• Ramp follower did not go to Flux Off delay when master did,
fixed.
o Requires system software V201
Classified as Public 11 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V084
Replaced Application: APFIFF20V083
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: -
Used in production: -
Changes in new application:
• Added P2.15.14.2 Stop Torque Release Time ID1858
• BrakeStatusWord B0; CL_Flux_Ready will follow only and
directly RotorFlux.
o MXStatus.B7 was not reset if Flux Was below ready level
thus enabling brake opening in certain cases when Rotor
Flux was still below 90 %.
Classified as Public 12 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V08
Replaced Application: APFIFF20V079
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: -
Used in production: -
Changes in new application:
• Brake Slipping F83 status added:
o Fault Word 10 B5
o Warning Word 10 B5
• Added Warning Word 10 B6, indicating that closed loop chas
changed to sensorless control F43 S14
• Brake Status Word
o Added B12 Brake Slipping signal. Shows slipping
detection before warning itself has been triggered.
o Added B13 Quick Stop Active.
• Added parameter to reset Datalogger settings.
Classified as Public 13 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V082
Replaced Application: APFIFF20V079
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: -
Used in production: -
Changes in new application:
• Joystick reverse did not work other than IO Control place,
fixed.
• Added several monitoring signals for Functional Safety.
• Analogue references filtering time was not correctly in all
reference input modes, fixed.
• DTC Identification improvements for induction motor.
o Requires system software NXPV200.
• Automatic Start Angle Identification will work also motor type 2 and 4.
• Added C-Slot support for Advanced Safety option board.
• Automatic panel parameter backup function disabled.
Classified as Public 14 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V079
Replaced Application: APFIFF20V077
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: -
Used in production: -
Changes in new application:
• Load Floating time above 32,00 s was not stopping the
modulation after the time delay.
o Maximum load floating time limited to 32 s.
• NonReadyCauses and PreventMCReady added as monitoring
values
Classified as Public 15 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V077
Replaced Application: APFIFF20V074
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: 28.5.2019
Used in production: -
Changes in new application:
• Added Run state lock for Encoder Superv.
• Added P2.15.12.4 RollBack Kp 2
Classified as Public 16 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V074
Replaced Application: APFIFF20V072
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: 19.3.2019
Used in production: -
Changes in new application:
• Par set change was making a fieldbus fault, fixed.
Classified as Public 17 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V072
Replaced Application: APFIFF20V070
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: -
Used in production: -
Changes in new application:
• Shock load protection was using wrong parameter value,
fixed.
• Master-Follower System Drive 3 brake control was not
synchronized to master drive, fixed.
• FB Control Word going to zero was not triggering fieldbus
fault, fixed.
Classified as Public 18 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V070
Replaced Application: APFIFF20V069
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: -
Used in production: -
Changes in new application:
• Brake Slipping warning and DO stays active until Reset is
pressed.
• Anti-Swing renamed and moved to correct place G2.21.
Classified as Public 19 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V069
Replaced Application: APFIFF20V068
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: -
Used in production: -
Changes in new application:
• Reverse direction was not working in certain situations when
ProfiDrive profile was used, fixed.
Classified as Public 20 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V068
Replaced Application: APFIFF20V067
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: -
Used in production: -
Changes in new application:
• Brake Slipping was not activating in next stop if mechanical
brake problem was not corrected.
Classified as Public 21 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V067
Replaced Application: APFIFF20V061
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: -
Used in production: -
Changes in new application:
• Added anti-swing mode 4.
• Development version of Load Estimation.
• Development version of Functional Safety.
• Development version of Slack Rope prevention.
• Development version of Shock Load prevention.
• Added INV Commands B5; Invert Maximum Frequency 2
Digital input.
• Brake Slipping reference lock was not reset from rising edge
start command while warning was active, fixed.
• In Closed Loop control inching reference was not accepted,
fixed.
• Identification warning will give ident fail as a sub code.
• DataLogger signal updates.
Classified as Public 22 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V061
Replaced Application: APFIFF20V058
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: -
Used in production: -
Changes in new application:
• Added several Low Speed Positioning modes for testing
purposes.
o Recommended to use Mode 3.
• License Key status was not updated, fixed.
Classified as Public 23 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V058
Replaced Application: APFIFF20V055
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: -
Used in production: -
Changes in new application:
• Added Low Speed Positioning Function P2.8.11.7
o Anti-Swing disabled in certain selectable conditions.
• Added possibility to disable Anti-Swing function when End
Limits switches are activated.
• Added digital input to disable Anti-Swing.
Classified as Public 24 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V055
Replaced Application: APFIFF20V054
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: -
Used in production: -
Changes in new application:
• Firmware updated to NXP 4.91, requires system software
version NXPV196.
Classified as Public 25 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V054
Replaced Application: APFIFF20V053
Used Firmware version: NXP 4.90
System Software requirement: NXP V195
Released to field: -
Used in production: -
Changes in new application:
• Added function that will reset IO rising edge start command
when master follower mode is changed by digital input.
Classified as Public 26 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V053
Replaced Application: APFIFF20V052
Used Firmware version: NXP 4.90
System Software requirement: NXP V195
Released to field: -
Used in production: -
Changes in new application:
• Firmware downgraded to be able to use application in
released system software NXPV195.
Classified as Public 27 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V052
Replaced Application: APFIFF20V051
Used Firmware version: NXP 4.91
System Software requirement: NXP V196
Released to field: -
Used in production: -
Changes in new application:
• Master-Follower reference changed by default 19 / Master
Ramp.
• Wrong license code was giving F8 System Fault, fixed. Gives
now F72 License Key.
Classified as Public 28 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V051
Replaced Application: APFIFF20V049
Used Firmware version: NXP 4.91
System Software requirement: -
Released to field: -
Used in production: -
Changes in new application:
• Identification function for brake mechanical delays, only for
closed loop control.
• Added parameter to force control place to system bus in case
drive is follower.
• Added digital input to force control place to system bus.
Classified as Public 29 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V049
Replaced Application: APFIFF20V048
Used Firmware version: NXP 4.91
System Software requirement: -
Released to field: -
Used in production: -
Changes in new application:
• Over Speed protection added.
• Removed Brake Open status from Speed Error function.
o Speed Error works also without brake control active.
• Default tripping limits increased for Speed Error, was too
sensitive.
Classified as Public 30 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V048
Replaced Application: APFIFF20V040
Used Firmware version: NXP 4.83
System Software requirement: NXP3 V195
Released to field: -
Used in production: -
Changes in new application:
• Tandem Function was affecting also master reference, fixed.
• Shaft Angle name changed to Encoder Angle.
o Shaft Angle is for Sensorless.
• Added Brake Slipping test function.
• Added Preset Speed 0, Base Reference when Preset Speeds are used
and main reference input.
• Speed Limits for Main Reference redesigned.
o Joystick Reference uses not Speed Share for direction change.
Classified as Public 31 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V040
Replaced Application: APFIFF20V037
Used Firmware version: NXP 4.83
System Software requirement: NXP3 V195
Released to field: -
Used in production: -
Changes in new application:
• Added encoder fault response to change from Closed Loop
control to Sensorless control.
• Added Dead Time Compensation identification run.
o Also Ls Voltage Drop identification.
Classified as Public 32 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V037
Replaced Application: APFIFF20V036
Used Firmware version: NXP 4.83
System Software requirement: NXP3 V195
Released to field: -
Used in production: -
Changes in new application:
• New logic for motor current monitoring for opening and
closing the brake if no current to motor.
• Speed Error will give coasting stop and closed the brake in
case error is three times set limit.
• Minimum frequency handling separately for starting and
stopping in sensorless control.
Classified as Public 33 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V036
Replaced Application: APFIFF20V034
Used Firmware version: NXP 4.83
System Software requirement: NXP3 V195
Released to field: -
Used in production: -
Changes in new application:
• Added DI function for end limit speeds.
• Improvements for Brake Control for sensorless control.
• Speed Error monitoring for sensorless control.
• If Speed Error triple of set parameter immediate fault without
delay.
Classified as Public 34 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V034
Replaced Application: APFIFF20V033
Used Firmware version: NXP 4.83
System Software requirement: NXP3 V195
Released to field: -
Used in production: -
Changes in new application:
• Motor Control Mode parameter removed, replaced with MC
Mode parameter
o Open Loop
o Closed Loop
o Sensorless
o AOL Control
• Added Brake Control parameter initial calculations for
sensorless control.
Classified as Public 35 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V033
Replaced Application: APFIFF20V029
Used Firmware version: NXP 4.83
System Software requirement: NXP3 V195
Released to field: -
Used in production: -
Changes in new application:
• Added response parameter for encoder fault.
• Tandem operation (Shaft Synchronization) development.
• Default setting changed
o P [Link] VoltageCorr. K
o P [Link] TorqStabDamp
o P [Link] TorqStabGain
• Added Voltage Dropp identification group.
Classified as Public 36 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V029
Replaced Application: APFIFF20V024
Used Firmware version: NXP 4.83
System Software requirement: NXP3 V195
Released to field: -
Used in production: -
Changes in new application:
• Minimum frequency was written also from system software
side, this was conflicting with minimum frequency handling on
application side and make drive to run against the brake,
fixed.
• Preset speed are moved to normal reference chain. I.e. Preset
speed reference can be selected as a reference location.
• Speed Error was closing the brake regardless what was
selected response, fixed.
• Added own parameter for I/f activation, moved I/f setting to
Open Loop group. IM I/f support added to system software
V195.
Classified as Public 37 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V024
Replaced Application: APFIFF20V023
Used Firmware version: NXP 4.83
System Software requirement: NXP3 V192
Released to field: -
Used in production: -
Changes in new application:
• Load floating times started from stop command, fixed to be
after zero frequency level is reached.
• Dynamic minimum frequency was active in open loop control
before any Brake ID runs were made, fixed.
Classified as Public 38 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V023
Replaced Application: APFIFF20V022
Used Firmware version: NXP 4.83
System Software requirement: NXP3 V192
Released to field: 19.1.2017
Used in production: -
Changes in new application:
• Unrealistic parameter settings gave unusable result in Crane
ID function, values are now limited/checked against multiple
variables or are left unchanged if input variables are outside
expected range.
• Magnetization current is updated with calculated value if only
stand still identification is made and magnetization current
has not been given.
Classified as Public 39 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V022
Replaced Application: APFIFF20V020
Used Firmware version: NXP 4.83
System Software requirement: NXP3 V192
Released to field: 18.1.2017
Used in production: -
Changes in new application:
• Default setting changes.
• Parameter grouping changes.
• Parameter name changes.
Classified as Public 40 | P a g e
APPLICATION TEAM
DPD02108 V098
APFIFF20
17.6.2020
APFIFF20V020
Replaced Application: APFIFF20Vxxx
Used Firmware version: NXP 4.80
System Software requirement: NXP3 V191
Released to field: 5.1.2017
Used in production: -
Changes in new application:
• Master Follower was not working correctly, fixed.
• Brake fault was in 100 ms time level, moved to 10 ms time
level.
• Brake slipping delay changed from 20 ms to 100 to allow
some jittering.
• Brake slipping was monitored against brake control signal,
changed to brake state estimate signal.
• Brake feedback signals are handled with own delay
parameters. (>1 s delay in feedback signal compared to when
mechanically open). If zero mechanical delays are used.
• Added Crane ID function for horizontal movement.
o Holding brake and no hoisting load requirements.
Classified as Public 41 | P a g e
