October 2013

CAN Newsletter
Hardware + Software + Tools + Engineering

CANopen-Lift special
Lifts for public means of transport
with CANopen
CANopen-Lift: The open specification
for elevators
Magnetic encoders conquer
safety-relevant applications
 The Royal League of drive technology

Welcome to the World's Best

High-tech drives and frequency inverters

for passenger, goods or inclined lifts;
highest quality combined with the power to meet any challenge

CANopen ®

LIFT © CiA

ZETADYN 4
By far the number one
ZieHl-ABegg once again sets a milestone
with the ZETADYN 4. The new, high-tech
frequency inver ter provides contactorless
operation, integrated brake monitoring compliant
with eN81-A3, autotune functionality and an
electronic rating plate. This, combined with
CANopen liFT means simplest commissioning
and greatest travel comfort. www.ziehl-abegg.com

The Royal League in ventilation, control and drive technology

M ovemen t b y Perfe ctio n

 CANopen-Lift: The open
specification for elevators
Jörg Hellmich

A lot of electronic assem-

blies are needed to re-
alize the desired functional- 21 kW
ity, the ride quality and the
current safety requirements
called for in modern lift sys-
tems. These electronic as-
semblies are networked via
486 kW
modern network systems 465 kW Internet
and use these systems to ex- CAN-Message
change status information
or commands. In order to Figure 1: The drive unit calculates the energy requirement of the drive and
achieve this, it is necessary to provides it for the network. The energy requirement of all other devices
have all assemblies involved of the lift can be measured with a simple 2-phase energy meter. The total
in the communication “speak energy requirement of the lift can be calculated by the lift controller over a
and understand” the same longer period.
network protocol. This is only
possible when all assem-
blies use an open, standard- CANopen standard as a de- connectors, etc.). At the In- Author
ized protocol or a proprietary velopment basis, which had terlift 2003, several manu- Jörg Hellmich
protocol produced by only already been widely used facturers exhibited the first Elfin GmbH
one manufacturer. An exam- in automation technolo- prototypes of components General manager of Elfin
ple of an open standardized gy for years, and to extend at a common stand devel- Chairman of SIG lift
protocol is the application it by the functions needed oped by the Special Market- Siegburger Straße 215
profile CiA 417 Lift Control for lifts. Within CAN in Auto- ing Group Lift, which had DE-50679 Cologne
CANopen-Lift, which is mation, the Special Interest been founded for this partic- Tel.: +49-221-6778932-0
based on CANopen. In Group (SIG) “Lift” was found- ular purpose. In the following Fax: +49-221-6778932-2
this application profile, all ed. This SIG was expected to months the manufacturers in- [email protected]
parameters and commands check existing profiles to see tegrated the functions step by
of a modern lift system are if they were suitable for lift en- step into their components
standardized, e.g. the pa- gineering purposes and ex- and as early as 2005 the first Link
rameters of the frequency tend or redefine functions that 1000 lifts were supplied with www.elfin.de
converter in the drive unit, or were needed. The result of CANopen-Lift components
the door controls and com- this review was the applica- and put into operation. In
mands such as “Open door tion profile CiA 417 Lift Con- the years between 2003 and
A”, “Cab call floor 8” or “Posi- trol (CANopen-Lift) published 2009 an increasing number
tion 23,263 m; Speed 0,8 m/s; in June 2003. This profile de- of units were equipped with
Acceleration 0,5 m/s2”. In termined many “virtual units” a CANopen interface and
this article the most im- of a lift system, objects and mostly those functions were
portant milestones of the de- messages of these virtu- integrated into the standard,
Engineering

velopment of CANopen-Lift al units, as well as technical which had already been re-
and the latest functions are marginal conditions (bit-rates, alized conventionally and/or
presented. services, pin assignments of with other interfaces, such
On the occasion of the
Interlift 2001, 20 small to me-
dium-sized lift component
manufacturers agreed to par-
ticipate in producing an open
standard for the communica-
tion of the CAN network for CAN-Message
the first time. At the begin- virtual console
ning of 2002, these manu-
facturers agreed to use the Figure 2: Virtual console

CAN Newsletter Lift 3

 as the serial communica- during these Plug Fests to In addition to the exist- configuration. One could for
Engineering

tion between converter and check the physical bound- ing modes (such as “drive”, example use an LCD display
control system with the DCP aries of the CANopen speci- “ready”, “standby” or “off”), in the cab and the keys of the
protocol. The full functional- fication. The stability of the the power saving mode re- cab panel to display the con-
ity is available since version connections with different duces the demand during trol menu in the cab during
2.0 of CiA 417, which was lengths of network connec- the business hours, without maintenance and access the
passed in 2010, and has tions up to a length of 230 m compromising the operation- parameters or information on
been freely available since was checked and the units al readiness of the lift. The malfunctions. At the moment
2011 as Draft Standard. In were subjected to a network resulting savings are much a method to allow the transfer
order to illustrate the func- stress test, in which the net- greater than the previous- -
tionality, the Special Mar- work load was gradually in- ly used full shutdown during tents is under development.
keting Group Lift developed creased with high and low limited hours. The CANopen-Lift stan-
the CANopen-Lift-Demon- prioritized messages up to This process not only dard is full of life and un-
strator, which was present- 100%, while the behavior of allows a software update to der constant development.
ed in March 2009 for the first the units was tested. be carried out in an assem- The essential novelties are
time, on the occasion of the Since 2009 new func- bly but also the parameter still coming from Germany,
Heilbronner Aufzugstage. tions have constantly been sets of all assemblies to be but CANopen-Lift is also
To allow interoperability to integrated into the standard read out and secured follow- increasingly gaining in inter-
be checked, so-called Plug and into the units of the man- ing commissioning. This al- national importance. In the
Fests were introduced, ufacturers, which would not lows system manipulations future, CANopen-Lift will be
which have taken place on have been possible in this that were effected after the the basis for the remote diag-
a regular basis since the way without an open stan- final inspection to be detect- nosis of all components over
beginning of 2009. During dard. Up to now the mea- ed. The process is not only of the Internet and for the safe-
the Plug Fests, check lists surement of the energy had interest to the servicing com- ty-related data transmission
are used to successively to be done manually during pany and operator of a lift in lifts.
test the functionality of in- a defined test drive. With the system, but also to the moni- More and more com-
dividual units with units by integration of the protocols toring authority or the fire bri- panies are taking part in
other manufacturers. The of an automatic, continuous gade in case of damage. the development of CANo-
developers have the op- measurementintheCANopen- Any unit can place virtu- pen-Lift and introduc-
portunity to directly remedy Lift Standard, the total al display content on the net- ing new ideas into the
smaller shortcomings crop- energy requirement can work and any other unit with standard, which are avail-
ping up during the tests. be calculated over a longer a display and keys can be able to all participants. The
Tests were also carried out period. used for representation and future remains exciting.

Table of contents Imprint

Engineering Publisher Advertising manager
CANopen-Lift: The open specification CAN in Automation GmbH Gisela Scheib
for elevators 3 Kontumazgarten 3 (responsible according
Model driven integration of CANopen DE-90429 Nuremberg to the press law)
components 5 [email protected]
www.can-cia.org Distribution manager
CANopen-Lift, the logical further
development of DCP 24 www.can-newsletter.org Julia Adolf
Value adding by linking CANopen Tel.: +49-911-928819-0
CiA 417 devices 26 Fax: +49-911-928819-79 © Copyright

CEO Holger Zeltwanger CAN in Automation GmbH

Hardware
Hard copies: 1000
Magnetic encoders conquer safety-relevant The views expressed
applications 8 Editors in the CAN Newsletter
Using the virtual terminal for universal Annegret Emerich Lift magazine are not
remote access 12 Cindy Weißmüller necessarily those of
Holger Zeltwanger CAN in Automation
Black smoke-resistant safe shaft (CiA) e. V. While every
(responsible according
information system 16 effort is made to achieve
to the press law)
Access control system for elevators 18 total accuracy, neither
[email protected] CiA e. V. nor CiA GmbH
Application can be held responsible
Layout for any errors or
Nickel Plankermann omissions.
Lifts for public means of transport with CANopen 22

4 CAN Newsletter Lift

 Model driven integration of
CANopen components
Prof. Dr.-Ing. Ansgar Meroth

T he histories of elevators
and vehicles share sev-
eral noteworthy common-
Author
Ansgar Meroth
Heilbronn University
alities. Cars started at the Max-Planck-Str. 39
end of the 19th and the be- DE-74081 Heilbronn
ginning of the 20th century
as mechanical systems Link
with electromechanical com- www.hs-heilbronn.de
ponents – mainly ignition.
Steam-driven lifts started to
be employed in 1850, and
were driven by electrical en- Figure 1: V-Model for the system design in the light of
gines by 1880. In the 1970s, functional safety (Gutmann, 2010)
electronic components en-
tered both worlds, first re- others). The common open theoretically require a long
placing single electrome- interface helps to reduce development time since all
chanical parts, and in the development life cycles and the specifications are made Introduction
1990s, networking started to time to market, especial- with a top-down-approach, CANopen for Lifts,
spread out so that complex ly in light of the challeng- in which the test cases for specified in CiA
and expensive wiring could ing requirements of IEC integration and verification 417, has reached a
be replaced. The next de- 61508, the basic function- are also elaborated. Conse- maturity that allows fast
velopment step, however – al safety standard (Interna- quently, system integration development cycles,
model-driven development tional Electrotechnical Com- and verification is performed short integration times
and automated integration mission (IEC), 1998). These in a bottom-up-process. Us- and easy maintenance.
and testing - is rather further requirements have impli- ing well known common in- This article shows the
developed in the automotive cations on the developing terface specifications on usage of model-based
industry, driven by cost and process, which challenge subsystem and component development methods
safety requirements. the integration of lift com- level can reduce the devel- and hardware-in-the-loop
ponents in several ways. opment efforts considerably (HIL) testing for lifts,
Integration of lift (Gutmann, 2010). The de- by taking advantage of off- following well-
components velopment of safety critical the-shelf components and a known schemes from
systems usually follows the parallel integration process automotive engineering
In 2002, CiA 417 for lift con- V-model as shown in Fig- on the subsystem level as and transforming them
trol systems was specified ure 1. This approach would shown in Figure 2. for lifts. This work
in order to interconnect lift is based upon the
components with a common modeling of a lift system
open interface. Many virtu- by Matlab/Simulink,
al devices have been cre- which later will be used
ated that add up to a com- as a HIL test bench.
plete lift system, such as The paper discusses
Engineering

an input panel unit, an out- how conformity tests

put panel unit, a call con- and integration tests
troller, a car door unit, a car can be conducted in the
door controller, a light barri- proposed environment.
er unit, a car drive unit, a car Furthermore, a
drive controller, a car posi- demonstrator lift is
tion unit, a load measuring presented that takes
unit, and a sensor unit. As a advantage of the
consequence, system spec- proposed ideas.
ifications, system integra-
tion and maintenance can
be performed by indepen- Figure 2: System development using standard
dent suppliers (Hellmich & components

CAN Newsletter Lift 5

 Bibliography parameters of the car
Engineering

Gutmann, K. H. into account, including a

(2010). Funktionale suspension model with
Sicherheit (SIL) in der – in case of a rope – ap-
Anlagensicherung. propriate tension and
Lecture at the HS friction parameters as
Augsburg in the context of well as location, speed
the VL Prozessleittechnik. and acceleration,
An electromechanical
Hellmich, J. & others. model that converts re-
Referenzaufzug für sulting load, speed and
CANopen-Lift. Accessed acceleration into drive
January 31st, 2013 at engine load, torque and
http://www.canopen-lift. rotation and furthermore
org/wiki/Referenzaufzug. into electrical load,
A logical model that
International calculates the user re-
Electrotechnical quests into drive param-
Commission (IEC). (1998). eters, which is what the
IEC 61508-0. Functional lift control does. The
safety of electrical/ logical model also rep-
electronic/programmable Figure 3: Logical system architecture resents the information
electronic safety-related flow in terms of CANopen
systems. Each new component & Zurawka, 2010). From the messages.
can be tested for the beginning of their functional Figure 4 shows some
Lang, S., Melzer, M. & CiA 417 specification and in- specification, new compo- of the main parameters that
Brandner, R. (2013). tegrated into a system that nents undergo a test and in- have to be processed by the
Inbetriebnahme und follows the standard and tegration process against a different models, which are
Optimierung einer uses CANopen messages simulated total system. The connected by CANopen-
Modellaufzugsanlage mit as interface. There is, how- future system is specified by like data structures. Step by
offenen Schnittstellen. ever, a practical drawback, taking advantage of a mod- step, the system model can
Heilbronn: Hochschule which is the fact that lifts eling tool chain, obeying a be replaced by real com-
Heilbronn - Masterprojekt. need to be highly custom- system architecture previ- ponents using a real time
ized and individual. In other ously agreed on, and rely- prototyping system that is
Meroth, words, integrating and test- ing on CANopen messages directly programmed with
A. & others. ing a new component would as interface. Figure 3 shows Matlab/Simulink generated
(März 2012). require the presence of the a corresponding architec- code as shown in Figure 5.
Komponentenintegration entire remaining lift system. ture, which is implicitly de- A test bench realized this
im Modellmaßstab. rived from CiA 417. We pro- way consists of the real or
Lift Journal. Hardware in the loop pose a modeling tool chain simulated device under test
that includes: (DUT), a so-called bread-
Schäuffele, J. & Zurawka, The problem is well known A mechanical model board with real components
T. (2010). Automotive and well solved in the auto- of the system that (sometimes supported by
Software Engineering. motive industry (Schäuffele takes weight and load substitute hardware that
4th edition. Wiesbaden:
Vieweg und Teubner.

SIG CANopen-Lift.
CANopen-Lift. Accessed
July 14th, 2013 at http://
canopen-lift.de.

Figure 4: Hardware in the loop scheme

6 CAN Newsletter Lift

Figure 5: Model levels

simulates sensor input), a Test system Figure 7: Selected components of the reference model
behavioral and functional
model of the total system, For the demonstration of The system is controlled by havioral model with Matlab/
and the remaining network the development life cy- two Bp308 controllers from Simulink. Figure 7 gives im-
traffic. In order to supervise cle stated above, we devel- Böhnke + Partner and takes pressions of some compo-
the CAN network and to oped a 1:10 scale lift mod- advantage of original com- nents of the real model. The
simulate remaining logical el as shown in Figure 6. ponents, e.g. call units, light final goal is to have a test
behavior, e.g. calls, CANoe This model was originally in- barriers, outputs, car elec- system ready that can be
by Vector can be used in ad- spired by Jörg Hellmich, for- tronics, position sensors used for static and dynamic
dition to Matlab/Simulink. merly at Böhnke + Partner and others. Even the safe- conformity tests and allows
and now CEO of Elfin. We ty circuit is constructed as a reduced integration and
used an aluminum frame close to an original system verification life cycle with
made from industrial profiles as possible. At the moment single components.
for the two shafts and placed we are developing a virtu-
two cars on steel ropes with al model of the components
a counter weight and driv- in order to replace the vir-
en by DC motors commu- tual and the real parts. For
tated with electromechani- that reason, we have start-
cal contactors. We hope to ed to implement a simula-
receive an asynchronous tion of CANopen messag-
Figure 6: Reference drive with an inverter from es of the system by means
hardware model the lift industry in the future. -
 Magnetic encoders conquer
Hardware

safety-relevant applications
Klaus Matzker

Author
Klaus Matzker
Posital GmbH
S ince errors in lift con-
trol systems can have
potentially disastrous re-
vides an innovative, robust
solution for such applica-
tions. The units, which oper-
Carlswerkstr. 13c sults, the sensor technol- ate without batteries, do not
DE-51063 Köln ogy in such applications require referencing. They in-
Tel.: +49-221-96213-0 must be sufficiently reli- stantly provide current po-
Fax: +49-221-96213-20 able and safe. The follow- sition and revolution val-
ing article describes encod- ues even after power failure.
Link er-based solutions, which This is an essential feature
www.posital.eu have already proven them- Figure 1: Magnetic Ixarc for elevator applications,
selves in practical use and, encoders are compliant where reference runs are
unlike non-contact measur- with CiA 417 often undesired or not per-
ing systems, have already mitted. Moreover, the mag-
established themselves on is carried out by absolute netic functional principle of
a large scale. encoders and a belt drive the encoders allows for a
The position of an ele- or draw wire. The revolving very compact design, which
vator car can, for instance, belt can, for example, move easily withstands high bear-
be measured by means of a wheel fitted on the eleva- ing loads up to 250 N that
Outlook the steel cable by which it tor car, whose revolutions can occur in belt drives. It
“We are currently is suspended. This method, are measured by an encod- also allows users to imple-
developing a second, however, is not unproblem- er. Alternatively, the encod- ment especially cost-effi-
completely revised atic, since slip, angular off- er can be installed in a fixed cient systems, replacing in-
generation of magnetic set and multi-layer winding location at the upper end cremental sensor solutions
absolute encoders, and of the cable on the drum re- of the shaft, measuring the or optical absolute encod-
aim to provide equivalent duce the measuring accu- cabin's position by means of ers. MCD encoders pro-
units to optical models”, racy considerably. Another a belt-driven wheel or draw vide a maximum resolution
obstacle is the fact that a wire. Thereby, the belt or of 12 bit per revolution. Ad-
Michael Löken. “Users full elevator car elongates draw wire is not burdened ditionally, they can cover up
can then fully benefit the cable much more than by the weight of the elevator to 15 bit for measuring rev-
from the advantages of an empty run. These chal- car, thus preventing mea- olutions. Using an odometer
magnetic technology, lenges make it hard to en- surement errors through wheel with a 50 mm diame-
i.e. a more compact sure the desired measuring longitudinal strain. ter, this enables a linear res-
and cost-efficient accuracy of 0,1 mm. Anoth- olution of 12 µm and a
design and reliable er approach, which is based Compact magnetic 5,147 m measurement range.
operation under rugged on direct measurements at solution Higher resolutions are pos-
conditions. Moreover, the cabin, allows users to sible with smaller odometer
we will introduce our first sidestep these disadvan- The Ixarc series of abso- wheels. The encoders fea-
magnetic incremental tages: shaft copying, which lute magnetic encoders pro- ture a CANopen interface
encoders in September
2013. These units, which
will be available at short
notice, will allow users to
configure the resolution
depending on their
requirements.”

models (left)

8 CAN Newsletter Lift

Global travel comfort.
Millimeter precision braking.

LIFT

Whether it comes to drive control or shaft

selection – for more than 15 years our
encoders have been making a significant
contribution to longevity and efficiency of
escalators and elevators all around the globe.

rg
Learn more under Visit us at Interlift in Augsbu
oth 2222
www.baumer.com/lift 15.– 18.10.2013, Hall 2, Bo
 an electronic counter. The
Hardware

latter increments and dec-

rements the number of revo-
lutions depending on the di-
rection, and then stores the
value in a non-volatile mem-
ory. This method is not com-
pletely reliable, since the
actual position can change
during power failures. Bat-
teries can be used as a buf-
fer, but their lifetime and ap-
plication range is limited.
One approach to this prob-
lem is using the rotary mo-
tion of the shaft for the pow-
er supply of the counting
electronics – similar to a bi-
Figure 3: Buildling blocks of the magnetic SIL-2 encoder cycle dynamo. At a near-ze-
ro speed, however, this pow-
with a lift application profile, are realized via the CAN SSI interface that enables er generation method fails.
which completely fulfills the network. Additionally, two the connection to all stan- This problem is solved by a
requirements of the CiA 417 programmable limit switch dard frequency inverters are patented magnetic encod-
specification. Three modes positions are available. All also available. er design, which is based
of operation (cyclic, polled, parameters can be stored on Wiegand technology.
and sync modes) provide in the encoder's nonvolatile Storing revolutions Regardless of the rotation
high flexibility. Users can memory. The sensors sup- without an external speed, this proven technol-
adjust the data transmission port LSS functionality (node power supply ogy generates short, power-
rate between 20 kbit/s and number and bit-rate set- ful voltage pulses, which are
1 Mbit/s. Parameterization ting), allowing for a defined Encoders can be based on sufficient for the power sup-
and configuration, e.g. code and cost-efficient integra- two technical solutions in or- ply of the counting electron-
sequence, preset value, and tion into networks. Optional- der to count the number of ics. It enables the reliable
resolution per revolution, ly, encoder models with an revolutions: a gearing unit or measurement of absolute

Certified optical SIL-3 encoder with a CANopen Safety interfacety

encoders have been certified

by the TÜV Rhineland (Germa-
ny) testing authority. The sen-
sors with a CANopen interface
can be used in SIL-3 applica-
tions and are suitable for vari-
ous elevator applications. The
SIL-3 encoders support both
the standard CANopen proto-
col and CANopen Safety pro-
tocol, allowing for mixed opera-
tion with Safety and non-Safety
network devices. Like magnet-
ic encoders, the safety encod- The TÜV-certified optical safety encoders are suitable for SIL-3 applications
ers can be used for shaft copy-
ing and provide a safe position value. Their safety design units ensure optimal reliability while measuring only 16 mm
makes various other components unnecessary, or allows more in length than standard models. Node number and bit-
the encoders to perform additional functions. They could, rate (up to 1 Mbit/s) are configured via a rotary switch in the
for instance, replace other encoders at the drive or make connection cap. The optical safety encoders use a proven
position limit switches at the doors for floor identification ob- opto-electronic scanning method to record position values.
solete. Moreover, standstill monitoring based on the safe The single-turn sensor provides a maximum resolution of
position detection is also possible. The encoders transmit 16 bit per revolution. Additionally, up to 16384 revolutions
a safe position value, which can be directly processed by (14 bit) can be detected in multi-turn mode, thereby covering
the safety controller, requiring no further checks in the PLC. a measuring range of up to 30 bit. The encoders are avail-
Based on the position values, the PLC can also calculate able as solid shaft, hollow shaft or synchronous shaft mod-
the speed. A special feature is the redundant encoder de- els. They provide IP65 protection on the housing side and
sign: thanks to a dual opto array and two gearboxes, the IP64 on the shaft side (an optional shaft seal ensures IP66).

10 CAN Newsletter Lift

 International Commerce Center
Hongkong

positions even in industri- single-turn encoders pro-

al environments. Normal- vide a 12-bit resolution and
ly, the counting electron- an accuracy of approxi- www.elgo.de
ics of the encoders are in a mately 10 bit (± 0,35 °) per
dead state. When the shaft revolution. We are currently interlift 2013
moves, they are activated planning to develop a mag- 15. – 18.10.2013
Halle 3
for a short time by a voltage netic multi-turn version sim- Stand 3170
pulse and analyze the rotat- ilar to the already available
ing direction. The number of standard safety encoder.
revolutions stored in a non- On the housing side,
volatile memory is then in- they ensure IP69K protec-
cremented or decremented tion, while IP66 is reached
accordingly. Disturbances on the shaft side. The en-
occurring during the dead coder housings are avail-
state can therefore not influ- able with two different
ence the system. Unlike op- diameters: one 25-mm
to-electronic encoders, the model for restricted installa-
magnetic encoders do not tion space and a flat 58-mm
require gearing units or bat- model that requires very lit-
teries, which minimizes pro- tle depth. Made from a spe-
duction and material costs. cial alloy, the magnetically
Since only one permanent shielding steel housing is
magnet is required to op- also protected against salt
erate the Wiegand and Hall mist. The SIL CL 2 encod-
sensors, all elements can ers are based on two hall

ELGO inside
be fitted into a very small sensors that measure the
space. magnetic field of a perma-
Thanks to the magnet- nent magnet mounted on
ic technology, the encoders the shaft. The hall sensors
withstand rugged environ- are read out separately by
mental conditions such as two microcontrollers. The
humidity, high and low tem- CAN controller, which is
peratures, and vibrations. also redundant, is connect-
They are available as solid ed to the CAN network via MEASURE CONTROL POSITION
and hollow shaft versions, a transceiver. Both micro-
with a radial or axial cable controllers ensure logical

real hightech
exit, and with a maximum monitoring of each other's
protection class of IP65. program sequence. Diag-
Posital provides a clamping nosis functions include tem-
flange model with robust perature monitoring inside

LIMAXseries
bearings, which is espe- the sensor and the output
cially suited for installation of emergency messages
with the toothed belt where via the CAN network if pre-
large forces can occur. The set limits are reached. Input
proven design ensures ex- voltage monitoring is also
cellent reliability through included in the diagnostic
oversizing. options. The sensor's node
number can be optional- Sicher. Schnell. Präzise.
Magnetic SIL-2 abso- ly configured by means of
LIMAX Sensoren von ELGO Electronic werden in den
lute encoders four hardware inputs, which höchsten Gebäuden der Welt zur Positionsbestimmung
considerably simplifies in- der Kabine im Aufzugsschacht eingesetzt.
We have recently developed stallation and changeover
magnetic absolute encod- since the devices no
ers for measuring safety- longer need to be config-
relevant applications. The ured via tools or require Accurate. Fast. Precise.
new encoders, which are point-to-point wiring.
Lifts in high-rise buildings around the world are
operated with PELV (Pro- equipped with LIMAX sensors to determine the
tective Extra Low Voltage) exact cabin position in the elevator shaft.
fulfill the requirements of
IEC 61508 / DIN EN 62061
(safety integrity level 2) and
DIN EN ISO 13849 (perfor-
mance level d). Featuring a
wide input voltage range of
9 V to 35 V, they are suit-
ed for many different ap-
plications. The magnetic
 Using the virtual terminal for
Hardware

universal remote access

David Souche

Author
David Souche
Sprinte
I n a complete lift control sys-
tem, there are many differ-
ent intelligent devices today.
Z.I. Les Illons Of course, first there is the
FR-07250 Le Pouzin main controller, which could
Tel.: +33-475637777 be considered the “brain”
Fax: +33-475859041 of the system, but there are
[email protected] also the VVF inverter (for an
electrical lift) or the hydraulic
Introduction drive for a hydraulic lift, the
This article explains door operator, the load mea-
the concept of the suring unit, the car and floor
virtual terminal interface panels, and so on. All these
defined in the CiA 417 interconnected devices are
Lift application profile. now complex electronic de-
It also describes the vices, and to best fit the tar- Figure 1: The inverter mounted on the top of the shaft is
motivation and needs of geted lift, most of the time a hard to access; the Zetadyn 3C inverter from Ziehl-Abegg
this interface and tries local HMI (human-machine is CiA 417 compliant and implements the virtual terminal
to promote the power interface) is integrated to interface
and the benefits given, adjust the parameters and
together with a summary give a better diagnosis when There are two issues to object (Index = 1026h) in or-
of the functionalities and needed. Some of these de- solve: the universality of the der to permit remote configu-
the implementation. vices also propose an op- tool and the remote access ration and remote debugging
tional remote tool, but very with this tool. And for years, of a can node. This is done
often with a specific protocol a solution has been offered by the use of well-known in-
Links upon a specific wire, which by the CiA 417 CANopen ap- put and output streams: the
www.sprinte.eu offers a friendlier HMI. Now plication profile for lift control stdin and stdout. Sub-index
think of the lift technicians systems. 01h of object 1026h is the
during installation or mainte- stdin, and sub-index 02h is
nance, as they have to mas- Background the stdout, each of one byte.
ter all of the tools of all the These entries are intended
devices. Just think of your Members of the CANopen to send a keyboard charac-
living-room table with the set SIG (Special Interest Group) ter to a node (the stdin) and
of four or five remote con- Lift have developed the receive a text character from
trols – and sometimes more CiA 417 application profile. this node (the stdout).
for your home audio-vid- These members are differ- Inspired by this object,
eo devices (TV, DVD-play- ent designers and manu- the CiA 417 profile introduc-
er, recorder, audio amplifier, facturers of lift equipment es the Virtual Terminal Inter-
satellite decoder) – and you located in different European face object (at index 600Ah)
won't be far from the prob- countries. This profile, whose with the two same sub-in-
lem of our technician. main objective is to ensure dexes but with a size of
But even if the techni- interconnectivity of lift de- 4 byte to improve the stream
cians are quite at ease with vices, describes how data transfer rate. With the "front-
many different tools, the is exchanged over a CAN end" contents of the stan-
physical access to the de- network based on the dard input/output streams
vices becomes also more CANopen application layer (keyboard/screen), this is
difficult. Nowadays, with the (internationally specified in the best way to achieve
increase of machine room- EN 50325-4, also known as compatibility with any HMI,
less lifts, the frequency in- CiA 301). and therefore to have a
verter and sometimes the In the communication unique tool, which is able to
main controller – the most profile area of the CANopen connect to every device of a
consulted devices – are very object dictionary, the CiA lift system, while the remote
often located in the lift shaft. 301 defines the “OS prompt” access is inherently given

12 CAN Newsletter Lift

by the connection upon the as the problem of the delay and sub-index, called the German wiki:
CAN network. will only be relevant when multiplexer) is given in the http://www.canopen-
using big HMI with a lot of message like a SDO, but this lift.org/wiki/Virtuelle_
Implementation characters to be transferred, transfer is without confirma- Konsole
but there is the need to find tion, like for a PDO. MPDOs
Both nodes, the remote tool a more efficient transmis- allow multicasting and uni-
and the lift device consult- sion service. casting with up to 4 byte of
ed, shall implement the vir- Then we naturally data within each message.
tual terminal interface ob- think of PDOs, which are There are two kinds of MP-
ject, with opposite accesses designed to process data, DOs: the DAM-MPDO and
(the remote tool sends the (this is the case with stdin/ SAM-MPDO, meaning “Des-
stdin, and receives the std- stdout), but the broadcast- tination Address Mode” and
out, while the lift device re- ing of a PDO is a little bit “Source Address Mode”.
ceives the stdin and sends annoying: every virtual ter- The names simply indicate
the stdout). But what is the minal server will react to that the multiplexer is a ref-
best service to transmit this the transmission of the stdin erence object of the trans-
data? It clearly looks like the (600A 01h) by the virtual mitter in SAM mode or of the
connection between both terminal client! Because we receiver in DAM mode. The
nodes should be in a peer- need a peer-to-peer con- SAM-MPDO allows multi-
to-peer manner with client/ nection and because there casting, while the DAM-MP-
server relationship: the re- are up to 127 nodes con- DO is used for unicasting.
mote tool is the virtual ter- nected on a CANopen-Lift Using a DAM-MPDO,
minal client, which wants to profile network, that means the virtual terminal client
virtualize the HMI of the lift 127 different PDOs have to (the remote tool) sends key- French wiki:
device, which is then the vir- be defined only for the re- codes to the virtual termi- http://fr.canopen-lift.org/
tual terminal server. mote access of each de- nal server, which answers wiki/Console_virtuelle
First we naturally think vice. This reduces the range by SAM-MDPO carrying
of SDOs, as SDOs are de- of other PDOs available on screen characters. The used
signed for a peer-to-peer the network for other pur- key-codes and screen char-
connection in a client/server poses drastically. So normal acters are from standard
relationship and the range PDOs are not the best solu- ASCII codes according to
of CAN-IDs for SDOs have tion either. ISO 88915. The virtual termi-
lower priority than PDOs There is another nal server may also use con-
so the transfer of HMI data service available, not the trol sequences (e.g. to clear
- most well known, but rec- lines or move the cursor in
tant data. But for every SDO ommended by the CiA 417 only one command), defined
client request, there is a re- for transmission of virtu- by the old but efficient VT52
sponse of the SDO server. It al terminal data: the MPDO terminal. More details on the
could slow down the transfer service. MPDO stands for contents of the transmission
rate and cause bad behavior Multiplexed Process Data can be found in the
of the remote tool because Object. In a nutshell, these CANopen-Lift wiki.
of a delay (remember how objects are hybrids between
unpleasant it is to press a SDOs and PDOs. Use cases
key and see the screen re- There are no PDO
act one or two seconds af- mappings for MPDOs as the English wiki:
ter). SDOs should be used, address of the object (index installation compliant to the http://en.canopen-lift.org/
wiki/Terminal
Hardware

Figure 2: In Source Address Mode (SAM), the 4-byte multiplexer refers to the node-ID
and the parameter address (index and sub-index) of the producer, while in Destination
Address Mode (DAM), the 4-byte multiplexer refers to the node-ID and parameter
address of the consumer; the used address mode of the MPDO is given within the first
byte (ADDR = 80 h + node-ID for a DAM-MPDO, and ADDR = node-ID for a SAM-MPDO);
in the CiA 417 profile the CAN-ID of the MPDO is defined as 500 h + node-ID

CAN Newsletter Lift 13

 Table 1: Virtual terminal commands virtualize the graphical dis-
Hardware

plays and not only the alpha-

The Video Terminal VT52 by Digital numeric displays, together
Equipment Corporation introduced in with a complete description
1974 and the description of the control of the HMI, in order to be
sequences. able to virtualize it in the
best way.
The Virtual Terminal Interface defined
Even with these need-
in the CANopen-Lift profile still uses
ed evolutions, we can see
these control sequences.
the power and efficiency of
The sequences are sent by the virtual the concept, as with it a lot
terminal server (in object 600A h - 02h) of things become possible
to operate on the display. regarding accessibility of
CANopen-Lift devices. So
Decimal Hexa-decimal Code Name
there are no boundaries to
27 65 1B 41h ESC A Cursor up extend this virtual terminal
27 66 1B 42h ESC B Cursor down interface from the lift pro-
file to many other industrial
27 67 1B 43h ESC C Cursor right
27 68 1B 44h ESC D Cursor left access to every device is
needed.
27 69 1B 45h ESC E Clear home
27 72 1B 48h ESC H Cursor Home
27 73 1B 49h ESC I Cursor up and insert
27 74 1B 4Ah ESC J Clear to end of frame
27 75 1B 4Bh ESC K Clear to end of line
27 76 1B 4Ch ESC L Insert line
27 77 1B 4Dh ESC M Delete line
27 89 1B 59h ESC Yyx Move Cursor
27 101 1B 65h ESC e Cursor on
27 102 1B 66 h ESC f Cursor off
27 106 1B 6Ah ESC j Store cursor
27 107 1B 6Bh ESC k Restore cursor
27 108 1B 6Ch ESC l Clear line
27 111 1B 6Fh ESC o Clear line to cursor

CiA 417 profile and lets ex- The controller may also is located in the shaft, and
plore the benefits of the vir- implement the virtual termi- thanks to the virtual termi-
tual terminal. With a main nal server in order to be ac- nal, the technician can con-
controller that implements cessed by a remote tool. figure it from the controller
the client interface, every Some manufacturers imple- located on the floor, more at
HMI of each device is reach- ment it in their controller and ease than if he had to be in
able from the cabinet where propose a smartphone ap- the shaft. This case is such
the controller is located. Di- plication. This application is a frequent occurrence that
nothing more than a virtual the virtual terminal object
technician can access, con- terminal client, and with a is mandatory for an inverter
figure and diagnose all oth- wireless gateway connect- device. It simply means that
er devices of the lift (which, ed to the CANopen bus, the -
of course, implements the smartphone becomes the
virtual terminal server inter- remote tool of the controller, CANopen-Lift certified.
face). The HMI of the con- which is now accessible al-
troller is used first to set the most anywhere in the lift in- Perspectives
controller, but in a dedicat-
ed menu, it can offer to con- the technician, who very of- HMIs in industrial equipment
nect to these other devices. are evolving, especially in
- car. size and the kind of screen.
tons then act on the HMI of Another very significant The use of this kind of HMIs
the remote device, and the use case is the virtualization is growing in lift devices and
- so the virtual terminal inter-
comes the screen of the re- terminal by the controller. face has to evolve. The next
- As said before, in a machine step will be to define inside
nal has been virtualized. room-less lift, the inverter the application profile how to

14 CAN Newsletter Lift

 www.boehnkepartner.de

A strong team
Benefit from the pooled expertise of Schmersal and BÖHNKE + PARTNER and make use
of the full range of elevator switchgear and elevator controls. With innovative and dependable
solutions from a single source, you’ll always have the edge over the competition.

Open standard CANopen CIA-417

CANwizard® configuration tool
Parameter assignment in plain language
Remote diagnosis
Modular extensibility.

We look forward to seeing you at

Interlift, Hall 7, Stands 7100 and 7102.
 Black smoke-resistant shaft
Hardware

information system
Heiko Essinger

Author
Heiko Essinger
Head of R&D
L imax33 Safe consists of
four components: a mag-
netic tape with absolute en-
absolute position of the el-
evator cabin through hall
sensors, which scan the en-
the control room in case of a
stop between two floors.
The most important
Elgo Electronic coding, a presence detec- coded magnetic tape con- features of the sensor are:
GmbH & Co. KG tor for the magnetic tape, the tact-free. A wear-free plastic Direct, redundant de-
Carl-Benz-Straße 1 Limax33 RED sensor for de- guiding guarantees that the termination of the cabin
DE-78239 Rielasingen termining the absolute po- correct distance between position,
sition of the elevator cabin, the sensor and the magnet- Wear-free, contact-free
Link and the Safe Box, in which ic tape is maintained at all magnetic measuring
www.elgo.de all switching and control times. The position deter- principle,
functions are integrated. mined by the hall sensors is Resistance against
The encoded magnetic transmitted via a safe EIA- dirt, dust, smoke and
tape is simply installed freely 485 2-wire interface to a humidity,
hanging in the elevator shaft controller or to the Safe Box.
using a mounting kit. The in- Additionally, the sen- High system resolution of
tegrated safety switch serves sor has a push-pull output, up to 62,5 µm for dynamic
to detect the presence of the which is switched inside the position controls,
magnetic tape. The redun- door zones of the stored floor Lifting heights of up to
dant, SIL-3-certified sensor positions in order to permit 262 m are possible,
Introduction determines the momentary evacuation of the cabin via speed up to 10 m/s,

TÜV-certified Limax33 Transformer

Transformer
Safe is a shaft information 110VAC
110 VAC LIMAX33RED SENSOR
Limax33 RED Sensor
and control system using
an encoded magnetic Inspection Control
tape. It is equally suitable
for new installations and
for modernizations due to
Inspection
its easy installation and
high saving potential.
Elgo Electronic is a Upwards

pioneer in using shaft

information systems Downwards
Recall Control
based on absolute
magnetic tape and has
developed a reliable Recall
Control Inspection Input
measuring and control Upwards Downwards SQW RS485
EIA-485
system, which covers all Recall Up Down
requirements concerning OC
Bridgable
the determination of the contact Reset
RESET
cabin position and the Floor zone
connected switching NOC
Non-bridgable
and control functions. Shaft doors contact SGC SGC-FB +12V
+24VBAT
VBAT

One great advantage of Output system Feedback input

brake system brake +24VDC
+24 VDC
this technology lies in CAN CIA406
Cabin doors Door circuit Interface to
input control
Interruption
resistance against safety circuit
dirt. The magnetic Enabling speed
controller
measuring system will
work regardless of black
smoke in case of a fire or +24 VDC
+24VDC
of pollution in the elevator
shaft. Figure 1: Integration of Limax33 Safe in the safety circuit

16 CAN Newsletter Lift

 CAN and CANopen®
Limit switch functions:
saves safety limit for Lift Applications
switches,
Triggering of clasp break
(optional),
EN 81-A3 prevention
of unintended cabin
movements,
EN 81-21 reduced heights
of shaft pit and shaft
head,
Teach-in of the floor po-
sitions via conventional
CAN interface (CIA 406
or CIA 417),
Cyclical monitoring of the
entire shaft image,
Programming of door
zone lengths, emergen-
cy and inspection limit
switch offsets possible
up to the limit values de-
fined in
EN 81.
Especially in the high-
rise sector, customer-specif-
Figure 2: Example of ic sensors, which are fixed
mounting of Limax33 Safe directly in the molding of the
rail, are already being used.
SIL3-certified according For this sector, Elgo is cur-
to EN 61508, rently developing the redun-
EIA-485 interface stan- dant Limax44 RED sensor,
dard, CANopen Safety which will include all func-
and other safe interfaces
are possible,
tional properties of Limax33
RED, but which will work with
Hardware, Software and
Easy and quick installa-
tion of magnetic tape and
a sensor-tape distance of up
to 12 mm and cover a mea- Development Services
sensor, suring length of 1500 m. This
Low-energy 12 V will permit travelling speeds
operation. of up to 18 m/s. The sensor PC/CAN Interfaces,
As the Safe Box is con- will be interface compatible
nected to the sensor via a to Limax33 RED and can Repeater and Bridges
2-wire interface, it can be also be connected to the Safe
installed either on the cab- Box.
in roof or in the machine Gateways for CAN and
room. This allows the user to
minimize the cabling works
Industrial Ethernet
depending on the type of the
elevator. The Safe Box also
provides safe inputs and
IO Modules
safety relays with normally
open contacts. This helps to Analyzing and
considerably decrease the
number of components and Configuration Tools
the cabling in the elevator
shaft.
The following functions CANopen® Protocol Stacks
are covered by the overall
system:
Speed limit, also relative
Development of customized
to the distance from the OEM products and production
shaft end: saves separate
speed limit systems at the delivery
shaft end,
Door overbridging func-
tion: saves floor magnets
and floor switches,
IXXAT Automation GmbH
Leibnizstr. 15 · 88250 Weingarten
Tel.: +49 751 56146-0
Member of the HMS group
Internet: www.ixxat.de
 Access control system
Hardware

for elevators
Pedro Martinez

Author
Pedro Martinez
Schaefer GmbH
S chaefer offers, in coop-
eration with Böhnke +
Partner, an access control
stallation is realized via
CANopen.
The EKS compact
Winterlinger Straße 4 system, which allows an in- reader unit from Schae-
DE-72488 Sigmaringen expensive and reliable real- fer is an electronic device,
Tel.: +49-7571-722-0 ization of demands in apart- which identifies electronic
Fax: +49-7571-722-98 ment/office buildings, banks, keys (transponders). This
[email protected] hotels, hospitals, etc. The device replaces conven-
employed RFID technology tional key switches, instead
Link is distinguished by high-lev- of using transponders for
www.ws-schaefer.de el data security and state-of- contactless access authori-
the-art security. The system zation. Generally, the reader
consists of a reader unit, a unit does not decide on ac-
lift controller with USB tran- cess, but transfers the data
sponder reader, and of tran- of the identified transponder
sponders. The communica- via CAN to the lift controller,
tion as well as the control which browses the database
of the in- and initiates the actions
configured for this particular
transponder. Each access
attempt is optically and
acoustically signaled
Introduction to the user. The
An access control EKS reader unit is
system for lifts has the available in vari- Figure 1: Floor buttons
purpose of regulating ous styles of are available with various
the access to particular the range of designs
floors within a building. products
Access control concepts and can mounted in a vandal-,
are developed according also be splash- and dust-proof way
to the specific building on demand.
profile and to the Each key transpon-
der is a unique specimen
demands in a hospital with a non-recurring and
are different from those unchangeable identifier. In
in an office building. case a transponder gets lost
A common building or is not returned when a ten-
profile is the typical ant is moving out, it can be
mixed-use apartment/ deleted or can be replaced
office building with by a new transponder. The
offices, surgeries, new key is integrated into
tenants, proprietors, etc. the system through the con-
Based on the sometime trol device and the data of
difficult conditions, the previous transponder is
a concept must be overwritten – thus the costs
created which fulfills the are lower than those of a
various requirements conventional steel and sheet
of all parties. Through locking system. Further-
suitable combinations more, additionally required
of floor locking and floor transponders may be add-
release, compact access ed easily. Transponders are
control concepts can be available in four variants: as
realized. key ring pendant “Blue Tag”,

18 CAN Newsletter Lift

“Key Tag”, “Strong Tag”, or Table 1: Access control example (1 and 3, door side B), which
as ISO card “Key Card”. allows a smooth handling of
The transponder iden- Occupancy visitor traffic. The release of
Floor
tifiers and the control con- Door side A Door side B the apartment floors, howev-
cepts/actions must be stored 5 Apartment Apartment er, is only possible by means
in the lift controller; which is of individual transponders
done by a matching USB 4 Apartment Apartment held by the respective oc-
transponder reader does 3 Apartment Dentist cupants and if necessary
this. The following actions 2 Apartment Apartment by further authorized per-
can be configured through sons (e.g. technicians). Oc-
1 Apartment Oculist
the controller: individual re-
lease of the authorized floor 0 Exit Exit lift by means of a visitor ride
buttons, release of all floor function, which is initiated by
buttons (up to eight floors, the occupant.
door selective), time-con- Using the access con-
trolled floor locking and floor trol system from Schae-
release, priority calls, rides fer and Böhnke + Partner,
for transport of chemical almost all access control
products and beds, rescue concepts can be realized –
ride, and emergency ride. thanks to the intelligent
Table 1 shows an access combination of reader unit
control concept for an apart- and lift controller. Response
ment/office building with five to retroactive modifications
floors and floor occupancy. of the building profile is
By default, all floor but- effortless, inexpensive and
tons are locked. The floor fast.
buttons for access to the
dentist and oculist are only
released during their open- Figure 2: Key ring pendants
ing hours, which are set in Blue Tag, Key Tag and
the lift controller, and so that Strong Tag (from left to
the patients only have ac- right)
cess to the relevant floors
 Project Mora Hospital:
Application

Six lifts in traffic systems

Roger Wickmann

Author
Roger Wickman
Hisselelektronik
Antennvägen 10
SE-13548 Tyresö
Tel.: +46-8-4487260
[email protected]

Link
www.hisselektronik.se

Introduction
About a century ago, on
January 9th 1912, the first
patient arrived at Mora
Hospital. He was a little
boy from Bergkarlås
who came in with a
fractured femur following
a skiing accident,
an injury that meant
M odernization of two
passenger lifts and
four bed/transport lifts in the
supply) and real-time ener-
gy metering with plain text
in the display.
CAN. In this instance the
following modes are oper-
ated: “Up call”, “Down call”,
staying in the hospital main building of Mora Hos- “Priority call 1: Emergency
for 50 days back then. pital was necessary in order I/O from transport”, and “Priority call 2:
A hundred years later, to enhance accessibility, re- CANopen-Lift Bed transport”.
the lifts are undergoing liability and energy efficien- Lift call and automat-
modernization as one cy. This modernization in- External calls and priority ic door opening/closing
of the elements in the cluded conversion with new lift calls are freely program- functions are executed via
streamlining of care at gearless machines, includ- mable and made directly via I/O-8 cards; each card has
Mora Hospital. Mora ing controllers, control cab- I/O on the floor display FD4- eight combined inputs and
Hospital, which is inets and sensors, new au-
situated in Dalarna, is tomatic lift doors and shaft
the biggest place of work doors, new finishes, con-
in Mora with around 800 trol panels, etc. All lifts had
employees. to stop at nine levels with a
simple automatic door.
The system is fitted
with three-stage Blue mo-
dus (energy saving mode):
Switching off/dimming lift
lighting, switching off floor
indicator, and energy sav-
ing mode “Save mode” for
frequency control. The lifts
are also equipped with:
“Revcon” (feedback of ex-
cess power to the mains Figure 1: View of engine room during modernization

20 CAN Newsletter Lift

 by TÜV. Implement-
ed test functions al-
low the inspection
body to easily car-
ry out the necessary
tests for the lift to
gain approval. The
LX control cabinet
is always equipped
and prepared for EN
81-A3. In lift and ex-
ternal calls, the card
reader unit signals
pass directly into
what is known as a
CAP-01 card, which
Figure 2: Winmos300 monitors up has eight combined
to 100 lifts inputs and outputs.

outputs. These functions Monitoring

can be programmed to any
task, either directly from a A computer with Win-
display on the control sys- mos300 for monitoring of
tem or via the computer- the lifts has been placed in
based tool CANwizard. the engine room. It allows
operating personnel to eas-
Service mode ily search for information
and also has a 4G modem
With lifts in larger groups, it for remote connection. The
may be difficult to get hold software is capable of mon-
of exactly the lift that needs itoring up to 100 lifts in the
to be serviced. To resolve basic package, full access
this problem, every lift was to errors, messages, weight,

The WE1
fitted with an input function, position, energy consump-
which places the lift in what tion; essentially, everything

is irresistible.
is known as “Service mode”. needed for diagnosis, pro-
When this input is activated, gramming, statistics and

As is our service.
the lift leaves the group sys- analysis of operating condi-
tem, serves all pending lift tions.
calls, before then moving to
the service floor (program-
mable). The lift opens and
closes the doors and then
travels 2400 mm down (pro-
grammable). The lift is now
in service mode.

EN 81-A3
UCM (unintended car move-
ment) is - in accordance with
EN 81-A3 - in control of invol-
untary lift movement and has
been certified and approved

Quality for highest aims

Number of cable sections
Used in the lift cable: Used in the shaft stem:
The new WE1 lift control system
230 V: 12 Tensile weight: 2
24 V: 2 Emergency stop: 2 Various options available
CANopen Door contacts: 2 Compatibility with CANopenLift
network: 2 Emergency telephone: 4 components
Emergency 24 V: 2 Comes with pre-configured settings
telephone: 4 CANopen-network: 2

www.weber-lifttechnik.de
Fallersleber Str. 12, D-38154 Königslutter, Tel. +49 53 53 / 91 72 - 0
 Lifts for public means of
Application

transport with CANopen

Holger Klaus

Author
Holger Klaus
Hans & Jos. Kronenberg
S pecial demands are
made on lifts for stops at
tram and railway lines in lo-
ing is also standard at these
installations. Furthermore,
low operating costs and in-
GmbH cal traffic. Because of their vestment security are re-
Kurt-Schumacher-Str. 1 partially remote and outdoor quired of such installations.
DE-51427 Bergisch Gladbach location on the track, high Fast setting up on site, a re-
protection against vandal- liable error diagnosis on re-
Links ism, dirt, dust and humid- quest, and a quick and easy
www.kronenberg-gmbh.de ity is required. With regard exchange of the compo-
to expectable EMV dysfunc- nents is also expected. This
tions due to the railway traf- can largely be ensured by
fic, high availability and re- the employment of lift com-
liability are also necessary. ponents according to the
Individual requirements due CiA 417 CANopen appli-
to restrictions, e.g. for fire cation profile for lift control
protection, demand partic- systems.
ular functions of the signal All of these reasons technique. Their new lifts
processing for displays and have convinced the opera- are therefore equipped with
speech announcements tors of the Kölner Verkeh- controls, operating and
with regard to accessibility, rs-Betriebe (KVB) and the display panels, and fur-
for example during an evac- Metro in Brussels to decide ther assembly groups with
www.thyssenkrupp.com uation. A non-halogen wir- in favor of the CANopen CANopen technique.

Kölner Verkehrs-
Betriebe (KVB)
The construction of the
north-stretch of the KVB
comprises seven stations
with a total of 13 lifts. Kro-
nenberg has been sup-
porting ThyssenKrupp AG
in planning the lifts since
2009. For this purpose
www.coopman.be there have been constant
exchanges with the project
management of the group.
Many of the lifts are already
in operation.
V4A stainless steel,
which has been electropol-
ished to protect the surface,
is used as a cover panel
material. This was made for
operating panels of particu-
larly high quality and dura-
www.boehnkepartner.de bility. The front of the control
panels are designed to be
water- and vandalism proof.
To guarantee barrier-free-
dom, large, square push-
buttons are installed. The
pushbuttons are mounted

22 CAN Newsletter Lift

 the highest requirements of was already developed in
2003 and has been updat-
wide pushbutton range. The ed constantly. In addition
black and white pushbuttons, to its eight inputs and eight
in combination with the short-circuit proof outputs,
blue dot matrix displays further inputs and outputs
and stainless steel face can be provided by com-
plates, create a modern pact extension modules
and harmonious look. The type. Floor position indica-
CANopen technique is also tors and speech announce-
used for these installations, ments can be controlled
which greatly simplifies the serially. For this purpose,
programming and param- two serial interfaces are
eterization of these operat- available. An acoustic push-
ing panels. Due to the open button acknowledgement is
standard, long-term invest- integrated in the standard
ment security is guaranteed. and can be parameterized.
For the first installa- By the galvanic bus separa-
tions, Kronenberg only de- tion and the installation of a
livered single components CAN-choke a high interfer-
and call columns. In the ence resistance is achieved.
meantime, all of the operat-
ing panels and call columns
are made by Kronenberg.
Complete operating panels
with all of the built-in parts
are now delivered prewired
and parameterized. For that,
twice at different heights to fields, which are all fitted the three single CANopen
facilitate visibility and op- with the latest LED tech- modules of the past were
eration for wheelchair and nology. Communication be- exchanged for the CANopen
upright users. With their 50 tween the operating panel module CBK1, which was
mm x 50 mm button sur- and the control is achieved especially developed by
face, outstanding color con- over the CANopen-Lift net- Kronenberg for lift operating
trast and tactile surface, work. The operating panels panels.
they meet the requirements are delivered completely as- Since then, the double-
of the EN 81-70 standard. sembled, prewired and pa- row display and the speech
The required acoustic ac- rameterized and can be put announcement are no lon-
knowledgement of the call into operation immediate- ger controlled by screw
acceptance is part ly after plugging in terminals but by serial inter-
of the usual func- the bus connection. faces. Some signal connec-
tions of the CBK1 tions for special functions
CANopen module. Metro in are no longer parameterized
Users receive ad- Brussels by hardware but by software. The CBE1 module has
ditional information The operating modules are proved its reliable operation
on the status of the Coopman received also no longer connected by method in different lift in-
lifts by the acous- a major order from single conductors to screw stallations for many years,
tic speech an- the Brussels Metro terminals but by plug con- as for example in the World
nouncement DSA2, in summer 2009 for nectors. Thus, the extensive Trade Center in Brussels,
which has an ex- over 30 lifts and de- wiring of the single wires with a six-fold and a five-
cellent voice qual- cided to cooperate and the required both-sided fold group up to 27 floors,
ity. In view of the with Kronenberg. marking of the wires have skyscrapers in Cologne,
high level of back- A year of lively been simplified and reduced Fraunhofer Heinrich-Hertz-
ground noise at and advanced ex- drastically. Institut, and now also in the
Application

platforms and on changes between Before being handed rough operation at stations
streets, an addi- the two companies over to the customer, the of local transport.
tional speech an- followed, until the operating panels undergo
nouncement with components were exhaustive testing both at
greater amplifier Kronenberg as well as at the
power is used for share of these in- control manufacturer Böhn-
operating panels stallations has al- ke & Partner in combination
and call columns ready been put into with the lift control to be de-
on the platforms. operation. livered, in order to ensure
Passengers receive Due to the heavy de- that the initial operation on
further information by floor mands on the lifts, Coop- site will run smoothly.
position displays, illuminat- man chose the RV34W The CAN knot type
ed fields, and information pushbutton, which delivers CBK1 according to CiA 417

CAN Newsletter Lift 23

 CANopen-Lift, the logical
Engineering

further development of DCP

Peter Gocht, Ralf Heusser

Authors
Peter Gocht
Weber Lifttechnik GmbH
In 1997 a quantum leap in
lift equipment technolo-
gy happened: Lift control-
The technical evolution
did not stop with the DCP
protocol. Mass producers,
technology was to provide
compatibility for microproces-
sor-controlled components
Fallersleber Str. 12 lers and frequency inverters such as the automotive in- from various sources. For this
DE-38154 Königslutter communicated over a stan- dustry, have long been tech- reason, the CANopen-Lift
Tel.: +49-5353-9172-0 dardized network protocol. nological leaders in the area working group, a special in-
Fax: +49-5353-9172-22 Designed specifically for lift of networked systems. With terest group of lift control
[email protected] application, DCP protocol the CAN network system, and component manufac-
(Drive Control & Positioning) they set new standards in re- turers under the auspices of
Ralf Heusser stayed state of the art for a sponse times, security and CiA (CAN in Automation), de-
Ziehl-Abegg AG long time and was further data throughput at an afford- veloped a standardized CAN
Heinz-Ziehl-Str. developed over the years able price. Sensors, actua- network protocol for the lift
DE-74653 Künzelsau and adapted to the current tors and control loops must technology sector (CANo-
Tel.: +49-7940-16-0 technical requirements in- provide, receive and react to pen-Lift) in 2002.
Fax: +49-7940-16-677 sofar as the technical struc- information in a split second.
[email protected] tures allowed. The demands on mod- Functional principle
Advantages of DCP ern lift technology and au-
Links compared to the paral- tomotive technology are not All microprocessor-controlled
www.weber-lifttechnik.de lel control of the frequency so far apart. This provided components provide infor-
inverter: the next development step: mation on a common CAN
Optimized start-up time Moving away from the slow network. This information is
due to less wiring work, master-slave insular DCP called up, processed and an-
Optimization of speed, application towards a net- swered as needed or depen-
Millimeter-precise working of all microproces- ding on urgency. Thus, the
stopping, sor-controlled components component receives the de-
Direct drive-in, via a CAN network system, sired information in real time,
Remote maintenance in which the modules com- without the time delay of a
and configuration of the municate with each other di- master and can respond in-
frequency inverter. rectly. The challenge in lift stantaneously.

www.ziehl-abegg.com

Figure 1: DCP frequency inverter connection – through the necessity to send all
information through the lift control system, unnecessary dead times are created;
information is delayed in reaching the available components, which, in part, causes
impacts up to the control area

24 CAN Newsletter Lift

 CANopen-Lift: state of the art technology in modern
lift construction
CANopen-Lift not only offers technical advantages for Millimeter-precise stopping
the interaction of lift control and frequency inverters. Direct drive-in without creeping distances
The benefits are also substantial for the people Variable specification of the speed respectively of
who come into contact with the lift system. the maximum speed
Optimized speed for the shortest travel times
Benefits for the on-site technician
Advantages for the operator
Improved start-up time
Direct read outs and changes in the parameters of Preventive maintenance (e.g. evaluation of sensor
the frequency inverter without going through display ball bearings)
imaging Simplest control of functions for saving energy
Easy debugging of the entire system Measurement of the drive energy consumption
Ability to read the error list in the native language using the frequency inverter, read out of the
measurement data is possible via the CAN
Benefits for the passenger network
High data security = high system availability
Improved riding comfort Direct connection to the Internet for remote
Optimized speed maintenance and configuration

CANopen functions
in modern lift
systems

By networking all compo-

nents of lift systems with
CANopen-Lift, many new
options are provided for the
interaction of the lift control
and the frequency invert-
er: The ability to directly ac-
cess the absolute encoder
for the first time, gives the
frequency inverter the abil-
ity to receive information of
the position and movement
of the car without time de-
lay. The frequency inverter
makes use of this in the
following ways:
Precise deceleration Figure 2: CANopen-Lift frequency inverter connection – the direct information flow
and positioning through generates short reaction times, which are essential for increased security and better
faster detection of the riding comfort
position of the car with
distance-dependent various frequency inverter checks. Under the leadership high level of security such as
movement, models is no longer need- of the manufacturer-neu- lift technology.
Output of information ed, which is an advantage tral CANopen-Lift working This broad application
about car movement for the technician on site. group, compatibility test- front ensures continuous
Engineering

during the test of the ing takes place regularly. development of this net-
driving ability, Interface This quality control gives work. In modern lift systems
Output of information compatibility the user security in the CANopen-Lift offers many
about braking distances assembly of his lift sys- advantages compared to
during the brake test. The prerequisite of a cross- tem with CANopen-Lift DCP, which are reflected
The control offers the manufacturer system is the components. in noticeable added val-
possibility of directly pa- compatibility of the com- ue for passengers and
rameterizing the frequency ponents and functionality Conclusion operators.
inverter. A reproduction of of the overall system.
the display of the frequen- The manufacturers of The CAN network is used
cy inverter is not necessary. the CANopen-Lift compo- in millions of applications
Therefore learning the op- nents subject their products worldwide and is the basis
eration and configuration of to constant compatibility of many requirements with a

CAN Newsletter Lift 25

 Value adding by linking
Engineering

CANopen CiA 417 devices

Hendrik Bär

overloaded car to the lift The bp308 lift control-

controller and consequently ler also transmits the effec-
- tive car-load to the monitoring
ple contact with a regulating system Winmos300 (soft-
screw can be used for this ware package for remote
implementation. For a better monitoring of lifts). In case of
transport efficiency, particu- a continuous connection to
larly in case of lift groups, the the lift system, the software
lift controller requires a sig- can store these values cycli-
nal for a full load, for exam- cally in a database and pro-
ple when the car is loaded by vide subsequent statistical
80 %. For misuse detection analysis. In the application
or other special functions, profile for lifts, the parame-
the minimum load signal, ters of the load-measuring
Author
Hendrik Bär
Böhnke + Partner GmbH
I n the CANopen application
profile for lifts (CiA 417), the
most essential devices with
which reports an empty car,
is helpful.
A conventional load me-
device are defined. The lift
controller can adjust the de-
vice via the control displays
Steuerungssysteme CAN network connections ter sends the signals of full (Figure 2). This is of partic-
Industrieweg 13 for entire lift groups are de- load and overload. Thresh- ular advantage, especial-
DE-51429 Bergisch Gladbach scribed. This has the advan- old values can be set either ly when the load-measuring
Tel.: +49-2204-9553-0 tage that the communication by a potentiometer in the de- device is inaccessible. The
Fax: +49-2204-9553-555 among units is standardized. vice, or via the menu. These individual thresholds for re-
[email protected] Devices behave in the same devices can optionally send duced, full and overload can
manner, independent of the additional signals in the form be modified and stored in the
Link manufacturer. This can be il- of relay contacts, which must lift controller. If the substitu-
www.boehnkepartner.de lustrated particularly through be wired to the lift controller. tion of the load-measuring
the example of the load-mea- The lift controller requires ap- device becomes necessary,
suring device and its con- propriate inputs. the values can be written on
nection to the lift controller A load-measuring de- the new device. The zero-
bp308, of Böhnke + Partner vice with the CANopen lift point calibration of the load-
GmbH. interface provides addition- meter (tare function) can also
The overload signal al discrete signals, such as be done by the lift controller
is mandatory for each lift. reduced load, slack rope, (Figure 3).
It sends the signal for an or rope difference. Further- If the load-measuring
more, it reports the effective device has a sensor at each
car-load in kilogram (Fig- track rope, the individual
ure 1). All this information is rope loads can also be dis-
transmitted via the CAN net- played on the control dis-
work line, which consists of play. This display can be
only two wires. used to balance the ten-
The information sent by sion of the ropes, since
Figure 1: Diagnosis of the Figure 3: Setting the the load-measuring device the difference between the
signals of the load-measuring reference weight through the CAN network is ropes must not be too great
device available to all connected de- (Figure 4).
vices. This way the frequen- All these added values
cy converter (drive unit) can can be generated with a rea-
also use the effective car- sonable effort, since the used
load to optimize the start-up components are not wired
behavior and prevent un- together in a conventional
wanted turning away (unde- way, but they communicate
sirable car movement in the via the CAN network in
Figure 2: Setting the Figure 4: Diagnosis of the opposite direction) at the accordance with the applica-
threshold for full load individual rope loads start. tion profile CiA 417.

26 CAN Newsletter Lift

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CAN Newsletter Lift 27

 SENSORS FOR LIFTS

Absolute Rotary Encoder

Reliable Measurement for Positioning Tasks

High Shaft Load up to 180 N

Magnetic Sensor Measurement Technology

Fieldbus, Ethernet and Analog Interfaces

www.posital.com

POSITAL
USA , Germany and Singapore