Spider AS-6

Engineering manual
Software settings and function
00-11-24, Replace 00-08-22

Settings of the basic blocks in the software. All settings are for drive 1. The same procedure is done for drive
2 but with the parameter letter in ().
This also describes the logical order for the system set up.
The list of parameters is found in AS5 and block diagrams with parameters are found in AS7.
The choice of parameters are made by using the >(SEL), <(ESC), ∧ and v buttons (see AS5.1). After a
change, the choice must be updated with the >(SEL) button. The parameters are updated in the memory
when going back to the Main status reading in the display.
The settings can be protected by a password (SETUP – BASIC FUNCTION: X03-04).
The drive monitoring function is protected by a separate password under SETUP-LOG FUNCTION.

6.1 System function

In SETUP-BASIC FUNCTION: X01 the basic function for the drive is selected. The selectable functions for
the system are (see also block diagrams in AS1 and AS7):

· BASIC – The basic and most common function. The function includes monitoring, speed feedback and
power limitation. This is the function that also is selected for monitoring type unit.
· SHREDDER – Same as for BASIC with added functions for reversing by an overload stopped drive.
· SYNCHRO – Same as for BASIC with two motors driven together with friction ratio or position control
between the motors.

In SETUP-BASIC FUNCTION: X02 the drive type is selected. The selectable types for the drive are (see
also description in AS1):

· 1 – One pump driving one motor. Single type unit controlling one pump.
· 2 – Two pumps driving one motor. Single type unit controlling two pumps in parallel.
· 3 - Two pumps driving two motors with common function. Double type unit with common alarm stop. This
is mainly used for Synchro function drives.
· 4 - Two pumps driving two motors with separate function. Double type unit for control of two independent
drives.

The contents of this information are subject to change without notice or obligation. Information herein should be confirmed before placing orders.
Hägglunds Drives AB, S-890 42 Mellansel, SWEDEN 1(18)
00-08-22, New AS-6, Software settings and function
6.2 Speed command
In SETUP-DRIVE1(2)-INPUT: A(G)01, 03 the speed setpoint
command source is selected. Remote setpoint command is yes
Local/remote
a voltage or current signal connected to the terminals. The type switching

must be set with parameter V17(18) and with jumper J8(7), no

A(G)01=3
see AS4.3.
The local command is set with the increase and decrease buttons yes
Local command
on the front. If external increase/decrease is needed, the local
setpoint function can be paralleled by using configurable digital no

inputs (SETUP – DIGITAL INPUTS).

A(G)01=1 A(G)01=2
The speed command can be locked to local or remote control or
be switchable with the local/remote button (set with A(G)01).
At local/remote switching the local setpoint command can auto- Set type of
remote input
matically be set to zero if A(G)03 is set to yes. Otherwise the V17(18)

setting will be held when switching to remote mode. The reset

can also be done by using a configurable digital input (SETUP –
DIGITAL INPUTS).
Local increase/decrease will not effect the local setpoint when running in remote mode.
The remote input must be calibrated as described for the analog inputs (see example in AS6.8).
Inputs for fixed speed forward(set with A(G)20) and reverse(set with A(G)21) can be selected with
configurable digital inputs (SETUP – DIGITAL INPUTS).

6.3 Ramp
The start ramp time is the time it takes for the signal to control the hydraulic pump, to go from zero to 100%
if the speed setpoint is 100% and drive start is activated. The stop ramp is the time it takes to go from 100%
to zero when drive stop is activated.
Drive start and stop are ramped commands (as well as fixed forward, fixed reverse and inch reverse). The
start ramp is controlled by the parameters B(H)01 in forward direction and B(H)03 in reverse direction. The
stop ramp is controlled by the parameters B(H)02 in forward direction and B(H)04 in reverse direction.

Example: If the ”up ramp” B01 is set to 10 sec. and the down ramp B02 is set to
5 sec. we will get the following output.
The example is based on 50 and 100% setpoint.

Speed
Drive start Drive stop

100 %

Stop ramp

50%

Start ramp

0 10 20 25 Time in sec.

The contents of this information are subject to change without notice or obligation. Information herein should be confirmed before placing orders.
Hägglunds Drives AB, S-890 42 Mellansel, SWEDEN 2(18)
00-08-22, New AS-6, Software settings and function
6.4 Output
6.4.1 Common function
In SETUP-DRIVE1(2)-OUTPUT: D(J)01-11 the function for the output is selected. D(J)01=2, bidirectional
drive is forward and reverse drive by use of the speed command signal. D(J)01=1, unidirectional drive is
normally forward drive with a positive speed command. Reversing can be selected with fixed speed by
using the reverse front button or separate input. The reverse fixed command is set in SETUP-
DRIVE1(2)-INPUT:A(G)10-11.
In D(J)06 the feedback gain must be set for the used Bidirectional no
pump type. drive

yes D(G)01=1

6.4.2 Standard feedback D(J)08=0 D(G)01=2

For output current setting it is easy to use speed
indication if a speed encoder is connected. Use
Set pump feedback
SETUP-SIGNAL MONITOR-DRIVE1(2): gain D(G)06
5A2 25
T(U)01= REG102(202) for digital encoder or 9A2 41
SS 25
REG104(204) for analog encoder. HK 35

D(J)07
Lower frequency then 2000Hz can no Swashangle yes
feedback
destroy 5A2 pump stroker
D(G)08=0 D(G)08=1

· Min current forward, parameter D(J)02.

Start the drive. Increase the current until the drive Set PWM Set digital output
for fail safe valve
starts moving forward, decrease until it stops again. frequency D(G)07
W0x to Ready 1(2)
5A2 = 2000Hz
Stop the drive. others = 200Hz

· Max current forward, parameter D(J)03. Indicate REG111(211)

on the display see AS2

Start the drive. Increase the current until the right Set min/max
stroker current
forward speed is reached. Stop the drive. D(G)02-D(G)05
(see separate Start the drive
instruction) with zero command

· Min current reverse, parameter D(J)04. (see also separate

instruction)
Start the drive. Increase the current until the drive
starts moving reverse, decrease until it stops again. Set zeropoint
Stop the drive. for the pump
D(G)09
should be 512Ø20

· Max current reverse, parameter D(J)05.

Start the drive. Increase the current until the right Set command to
max positive
reverse speed is reached. Stop the drive.

Set max. A-flow

D(J)02-05 for the pump
D(J)10
High current can destroy 530-1000 depending
on flow and pumpsize
pump stroker
Set command to
max negative

Set max. B-flow

for the pump
D(J)11
50-500 depending
on flow and pumpsize

Set pump error

function M(N)18

The contents of this information are subject to change without notice or obligation. Information herein should be confirmed before placing orders.
Hägglunds Drives AB, S-890 42 Mellansel, SWEDEN 3(18)
00-08-22, New AS-6, Software settings and function
6.4.3 Swashangle feedback D(J)08=1

For maximum setting of the swashangle it is very useful to use the feedback indication to show actual
swashangle.
Use SETUP-SIGNAL MONITOR-DRIVE1(2): T(U)02=REG111(211) for the swashangle in bits.
It can also be helpful to indicate the speed if a speed encoder is used (see 6.4.2).
Select SETUP-DIGITAL OUTPUTS: READY1(2) for the digital output to control the Fail safe valve. The
pump error function can be Alarm or Interlock (see 6.5.1) and is configured in SETUP – MONITOR –
DRIVE1(2):M(N)18.

· Zero point, parameter D(J)09.

Start the drive. Change the value until the drive moves in one direction. Note the value of the
swashangle. Change the value back until the drive moves in the other direction. Note also this value.
Set the parameter to a value in the middle between these two noted values.
Stop the drive.

· Maximum flow setting in forward (A) direction, parameter D(J)10.

Start the drive. Increase the setting as long as there is a change in the reading of the swashangle
value. When this stops, the mechanical stop of the pump is reached. Decrease the setting until the
reading starts to decrease and a few more bits to be on the safe side of the stop.
If the setting should be a maximum speed, stop the change when the desired speed is reached.
Stop the drive.

· Maximum flow setting in reverse (B) direction, parameter D(J)11.

Start the drive. Decrease the setting as long as there is a change in the reading of the swashangle
value. When this stops, the mechanical stop of the pump is reached. Increase the setting until the rea-
ding starts to increase and a few more bits to be on the safe side of the stop.
If the setting should be a maximum speed, stop the change when the desired speed is reached.
Stop the drive.

The contents of this information are subject to change without notice or obligation. Information herein should be confirmed before placing orders.
Hägglunds Drives AB, S-890 42 Mellansel, SWEDEN 4(18)
00-08-22, New AS-6, Software settings and function

6.5 Speed feedback

6.5.1 General
Speed feedback makes it possible to maintain a constant speed at the Closed loop
speed feedback
no

hydraulic motor shaft. The Spider compensates for speed deviations A(G)04=3
due to load changes. To achieve this a PID regulator is implemented in yes

the software. This PID regulator compares the actual speed value with A(G)19=1

the speed setpoint. Any deviation between the two signals is detected yes
Digital feedback
as an Error signal and transferred to the PID regulator. The PID regula-
tor has three different stages. no
Proportional stage. The proportional stage amplifies the Error signal.
The Output is proportional to the Error signal. A(G)04=2 A(G)04=1

Integral stage. The integral stage integrates the Error signal. A small
Error signal will over time create a big Integral stage output. Pulses/rev
Set type of
Derivative stage. The derivative stage derives the Error signal. A rapid analog input A(G)05
V19-22
change will create a big output from the derivative stage.
The results from the three different stages are added to the stroker out-
put. Set encoder
The following Example set-up is based on the following facts: max speed
A(G)08
Analog speed encoder with output signal 4-20mA for 0-25Rpm.
Drive maximum speed is 22Rpm.
The PID regulator is possible to Activate from the Spider front. Parame- Set analog input
ter A(G)19 has the following choices: for speed feedback
V0x=AS1(AS2)
1. Non-regulated drive ( )
2. Regulated drive (REG)
3. Switching between regulated and non-regulated drive. Set drive
max speed
Parameter must be set to 2 or 3 to achieve speed feedback. In this A(G)06
case parameter A19 is set to 3.

6.5.2 Speed encoder input signal set-up

Closed/open yes
loop switching

An analog input connected to the speed encoder signal must be

no
connected to the actual analogue speed register REG104 (204) in the
spider software. A(G)19=2 A(G)19=3
This is set with parameters V01 – V04, corresponding to Analogue
inputs 1 to 4.
The possible settings are:
AS1 Speed drive 1.
AS2 Speed drive 2.

The type of speed feedback signal is determined with parameter A(G)04. The possible settings are:
1. Digital feedback.
2. Analog feedback.
3. No feedback.
In this case this parameter is set to 2 -> Analog feedback.
If a digital speed encoder is used, parameter A(G)05 must be set. The set value must be the number of
digital pulses that the speed encoder produces during one rotation.
In this case, with an analog speed encoder, parameter A(G)08 has to be set. The set value must be the
rpm value at the speed encoder, when output signal is 20mA. In this case 25rpm.
Parameter V19-V22 (depending on what inputs that are used) must in this case be set to 4-20mA as the
speed encoder is of that type.
Finally the maximum hydraulic motor shaft speed is set in parameter A(G)08. In this case 22rpm.

The contents of this information are subject to change without notice or obligation. Information herein should be confirmed before placing orders.
Hägglunds Drives AB, S-890 42 Mellansel, SWEDEN 5(18)
00-08-22, New AS-6, Software settings and function
6.5.3 Regulator set-up

The Regulator parameters are all gathered under “Set up drive 1(2) – Regulator”, parameters C(I)01 –
C(I)11. Below is a description of each parameter.

C(I)01 Sets the regulator function ON or OFF. In this case ON, the regulator is enabled.
C(I)02 Feed forward function is set ON or OFF. In this case ON, the speed set-point is put to the
stroker output as a initial value and the regulator compensates for deviations in speed.
If the parameter is put into OFF the regulator output will be the only signal to the stroker
output.

C(I)03 Sets the Proportional regulator stage function ON or OFF. In this case select ON. The propor
tional stage reacts proportional to the Error input signal. Action of this stage is determined by
parameter C(I)06.

C(I)04 Sets the Integrator function ON or OFF. In this case select ON. This to be able to reach set-
point speed over time. Action of this stage is determined by parameter C(I)07.

C(I)05 Sets the Derivative function ON or OFF. In this case select OFF. The derivative stage is used
when very quick speed changes are to be expected at the drive. It reacts on the rate of
change at the Error input signal. The D stage is seldom used due to a difficult tuning
procedure. Action of this stage is set by parameters C(I)08 and C(I)09.

C(I)06 Proportional gain parameter sets the gain of the P stage. In this case set to 0.5 as a start
value. P gain 0.5 means that half the Error signal input value will be transferred to the stage
output. Proportional stage however, will not make the drive reach set-point speed. There will
always be a remaining Error. The remaining Error value is though depending on the Proportio-
nal gain setting. If the Error signal is small, close to zero, P gain will not produce any output at
this stage output. The P stage always needs an Error signal to modify.

C(I)07 Integrator time parameter sets the integration time of the I stage. In this case set to 10
seconds as a start value. Integrator time 10 seconds means that the output value of this
stage will reach the Error signal input value in 10 seconds. Introduction of Integration will
eliminate the remaining Error signal. The actual speed will over time correspond to speed set-
point. It can be compared with a Capacitor that is charged with the Error signal.

C(I)08 Derivative time parameter sets the Derivative time of the D stage. In this case left at the
default value, 10 seconds. Derivative time 10 seconds means that the derivative “gain” is a
factor 10. The output from this stage is the “gain” factor multiplied with the rate of change of
the Error signal.

C(I)09 Derivative decline time parameter sets the Derivative decline time of the D stage. In this case
left at default value 10 seconds. Derivative decline time 10 seconds means that the output
value from this stage will decline 63 % in 10 seconds.

C(I)10 Max feedback deviation is the allowed difference between command and actual speed. If this
exceeds for 10sec., the drive will switch over to unregulated drive and give the warning
ERROR TOO LARGE.

C(I)11 The speed feedback signal can be filtered to stabilise the drive. This means that the average
value over the selected time will be feed back to the regulator.

The contents of this information are subject to change without notice or obligation. Information herein should be confirmed before placing orders.
Hägglunds Drives AB, S-890 42 Mellansel, SWEDEN 6(18)
00-08-22, New AS-6, Software settings and function
6.5.4 Regulator tuning

The above settings gives in most cases a good performance of the drive. However to optimise the para-
meters the following method can be used.
In short words the method is as follows:
Increase the proportional gain until the drive starts to oscillate. Note the oscillation time. Reduce the Pro-
portional gain with 50 %. Set the Integrator time minimum to the double oscillation time value.

This is a recommended step by step list of how to tune the PI regulator:

1 Select unregulated ( ) mode.

2 Make sure that stroker currents are correctly adjusted.
3 Deselect the Integrator stage, by setting the parameter C(I)04 to Off.
4 Reduce the ramp time setting to zero or as much as the drive can tolerate.
5 Start the drive.
6 Give about 50 % speed command.
7 Select regulated (REG) mode. This enables the regulator. Check performance of the drive. If the drive
starts to oscillate, stop the drive and reduce the Proportional parameter value.
8 Increase the Proportional gain in small steps. Start and stop the drive. Check drive stability. When the
drive starts to oscillate try to determine cycle time of the oscillation (the time from one pulse top to the
next).
9 Decrease the proportional gain value to half of what set in 8.
10 Activate the Integral part by setting the parameter C(I)04 to On.
11 Set the Integrator parameter to minimum the double oscillation time.

6.6 Power limitation Power limitation

no

The first is to set the function for the analog input in SETUP - yes

ANALOG INPUTS:V01-04 to PL1 (PL2).

The input for power limitation is a voltage or current signal connected A(G)15=on A(G)15=off

to the terminals. The type must be set with parameter V19-V22 and
with jumper J3-6 (depending on what inputs that are used), see Set analog input
AS4.3. for limitation
V0x=PL1(PL2)

Example for power limitation setting:

Electric motor = 163A (from data sheet or motor rating plate) Set input type
Current transformer 200A = 20mA for limitation
V19-V22

A13, Max input =200A

A15, Power limitation = on Set max
A16, Level for power limitation = 163A input power
A(G)13
A17, Delay time = the time the power is allowed to be higher then the
level (A16) before the limit function starts
A18, Ramp time = how fast the reaction will be for stroking down the Set level
for limitation
pump to limitation level.
A(G)16

The ramp time setting must be set by test with the drive. A too short
time can cause oscillation in the system and a too long time will not Set filter time
regulate the current to the max setting (same function as P regulation, A(G)17

see AS6.5).
Set downramp
time
A(G)18
(By test)

The contents of this information are subject to change without notice or obligation. Information herein should be confirmed before placing orders.
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00-08-22, New AS-6, Software settings and function

6.7 Monitoring
6.7.1 Pre programmed inputs

The pre-programmed inputs have fixed terminals and are connected to the common alarm or warning
function.
Warning = indication on the display and by a digital output if this function is set (see AS6.10.2)
Alarm = indication on the display and by a digital output if this function is set (see AS6.10.2)
This function will stop the drive without ramp and after a short delay open the electric motor interlock
output to stop the electric motor.
Interlock = same as alarm but without stopping the electric motor.
The Warning, Alarm and Interlock indication must be reset in the Alarm/Warning list after the reason for
the indication is fixed (see AS5.1 and AS8).

Input function Common Warning Common Alarm Std delay. time

Charge pressure, Drive 1 X 0.5sec

Suction line, Drive 1 X 0sec
Return filter, Drive 1 X 7sec
Charge pressure, Drive 2 X 0.5sec
Suction line, Drive 2 X 0sec
Return filter, Drive 2 X 7sec
Low oil level X 0sec
Min oil level X 0sec
Max oil temp X 0sec
Drain filter X 7sec

The delay time can be changed within pre-programmed limits (see AS5.2: MONITOR).
The charge pressure alarm is bypassed at stopped electric motor and delayed 5 or 10 sec (see AS5.2:
MONITOR – DRIVE1(2):M(N)08) after electric motor start to allow the charge pressure to build up. The
bypass is controlled by the electric motor started inputs that must be closed when the electric motor is
stopped and open at motor start.

6.7.2 Pre programmed functions

The pre-programmed functions has to be connected via configurable inputs (see AS5.2, DIGITAL
INPUTS) and are connected to the common alarm or warning function.

Input function Common Warning Common Alarm Std delay. time

E-motor temp, Drive 1 X 0sec

High A-side pressure, Drive 1 selectable selectable 7sec
High B-side pressure, Drive 1 selectable selectable 7sec
E-motor temp, Drive 2 X 0sec
High A-side pressure, Drive 2 selectable selectable 7sec
High B-side pressure, Drive 2 selectable selectable 7sec

The delay time can be changed within pre programmed limits (see AS5.2: MONITOR).

Filter bypass - the filter warning can be bypassed e.g. at low temp by a separate configurable digital input.
Low input - normal function, High input - filters bypassed.

The contents of this information are subject to change without notice or obligation. Information herein should be confirmed before placing orders.
Hägglunds Drives AB, S-890 42 Mellansel, SWEDEN 8(18)
00-08-22, New AS-6, Software settings and function
6.7.3 Extra monitoring input

There are 11 digital inputs that can be used for different functions. One is the monitoring function. If any of
the digital input is configured as a AUX 1-6 (see AS5.2, DIGITAL INPUTS) the function for the input will
be monitoring (see AS5.2: MONITOR - AUXILIARY). The function Alarm, Warning or Interlock for the
input, time delay, memory for the input and the text to be in the alarm/warning list can be set.

Example: Digital input 1 as warning input for high temp Drive 1.

Set parameter DIGITAL INPUTS: Y01 to AUX1.

Set AUXILIARY: R01 to W1 (warning drive 1).
Set R02 (memory bypass) to preferred function.

(If memory bypass = no: Warning indication will be activated if input is opened
Warning indication will remain if input is closed,
and must be reset in Alarm / warning menu).
(If memory bypass = yes: Warning indication will be activated if input is opened
Warning indication will disappear if input is closed).

Set R03 to needed delay time between opened input and warning indication.
Set the text in R04 to HIGH OIL TEMP with ^, v and > buttons.

NOTE: For position 14-16 blank characters have to be chosen.

6.7.4 Monitoring output

There are 2 normally high digital outputs for interlock of the electric motors (must be connected via a
relay to the electric motor stop circuit). The interlock output will open time-delayed after Alarm. The delay
time is set in MONITOR-OUTPUT: S01(02).
There are digital outputs that can be configured in DIGITAL OUTPUTS for monitoring of Alarm, Warning
or Interlock.

The normal stop sequence at alarm:

1. The output to the pump is zero. The configured output for fail safe valve is opened.
2. After a time delay the electric motor interlock is opened.

The contents of this information are subject to change without notice or obligation. Information herein should be confirmed before placing orders.
Hägglunds Drives AB, S-890 42 Mellansel, SWEDEN 9(18)
00-08-22, New AS-6, Software settings and function

6.8 Analog inputs

All analogue inputs can be connected to current or voltage signals. The function, the zero and the
maxpoint of the input must be set (see AS5.2: ANALOG INPUTS).
The function settings are described for each function in AS6.5 for Analog speed feedback, AS6.6 for
power limitation AS6.12 for shredder pressure and AS6.13 for Synchro offset.

Example of zero and maxpoint setting:

Analog in 1 with a 4-20mA signal for power limitation, drive 1. 20 mA corresponds to 200A.

For settings of power limitation, see AS6.6.

Monitor the signal in REG103(see AS5.2: SIGNAL MONITOR – DRIVE1).
Connect a 4mA signal to the terminals for analog 1 (+ to terminal 44 and – to terminal 43).
Adjust parameter V05 until the reading switches over from 1A to 0A.
Connect a 20mA signal to the terminals.
Adjust parameter V06 until the reading switches over from 199A to 200A.
Repeat adjustments for 4 and 20mA until the right reading is achieved. As a test, check that the reading
at 12mA(50%) is 100A.

6.9 Digital inputs

The digital inputs on terminal 65-100 are all 24VDC functions and divided in:
-Input signals from power unit (see AS6.7)
-Drive control inputs
-Electric motor started inputs
-Configurable inputs
-Supply for the inputs

6.9.1 Drive control inputs

The drive control inputs are:

-Drive start for start of the drive with function parallel to the front panel button.
-Drive stop for stopping of the drive with function parallel to the front panel button. The input must be
jumpered to one of the +24 VDC terminals if not used. If the input not is jumpered the front keypad
functions can be locked.
-Man/auto with function parallel to the front panel button for selection between running with or without
closed loop speed feedback in Basic and Synchro mode, selection between manual and automatic drive
in Shredder mode. The function must be selected with parameter A(G)19 (DRIVE 1(2)-INPUT) and the
feedback has to be activated (see AS6.5)
-Reverse with function parallel to the front panel button for running with fixed reverse speed. The function
has to be activated with parameter A(G)10=on and D(J)01=1 and the reverse command set with
parameter A(G)11.

6.9.2 Electric motor started inputs

The electric motor started inputs are to bypass the Charge pressure alarm at electric motor stop and to
prevent against control current to the pump coils at stop.

The contents of this information are subject to change without notice or obligation. Information herein should be confirmed before placing orders.
Hägglunds Drives AB, S-890 42 Mellansel, SWEDEN 10(18)
00-08-22, New AS-6, Software settings and function
6.9.3 Configurable inputs
The configurable digital inputs can be used for control and monitoring. Description is also found in the
description for each function.

Abbreviation Description Normal status

for input
PRESS A1(2) For monitoring of high pressure in forward direction Closed, open at high
or for detection of forward drive overloaded machine pressure
in Shredder function.
PRESS B1(2) For monitoring of high pressure in reverse direction Closed, open at high
or for detection of reverse drive overloaded machine pressure
in Shredder function.
PUMP 1(2) ZERO Digital input for detection of overloaded machine in Open, close at
Shredder function. stopped drive
SH RESET 1(2) External reset of warning indication for blocked Open, close to reset
machine in Shredder function.
ERR RESET 1(2) External reset of speed feedback error. Open, close to reset
C RESET 1(2) Reset of counter for position in Synchro counter Open, close to reset
function. Should be connected to a position sensor
on the machine. The input pulse time must be
minimum 8 milliseconds.
RESET ENABLE 1(2) External enable for C RESET in Synchro counter Open, close to reset
function.
FRICTION Frictioned drive in Synchro counter mode. The friction Open, close for friction
command must be input via an analog input. drive.

RATIOSTEPS Four inputs (digital in 1-4) for selection of 10 pre- Open, close for
programmed ratio settings. Selection is made in BCD addressing
code.

AUX 1-6 Inputs connected to auxiliary monitor functions Closed, open for
monitoring
FILTER Interlock of filter monitoring signal. Can be used to Open, close to bypass
bypass warnings at low temp due to high viscosity. Warning

START 1(2,1+2) Drive start in remote mode. Setting will bypass front Open, close to start
panel start/stop function in remote mode.
FORWARD 1 (2) Running forward with pre-programmed Open, close to start
speed setpoint command.
REVERSE 1 (2) Running reverse with pre-programmed Open, close to start
speed setpoint command.
SPEED UP 1(2) Increase local speed setpoint in local mode. Open, close to
increase
SPEED DN 1(2) Decrease local speed setpoint in local mode. Open, close to
decrease
SP RESET 1(2) Reset local speed setpoint to zero in local mode. Open, close to reset

LOCAL 1(2) External switching between local and remote mode. Open, close for local
Setting will bypass front panel loc/rem function. run
AUTO 1(2) External switching between speed regulated and non- Open, close for
regulated mode (auto and manual mode in Shredder regulated (auto) run
function). Setting will bypass front panel man/aut function.
E-MOTOR 1(2) For monitoring of high temperature in the electric Closed, open at high
motor. temp
OFF Input not used
The contents of this information are subject to change without notice or obligation. Information herein should be confirmed before placing orders.
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02-03-20, Replaces 00-08-22 AS-6, Software settings and function
6.10 Digital outputs
6.10.1 Electric motor interlock outputs

The electric motor interlock outputs must be connected via a 24VDC relay to the starter electric stop
circuit. The output is high when it is allowed to run the electric motor and will open by an alarm, if the
shutdown input is opened or by the microprocessor watchdog (controls the program function).

6.10.2 Configurable outputs

The configurable digital outputs can be used for control and monitoring.
The following functions are common for all outputs

1 Indication only from drive 1

2 Indication only from drive 2
1+2 Indication from drive 1 or drive 2
1*2 Indication that both drive 1 and drive 2 are affected

Abbreviation Description Normal status for output

A(1,2, 1+2) Monitoring of common alarm Open, closed at alarm
W(1,2, 1+2) Monitoring of common warning Open, closed at warning
Int(1, 2, 1+2) Monitoring of common interlock Open, closed at interlock
Started(1, 2)
Start(1+2, 1*2) Drive started Open, closed at start
Ready(1, 2, 1+2, 1*2) Drive ready to use after start delay Open, closed when ready
Local(1, 2) Drive in local mode Open, closed in local mode
Auto(1, 2) Drive in regulated mode for Basic and Open, closed in regulated/auto mode
Synchro function and in automatic
mode for Shredder function.
P limit(1, 2, 1+2) Power limit active Open, closed at active limitation
Forward(1, 2) Drive command positive for forward Open, closed at forward run
drive
Reverse(1, 2) Drive command negative for reverse Open, closed at reverse run
drive
C Zero Counters in Synchro counter function Open, closed at activated
reset and synchro function activated
Synchro Synchronization within the limits set Open, closed when within limits
with parameter L22
Negative(1,2) Register selected for analog output Open, closed if reading is negative
has negative reading
Emotor(1, 2, 1+2, 1*2) Electric motor started after drive Open, closed after start delay
start delay
OFF Output not used

The contents of this information are subject to change without notice or obligation. Information herein should be confirmed before placing orders.
Hägglunds Drives AB, S-890 42 Mellansel, SWEDEN 12(18)
00-08-22, New AS-6, Software settings and function
6.11 Signal monitor
The signal monitor is the reading of the process values (REGxx) indicated with a frame in the block
diagrams, see AS7. It is possible to monitor two values on each display. The possible settings are found
in AS5: SIGNAL MONITOR-DRIVE1(2). The readings can be used to show process values during drive
but can also be used for troubleshooting. The internal values are normally indicated as a % value.

6.11.1 Speed indications

The speed indication registers REG 102(202) and REG 104(204) can be scaled with parameter T(U)09
to indicate rpm as e.g. feeder speed.
The unit of measure can be changed with parameter T(U)03 and T(U)07 to meters or feet/minute or
second. If the reading is scaled for the unit m/m, the readings are automatically calculated for the other
units if they are selected. The number of decimals can be selected with parameter T(U)04 for register
REG 102(202) and T(U)08 for register REG 104(204).

6.11.2 Motor power indications

The electric motor power indication register REG 103(203) is normally indicated as A but can also be
indicated as kW. If the unit is changed to hp with parameter T(U)05 the kW reading is automatically
calculated.

6.11.3 Pressure indications

The pressure indication register REG 106(206) is normally indicated as bar. If the unit is changed to psi
or MPa with parameter T(U)11 the reading is automatically calculated.
Analog speed indication REG 102(202) and motor power indication REG 103(203) can also be used for
pressure indication if they not are used in their normal function.

6.11.4 Temperature indications

Analog speed indication REG 102(202) and motor power indication REG 103(203) can also be used for
temperature indication if they not are used in their normal function. Temperature is normally indicated as
°C. If the unit is changed to °F the reading is automatically calculated.

6.11.5 Output indications

For pump controls with current feedback (standard pumps) the current to the coil can be indicated in mA
with REG101(201).
For pumps with swashangle feedback the angle can be indicated in bits. The total input is 1023 bits and
the normal center is at position 512 bits. The pump angle is indicated with a number of bits +/- from the
512 depending of pump type. The reading can also be indicated in % where 0% is in pump center and
+/- 100% at the maximum adjusted swashangle.

6.11.6 Internal indications

The internal indications can be used for troubleshooting or as indications during setup.
Register Function Reading
REG 100(200) Input command %
REG 105(205) Speed setpoint % or actual signal
REG 107(207) Ramped command %
REG 108(208) Speed error signal %
REG 109(209) Input to output amplifier %
REG 113(213) Speed signal %

6.11.7 Diagnostic readings

The diagnostic readings can be used for checking the load of the microcontroller.
REG 901 Actual number of clocktics for the internal PC task
REG 902 Maximum number of clocktics for the internal PC task
REG 903 Actual number of clocktics for the internal UI task
REG 904 Maximum number of clocktics for the internal UI task

The contents of this information are subject to change without notice or obligation. Information herein should be confirmed before placing orders.
Hägglunds Drives AB, S-890 42 Mellansel, SWEDEN 13(18)
00-08-22, New AS-6, Software settings and function
6.12 Shredder
The selection of shredder function is made by setting parameter X01 to SHREDDER (see AS6.1).
The specific parameters are found in SHREDDER – DRIVE1(2).
In shredder all features described in 6.1.- 6.11 are avaliable except for the possibility to switch between
speed regulated and non-regulated drive. The selection of speed regulation has to be set with parameter
E(K)14.
The added functions are for the reversals by an overloaded drive.
The shredder has two drive modes, manual and auto.
In manual the start button (or parallelled input on terminal 71(85)) is used for running forward and the
reverse button (or parallelled input on terminal 99(100)) is used for running reverse. The drive will run as
long as the input is activated and stop when input is opened. The reversing function is bypassed in
manual drive.
In auto the start button(or parallelled input on terminal 71(85)) starts the drive with the automatic
reversing function and stopped with the stop button(or parallelled input on terminal 73(87)). A configurable
digital input can be used for start in remote mode.
The switching between manual and auto is made with the MAN/AUT button or with a configurable digital
input (will bypass the button).
A digital output can be used for indication of auto mode.

6.12.1 Speed setpoint

The forward speed setpoint is handled as described in
AS6.2 but must be a positive signal. The reverse speed DETECTION OF BLOCKED DRIVE
setpoint can be the inverted forward setpoint scaled
Pressure switches Speed encoder Pressure transducer Digital input
with parameter E(K)02 (e.g. reverse always 50% of
forward speed) or a fixed command set with parameter
E(K)10=1 E(K)10=2 E(K)10=3 E(K)10=4
E(K)01 and DRIVE 1(2) –INPUT: A(G)11.

6.12.2 Overload detection Set digital input

for pressure A and
Set speed input
acc. to AS6.5
Type of input V19-V22 Set digital in
to PUMP 1(2) ZERO
pressure B
The detection of overloaded drive is made with
parameter E(K)10. The selection can be between: Max pressure for
transducer E(K)04
-Pressure switches that opens at high pressure
-Speed encoder to detect stopped drive
-One pressure transducer in a common pressure port Max pressure fwd E(K)05

for both directions

-One digital input, common for both directions that Max pressure rev E(K)06

opens for reversal

6.12.3 Reverse counter Set forward delay

time before reversing
The number of reversals within a limited time window E(K)07

can be used for stopping the drive. If the function is not

wanted the time window can be set to 1. If the counter
Reversing time E(K)08
setting is reached the drive will go to manual and the
warning text SHREDDER BLOCKED will appear in the
alarm/warning list. The warning must be reset before Stop Function at Forward
reverse blocking
auto start is possible. The warning can also be reset by
a configurable digital input. E(K)13=1 E(K)13=2

6.12.4 Reverse blocking Set reverse delay Set reverse delay

The function if the drive blocks during reverse drive before stop
E(K)09
before going forward
E(K)09

can be set with parameter E(K)13.

If 1(Stop) is selected the same result will appear as if
the counter setting is reached. Set max number of
If 2(Forward) is set the drive will switch back to forward reversals E(K)12
within the time of E(K)11

drive without stopping.

The contents of this information are subject to change without notice or obligation. Information herein should be confirmed before placing orders.
Hägglunds Drives AB, S-890 42 Mellansel, SWEDEN 14(18)
00-08-22, New AS-6, Software settings and function
6.13 Synchro
The specific parameters for Synchro function are found in SYNCHRO.
The Synchro function is divided in two parts, RATIO and COUNTER. The selection is made with
parameter L01.

6.13.1 Ratio drive

The synchro ratio function can control two drives with a friction ratio between the drives. The ratio drive
function is set with parameter L01 = RATIO.
Drive 1 is the master and the inputs for drive 1 are for setting the master speed (see AS6.2).
The speed setpoint for drive 2 is the ramped command from drive 1 multiplied with a ratio factor. The ratio
factor between 0 and 200% of drive 1 speed command is set on drive 2 in the same way as the speed
setpoint for drive1. The ratio setpoint can be maximized with parameter L20 and L21.

If parameter L02=2 the ratio setpoint can be set by digital Ratio Digital input Setpoint
inputs in BCD (Binary Code Decimal) format. Configurable level 1 2 3 4 parameter
digital input 1-4 (DIGITAL INPUTS) are used for choice of
10 different setpoints set with parameter L07-L16. 0 0 0 0 0 L07

1 0 0 0 1 L08
6.13.2 Counter drive
2 0 0 1 0 L09
The synchro counter function can control the position 3 0 0 1 1 L10
between two drives. The counter drive function is set
with parameter L01 = COUNTER. This function 4 0 1 0 0 L11
requires digital speed encoders with identical number of 5 0 1 0 1 L12
pulses per turn for both drives.
Drive 1 is the master and the inputs for drive 1 are for 6 0 1 1 0 L13
setting the master speed (see AS6.2).
7 0 1 1 1 L14
The ramped speed command for drive 1 is feed forward
to drive 2 for basic speed. 8 1 0 0 0 L15
The pulses from each encoder are counted in two
9 1 0 0 1 L16
counters and compared. If there is a difference
between the two counters, the difference signal is
processed by drive 2 regulator and added to the feed
forward signal for control of pump 2.
The counters must be reset when the position is right
between the rolls.
If parameter L03(04) is set in position 1, parameter
L17(18) describes when the counters are reset.
1= Reset every time electric motor is started
2= Reset every time drive start is activated
3= Reset by configurable digital input (DIGITAL INPUTS: RESET EN1(2))
If parameter L03(04) is set in position 2, parameter L17(18) describes when the counter reset is enabled.
1= Enable every time electric motor is started
2= Enable every time drive start is activated
3= Enable by a configurable digital input (DIGITAL INPUTS: RESET EN1(2))
The reset pulse is activated by a configurable digital input (DIGITAL INPUTS:
C RESET 1(2)). The pulse length must be minimum 8milliseconds.
The counter difference signal is not connected to the drive 2 regulator until both counters are reset. The
activation of the regulator can be indicated by a digital output (DIGITAL OUTPUTS: CZero)

The contents of this information are subject to change without notice or obligation. Information herein should be confirmed before placing orders.
Hägglunds Drives AB, S-890 42 Mellansel, SWEDEN 15(18)
02-03-20, Replaces 02-03-20 AS-6, Software settings and function

Friction drive in counter mode can be activated by a configurable digital input (DIGITAL INPUTS:
FRICTION). The friction command is set as described in AS16.13.1.
Offset between the two drives can be set in two ways:
-As a constant value by parameter L06
-With an analog input +0-180°(ANALOG INPUTS: SO (Offset, drive 2))

6.14 Language selection

A language selection for the alarm/warning list texts and in some cases indication texts on the main
display can be done in the menu (BASIC FUNCTION :X06).
The selectable languages are: English (Default language)
German
French
Spanish
Portuguese
Italian
Japanese
Dutch
Finnish
Swedish
Short form (abbreviations)

6.15 Drive monitoring log

The system must be equipped with separate memory card (rev.C and later) for drive monitoring
log function.
The drive monitoring log consists of three parts, alarm/warning lists, drive time counters and four
scalable log channels. The alarm/warning lists and drive time counters can be indicated on drive 1
display. The total drive log information must be downloaded to a PC for examination. This requires
communication cable 376 0056-801, a PC with windows 95, 98, 2000 or NT and SpiderCom software
installed.

The alarm lists are found in the menu under LOG READINGS – DRIVE 1 – ALARM and LOG
READINGS – DRIVE 2 – ALARM.
The warning lists are found in the menu under LOG READINGS – DRIVE 1 – WARNING and LOG
READINGS – DRIVE 2 – WARNING.
All four lists are 10 alarms or warnings long. The latest will be at the top and when a new warning or alarm
comes to an already filled list, the oldest will be removed. The alarms and warnings are marked with date
and time for the incident. For setting of actual time see TIME/DATE below.

The drive time counters are found in the menu under LOG READINGS – DRIVE 1 – TIME IN USE and
LOG READINGS – DRIVE 2 – TIME IN USE. The counters are PUMP (the time with started electric
motor) and DRIVE (the time with drive started). The counters can be reset , see RESET TIME below.

The settings for the drive monitoring log and clock and the reset of the time counters are made in SETUP
– LOG FUNCTION and are protected by a password.

The contents of this information are subject to change without notice or obligation. Information herein should be confirmed before placing orders.
Hägglunds Drives AB, S-890 42 Mellansel, SWEDEN 16(18)
00-11-24, Replaces 00-08-22 AS-6, Software settings and function

TIME/DATE is the setting of actual date and time. The format is YYMMDD HH:MM and is selected with >
button and changed with ^ and v buttons. The date/time is used for alarm and warning list time stamps
and the clock is battery backed.

LOG1 to LOG 4 are used for setting the four scalable drive monitoring log channels.
The used analog inputs must be set before the log channels are configured, see AS6.8.
The selectable reading registers for each log channel are REG 100-113 and REG 200-213.
Each channel consists of a measuring area divided into 6 levels. The time the measured reading has
been within each of these levels is stored. The measuring is only active with the drive started. Total
measuring time is 100 000 hours.
Parallel to the total time log, 4 shorter log registers with the same setting as the total is stored in
chronological order. The log time is adjustable. 90-100
70-90
50-70
30-50
10-30
0-10

Log Total time

Example: data
Period 5
- Log channel 2 90-100
70-90
50-70

- Speed drive 1, 0-100 rpm from analog speed encoder Time MT

30-50
10-30
0-10

120rpm connected to analogue input 1.

Period 1
- 200 hours period measuring time When full
90-100

Time MT 70-90
50-70
30-50

1.Analog input setting: Period 2

10-30
0-10

V01=AS1 for connecting analog input 1 to Analog Speed drive1.

V05,06 for zero and max adjustment of the input (see example in AS6.8)
90-100

Time MT 70-90
50-70
30-50
10-30

A08=120 to set the encoder speed at 20mA. Period 3

0-10

A06=100 for the max speed of the drive.

90-100

Time MT 70-90
50-70
30-50
10-30

2.Log setting: Period 4

0-10

LOG FUNCTION – LOG 2:

Erased
STA=ON will activate the log function
MT=200 to set the short time measuring cells (period 1-4) to 200 hours. Period 1 cell will show the latest
up to 200 hours measurement. When this cell is full the contents will be moved to period 2 cell and period
1 cell will start from zero again. Next time period 1 cell is full the contents of period 2 cell will be moved to
period 3 cell, the contents of period 1 cell will be moved to period 2 cell and period 1 cell will start from
zero again, and so on. When all cells are full the oldest cell contents will be erased before the next data
movement.
LHI=90 to set where level 6 starts
LLO=10 to set where level 1 stops. The area between LLO and LHI will be divided into 4 equal parts. In
this case the levels will be:
90-100rpm drivetime
70-90rpm drivetime
50-70rpm drivetime
30-50rpm drivetime
10-30rpm drivetime
0-10rpm drivetime
REG=REG104 to select log reading of analog speed drive 1.
When finished setting the question RESET LOG? comes. Select with > button and push ^ to get a Y
(yes) and then > button to reset. The questions comes if a change is done in any of the parameters in the
specific log channel setup and does not affect the other three channels. The log can be set on or off with
STA=OFF or ON without the need to reset the log channel.

RESET TIME for reset of the drive time counters. When the function is selected with > button push ^ to
get a Y (yes) and then > button to reset.

The contents of this information are subject to change without notice or obligation. Information herein should be confirmed before placing orders.
Hägglunds Drives AB, S-890 42 Mellansel, SWEDEN 17(18)
02-03-20, New AS-6, Software settings and function

6.16 Analog outputs

The system must be equipped with analog output card 576 0057-801 to get the outputs.
The card is mechanically attached to four spacing tubes in the middle of the main card (from card rev.F)
by four M3 screws.
The contact from the memory card is disconnected from main card contact J28 and connected to analog
card connector J1. The cable from J2 on the analog card is connected to main card contact J28. This will
connect the analog card to the internal serial bus (I2C).

The card has two output channels. Each channel can be selected as 0-5V or 1-5V voltage output or as 0-
20mA or 4-20mA current output. The selection between current and voltage is made by jumpers on the
card and by using different terminals.
The selection between 0-5V and 1-5V or between 0-20mA and 4-20mA is made with parameters in the
setup menu.

The outputs can be zero and maxpoint adjusted.

Example for channel 1, 4-20mA for 0-20rpm speed from digital speed encoder.

1. Set parameter A06 to 20.0rpm (the speed that corresponds to 100%).

2. Connect a current meter in series with the output signal.
3. Parameter Z03 must be ON for 4mA output.
4. Select parameter Z05. The system gives 0% to the card. Adjust the parameter until closest to 4mA
output.
5. Select parameter Z06. The system gives 100% to the card. Adjust the parameter until closest to
20mA output.
6. Repeat 4 and 5 until the best result is achived.

The contents of this information are subject to change without notice or obligation. Information herein should be confirmed before placing orders.
Hägglunds Drives AB, S-890 42 Mellansel, SWEDEN 18(18)