Page 1 ACSM1 Firmware Manual ACSM1 Speed and Torque Control Program...
Page 5: Table Of Contents
Providing feedback on ABB Drives manuals ........
Page 6 Undervoltage control ............41 Voltage control and trip limits .
Page 7 SPEED REF MOD ............105 Group 25 SPEED REF RAMP .
Page 8 Fieldbus equivalent ............184 Fieldbus addresses .
Page 9 D2D_Conf ..............233 D2D_McastToken .
Page 10 FUNG-1V ..............272 INT .
Page 11 The fieldbus control interface ........... . 316 The Control Word and the Status Word .
Page 12 Table of contents...
Page 13: Introduction To The Manual
The chapter includes a description of the contents of the manual. In addition it contains information about the compatibility, safety and intended audience. Compatibility The manual is compatible with ACSM1 Speed and Torque Control program version UMFI1480 and later. See signal 9.04 FIRMWARE VER or PC tool (View - Properties).
Page 14: Contents
Product and service inquiries Address any inquiries about the product to your local ABB representative, quoting the type code and serial number of the unit in question. A listing of ABB sales, support and service contacts can be found by navigating to www.abb.com/drives...
Page 15: Start-Up
Start-up What this chapter contains This chapter describes the basic start-up procedure of the drive and instructs in how to control the drive through the I/O interface. How to start up the drive The drive can be operated: • locally from PC tool or control panel •...
Page 16 Safety The start-up may only be carried out by a qualified electrician. The safety instructions must be followed during the start-up procedure. See the safety instructions on the first pages of the appropriate hardware manual. Check the installation. See the installation checklist in the appropriate hardware manual. Check that the starting of the motor does not cause any danger.
Page 17 Note: Set the motor data to exactly the same value Asynchronous motor nameplate example: as on the motor nameplate. For example, ABB Motors if the motor nominal motor M2AA 200 MLA 4 speed is 1470 rpm on the IEC 200 M/L 55...
Page 18 (U refers to the highest voltage in each of the nominal voltage range, i.e. 480 V AC for ACSM1-04). With permanent magnet motors: The nominal voltage is the BackEMF voltage (at motor nominal speed). If the voltage is given as voltage per rpm, e.g. 60 V per 1000 rpm, the voltage for 3000 rpm nominal speed is 3 ×...
Page 19 Multimotor drives I.e. more than one motor is connected to one drive. Check that the motors have the same relative slip (only for asynchronous motors), nominal voltage and number of poles. If the manufacturer motor data is insufficient, use the following formulas to calculate the slip and the number of poles: ⋅...
Page 20 Note: Ensure that possible Safe Torque Off and emergency stop circuits are closed during the ID run. Check the direction of rotation of the motor before starting the ID run. When drive output During the run (Normal or Reduced), the motor will rotate in the phases U2, V2 and forward direction.
Page 21 Check the drive limits. The following must apply for all ID run methods: • 20.05 MAXIMUM CURRENT > 99.06 MOT NOM CURRENT In addition, the following must apply for Reduced and Normal ID run: • 20.01 MAXIMUM SPEED > 55% of 99.09 MOT NOM SPEED •...
Page 22 Enter a small speed reference value (for example 3% of the nominal motor speed). Start the motor. Check that the estimated (1.14 SPEED ESTIMATED) and actual 1.14 SPEED ESTIMATED speed (1.08 ENCODER 1 SPEED 1.10 ENCODER 2 SPEED) are equal. If the values differ, check the encoder/resolver parameter 1.08 ENCODER 1 settings.
Page 23 Emergency stop circuit If there is an emergency stop circuit in use, check that the circuit 10.10 EM STOP OFF3 10.11 EM STOP OFF1 functions (emergency stop signal is connected to the digital input (emergency stop control which is selected as the source for the emergency stop activation). through fieldbus 2.12 FBA MAIN CW...
Page 24 Start function Select the start function. 11.01 START MODE Setting 11.01 START MODE (2) AUTOMATIC selects a general- purpose start function. This setting also makes flying start (starting to a rotating motor) possible. The highest possible starting torque is achieved when 11.01 START MODE is set to...
Page 25 Speed filtering The measured speed always has a small ripple because of electrical and mechanical interferences, couplings and encoder resolution (i.e. small pulse number). A small ripple is acceptable as long as it does not affect the speed control chain. The interferences in the speed measurement can be filtered with a speed error filter or with an actual speed filter.
Page 26 Optimise the P-part of the speed controller: Set the integration time to 28.03 INTEGRATION TIME 0 to change the PI (proportional integral) controller into a P controller: Give a step change up, for example 10% (of the maximum speed of the drive).
Page 27 Fieldbus control Follow these instructions when the drive is controlled from a fieldbus control system via fieldbus adapter Fxxx. The adapter is installed in drive Slot 3. Enable the communication between the drive and fieldbus adapter. 50.01 FBA ENABLE Connect the fieldbus control system to the fieldbus adapter module. Set the communication and adapter module parameters: See section Setting up communication through a fieldbus adapter module on page...
Page 28: How To Control The Drive Through The I/O Interface
How to control the drive through the I/O interface The table below instructs how to operate the drive through the digital and analogue inputs, when the default parameter settings are valid. PRELIMINARY SETTINGS Ensure the original parameter settings (default) are valid. 16.04 PARAM RESTORE Ensure the control connections are wired according to the connection diagram given in chapter...
Page 29: Drive Programming Using Pc Tools
Drive programming using PC tools What this chapter contains This chapter introduces the drive programming using the DriveStudio and DriveSPC applications. For more information, see DriveStudio User Manual [3AFE68749026 (English)] and DriveSPC User Manual [3AFE68836590 (English)]. General The drive control program is divided into two parts: •...
Page 30: Programming Via Parameters
The normal delivery of the drive does not include an application program. The user can create an application program with the standard and firmware function blocks. ABB also offers customised application programs and technology function blocks for specific applications. For more information, contact your local ABB representative.
Page 31: Function Blocks
Function blocks The application program uses three types of function blocks: firmware function blocks, standard function blocks and technology function blocks. Firmware function blocks Most of the firmware functions are represented as function blocks in the DriveSPC tool. Firmware function blocks are part of the drive control firmware, and used as an interface between the application and firmware programs.
Page 32: Operation Modes
Operation modes The DriveSPC tool offers the following operation modes: Off-line When the off-line mode is used without a drive connection, the user can • open a application program file (if exists). • modify and save the application program. • print the program pages. When the off-line mode is used with a drive(s) connection, the user can •...
Page 33: Drive Control And Features
Local control vs. external control The drive has two main control locations: external and local. The control location is selected with the PC tool (Take/Release button) or with the LOC/REM key on the control panel. ACSM1 2) 3) External control 1) 3)
Page 34: Operating Modes Of The Drive
Local control is mainly used during commissioning and maintenance. The control panel always overrides the external control signal sources when used in local control. Changing the control location to local can be disabled by parameter 16.01 LOCAL LOCK. The user can select by a parameter (46.03 LOCAL CTRL LOSS) how the drive reacts to a control panel or PC tool communication break.
Page 35: Drive Control Chain For Speed And Torque Control
Drive control and features...
Page 36: Special Control Modes
Special control modes In addition to the above-mentioned control modes, the following special control modes are available: • Emergency Stop modes OFF1 and OFF3: Drive stops along the defined deceleration ramp and drive modulation stops. • Jogging mode: Drive starts and accelerates to the defined speed when the jogging signal is activated.
Page 37: Motor Control Features
Motor control features Scalar motor control It is possible to select scalar control as the motor control method instead of Direct Torque Control (DTC). In scalar control mode, the drive is controlled with a frequency reference. However, the outstanding performance of DTC is not achieved in scalar control.
Page 38: Thermal Motor Protection
(±360/polepairs)° in order to determine the rotor position. In case 2 (open-loop control), the shaft is turned only in one direction and the angle is smaller. The standstill modes can be used if the motor cannot be turned (for example, when the load is connected).
Page 39 Temperature sensors It is possible to detect motor overtemperature by connecting a motor temperature sensor to thermistor input TH of the drive or to optional encoder interface module FEN-xx. Constant current is fed through the sensor. The resistance of the sensor increases as the motor temperature rises over the sensor reference temperature T , as does the voltage over the resistor.
Page 40 connected to other equipment - the temperature sensor must be isolated from the I/O terminals. The figure below shows a motor temperature measurement when thermistor input TH is used. One PTC or KTY84 sensor JCU Control Unit Motor AGND 10 nF JCU Control Unit Three PTC sensors Motor...
Page 41: Dc Voltage Control Features
DC voltage control features Overvoltage control Overvoltage control of the intermediate DC link is needed with two-quadrant line-side converters when the motor operates within the generating quadrant. To prevent the DC voltage from exceeding the overvoltage control limit, the overvoltage controller automatically decreases the generating torque when the limit is reached.
Page 42: Braking Chopper
SUPPLVOLTAUTO-ID; the user can define the voltage manually at parameter 47.04 SUPPLY VOLTAGE. Overvoltage trip level (1.63 × U Overvoltage control level (1.50 × U 1.07 DC-VOLTAGE (1.35 × 1.19 USED SUPPLY VOLT) Undervoltage control level (0.74 × U 50 V min Undervoltage trip level (0.65 ×...
Page 43: Speed Control Features
Speed control features Jogging Two jogging functions (1 or 2) are available. When a jogging function is activated, the drive starts and accelerates to the defined jogging speed along the defined jogging acceleration ramp. When the function is deactivated, the drive decelerates to a stop along the defined jogging deceleration ramp.
Page 44 Notes: • Jogging is not operational when the drive start command is on, or when the drive is in local control. • Normal start is inhibited when jog enable is active. • The ramp shape time is set to zero during jogging. Drive control and features...
Page 45: Motor Feedback Features
Motor feedback features Motor encoder gear function The drive provides motor encoder gear function for compensating of mechanical gears between the motor shaft, the encoder and the load. Motor encoder gear application example: Speed control uses the motor speed. If no encoder is mounted on the motor shaft, the motor encoder gear function must be applied in...
Page 46: Mechanical Brake
Mechanical brake The program supports the use of a mechanical brake to hold the motor and load at zero speed when the drive is stopped or not powered. The brake control is configured by the parameters in 35 MECH BRAKE CTRL (page 132).
Page 47 Operation time scheme The simplified time scheme below illustrates the operation of the brake control function. Start cmd Ramp input Modulating Ref_Running Brake open cmd Ramp output Torque ref time Start torque at brake release (parameter 35.06 BRAKE OPEN TORQ) Stored torque value at brake close (signal 3.14 BRAKE TORQ MEM)
Page 48 The brake on/off is controlled via signal 3.15 BRAKE COMMAND. The source for the brake supervision is selected by parameter 35.02 BRAKE ACKNOWL. The brake control hardware and wirings need to be done by the user. • Brake on/off control through selected relay/digital output. •...
Page 49 Drive control and features...
Page 50: Emergency Stop
Note: When an emergency stop signal is detected, the emergency stop function cannot be cancelled even though the signal is cancelled. For more information, refer to Application Guide: Functional Safety Solutions with ACSM1 Drives (3AUA0000031517 [English]). Drive control and features...
Page 51: Default Connections Of The Control Unit
Default connections of the control unit What this chapter contains This chapter shows the default control connections of the JCU Control Unit. More information on the connectivity of the JCU is given in the Hardware Manual of the drive. Default connections of the control unit...
Page 52 External power input +24VI Notes: 24 V DC, 1.6 A *Total maximum current: 200 mA Relay output: Brake close/open 250 V AC / 30 V DC 1) Selected by par. 12.01 DIO1 CONF. +24 V DC* +24VD 2) Selected by par. 12.02 Digital I/O ground DGND...
Page 53: Parameters And Firmware Blocks
Parameters and firmware blocks What this chapter contains This chapter lists and describes the parameters provided by the firmware. Types of parameters Parameters are user-adjustable operation instructions of the drive (groups 10…99). There are four basic types of parameters: Actual signals, value parameters, value pointer parameters and bit pointer parameters.
Page 54: Firmware Blocks
Note: Pointing to a nonexisting bit will be interpreted as 0 (FALSE). For additional parameter data, e.g. update cycles and fieldbus equivalents, see chapter Parameter data. Firmware blocks Firmware blocks accessible from the DriveSPC PC tool are described in the parameter group most of the block inputs/outputs are included in.
Page 55: Group 01 Actual Values
Group 01 ACTUAL VALUES This group contains basic actual signals for monitoring the drive. 01 ACTUAL VALUES Firmware block: ACTUAL VALUES ACTUAL VALUES TLF10 2 msec 1.02 SPEED ACT PERC 1.03 FREQUENCY 1.04 CURRENT 1.05 CURRENT PERC 1.06 TORQUE 1.07 DC-VOLTAGE 1.14 SPEED ESTIMATED 1.15 TEMP INVERTER 1.16 TEMP BC...
Page 56 1.10 ENCODER 2 SPEED FW block: ENCODER (page 161) Encoder 2 speed in rpm. 1.11 ENCODER 2 POS FW block: ENCODER (page 161) Actual position of encoder 2 within one revolution. 1.14 SPEED ESTIMATED FW block: ACTUAL VALUES (see above) Estimated motor speed in rpm.
Page 57: Group 02 I/O Values
Group 02 I/O VALUES This group contains information on the I/Os of the drive. 02 I/O VALUES 2.01 DI STATUS FW block: (page 84) Status word of the digital inputs. Example: 000001 = DI1 is on, DI2 to DI6 are off. 2.02 RO STATUS FW block:...
Page 58 2.12 FBA MAIN CW FW block: FIELDBUS (page 149) Control Word for fieldbus communication. Log. = Logical combination (i.e. Bit AND/OR Selection parameter). Par. = Selection parameter. See State diagram on page 318. Name Val. Information Log. Par. STOP* Stop according to the stop mode selected by 11.03 10.02, STOP MODE or according to the requested stop...
Page 59 2.12 FBA MAIN CW (continued from previous page) Name Val. Information Log. Par. JOGGING 2 Activate jogging function 2. See section Jogging 10.14 page 43. Jogging function 2 disabled REMOTE Fieldbus control enabled Fieldbus control disabled RAMP OUT Force Ramp Function Generator output to zero. Drive ramps to a stop (current and DC voltage lim- its in force).
Page 60 2.13 FBA MAIN SW FW block: FIELDBUS (page 149) Status Word for fieldbus communication. See State diagram on page 318. Name Value Information READY Drive is ready to receive start command. Drive is not ready. ENABLED External run enable signal is received. No external run enable signal is received.
Page 61 2.13 FBA MAIN SW (continued from previous page) Name Value Information 18…26 Not used with the Speed and Torque Control Program REQUEST CTL Control word is requested from fieldbus. Control word is not requested from fieldbus. SW B28 Programmable status bits (unless fixed by the used profile).
Page 62 2.18 D2D FOLLOWER CW FW block: DRIVE LOGIC (page 73) Drive-to-drive control word sent to the followers by default. See also firmware block COMMUNICATION on page 156. Information Stop. Start. 2…6 Reserved. Run enable. Reset. 9…14 Reserved. EXT1/EXT2 selection. 0 = EXT1 active, 1 = EXT2 active. 2.19 D2D REF1 FW block:...
Page 63: Group 06 Drive Status
Group 03 CONTROL VALUES Actual signals containing information on e.g. the reference. 03 CONTROL VALUES 3.01 SPEED REF1 FW block: SPEED REF SEL (page 104) Speed reference 1 in rpm. 3.02 SPEED REF2 FW block: SPEED REF SEL (page 104) Speed reference 2 in rpm.
Page 64 3.13 TORQ REF TO TC FW block: REFERENCE CTRL (page 129) Torque reference in % for the torque control. When 99.05 MOTOR CTRL MODE is set to SCALAR, this value is forced to 0. 3.14 BRAKE TORQ MEM FW block: MECH BRAKE CTRL (page 132) Torque value (in %) stored when the mechanical brake close command is issued.
Page 65: Group 08 Alarms & Faults
Group 06 DRIVE STATUS Status words. 06 DRIVE STATUS 6.01 STATUS WORD 1 FW block: DRIVE LOGIC (page 73) Status word 1. Name Val. Information READY Drive is ready to receive start command. Drive is not ready. ENABLED External run enable signal is received. No external run enable signal is received.
Page 66 6.02 STATUS WORD 2 FW block: DRIVE LOGIC (page 73) Status word 2. Name Val. Information START ACT Drive start command is active. Drive start command is inactive. STOP ACT Drive stop command is active. Drive stop command is inactive. READY RELAY Ready to function: run enable signal on, no fault, emergency stop signal off, no ID run inhibition.
Page 67 6.03 SPEED CTRL STAT FW block: DRIVE LOGIC (page 73) Speed control status word. Name Val. Information SPEED ACT Actual speed is negative. ZERO SPEED Actual speed has reached the zero speed limit (22.05 ZERO SPEED LIMIT). ABOVE LIMIT Actual speed has exceeded the supervision limit (22.07 ABOVE SPEED LIM).
Page 68 6.07 TORQ LIM STATUS FW block: DRIVE LOGIC (page 73) Torque controller limitation status word. Name Val. Information UNDERVOLTAGE Intermediate circuit DC undervoltage * OVERVOLTAGE Intermediate circuit DC overvoltage * MINIMUM TORQUE Torque reference minimum limit is active. The limit is defined by parameter 20.07 MINIMUM TORQUE.
Page 69: Group 09 System Info
Group 08 ALARMS & FAULTS Signals containing alarm and fault information. 08 ALARMS & FAULTS 8.01 ACTIVE FAULT FW block: FAULT FUNCTIONS (page 142) Fault code of the latest (active) fault. 8.02 LAST FAULT FW block: FAULT FUNCTIONS (page 142) Fault code of the 2nd latest fault.
Page 70 8.06 ALARM WORD 2 FW block: FAULT FUNCTIONS (page 142) Alarm word 2. For possible causes and remedies, see chapter Fault tracing. Alarm IGBT OVERTEMP FIELDBUS COMM LOCAL CTRL LOSS AI SUPERVISION Reserved NO MOTOR DATA ENCODER 1 FAILURE ENCODER 2 FAILURE LATCH POS 1 FAILURE LATCH POS 2 FAILURE ENC EMULATION FAILURE...
Page 71: Group 10 Start/Stop
09 SYSTEM INFO 9.01 DRIVE TYPE FW block: None Displays the drive application type. (1) ACSM1 SPEED: Speed and torque control application (2) ACSM1 MOTION: Motion control application 9.02 DRIVE RATING ID FW block: None Displays the inverter type of the drive.
Page 72 9.22 OPTION SLOT 3 FW block: None Displays the type of the optional module in option Slot 3. See signal 9.20 OPTION SLOT Parameters and firmware blocks...
Page 73: Drive Logic
Group 10 START/STOP Settings for • selecting start/stop/direction signal sources for external control locations EXT1 and EXT2 • selecting sources for external fault reset, run enable and start enable signals • selecting sources for emergency stop (OFF1 and OFF3) • selecting source for jogging function activation signal •...
Page 74 Block outputs located in other 2.18 D2D FOLLOWER CW (page 62) parameter groups 6.01 STATUS WORD 1 (page 65) 6.02 STATUS WORD 2 (page 66) 6.03 SPEED CTRL STAT (page 67) 6.05 LIMIT WORD 1 (page 67) 6.07 TORQ LIM STATUS (page 68) Outputs 6.09…6.11 are not used with the Speed and Torque Control Program.
Page 75 Bit pointer: Group, index and bit 10.03 EXT1 START IN2 FW block: DRIVE LOGIC (see above) Selects the source 2 for the start and stop commands in external control location EXT1. See parameter 10.01 EXT1 START FUNC selection 3-WIRE. Note: This parameter cannot be changed while the drive is running. Bit pointer: Group, index and bit 10.04 EXT2 START FUNC FW block:...
Page 76 10.05 EXT2 START IN1 FW block: DRIVE LOGIC (see above) Selects the source 1 for the start and stop commands in external control location EXT2. See parameter 10.04 EXT2 START FUNC selections (1) IN1 3-WIRE. Note: This parameter cannot be changed while the drive is running. Bit pointer: Group, index and bit 10.06 EXT2 START IN2 FW block:...
Page 77 10.11 EM STOP OFF1 FW block: DRIVE LOGIC (see above) Selects the source for the emergency stop OFF1. 0 = OFF1 active: The drive is stopped with the active deceleration time. Emergency stop can also be activated through fieldbus (2.12 FBA MAIN CW).
Page 78 Value pointer: Group and index 10.17 START ENABLE FW block: DRIVE LOGIC (see above) Selects the source for the start enable signal. If the start enable signal is switched off, the drive will not start or stops if the drive is running. 1 = Start enable. Note: This parameter cannot be changed while the drive is running.
Page 79: Group 12 Digital Io
Group 11 START/STOP MODE These parameters select the start and stop functions as well as the autophasing mode, define the DC magnetising time of the motor, and configure the DC hold function. 11 START/STOP MODE Firmware block: START/STOP MODE START/STOP MODE TLF10 2 msec [ Const time ] 11.01 START MODE...
Page 80 11.02 DC MAGN TIME FW block: START/STOP MODE (see above) Defines the constant DC magnetising time. See parameter 11.01 START MODE. After the start command, the drive automatically premagnetises the motor the set time. To ensure full magnetising, set this value to the same value as or higher than the rotor time constant. If not known, use the rule-of-thumb value given in the table below: Motor rated power Constant magnetising time...
Page 81 11.06 DC HOLD FW block: START/STOP MODE (see above) Enables the DC hold function. The function makes it possible to lock the rotor at zero speed. When both the reference and the speed drop below the value of parameter 11.04 DC HOLD SPEED, the drive will stop generating sinusoidal current and start to inject DC into the motor.
Page 82: Dio1
Group 12 DIGITAL IO Settings for the digital inputs and outputs, and the relay output. 12 DIGITAL IO Firmware block: DIO1 DIO1 TLF7 2 msec 2.03 2.03 DIO STATUS Bit 0 [ Output ] Selects whether DIO1 is used as a 12.01 DIO1 CONF [ STATUS WORD 2.2 ] <...
Page 83 (1) INPUT DIO1 is used as a digital input. 12.02 DIO2 CONF FW block: DIO2 (see above) Selects whether DIO2 is used as a digital input, as a digital output or as a frequency input. (0) OUTPUT DIO2 is used as a digital output. (1) INPUT DIO2 is used as a digital input.
Page 84 12.09 DIO3 F MIN FW block: DIO3 (see above) Defines the minimum value for frequency output (when 12.03 DIO3 CONF is set to (2) FREQ OUTPUT). 3…32768 Hz Minimum DIO3 output frequency. 12.10 DIO3 F MAX SCALE FW block: DIO3 (see above) Defines the real value that corresponds to the maximum frequency output value defined by parameter...
Page 85 12.13 DI INVERT MASK FW block: (see above) Inverts status of digital inputs as reported by 2.01 DI STATUS. For example, a value of 0b000100 inverts the status of DI3 in the signal. 0b000000…0b111111 DI status inversion mask. 12.14 DIO2 F MAX FW block: DIO2 (see above)
Page 86: Ai1
Group 13 ANALOGUE INPUTS Settings for the analogue inputs. The drive offers two programmable analogue inputs, AI1 and AI2. Both inputs can be used either as a voltage or a current input (-11…11 V or -22…22 mA). The input type is selected with jumpers J1 and J2 respectively on the JCU Control Unit.
Page 87: Ai2
13.03 AI1 MIN FW block: (see above) Defines the minimum value for analogue input AI1. The type is selected with jumper J1 on the JCU Control Unit. -11…11 V / -22…22 mA Minimum AI1 input value. 13.04 AI1 MAX SCALE FW block: (see above) Defines the real value that corresponds to the maximum analogue input value defined by parameter...
Page 88 -11…11 V / -22…22 mA Maximum AI2 input value. 13.08 AI2 MIN FW block: (see above) Defines the minimum value for analogue input AI2. The type is selected with jumper J2 on the JCU Control Unit. -11…11 V / -22…22 mA Minimum AI2 input value.
Page 89 13.12 AI SUPERVISION FW block: None Selects how the drive reacts when analogue input signal limit is reached. The limit is selected by parameter 13.13 AI SUPERVIS ACT. (0) NO No action taken. (1) FAULT The drive trips on fault AI SUPERVISION. (2) SPD REF SAFE The drive generates alarm AI SUPERVISION and sets the speed to the speed defined by parameter...
Page 90: Group 15 Analogue Outputs
Group 15 ANALOGUE OUTPUTS Settings for the analogue outputs. The drive offers two programmable analogue outputs: one current output AO1 (0…20 mA) and one voltage output AO2 (-10…10 V). The resolution of the analogue outputs is 11 bits (+ sign) and the inaccuracy is 2% of the full scale range.
Page 91: Ao2
0…22.7 mA Maximum AO1 output value. 15.04 AO1 MIN FW block: (see above) Defines the minimum value for analogue output AO1. 0…22.7 mA Minimum AO1 output value. 15.05 AO1 MAX SCALE FW block: (see above) Defines the real value that corresponds to the maximum analogue output value defined by parameter 15.03 AO1 MAX.
Page 92 15.09 AO2 MAX FW block: (see above) Defines the maximum value for analogue output AO2. -10…10 V Maximum AO2 output value. 15.10 AO2 MIN FW block: (see above) Defines the minimum value for analogue output AO2. -10…10 V Minimum AO2 output value. 15.11 AO2 MAX SCALE FW block: (see above)
Page 93: Group 16 System
Group 16 SYSTEM Local control and parameter access settings, restoration of default parameter values, save of parameters into permanent memory. 16 SYSTEM 16.01 LOCAL LOCK FW block: None Selects the source for disabling local control (Take/Release button on the PC tool, LOC/REM key of the panel).
Page 94 (0) DONE Save completed. (1) SAVE Save in progress. 16.09 USER SET SEL FW block: None Enables the save and restoration of up to four custom sets of parameter settings. The set that was in use before powering down the drive is in use after the next power-up. Note: Any parameter changes made after loading a set are not automatically stored –...
Page 95 (512) SET3 PAR ACT User parameter set 3 has been loaded using parameter 16.09. (1024) SET4 PAR ACT User parameter set 4 has been loaded using parameter 16.09. 16.11 USER IO SET LO FW block: None Together with parameter 16.12 USER IO SET HI, selects the user parameter set when parameter 16.09 USER SET SEL is set to...
Page 96: Group 17 Panel Display
Group 17 PANEL DISPLAY Selection of signals for panel display. 17 PANEL DISPLAY 17.01 SIGNAL1 PARAM FW block: None Selects the first signal to be displayed on the control panel. The default signal is 1.03 FREQUENCY. Value pointer: Group and index 17.02 SIGNAL2 PARAM FW block: None Selects the second signal to be displayed on the control panel.
Page 97: Group 20 Limits
Group 20 LIMITS Definition of drive operation limits. 20 LIMITS Firmware block: LIMITS LIMITS TLF10 2 msec [ 1500 rpm ] 20.01 MAXIMUM SPEED (20) [ -1500 rpm ] 20.02 MINIMUM SPEED [ TRUE ] Adjusts the drive speed, current and <...
Page 98 20.04 NEG SPEED ENA FW block: LIMITS (see above). Selects the source of the negative speed reference enable command. See parameter 20.03 POS SPEED ENA. Bit pointer: Group, index and bit 20.05 MAXIMUM CURRENT FW block: LIMITS (see above). Defines the allowed maximum motor current. 0…30000 A Maximum allowed motor current.
Page 99: Group 22 Speed Feedback
Group 22 SPEED FEEDBACK Settings for • selection of speed feedback used in drive control • filtering disturbances in measured speed signal • motor encoder gear function • zero speed limit for stop function • delay for Zero Speed Delay function •...
Page 100: 22 Speed Feedback
22 SPEED FEEDBACK Firmware block: SPEED FEEDBACK SPEED FEEDBACK TLF8 250 μsec (22) 1.01 SPEED ACT [ Estimated ] 22.01 SPEED FB SEL [ 3.000 ms ] 22.02 SPEED ACT FTIME [ 1 ] 22.03 MOTOR GEAR MUL [ 1 ] 22.04 MOTOR GEAR DIV [ 30.00 rpm ] 22.05 ZERO SPEED LIMIT...
Page 101 22.03 MOTOR GEAR MUL FW block: SPEED FEEDBACK (see above) Defines the motor gear numerator for the motor encoder gear function. 22.03 MOTOR GEAR MUL Actual speed ----------------------------------------------------------------------- - --------------------------------- - 22.04 MOTOR GEAR DIV Input speed where input speed is encoder 1/2 speed (1.08 ENCODER 1 SPEED 1.10 ENCODER 2 SPEED) or...
Page 102 22.07 ABOVE SPEED LIM FW block: SPEED FEEDBACK (see above) Defines the supervision limit for the actual speed. 0…30000 rpm Supervision limit for actual speed. 22.08 SPEED TRIPMARGIN FW block: SPEED FEEDBACK (see above) Defines, together with 20.01 MAXIMUM SPEED 20.02 MINIMUM SPEED, the maximum allowed speed of the motor (overspeed protection).
Page 103: Group 24 Speed Ref Mod
Group 24 SPEED REF MOD Settings for • speed reference selection • speed reference modification (scaling and inversion) • constant speed and jogging references • definition of absolute minimum speed reference. Depending on user selection, either speed reference 1 or speed reference 2 is active at a time.
Page 104: Speed Ref Sel
20.03 POS SPEED ENA 24.09 CONST SPEED ENA 20.01 MAXIMUM SPEED 24.08 CONST SPEED 06.01 STATUS WORD 1 bit 9 LOCAL FB 3.01 SPEED REF1 3.02 SPEED REF2 2.14 FBA MAIN REF1 03.03 SPEEDREF 24.05 SPEED REF 1/2 SEL Local speed reference RAMP IN 24.06 SPEED SHARE 06.01 STATUS WORD 1 bit 11...
Page 105: Speed Ref Mod
(5) D2D REF1 Drive to drive reference 1. (6) D2D REF2 Drive to drive reference 2. (7) ENC1 SPEED Encoder 1 (1.08 ENCODER 1 SPEED). (8) ENC2 SPEED Encoder 2 (1.10 ENCODER 2 SPEED). 24.02 SPEED REF2 SEL FW block: SPEED REF SEL (see above) Selects the source for speed reference 2...
Page 106 -8…8 Scaling factor for speed reference 1/2. 24.07 SPEEDREF NEG ENA FW block: SPEED REF MOD (see above) Selects the source for the speed reference inversion. 1 = Sign of the speed reference is changed (inversion active). Bit pointer: Group, index and bit 24.08 CONST SPEED FW block: SPEED REF MOD...
Page 107: Speed Ref Ramp
Group 25 SPEED REF RAMP Speed reference ramp settings such as • selection of source for speed ramp input • acceleration and deceleration times (also for jogging) • acceleration and deceleration ramp shapes • emergency stop OFF3 ramp time • the speed reference balancing function (forcing the output of the ramp generator to a predefined value).
Page 108: 25 Speed Ref Ramp
25 SPEED REF RAMP Firmware block: SPEED REF RAMP SPEED REF RAMP TLF3 250 μsec (25) 3.04 SPEEDREF RAMPED [ SPEEDREF RAMP IN ] This block < 25.01 SPEED RAMP IN (6 / 3.03) [ 1500 rpm ] 25.02 SPEED SCALING •...
Page 109 25.04 DEC TIME FW block: SPEED REF RAMP (see above) Defines the deceleration time i.e. the time required for the speed to change from the speed value defined by parameter 25.02 SPEED SCALING to zero. If the speed reference decreases slower than the set deceleration rate, the motor speed will follow the reference signal.
Page 110 25.08 SHAPE TIME DEC2 FW block: SPEED REF RAMP (see above) Selects the shape of the deceleration ramp at the end of the deceleration. See parameter 25.05 SHAPE TIME ACC1. 0…1000 s Ramp shape at end of deceleration. 25.09 ACC TIME JOGGING FW block: SPEED REF RAMP (see above)
Page 111 Group 26 SPEED ERROR Speed error is determined by comparing the speed reference and speed feedback. The error can be filtered using a first-order low-pass filter if the feedback and reference have disturbances. In addition, a torque boost can be applied to compensate acceleration;...
Page 112: 26 Speed Error
26 SPEED ERROR Firmware block: SPEED ERROR SPEED ERROR TLF3 250 μsec (26) 3.05 SPEEDREF USED 3.06 SPEED ERROR FILT This block 3.07 ACC COMP TORQ • selects the source for speed error SPEED ACT < 26.01 SPEED ACT NCTRL (7 / 1.01) calculation (speed reference - SPEEDREF RAMPED...
Page 113 26.04 SPEED FEED PCTRL FW block: SPEED ERROR (see above) Selects the source for the speed reference feedforward in position and synchron control modes. Selects the source for the speed reference in homing and profile velocity modes. Note: This parameter is only for positioning applications. Value pointer: Group and index 26.05 SPEED STEP FW block:...
Page 114 26.08 ACC COMP DERTIME FW block: SPEED ERROR (see above) Defines the derivation time for acceleration (deceleration) compensation. Used to improve the speed control dynamic reference change. In order to compensate inertia during acceleration, a derivative of the speed reference is added to the output of the speed controller.
Page 115 (2) RELATIVE Speed error window control active. The window boundaries set by parameters 28.02 28.02 are only effective in the forward direction (i.e. when actual speed is positive). 26.11 SPEED WIN HI FW block: SPEED ERROR (see above) High limit for speed window control. See parameter 26.10 SPEED WIN FUNC.
Page 116: Group 28 Speed Control
Group 28 SPEED CONTROL Speed controller settings such as • selection of source for speed error • adjustment of PID-type speed controller variables • limitation of speed controller output torque • selection of source for acceleration compensation torque • forcing an external value to the output of the speed controller (with the balancing function).
Page 117: 28 Speed Control
28 SPEED CONTROL Firmware block: SPEED CONTROL SPEED CONTROL TLF3 250 μsec (28) 3.08 TORQ REF SP CTRL SPEED ERROR FILT This block < 28.01 SPEED ERR NCTRL (7 / 3.06) [ 10.00 ] 28.02 PROPORT GAIN • selects the source for speed error [ 0.500 s ] 28.03 INTEGRATION TIME •...
Page 118 28.03 INTEGRATION TIME FW block: SPEED CONTROL (see above) Defines the integration time of the speed controller. The integration time defines the rate at which the controller output changes when the error value is constant and the proportional gain of the speed controller is 1.
Page 119 0…10 s Derivation time for speed controller. 28.05 DERIV FILT TIME FW block: SPEED CONTROL (see above) Defines the derivation filter time constant. 0…1000 ms Derivation filter time constant. 28.06 ACC COMPENSATION FW block: SPEED CONTROL (see above) Selects the source for the acceleration compensation torque. The default value is P.3.7, i.e signal 3.07 ACC COMP TORQ, which is the output of the...
Page 120 Bit pointer: Group, index and bit 28.10 MIN TORQ SP CTRL FW block: SPEED CONTROL (see above) Defines the minimum speed controller output torque. -1600…1600% Minimum speed controller output torque. 28.11 MAX TORQ SP CTRL FW block: SPEED CONTROL (see above) Defines the maximum speed controller output torque.
Page 121 28.15 I TIME ADPT COEF FW block: SPEED CONTROL (see above) Integration time coefficient. See parameter 28.12 PI ADAPT MAX SPD. 0.000 … 10.000 Integration time coefficient. Parameters and firmware blocks...
Page 122: Group 32 Torque Reference
Group 32 TORQUE REFERENCE Reference settings for torque control. In torque control, the drive speed is limited between the defined minimum and maximum limits. Speed-related torque limits are calculated and the input torque reference is limited according to these limits. An OVERSPEED fault is generated if the maximum allowed speed is exceeded.
Page 123: Torq Ref Mod
(1) AI1 Analogue input AI1. (2) AI2 Analogue input AI2. (3) FBA REF1 Fieldbus reference 1. (4) FBA REF2 Fieldbus reference 2. (5) D2D REF1 Drive to drive reference 1. (6) D2D REF2 Drive to drive reference 2. 32.02 TORQ REF ADD SEL FW block: TORQ REF SEL (see above)
Page 124 Value pointer: Group and index 32.04 MAXIMUM TORQ REF FW block: TORQ REF MOD (see above) Defines the maximum torque reference. 0…1000% Maximum torque reference. 32.05 MINIMUM TORQ REF FW block: TORQ REF MOD (see above) Defines the minimum torque reference. -1000…0% Minimum torque reference.
Page 125: Group 33 Supervision
Group 33 SUPERVISION Configuration of signal supervision. 33 SUPERVISION Firmware block: SUPERVISION SUPERVISION TLF11 10 msec (17) 6.14 SUPERV STATUS [ Disabled ] 33.01 SUPERV1 FUNC [ SPEED ACT ] < 33.02 SUPERV1 ACT (7 / 1.01) [ 0.00 ] 33.03 SUPERV1 LIM HI [ 0.00 ] 33.04 SUPERV1 LIM LO...
Page 126 -32768…32768 Upper limit for supervision 1. 33.04 SUPERV1 LIM LO FW block: SUPERVISION (see above) Sets the lower limit for supervision 1. See parameter 33.01 SUPERV1 FUNC. -32768…32768 Lower limit for supervision 1. 33.05 SUPERV2 FUNC FW block: SUPERVISION (see above) Selects the mode of supervision 2.
Page 127 (2) HIGH When the signal selected by parameter 33.10 SUPERV3 ACT exceeds the value of parameter 33.11 SUPERV3 LIM HI, bit 2 of 6.14 SUPERV STATUS is activated. (3) ABS LOW When the absolute value of the signal selected by parameter 33.10 SUPERV3 ACT falls below the value of parameter...
Page 128: Group 34 Reference Ctrl
Group 34 REFERENCE CTRL Reference source and type selection. Using the parameters in this group, it is possible to select whether external control location EXT1 or EXT2 is used (either one is active at a time). These parameters also select the control mode (SPEED/TORQUE/MIN/MAX/ADD) and the used torque reference in local and external control.
Page 129: 34 Reference Ctrl
6.12 OP MODE ACK 1= SPEED (B) 3.11 TORQ REF RUSHLIM 2=TORQUE (A) 3=MIN (A/B) 3.13 TORQ REF TO TC 4=MAX(A/B) 3.08 TORQ REF SP CTRL 5=ADD (A+B) 99.05 MOTOR CTRL MODE 3.12 TORQUE REF ADD 34 REFERENCE CTRL Firmware block: REFERENCE CTRL REFERENCE CTRL TLF8 250 μsec...
Page 130 (2) TORQUE Torque control. Torque reference is 3.11 TORQ REF RUSHLIM, which is the output of the TORQ REF MOD firmware block. Torque reference source can be changed by parameter 34.09 TREF TORQ SRC. (3) MIN Combination of selections (1) SPEED TORQUE: Torque selector compares the torque reference and the speed controller output and the smaller of them is used.
Page 131 34.10 TORQ REF ADD SRC FW block: REFERENCE CTRL (see above) Selects the source for the torque reference added to the torque value after the torque selection. Default value is P.3.12, i.e. 3.12 TORQUE REF ADD, which is an output of the TORQ REF SEL firmware block.
Page 132: Group 35 Mech Brake Ctrl
Group 35 MECH BRAKE CTRL Settings for the control of a mechanical brake. See also section Mechanical brake page 46. 35 MECH BRAKE CTRL Firmware block: MECH BRAKE CTRL MECH BRAKE CTRL TLF10 2 msec (35) 3.14 BRAKE TORQ MEM 3.15 BRAKE COMMAND [ NO ] 35.01 BRAKE CONTROL...
Page 133 35.03 BRAKE OPEN DELAY FW block: MECH BRAKE CTRL (see above) Defines the brake open delay (= the delay between the internal open brake command and the release of the motor speed control). The delay counter starts when the drive has magnetised the motor and risen the motor torque to the level required at the brake release (parameter 35.06 BRAKE OPEN TORQ).
Page 134 (0) FAULT The drive trips on fault BRAKE NOT CLOSED / BRAKE NOT OPEN if the status of the optional external brake acknowledgement signal does not meet the status presumed by the brake control function. The drive trips on fault BRAKE START TORQUE if the required motor starting torque at brake release is not achieved.
Page 135: Group 40 Motor Control
Group 40 MOTOR CONTROL Motor control settings, such as • flux reference • drive switching frequency • motor slip compensation • voltage reserve • flux optimisation • IR compensation for scalar control mode. Flux optimisation Flux optimisation reduces the total energy consumption and motor noise level when the drive operates below the nominal load.
Page 136 1/2/3/4/5/8/16 kHz Switching frequency. 40.03 SLIP GAIN FW block: MOTOR CONTROL (see above) Defines the slip gain which is used to improve the estimated motor slip. 100% means full slip gain; 0% means no slip gain. The default value is 100%. Other values can be used if a static speed error is detected despite of the full slip gain.
Page 137 40.07 IR COMPENSATION FW block: MOTOR CONTROL (see above) Defines the relative output voltage boost at zero speed (IR compensation). The function is useful in applications with high break-away torque when no DTC motor can be applied. This parameter is only effective when parameter 99.05 MOTOR CTRL MODE is set to SCALAR.
Page 138: Group 45 Mot Therm Prot
Group 45 MOT THERM PROT Settings for thermal protection of the motor. See also section Thermal motor protection on page 38. 45 MOT THERM PROT Firmware block: MOT THERM PROT MOT THERM PROT TLF11 10 msec (45) 1.17 MOTOR TEMP 1.18 MOTOR TEMP EST Configures motor overtemperature [ No ]...
Page 139 (0) ESTIMATED The temperature is supervised based on the motor thermal protection model, which uses the motor thermal time constant (parameter 45.10 MOT THERM TIME) and the motor load curve (parameters 45.06…45.08). User tuning is typically needed only if the ambient temperature differs from the normal operating temperature specified for the motor.
Page 140 45.05 AMBIENT TEMP FW block: MOT THERM PROT (see above) Defines the ambient temperature for the thermal protection mode. -60…100 °C Ambient temperature. 45.06 MOT LOAD CURVE FW block: MOT THERM PROT (see above) Defines the load curve together with parameters 45.07 ZERO SPEED LOAD 45.08 BREAK POINT.
Page 141 45.09 MOTNOMTEMPRISE FW block: MOT THERM PROT (see above) Defines the temperature rise of the motor when the motor is loaded with nominal current. See the motor manufacturer's recommendations. The temperature rise value is used by the motor thermal protection model when parameter 45.02 MOT TEMP SOURCE is set to...
Page 142: Group 46 Fault Functions
Group 46 FAULT FUNCTIONS Definition of drive behaviour upon a fault situation. An alarm or a fault message indicates abnormal drive status. For the possible causes and remedies, see chapter Fault tracing. 46 FAULT FUNCTIONS Firmware block: FAULT FUNCTIONS FAULT FUNCTIONS TLF10 2 msec (10) (46)
Page 143 (1) FAULT Drive trips on LOCAL CTRL LOSS fault. (2) SPD REF SAFE The drive generates alarm LOCAL CTRL LOSS and sets the speed to the speed defined by parameter 46.02 SPEED REF SAFE. WARNING! Make sure that it is safe to continue operation in case of a communication break.
Page 144 46.08 CROSS CONNECTION FW block: FAULT FUNCTIONS (see above) Selects how the drive reacts to incorrect input power and motor cable connection (i.e. input power cable is connected to drive motor connection). (0) NO No reaction. (1) FAULT Drive trips on CABLE CROSS CON fault. Parameters and firmware blocks...
Page 145: Group 47 Voltage Ctrl
Group 47 VOLTAGE CTRL Settings for overvoltage and undervoltage control, and supply voltage. 47 VOLTAGE CTRL Firmware block: VOLTAGE CTRL VOLTAGE CTRL TLF11 10 msec (47) 1.19 USED SUPPLY VOLT [ Enable ] This block 47.01 OVERVOLTAGE CTRL [ Enable ] 47.02 UNDERVOLT CTRL •...
Page 146 47.04 SUPPLY VOLTAGE FW block: VOLTAGE CTRL (see above) Defines the nominal supply voltage. Used if auto-identification of the supply voltage is not enabled by parameter 47.03 SUPPLVOLTAUTO-ID. 0…1000 V Nominal supply voltage. Parameters and firmware blocks...
Page 147: Group 48 Brake Chopper
Group 48 BRAKE CHOPPER Configuration of internal brake chopper. 48 BRAKE CHOPPER Firmware block: BRAKE CHOPPER BRAKE CHOPPER TLF10 2 msec (11) [ Disable ] (48) 48.01 BC ENABLE [ TRUE ] < 48.02 BC RUN-TIME ENA [ 0 s ] This block configures the brake 48.03 BRTHERMTIMECONST [ 0.0000 kW ]...
Page 148 48.05 R BR FW block: BRAKE CHOPPER (see above) Defines the resistance value of the brake resistor. The value is used for brake chopper protection. 0.1…1000 ohm Resistance. 48.06 BR TEMP FAULTLIM FW block: BRAKE CHOPPER (see above) Selects the fault limit for the brake resistor temperature supervision. The value is given in percent of the temperature the resistor reaches when loaded with the power defined by parameter 48.04 BR POWER MAX...
Page 149: Group 50 Fieldbus
Group 50 FIELDBUS Basic settings for fieldbus communication. See also chapter Appendix A – Fieldbus control on page 313. 50 FIELDBUS Firmware block: FIELDBUS FIELDBUS TLF9 500 μsec (50) 2.12 FBA MAIN CW 2.13 FBA MAIN SW This block 2.14 FBA MAIN REF1 •...
Page 150 50.06 FBA ACT1 TR SRC. (1) TORQUE Fieldbus adapter module uses torque reference scaling. Torque reference scaling is defined by the used fieldbus profile (e.g. with ABB Drives Profile integer value 10000 corresponds to 100% torque value). Signal 1.06 TORQUE is sent to the fieldbus as an actual value.
Page 151 50.08 FBA SW B12 SRC FW block: FIELDBUS (see above) Selects the source for freely programmable fieldbus status word bit 28 (2.13 FBA MAIN SW bit 28 SW B12). Bit pointer: Group, index and bit 50.09 FBA SW B13 SRC FW block: FIELDBUS (see above)
Page 152: Group 51 Fba Settings
Group 51 FBA SETTINGS Further fieldbus communication configuration. These parameters need to be set only if a fieldbus adapter module is installed. See also Appendix A – Fieldbus control page 313. Notes: • This parameter group is presented in the User’s Manual of the fieldbus adapter as parameter group 1 or A.
Page 153 FW block: None Displays the drive type code of the fieldbus adapter module mapping file stored in the memory of the drive. Example: 520 = ACSM1 Speed and Torque Control Program. 51.30 MAPPING FILE VER FW block: None Displays the fieldbus adapter module mapping file revision stored in the memory of the drive.
Page 154: Group 52 Fba Data In
Group 52 FBA DATA IN These parameters select the data to be sent by the drive to the fieldbus controller, and need to be set only if a fieldbus adapter module is installed. See also Appendix A – Fieldbus control on page 313.
Page 155: Group 53 Fba Data Out
Group 53 FBA DATA OUT These parameters select the data to be sent by the fieldbus controller to the drive, and need to be set only if a fieldbus adapter module is installed. See also Appendix A – Fieldbus control on page 313.
Page 156: Group 57 D2D Communication
Group 57 D2D COMMUNICATION Drive-to-drive communication settings. See Appendix B – Drive-to-drive link on page 319. 57 D2D COMMUNICATION Firmware block: D2D COMMUNICATION D2D COMMUNICATION TLF9 500 μsec (57) 2.17 D2D MAIN CW 2.19 D2D REF1 This block sets up the drive-to-drive 2.20 D2D REF2 communication.
Page 157 57.03 NODE ADDRESS FW block: D2D COMMUNICATION (see above) Sets the node address for a follower drive. Each follower must have a dedicated node address. Note: If the drive is set to be the master on the drive-to-drive link, this parameter has no effect (the master is automatically assigned node address 0).
Page 158 (0) NO SYNC No synchronisation. (1) D2DSYNC If the drive is the master on a drive-to-drive link, it broadcasts a synchronisation signal to the follower(s). If the drive is a follower, it synchronises its firmware time levels to the signal received from the master.
Page 159 57.14 NR REF1 MC GRPS FW block: D2D COMMUNICATION (see above) In the master drive, sets the total number of links (followers or groups of followers) in the multicast message chain. See parameter 57.11 REF 1 MSG TYPE. Notes: • This parameter has no effect if the drive is a follower. •...
Page 160: Group 90 Enc Module Sel
Group 90 ENC MODULE SEL Settings for encoder activation, emulation, TTL echo, and communication fault detection. The firmware supports two encoders (or resolvers), encoder 1 and 2. Multiturn encoders are supported only as encoder 1. The following optional interface modules are available: •...
Page 161: Encoder
90 ENC MODULE SEL Firmware block: ENCODER ENCODER TLF8 250 μsec 1.08 ENCODER 1 SPEED 1.09 ENCODER 1 POS This block 1.10 ENCODER 2 SPEED • activates the communication to 1.11 ENCODER 2 POS encoder interface 1/2 2.16 FEN DI STATUS •...
Page 162 (5) FEN-21 RES Communication active. Module type: FEN-21 Resolver Interface. Input: Resolver input (X52). See parameter group 92 RESOLVER CONF. (6) FEN-21 TTL Communication active. Module type: FEN-21 Resolver Interface. Input: TTL encoder input (X51). See parameter group 93 PULSE ENC CONF.
Page 163 (5) FEN-11 ABS Module type: FEN-11 Absolute Encoder Interface. Emulation: FEN-11 absolute encoder input (X42) position is emulated to FEN-11 TTL output. (6) FEN-11 TTL Module type: FEN-11 Absolute Encoder Interface. Emulation: FEN-11 TTL encoder input (X41) position is emulated to FEN-11 TTL output. (7) FEN-21 SWREF Module type: FEN-21 Resolver Interface.
Page 164 (2) WARNING The drive generates an ENCODER 1/2 CABLE warning. This is the recommended setting if the maximum pulse frequency of sine/cosine incremental signals exceeds 100 kHz; at high frequencies, the signals may attenuate enough to invoke the function. The maximum pulse frequency can be calculated as follows: Pulses per revolution (par.
Page 165: Group 91 Absol Enc Conf
Group 91 ABSOL ENC CONF Absolute encoder configuration; used when parameter 90.01 ENCODER 1 SEL 90.02 ENCODER 2 SEL is set to (3) FEN-11 ABS. The optional FEN-11 Absolute Encoder Interface module supports the following absolute encoders: • Incremental sin/cos encoders with or without zero pulse and with or without •...
Page 166 91.02 ABS ENC INTERF FW block: ABSOL ENC CONF (see above) Selects the source for the encoder position (absolute position). (0) NONE Not selected. (1) COMMUT SIG Commutation signals. (2) ENDAT Serial interface: EnDat encoder. (3) HIPERFACE Serial interface: HIPERFACE encoder. (4) SSI Serial interface: SSI encoder.
Page 167 (0) 4800 4800 bits/s. (1) 9600 9600 bits/s. (2) 19200 19200 bits/s. (3) 38400 38400 bits/s. 91.12 HIPERF NODE ADDR FW block: ABSOL ENC CONF (see above) Defines the node address for HIPERFACE encoder (i.e. when parameter 91.02 ABS ENC INTERF set to HIPERFACE).
Page 168 (4) 500 kbit/s 500 kbit/s. (5) 1000 kbit/s 1000 kbit/s. 91.25 SSI MODE FW block: ABSOL ENC CONF (see above) Selects the SSI encoder mode. Note: Parameter needs to be set only when an SSI encoder is used in continuous mode, i.e. SSI encoder without incremental sin/cos signals (supported only as encoder 1).
Page 169 (1) CONTINUOUS Continuous position data transfer mode. 91.31 ENDAT MAX CALC FW block: ABSOL ENC CONF (see above) Selects the maximum encoder calculation time for EnDat encoder. Note: This parameter needs to be set only when an EnDat encoder is used in continuous mode, i.e. EnDat encoder without incremental sin/cos signals (supported only as encoder 1).
Page 170: Group 92 Resolver Conf
Group 92 RESOLVER CONF Resolver configuration; used when parameter 90.01 ENCODER 1 SEL /90.02 ENCODER 2 SEL is set to (5) FEN-21 RES. The optional FEN-21 Resolver Interface module is compatible with resolvers which are excited by sinusoidal voltage (to the rotor winding) and which generate sine and cosine signals proportional to the rotor angle (to stator windings).
Page 171: Group 93 Pulse Enc Conf
Group 93 PULSE ENC CONF TTL/HTL input and TTL output configuration. See also parameter group 90 ENC MODULE SEL on page 161, and the appropriate encoder extension module manual. Parameters 93.01…93.06 are used when a TTL/HTL encoder is used as encoder 1 (see parameter 90.01 ENCODER 1 SEL).
Page 172 (0) A&B ALL Channels A and B: Rising and falling edges are used for speed calculation. Channel B: Defines the direction of rotation. * Note: When single track mode has been selected by parameter 93.02 ENC1 TYPE, setting 0 acts like setting 1. (1) A ALL Channel A: Rising and falling edges are used for speed calculation.
Page 173 93.11 ENC2 PULSE NR FW block: PULSE ENC CONF (see above) Defines the pulse number per revolution for encoder 2. 0…65535 Pulses per revolution for encoder 2. 93.12 ENC2 TYPE FW block: PULSE ENC CONF (see above) Selects the type of encoder 2. For selections, see parameter 93.02 ENC1 TYPE.
Page 174: Group 95 Hw Configuration
Group 95 HW CONFIGURATION Miscellaneous hardware-related settings. 95 HW CONFIGURATION 95.01 CTRL UNIT SUPPLY FW block: None Defines the manner in which the drive control unit is powered. (0) INTERNAL 24V The drive control unit is powered from the drive power unit it is mounted on.
Page 175: Group 97 User Motor Par
Group 97 USER MOTOR PAR User adjustment of motor model values estimated during ID run. The values can be entered in either “per unit” or SI. 97 USER MOTOR PAR 97.01 USE GIVEN PARAMS FW block: None Activates the motor model parameters 97.02…97.14. The value is automatically set to zero when ID run is selected by parameter 99.13 IDRUN MODE.
Page 176 97.07 LQ USER FW block: None Defines the quadrature axis (synchronous) inductance. Note: This parameter is valid only for permanent magnet motors. 0…10 p.u. (per unit) Quadrature axis (synchronous) inductance. 97.08 PM FLUX USER FW block: None Defines the permanent magnet flux. Note: This parameter is valid only for permanent magnet motors.
Page 177: Group 98 Motor Calc Values
Group 98 MOTOR CALC VALUES Calculated motor values. 98 MOTOR CALC VALUES 98.01 TORQ NOM SCALE FW block: None Nominal torque in N•m which corresponds to 100%. Note: This parameter is copied from parameter 99.12 MOT NOM TORQUE if given. Otherwise the value is calculated.
Page 178: Group 99 Start-Up Data
Group 99 START-UP DATA Start-up settings such as language, motor data and motor control mode. The nominal motor values must be set before the drive is started; for detailed instructions, see chapter Start-up on page 15. With DTC motor control mode, parameters 99.06…99.10 must be set;...
Page 179 99.05 MOTOR CTRL MODE FW block: None Selects the motor control mode. DTC (Direct torque control) mode is suitable for most applications. Scalar control is suitable for special cases where DTC cannot be applied. In Scalar Control, the drive is controlled with a frequency reference. The outstanding motor control accuracy of DTC cannot be achieved in scalar control.
Page 180 99.08 MOT NOM FREQ FW block: None Defines the nominal motor frequency. Note: This parameter cannot be changed while the drive is running. 5…500 Hz Nominal motor frequency. 99.09 MOT NOM SPEED FW block: None Defines the nominal motor speed. Must be equal to the value on the motor rating plate. When parameter value is changed, check the speed limits in parameter group LIMITS.
Page 181 99.13 IDRUN MODE FW block: None Selects the type of the motor identification performed at the next start of the drive in DTC mode. During the identification, the drive will identify the characteristics of the motor for optimum motor control. After the ID run, the drive is stopped. Note: This parameter cannot be changed while the drive is running.
Page 182 (3) STANDSTILL Standstill ID run. The motor is injected with DC current. With asynchronous motor, the motor shaft is not rotating (with permanent magnet motor the shaft can rotate < 0.5 revolution). Note: This mode should be selected only if the Normal or Reduced ID run is not possible due to the restrictions caused by the connected mechanics (e.g.
Page 183: What This Chapter Contains
Parameter data What this chapter contains This chapter lists the parameters of the drive with some additional data. For the parameter descriptions, see chapter Parameters and firmware blocks. Terms Term Definition Actual signal Signal measured or calculated by the drive. Can be monitored by the user. No user setting is possible.
Page 184: Fieldbus Equivalent
Fieldbus equivalent Serial communication data between fieldbus adapter and drive is transferred in integer format. Thus the drive actual and reference signal values must be scaled to 16/32-bit integer values. Fieldbus equivalent defines the scaling between the signal value and the integer used in serial communication. All the read and sent values are limited to 16/32 bits.
Page 185: 32-Bit Integer Bit Pointers
32-bit integer bit pointers When bit pointer parameter is connected to value 0 or 1, the format is as follows: 30…31 16…29 Name Source type Not in use Value Value 0…1 Description Bit pointer is connected 0 = False, 1 = True to 0/1.
Page 186: Actual Signals (Parameter Groups 1
Actual signals (Parameter groups 1…9) Index Name Type Range Unit FbEq Update Data Save Page time length ACTUAL VALUES 1.01 SPEED ACT REAL -30000…30000 1 = 100 250 µs 1.02 SPEED ACT PERC REAL -1000…1000 1 = 100 2 ms 1.03 FREQUENCY REAL...
Page 187 Index Name Type Range Unit FbEq Update Data Save Page time length 2.17 D2D MAIN CW 0…0xFFFF 1 = 1 500 µs 2.18 D2D FOLLOWER CW 0…0xFFFF 1 = 1 2 ms 2.19 D2D REF1 REAL …2 1 = 1 500 µs 2.20 D2D REF2...
Page 188 Index Name Type Range Unit FbEq Update Data Save Page time length 9.05 FIRMWARE PATCH 1 = 1 9.10 INT LOGIC VER 1 = 1 9.20 OPTION SLOT 1 INT32 0…18 1 = 1 9.21 OPTION SLOT 2 INT32 0…18 1 = 1 9.22 OPTION SLOT 3...
Page 189: Parameter Groups 10
Parameter groups 10…99 Index Parameter Type Range Unit FbEq Update Data Save Page time len. START/STOP 10.01 EXT1 START FUNC enum 0…6 2 ms 10.02 EXT1 START IN1 Bit pointer 2 ms P.02.01.00 WPD 10.03 EXT1 START IN2 Bit pointer 2 ms C.False 10.04 EXT2 START FUNC...
Page 190 Index Parameter Type Range Unit FbEq Update Data Save Page time len. 12.16 DIO2 F MAX SCALE REAL -32768… 1 = 1 10 ms 1500 32768 12.17 DIO2 F MIN SCALE REAL -32768… 1 = 1 10 ms 32768 ANALOGUE INPUTS 13.01 AI1 FILT TIME REAL 0…30...
Page 191 Index Parameter Type Range Unit FbEq Update Data Save Page time len. 16.03 PASS CODE INT32 0…2 1 = 1 16.04 PARAM RESTORE enum 0…2 1 = 1 16.07 PARAM SAVE enum 0…1 1 = 1 16.09 USER SET SEL enum 1…10 1 = 1...
Page 192 Index Parameter Type Range Unit FbEq Update Data Save Page time len. 24.09 CONST SPEED ENA Bit pointer 2 ms C.False 24.10 SPEED REF JOG1 REAL -30000…. 1 = 1 2 ms 30000 24.11 SPEED REF JOG2 REAL -30000…. 1 = 1 2 ms 30000 24.12 SPEED REFMIN ABS...
Page 193 Index Parameter Type Range Unit FbEq Update Data Save Page time len. 28.08 BAL REFERENCE REAL -1600… 1 = 10 2 ms 1600 28.09 SPEEDCTRL BAL EN Bit pointer 2 ms C.False 28.10 MIN TORQ SP CTRL REAL -1600… 1 = 10 2 ms -300 1600...
Page 194 Index Parameter Type Range Unit FbEq Update Data Save Page time len. 34.03 EXT1 CTRL MODE1 enum 1…5 (1…9 1 = 1 2 ms for pos. appl.) 34.04 EXT1 CTRL MODE2 enum 1…5 (1…9 1 = 1 2 ms 2 (8 for for pos.
Page 195 Index Parameter Type Range Unit FbEq Update Data Save Page time len. 46.02 SPEED REF SAFE REAL -30000… 1 = 1 2 ms 30000 46.03 LOCAL CTRL LOSS enum 0…3 1 = 1 46.04 MOT PHASE LOSS enum 0…1 1 = 1 2 ms 46.05 EARTH FAULT enum...
Page 196 Index Parameter Type Range Unit FbEq Update Data Save Page time len. 51.27 FBA PAR REFRESH UINT32 0…1 1 = 1 51.28 PAR TABLE VER UINT32 0…65536 1 = 1 51.29 DRIVE TYPE CODE UINT32 0…65536 1 = 1 51.30 MAPPING FILE VER UINT32 0…65536 1 = 1...
Page 197 Index Parameter Type Range Unit FbEq Update Data Save Page time len. 91.04 POS DATA BITS UINT32 0…32 1 = 1 91.05 REFMARK ENA UINT32 0…1 1 = 1 91.10 HIPERFACE PARITY UINT32 0…1 1 = 1 91.11 HIPERF BAUDRATE UINT32 0…3 1 = 1...
Page 198 Index Parameter Type Range Unit FbEq Update Data Save Page time len. 97.03 RR USER REAL24 0…0.5 p.u. 1 = 100000 97.04 LM USER REAL24 0…10 p.u. 1 = 100000 97.05 SIGMAL USER REAL24 0…1 p.u. 1 = 100000 97.06 LD USER REAL24 0…10 p.u.
Page 199: Fault Tracing
Alarm and fault indications An alarm or a fault message indicates abnormal drive status. Most alarm and fault causes can be identified and corrected using this information. If not, an ABB representative should be contacted. The four-digit code number in brackets after the message is for the fieldbus communication.
Page 200: Fault History
Fault history When fault is detected, it is stored in the fault logger with a time stamp. The fault history stores information on the 16 latest faults of the drive. Three of the latest faults are stored at the beginning of a power switch off. Signals 8.01 ACTIVE FAULT 8.02 LAST FAULT...
Page 201: Alarm Messages Generated By The Drive
46.07 STO DIAGNOSTIC is set to ALARM. 2004 STO MODE CHANGE Error in changing Safe Torque Contact your local ABB representative. (0xFF7A) Off supervision, i.e. parameter 46.07 STO DIAGNOSTIC setting could not be changed to value ALARM. 2005...
Page 202 Code Alarm Cause What to do (fieldbus code) 2006 EMERGENCY OFF Drive has received emergency To restart drive, activate RUN ENABLE signal (0xF083) OFF2 command. (source selected by parameter 10.09 RUN ENABLE) and start drive. 2007 RUN ENABLE No Run enable signal is Check setting of parameter 10.09 RUN (0xFF54)
Page 203 Code Alarm Cause What to do (fieldbus code) 2016 IGBT OVERTEMP Drive temperature based on Check ambient conditions. (0x7184) thermal model has exceeded Check air flow and fan operation. internal alarm limit. Check heatsink fins for dust pick-up. Check motor power against unit power. 2017 FIELDBUS COMM Cyclical communication...
Page 204 Code Alarm Cause What to do (fieldbus code) 2023 ENCODER 2 FAILURE Encoder 2 has been activated Check parameter 90.02 ENCODER 2 SEL (0x7381) by parameter but the encoder setting corresponds to encoder interface 2 interface (FEN-xx) cannot be (FEN-xx) installed in drive Slot 1/2 (signal found.
Page 205 90.10 ENC PAR REFRESH used or after the JCU control unit is powered up the next time. 2029 ENC EMUL REF ERROR Encoder emulation has failed Contact your local ABB representative. (0x7387) due to failure in writing new (position) reference for emulation. 2030...
Page 206 1 and/or 2 for five consecutive Check the drive-to-drive link wiring. reference handling cycles. 2034 D2D BUFFER Transmission of drive-to-drive Contact your local ABB representative. OVERLOAD references failed because of (0x7520) message buffer overflow. Programmable fault: 57.02...
Page 207 Code Alarm Cause What to do (fieldbus code) 2042 D2D CONFIG The settings of drive-to-drive Check the settings of the parameters in group (0x7583) link configuration parameters 57 D2D COMMUNICATION. (group 57) are incompatible. 2047 SPEED FEEDBACK No speed feedback is received. Check the settings of the parameters in group (0x8480) 22 SPEED...
Page 208: Fault Messages Generated By The Drive
EARTH FAULT motor cables: - measure insulation resistances of motor and motor cable. If no earth fault can be detected, contact your local ABB representative. 0007 FAN FAULT Fan is not able to rotate freely or Check fan operation and connection.
Page 209 Check fault limit setting, parameter 48.06. Check that braking cycle meets allowed limits. 0013 CURR MEAS GAIN Difference between output Contact your local ABB representative. (0x3183) phase U2 and W2 current measurement gain is too great. 0014 CABLE CROSS CON Incorrect input power and motor Check input power connections.
Page 210 TORQUE. Make sure that 20.06 MAXIMUM TORQUE > 100%. Fault code extension: Internal error. Contact your local ABB representative. 4…16 0018 CURR U2 MEAS Measured offset error of U2 Contact your local ABB representative. (0x3184) output phase current measurement is too great.
Page 211 46.07 STO DIAGNOSTIC setting is (2) ALARM 0023 STO MODE CHANGE Error in changing Safe Torque Contact your local ABB representative. (0xFF7A) Off supervision, i.e. parameter 46.07 STO DIAGNOSTIC setting could not be changed to value FAULT.
Page 212 46.03 Replace control panel in mounting platform. communicating. LOCAL CTRL LOSS 0037 NVMEMCORRUPTED Drive internal fault Contact your local ABB representative. (0x6320) Note: This fault cannot be reset. 0038 OPTION COMM LOSS Communication between drive Check that option modules are properly...
Page 213 Code Fault Cause What to do (fieldbus code) 0039 ENCODER1 Encoder 1 feedback fault If fault appears during first start-up before (0x7301) encoder feedback is used: - Check cable between encoder and encoder interface module (FEN-xx) and order of connector signal wires at both ends of cable. If absolute encoder, EnDat/Hiperface/SSI, with incremental sin/cos pulses is used, incorrect wiring can be located as follows:...
Page 214 149. Check cable connections. Check if communication master can communicate. 0046 FB MAPPING FILE Drive internal fault Contact your local ABB representative. (0x6306) 0047 MOTOR OVERTEMP Estimated motor temperature Check motor ratings and load. (0x4310) (based on motor thermal model) Let motor cool down.
Page 215 ENC CABLE FAULT 90.10 ENC PAR REFRESH. 0052 D2D CONFIG Configuration of the drive-to- Contact your local ABB representative. (0x7583) drive link has failed for a reason other than those indicated by alarm 2042, for example start inhibition is requested but not granted.
Page 216 Try installing the FMBA module into another slot. If the problem persists, contact your local ABB representative. 0201 T2 OVERLOAD Firmware time level 2 overload Contact your local ABB representative. (0x0201) Note: This fault cannot be reset. 0202 T3 OVERLOAD Firmware time level 3 overload Contact your local ABB representative.
Page 217 Note: This fault cannot be reset. 0308 APPL FILE PAR CONF Corrupted application file Reload application. (0x6300) Note: This fault cannot be If fault is still active, contact your local ABB reset. representative. 0309 APPL LOADING Corrupted application file Reload application. (0x6300)
Page 218 Code Fault Cause What to do (fieldbus code) 0314 TECH LIB INTERFACE Incompatible firmware interface Contact your local ABB representative. (0x6100) Note: This fault cannot be reset. 0315 RESTORE FILE Restoration of backed-up Contact your local ABB representative. (0x630D) parameters failed.
Page 219: Standard Function Blocks
Standard function blocks What this chapter contains This chapter describes the standard function blocks. The blocks are grouped according to the grouping in the DriveSPC tool. The number in brackets in the standard block heading is the block number. Note: The given execution times can vary depending on the used drive application. Terms Data type Description...
Page 220: Arithmetic
Arithmetic (10001) Illustration (DINT) TLA1 1 msec OUT(46) Execution time 0.53 µs Operation The output (OUT) is the absolute value of the input (IN). OUT = | IN | Inputs The input data type is selected by the user. Input (IN): DINT, INT, REAL or REAL24 Outputs Output (OUT): DINT, INT, REAL or REAL24 (10000)
Page 221: Expt
Operation The output (OUT) is input IN1 divided by input IN2. OUT = IN1/IN2 The output value is limited to the maximum and minimum values defined by the selected data type range. If the divider (IN2) is 0, the output is 0. Inputs The input data type is selected by the user.
Page 222: Move
MOVE (10005) Illustration MOVE (BOOL) TLA1 1 msec OUT1(51) OUT1 OUT2(51) OUT2 Execution time 2.10 µs (when two inputs are used) + 0.42 µs (for every additional input). When all inputs are used, the execution time is 14.55 µs. Operation Copies the input values (IN1…32) to the corresponding outputs (OUT1…32).
Page 223: Sqrt
Operation The output (O) is the product of input IN and input MUL divided by input DIV. Output = (I × MUL) / DIV O = whole value. REM = remainder value. Example: I = 2, MUL = 16 and DIV = 10: (2 ×...
Page 224: Bitstring
Bitstring (10010) Illustration TLA1 1 msec OUT(56) Execution time 1.55 µs (when two inputs are used) + 0.60 µs (for every additional input). When all inputs are used, the execution time is 19.55 µs. Operation The output (OUT) is 1 if all the connected inputs (IN1…IN32) are 1. Otherwise the output is 0.
Page 225: Rol
(10012) Illustration TLA1 1 msec OUT(58) Execution time 1.55 µs (when two inputs are used) + 0.60 µs (for every additional input). When all inputs are used, the execution time is 19.55 µs. Operation The output (OUT) is 0, if all connected inputs (IN) are 0. Otherwise the output is 1. Truth table: The inputs can be inverted.
Page 226: Ror
Outputs Output (O): INT, DINT (10014) Illustration (DINT) TLA1 1 msec BITCNT O(60) Execution time 1.28 µs Operation Input bits (I) are rotated to the right by the number (N) of bits defined by BITCNT. The N least significant bits (LSB) of the input are stored as the N most significant bits (MSB) of the output.
Page 227: Shr
Inputs The input data type is selected by the user. Input (I): INT, DINT Number of bits (BITCNT): INT; DINT Outputs Output (O): INT; DINT (10016) Illustration (DINT) TLA1 1 msec BITCNT O(62) Execution time 0.80 µs Operation Input bits (I) are rotated to the right by the number (N) of bits defined by BITCNT. The N least significant bits (LSB) of the input are lost and the N most significant bits (MSB) of the output are set to 0.
Page 228 Operation The output (OUT) is 1 if one of the connected inputs (IN1…IN32) is 1. Output is zero if all the inputs have the same value. Example: The inputs can be inverted. Inputs The number of inputs (2…32) is selected by the user. Input (IN1…IN32): Boolean Outputs Output (OUT): Boolean...
Page 229: Bitwise
Bitwise BGET (10034) Illustration BGET (DINT) TLA1 1 msec BITNR O(64) Execution time 0.88 µs Operation The output (O) is the value of the selected bit (BITNR) of the input (I). BITNR: Bit number (0 = bit number 0, 31 = bit number 31) If bit number is not in the range of 0…31 (for DINT) or 0…15 (for INT), the output is 0.
Page 230: Bitor
BITOR (10036) Illustration BITOR TLA1 1 msec O(66) Execution time 0.32 µs Operation The output (O) bit value is 1 if the corresponding bit value of any of the inputs (I1 or I2) is 1. Otherwise the output bit value is 0. Example: 1 1 1 0 0 0 0 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 1 1 0 0 1 1 0 1 0 1 0 0 0 0 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 1 1 0 0 1 1 0 1 0 1 1 1 1...
Page 231: Reg
Outputs Output (O): INT, DINT (10038) Illustration (BOOL) TLA1 1 msec O1(68) >L O2(68) Execution time 2.27 µs (when two inputs are used) + 1.02 µs (for every additional input). When all inputs are used, the execution time is 32.87 µs. Operation The input (I1…I32) value is stored to the corresponding output (O1…O32) if the load input (L) is set to 1 or the set input (S) is 1.
Page 232: Sr-D
SR-D (10039) Illustration SR-D TLA1 1 msec O(69) >C Execution time 1.04 µs Operation When clock input (C) is set to 1, the data input (D) value is stored to the output (O). When reset input (R) is set to 1, the output is set to 0. If only set (S) and reset (R) inputs are used, SR-D block acts as an block: The output is 1 if the set input (S) is 1.
Page 233: Communication
Communication D2D_Conf (10092) Illustration D2D_Conf TLA1 1 msec Ref1 Cycle Sel Error(70) Error Ref2 Cycle Sel Std Mcast Group Execution time Operation Defines handling interval for drive-to-drive references 1 and 2, and the address (group number) for outgoing standard (non-chained) multicast messages. The values of the Ref1/2 Cycle Sel inputs correspond to the following intervals: Value Handling interval...
Page 234: D2D_Sendmessage
Execution time Operation Configures the transmission of token messages sent to a follower. Each token authorizes the follower to send one message to another follower or group of followers. For the message types, see the block D2D_SendMessage. Note: This block is only supported in the master. The Target Node input defines the node address the master sends the tokens to;...
Page 235 Operation Configures the transmission between the dataset tables of drives. The Msg Type input defines the message type as follows: Value Message type Disabled Master P2P: The master sends the contents of a local dataset (specified by LocalDsNr input) to the dataset table (dataset number specified by RemoteDsNr input) of a follower (specified by Target Node/Grp input).
Page 236: Ds_Readlocal
The error codes indicated by the Error output are as follows: Description D2D_MODE_ERR: Drive-to-drive communication not activated, or message type not supported in current drive-to-drive mode (master/follower) LOCAL_DS_ERR: LocalDsNr input out of range (16…199) TARGET_NODE_ERR: Target Node/Grp input out of range (1…62) REMOTE_DS_ERR: Remote dataset number out of range (16…199) MSG_TYPE_ERR: Msg Type input out of range (0…5) 5…6 Reserved...
Page 237: Ds_Writelocal
Outputs Contents of dataset (Data1 16B): INT Contents of dataset (Data2 32B): DINT Error output (Error): DINT DS_WriteLocal (10093) Illustration DS_WriteLocal TLA1 1 msec LocalDsNr Error(74) Error Data1 16B Data2 32B Execution time Operation Writes data into the local dataset table. Each dataset contains 48 bits; the data is input through the Data1 16B (16 bits) and Data2 32B (32 bits) inputs.
Page 238: Comparison
Comparison (10040) Illustration (DINT) TLA1 1 msec OUT(75) Execution time 0.89 µs (when two inputs are used) + 0.43 µs (for every additional input). When all inputs are used, the execution time is 13.87 µs. Operation The output (OUT) is 1 if all the connected input values are equal (IN1 = IN2 = … = IN32).
Page 239 Operation The output (OUT) is 1 if (IN1 > IN2) & (IN2 > IN3) & … & (IN31 > IN32). Otherwise the output is 0. Inputs The input data type and the number of inputs (2…32) are selected by the user. Input (IN1…IN32): INT, DINT, REAL, REAL24 Outputs Output (OUT): Boolean...
Page 240 <> (10045) Illustration (DINT) TLA1 1 msec O(80) Execution time 0.44 µs Operation The output (O) is 1 if I1 <> I2. Otherwise the output is 0. Inputs The input data type is selected by the user. Input (I1, I2): INT, DINT, REAL, REAL24 Outputs Output (O): Boolean Standard function blocks...
Page 241: Conversion
Conversion BOOL_TO_DINT (10018) Illustration BOOL_TO_DINT TLA1 1 msec SIGN OUT(81) IN10 IN11 IN12 IN13 IN14 IN15 IN16 IN17 IN18 IN19 IN20 IN21 IN22 IN23 IN24 IN25 IN26 IN27 IN28 IN29 IN30 IN31 Execution time 13.47 µs Operation The output (OUT) value is a 32-bit integer value formed from the boolean integer input (IN1…IN31 and SIGN) values.
Page 242: Bool_To_Int
Input Sign input (SIGN): Boolean Input (IN1…IN31): Boolean Output Output (OUT): DINT (31 bits + sign) BOOL_TO_INT (10019) Illustration BOOL_TO_INT TLA1 1 msec OUT(82) IN10 IN11 IN12 IN13 IN14 IN15 SIGN Execution time 5.00 µs Operation The output (OUT) value is a 16-bit integer value formed from the boolean integer input (IN1…IN1 and SIGN) values.
Page 243: Dint_To_Bool
DINT_TO_BOOL (10020) Illustration DINT_TO_BOOL TLA1 1 msec OUT1(83) OUT1 OUT2(83) OUT2 OUT3(83) OUT3 OUT4(83) OUT4 OUT5(83) OUT5 OUT6(83) OUT6 OUT7(83) OUT7 OUT8(83) OUT8 OUT9(83) OUT9 OUT10(83) OUT10 OUT11(83) OUT11 OUT12(83) OUT12 OUT13(83) OUT13 OUT14(83) OUT14 OUT15(83) OUT15 OUT16(83) OUT16 OUT17(83) OUT17 OUT18(83) OUT18...
Page 244: Dint_To_Int
DINT_TO_INT (10021) Illustration DINT_TO_INT TLA1 1 msec O(84) Execution time 0.53 µs Operation The output (O) value is a 16-bit integer value of the 32-bit integer input (I) value. Examples: I (31 bits + sign) O (15 bits + sign) 2147483647 32767 -2147483648...
Page 245: Dint_To_Realn_Simp
DINT_TO_REALn_SIMP (10022) Illustration DINT_TO_REALn_SIMP (REAL) TLA1 1 msec O(86) SCALE ERRC(86) ERRC Execution time 6.53 µs Operation The output (O) is the REAL/REAL24 equivalent of the input (I) divided by the scale input (SCALE). Error codes indicated at the error output (ERRC) are as follows: Error code Description No error...
Page 246: Int_To_Bool
INT_TO_BOOL (10024) Illustration INT_TO_BOOL TLA1 1 msec OUT1(87) OUT1 OUT2(87) OUT2 OUT3(87) OUT3 OUT4(87) OUT4 OUT5(87) OUT5 OUT6(87) OUT6 OUT7(87) OUT7 OUT8(87) OUT8 OUT9(87) OUT9 OUT10(87) OUT10 OUT11(87) OUT11 OUT12(87) OUT12 OUT13(87) OUT13 OUT14(87) OUT14 OUT15(87) OUT15 OUT16(87) OUT16 SIGN(87) SIGN Execution time 4.31 µs...
Page 247: Real_To_Real24
Operation The output (O) value is a 32-bit integer value of the 16-bit integer input (I) value. 32767 32767 -32767 -32767 Inputs Input (I): INT Outputs Output (O): DINT REAL_TO_REAL24 (10026) Illustration REAL_TO_REAL24 TLA1 1 msec O(89) Execution time 1.35 µs Operation Output (O) is the REAL24 equivalent of the REAL input (I).
Page 248: Realn_To_Dint
Inputs Input (I): REAL24 Outputs Output (O): REAL REALn_TO_DINT (10029) Illustration REALn_TO_DINT (REAL) TLA1 1 msec O1(91) O2(91) Execution time 6.45 µs Operation Output (O) is the 32-bit integer equivalent of the REAL/REAL24 input (I). Output O1 is the integer value and output O2 is the fractional value. The output value is limited to the maximum value of the data type range.
Page 249 Inputs The input data type is selected by the user. Input (I): REAL, REAL24 Scale input (SCALE): DINT Outputs Output (O): DINT Error output (ERRC): DINT Standard function blocks...
Page 250: Counters
Counters (10047) Illustration TLA1 1 msec CV(93) >CD Q(93) Execution time 0.92 µs Operation The counter output (CV) value is decreased by 1 if the counter input (CD) value changes from 0 -> 1 and the load input (LD) value is 0. If the load input value is 1, the preset input (PV) value is stored as the counter output (CV) value.
Page 251: Ctu
Operation The counter output (CV) value is decreased by 1 if the counter input (CD) value changes from 0 -> 1 and the load input (LD) value is 0. If the load input (LD) value is 1, the preset input (PV) value is stored as the counter output (CV) value. If the counter output has reached its minimum value -2147483648, the counter output remains unchanged.
Page 252: Ctu_Dint
Operation The counter output (CV) value is increased by 1 if the counter input (CU) value changes from 0 -> 1 and the reset input (R) value is 0. If the counter output has reached its maximum value 32767, the counter output remains unchanged. The counter output (CV) is reset to 0 if the reset input (R) is 1.
Page 253: Ctud
Inputs Counter input (CU): Boolean Reset input (R): Boolean Preset input (PV): DINT Outputs Status output (Q): Boolean Counter output (CV): DINT CTUD (10051) Illustration CTUD TLA1 1 msec >CU CV(97) >CD QU(97) QD(97) Execution time 1.40 µs Standard function blocks...
Page 254 Operation The counter output (CV) value is increased by 1 if the counter input (CU) value changes from 0 -> 1 and the reset input (R) value is 0. The counter output (CV) value is decreased by 1 if the counter input (CD) value changes from 0 ->...
Page 255: Ctud_Dint
CTUD_DINT (10050) Illustration CTUD_DINT TLA1 1 msec >CU CV(98) >CD QU(98) QD(98) Execution time 1.40 µs Operation The counter output (CV) value is increased by 1 if the counter input (CU) value changes from 0 -> 1 and the reset input (R) value is 0. The counter output (CV) value is decreased by 1 if the counter input (CD) value changes from 0 ->...
Page 256 Inputs Down counter input (CD): Boolean Up counter input (CU): Boolean Load input (LD): Boolean Reset input (R): Boolean Preset input (PV): DINT Outputs Down counter status output (QD): Boolean Up counter status output (QU): Boolean Counter output (CV): DINT Standard function blocks...
Page 257: Edge & Bistable
Edge & bistable FTRIG (10030) Illustration FTRIG TLA1 1 msec >CLK Q(99) Execution time 0.38 µs Operation The output (Q) is set to 1 when the clock input (CLK) changes from 1 to 0. The output is set back to 0 with the next execution of the block. Otherwise the output is 0. previous 1 (for one execution cycle time, returns to 0 at the next execution)
Page 258: Rtrig
Operation The output (Q1) is 0 if the set input (S) is 1 and the reset input (R) value is 0. The output will retain the previous output state if the set input (S) and the reset input (R) are 0. The output is 0 if the set input is 0 and the reset input is 1.
Page 259 (10033) Illustration TLA1 1 msec Q1(48) Execution time 0.38 µs Operation The output (Q1) is 1 if the set input (S1) is 1. The output will retain the previous output state if the set input (S1) and the reset input (R) are 0. The output is 0 if the set input is 0 and the reset input is 1.
Page 260: Extensions
Extensions FIO_01_slot1 (10084) Illustration FIO_01_slot1 TLA1 1 msec DIO1 conf DI1(49) DIO2 conf DI2(49) DIO3 conf DI3(49) DIO4 conf DI4(49) Error(49) Error Execution time 8.6 µs Operation The block controls the four digital inputs/outputs (DIO1…DIO4) and two relay outputs (RO1, RO2) of a FIO-01 Digital I/O Extension mounted on slot 1 of the drive control unit. The state of a DIOx conf input of the block determines whether the corresponding DIO on the FIO-01 is an input or an output (0 = input, 1 = output).
Page 261: Fio_01_Slot2
FIO_01_slot2 (10085) Illustration FIO_01_slot2 TLA1 1 msec DIO1 conf DI1(50) DIO2 conf DI2(50) DIO3 conf DI3(50) DIO4 conf DI4(50) Error(50) Error Execution time 8.6 µs Operation The block controls the four digital inputs/outputs (DIO1…DIO4) and two relay outputs (RO1, RO2) of a FIO-01 Digital I/O Extension mounted on slot 2 of the drive control unit. The state of a DIOx conf input of the block determines whether the corresponding DIO on the FIO-01 is an input or an output (0 = input, 1 = output).
Page 262: Fio_11_Ai_Slot1
FIO_11_AI_slot1 (10088) Illustration FIO_11_AI_slot1 TLA1 1 msec AI1 filt gain AI1 mode(51) AI1 mode AI1 Min AI1(51) AI1 Max AI1 scaled(51) AI1 scaled AI1 Min scale AI2 mode(51) AI2 mode AI1 Max scale AI2(51) AI2 filt gain AI2 scaled(51) AI2 scaled AI2 Min AI3 mode(51) AI3 mode...
Page 263 AIx Min Scale > AIx Max Scale AIx scaled 32768 AIx Min Scale 11 V or 22 mA AIx [V or mA] -11 V or -22 mA AIx Max Scale -32768 The AIx filt gain inputs determine a filtering time for each input as follows: AIx filt gain Filtering time Notes...
Page 264: Fio_11_Ai_Slot2
FIO_11_AI_slot2 (10089) Illustration FIO_11_AI_slot2 TLA1 1 msec AI1 filt gain AI1 mode(52) AI1 mode AI1 Min AI1(52) AI1 Max AI1 scaled(52) AI1 scaled AI1 Min scale AI2 mode(52) AI2 mode AI1 Max scale AI2(52) AI2 filt gain AI2 scaled(52) AI2 scaled AI2 Min AI3 mode(52) AI3 mode...
Page 265 AIx Min Scale > AIx Max Scale AIx scaled 32768 AIx Min Scale 11 V or 22 mA AIx [V or mA] -11 V or -22 mA AIx Max Scale -32768 The AIx filt gain inputs determine a filtering time for each input as follows: AIx filt gain Filtering time Notes...
Page 266: Fio_11_Ao_Slot1
FIO_11_AO_slot1 (10090) Illustration FIO_11_AO_slot1 TLA1 1 msec AO Min AO(53) AO Max Error(53) Error AO Min Scale AO Max Scale AO scaled Execution time 4.9 µs Operation The block controls the analogue output (AO1) of a FIO-11 Analog I/O Extension mounted on slot 1 of the drive control unit.
Page 267: Fio_11_Ao_Slot2
AO Min > AO Max AO [mA] AO Min AO Max AO scaled -32768 32768 Inputs Minimum current signal (AO Min): REAL (0…20 mA) Maximum current signal (AO Max): REAL (0…20 mA) Minimum input signal (AO Min Scale): REAL Maximum input signal (AO Max Scale): REAL Input signal (AO scaled): REAL Outputs Analogue output current value (AO): REAL...
Page 268 Operation The block controls the analogue output (AO1) of a FIO-11 Analog I/O Extension mounted on slot 2 of the drive control unit. The block converts the input signal (AO scaled) to a 0…20 mA signal (AO) that drives the analogue output; the input range AO Min Scale … AO Max Scale corresponds to the current signal range of AO Min …...
Page 269: Fio_11_Dio_Slot1
FIO_11_DIO_slot1 (10086) Illustration FIO_11_DIO_slot1 TLA1 1 msec DIO1 conf DI1(55) DIO2 conf DI2(55) Error(55) Error DI1 filt gain DI2 filt gain Execution time 6.0 µs Operation The block controls the two digital inputs/outputs (DIO1, DIO2) of a FIO-11 Digital I/O Extension mounted on slot 1 of the drive control unit.
Page 270 Operation The block controls the two digital inputs/outputs (DIO1, DIO2) of a FIO-11 Digital I/O Extension mounted on slot 2 of the drive control unit. The state of a DIOx conf input of the block determines whether the corresponding DIO on the FIO-11 is an input or an output (0 = input, 1 = output).
Page 271: Feedback & Algorithms
Feedback & algorithms CRITSPEED (10068) Illustration CRITSPEED TLA1 1 msec CRITSPEEDSEL REFOUTPUT (57) REFOUTPUT CRITSPEED1LO OUTSTATE (57) OUTSTATE CRITSPEED1HI OUTACTIVE(57) OUTACTIVE CRITSPEED2LO CRITSPEED2HI CRITSPEED3LO CRITSPEED3HI REFINPUT Execution time 4.50 µs Operation A critical speeds function block is available for applications where it is necessary to avoid certain motor speeds or speed bands because of e.g.
Page 272: Cyclet
Outputs Reference output (REFOUTPUT): REAL Output state (OUTSTATE): REAL Output active (OUTACTIVE): Boolean CYCLET (10074) Illustration CYCLET TLA1 1 msec OUT(58) Execution time 0.00 µs Operation Output (OUT) is the execution time of the selected function block. Inputs Outputs Output (OUT): DINT. 1 = 1 µs DATA CONTAINER (10073) Illustration...
Page 273 Operation The output (Y) at the value of the input (X) is calculated with linear interpolation from a piecewise linear function. Y = Y + (X - X ) / (X The piecewise linear function is defined by the X and Y vector tables (XTAB and YTAB). For each X-value in the XTAB table, there is a corresponding Y-value in the YTAB table.
Page 274: Int
(10065) Illustration TLA1 1 msec O(61) O=HL(61) O=HL O=LL(61) O=LL RINT BALREF Execution time 4.73 µs Operation The output (O) is the integrated value of the input (I): ∫ O(t) = K/TI ( I(t) dt) Where TI is the integration time constant and K is the integration gain. The step response for the integration is: O(t) = K ×...
Page 275: Motpot
MOTPOT (10067) Illustration MOTPOT TLA1 1 msec ENABLE OUTPUT(62) OUTPUT DOWN RAMPTIME MAXVAL MINVAL RESETVAL RESET Execution time 2.92 µs Operation The motor potentiometer function controls the rate of change of the output from the minimum to the maximum value and vice versa. The function is enabled by setting the ENABLE input to 1.
Page 276: Pid
(10075) Illustration TLA1 1 msec IN_act Out(63) IN_ref Dev(63) O=HL(63) O=HL O=LL(63) O=LL ERROR(63) ERROR I_reset BAL_ref Execution time 15.75 µs Standard function blocks...
Page 277 Operation The PID controller can be used for closed-loop control systems. The controller includes anti-windup correction and output limitation. The PID controller output (Out) before limitation is the sum of the proportional (U integral (U ) and derivative (U ) terms: (t) = U (t) + U (t) + U...
Page 278: Ramp
Inputs Proportional gain input (P): REAL Integration time constant input (tI): REAL. 1 = 1 ms Derivation time constant input (tD): REAL. 1 = 1 ms Antiwind-up correction time constant input (tC): IQ6. 1 = 1 ms Output high limit input (OHL): REAL Output low limit input (OLL): REAL Actual input (IN_act): REAL Reference input (IN_ref): REAL...
Page 279: Reg-G
Inputs Input (IN): REAL Maximum positive step change input (STEP+): REAL Maximum negative step change input (STEP-): REAL Positive ramp input (SLOPE+): REAL Negative ramp input (SLOPE-): REAL Balance input (BAL): Boolean Balance reference input (BALREF): REAL Output high limit input (OHL): REAL Output low limit input (OLL): REAL Outputs Output (O): REAL...
Page 280: Solution_Fault
Inputs Set (S): Boolean, INT, DINT, REAL, REAL24 Load (L): Boolean, INT, DINT, REAL, REAL24 Write (WR): Boolean, INT, DINT, REAL, REAL24 Write address (AWR): INT Reset (R): Boolean Expander (EXP): IArray Data input (I1…In): Boolean, INT, DINT, REAL, REAL24 Outputs Error (ERR): INT Array data output (O): OC1...
Page 281: Filters
Filters FILT1 (10069) Illustration FILT1 TLA1 1 msec O(67) Execution time 7.59 µs Operation The output (O) is the filtered value of the input (I) value and the previous output value ). The FILT1 block acts as 1st order low pass filter. prev Note: Filter time constant (T1) must be selected so that T1/Ts <...
Page 282 Standard function blocks...
Page 283: Lead/Lag
Inputs Input (X): REAL -3 dB cutoff frequency input (FRQ): DINT (0…16383 Hz) Reset input (RESET): Boolean Outputs Output (Y): REAL LEAD/LAG (10071) Illustration LEAD/LAG TLA1 1 msec Y(69) ALPHA RESET Execution time 5.55 µs Operation The output (Y) is the filtered value of the input (X). When ALPHA > 1, the function block acts as a lead filter.
Page 284: Parameters
Parameters GetBitPtr (10099) Illustration GetBitPtr TLA1 1 msec Bit ptr Out(70) Execution time Operation Reads the status of one bit within a parameter value cyclically. The Bit ptr input specifies the parameter group, index and bit to be read. The output (Out) provides the value of the bit. Inputs Parameter group, index and bit (Bit ptr): DINT Outputs...
Page 285: Parrdintr
Operation Reads the value of a parameter (specified by the Group and Index inputs). If the parameter is a pointer parameter, the Output pin provides the number of the source parameter instead of its value. Error codes are indicated by the error output (Error) as follows: Error code Description No error...
Page 286: Parwr
Operation Reads the internal (non-scaled) value of the source of a pointer parameter. The pointer parameter is specified using the Group and Index inputs. The value of the source selected by the pointer parameter is provided by the Output pin. Error codes are indicated by the error output (Error) as follows: Error code Description...
Page 287: Selection
Selection LIMIT (10052) Illustration LIMIT (DINT) TLA1 1 msec OUT(76) Execution time 0.53 µs Operation The output (OUT) is the limited input (IN) value. Input is limited according to the minimum (MN) and maximum (MX) values. Inputs The input data type is selected by the user. Maximum input limit (MX): INT, DINT, REAL, REAL24 Minimum input limit (MN): INT, DINT, REAL, REAL24 Input (IN): INT, DINT, REAL, REAL24...
Page 288: Mux
Operation The output (OUT) is the lowest input value (IN). Inputs The input data type and the number of inputs (2…32) are selected by the user. Input (IN1…IN32): INT, DINT, REAL, REAL24 Outputs Output (OUT): INT, DINT, REAL, REAL24 (10055) Illustration (DINT) TLA1 1 msec...
Page 289: Switch & Demux
Switch & Demux DEMUX-I (10061) Illustration DEMUX-I (BOOL) TLA1 1 msec OA1(81) OA2(81) Execution time 1.38 µs (when two inputs are used) + 0.30 µs (for every additional input). When all inputs are used, the execution time is 10.38 µs. Operation Input (I) value is stored to the output (OA1…OA32) selected by the address input (A).
Page 290: Switch
Operation The input (I) value is stored to the output (OA1…OA32) selected by the address input (A) if the load input (L) or the set input (S) is 1. When the load input is set to 1, the input (I) value is stored to the output only once. When the set input is set to 1, the input (I) value is stored to the output every time the block is executed.
Page 291: Switchc
SWITCHC (10064) Illustration SWITCHC (BOOL) TLA1 1 msec OUT1(84) OUT1 CH A1 OUT2(84) OUT2 CH A2 CH B1 CH B2 Execution time 1.53 µs (when two inputs are used) + 0.73 µs (for every additional input). When all inputs are used, the execution time is 23.31 µs. Operation The output (OUT) is equal to the corresponding channel A input (CH A1…32) if the activate input (ACT) is 0.
Page 292: Timers
Timers MONO (10057) Illustration MONO TLA1 1 msec O(85) TE(85) Execution time 1.46 µs Operation The output (O) is set to 1 and the timer is started, if the input (I) is set to 1. The output is reset to 0 when the time defined by the time pulse input (TP) has elapsed. Elapsed time (TE) count starts when the output is set to 1 and stops when the output is set to 0.
Page 293: Tof
(10058) Illustration TLA1 1 msec ET(86) Q(86) Execution time 1.10 µs Operation The output (Q) is set to 1, when the input (IN) is set to 1. The output is reset to zero when the input has been 0 for a time defined by the pulse time input (PT). Elapsed time count (TE) starts when the input is set to 0 and stops when the input is set to 1.
Page 294 Operation The output (Q) is set to 1 when the input (IN) has been 1 for a time defined by the pulse time input (PT). The output is set to 0, when the input is set to 0. Elapsed time count (TE) starts when the input is set to 1 and stops when the input is set to 0.
Page 295: Application Program Template
Application program template What this chapter contains This chapter presents the application program template as displayed by the DriveSPC tool. Application program template...
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Page 307: Control Chain Block Diagrams
Control chain block diagrams What this chapter contains This chapter presents the drive control chain in different control modes. Control chain block diagrams...
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Page 313: Appendix A - Fieldbus Control
The chapter describes how the drive can be controlled by external devices over a communication network. System overview The drive can be connected to a fieldbus controller via a fieldbus adapter module. The adapter module is connected to drive Slot 3. ACSM1 Fieldbus controller Fieldbus Other...
Page 314: Setting Up Communication Through A Fieldbus Adapter Module
Setting up communication through a fieldbus adapter module Before configuring the drive for fieldbus control, the adapter module must be mechanically and electrically installed according to the instructions given in the User’s Manual of the appropriate fieldbus adapter module. The communication between the drive and the fieldbus adapter module is activated by setting parameter 50.01 FBA ENABLE ENABLE.
Page 315: Drive Control Parameters
Setting for Parameter Function/Information fieldbus control TRANSMITTED DATA SELECTION 52.01 FBA DATA IN1 Defines the data transmitted from drive to fieldbus controller. … 52.12 FBA DATA 4…6 Note: If the selected data is 32 bits long, two parameters are reserved IN12 14…16 for the transmission.
Page 316: The Fieldbus Control Interface
The fieldbus control interface The cyclic communication between a fieldbus system and the drive consists of 16/ 32-bit input and output data words. The drive supports at the maximum the use of 12 data words (16-bit) in each direction. Data transmitted from the drive to the fieldbus controller is defined by parameters 52.01…52.12 (FBA DATA IN) and data transmitted from the fieldbus controller to the drive is defined by parameters...
Page 317: Actual Values
With other profiles (e.g. PROFIdrive for FPBA-01, AC/DC drive for FDNA-01, DS-402 for FCAN-01 and ABB Drives profile for all fieldbus adapter modules) fieldbus adapter module converts the fieldbus-specific control word to the FBA communication profile and status word from FBA communication profile to the fieldbus-specific status word.
Page 318: State Diagram
State diagram The following presents the state diagram for the FBA communication profile. For other profiles, see the User’s Manual of the appropriate fieldbus adapter module. from any state from any state Communication (FBA CW Bits 7 = 1) Fault Profile (FBA SW Bit 1 = 0) (FBA SW Bit 16 = 1)
Page 319: Appendix B - Drive-To-Drive Link
Appendix B – Drive-to-drive link What this chapter contains This chapter describes the wiring of, and available communication methods on the drive-to-drive link. Examples of using standard firmware blocks in the communication are also given starting on page 327. General The drive-to-drive link is a daisy-chained RS-485 transmission line, constructed by connecting the X5 terminal blocks of the JCU Control Units of several drives.
Page 320: Datasets
The following diagram shows the wiring of the drive-to-drive link. X5:D2D X5:D2D X5:D2D Termination ON Termination OFF Termination ON Drive 1 Drive 2 Drive n Datasets Drive-to-drive communication uses DDCS (Distributed Drives Communication System) messages and dataset tables for data transfer. Each drive has a dataset table of 256 datasets, numbered 0…255.
Page 321: Types Of Messaging
Types of messaging Each drive on the link has a unique node address allowing point-to-point communication between two drives. The node address 0 is automatically assigned to the master drive; on other drives, the node address is defined by parameter 57.03 NODE ADDRESS.
Page 322: Master Point-To-Point Messaging
Master point-to-point messaging In this type of messaging, the master sends one dataset (LocalDsNr) from its own dataset table to the follower’s. TargetNode stands for the node address of the follower; RemoteDsNr specifies the target dataset number. The follower responds by returning the contents of the next dataset. The response is stored into dataset LocalDsNr+1 in the master.
Page 323: Follower Multicast Messaging (Write Only)
Follower multicast messaging (write only) This type of messaging is for point-to-point communication between followers. After receiving a token from the master, a follower can send one dataset to another follower with a follower multicast message. The target drive is specified using the node address.
Page 324: Broadcast Messaging (Write Only)
Follower-to-follower(s) multicasting Token Master Follower Follower Follower Dataset table Dataset table Dataset table Dataset table Target Grp = X (LocalDsNr) (RemoteDsNr) (RemoteDsNr) 57.12 REF1 MC GROUP 57.12 REF1 MC GROUP Broadcast messaging (write only) In broadcasting, the master sends one dataset to all followers, or a follower sends one dataset to all other followers.
Page 325: Chained Multicast Messaging
Follower-to-follower(s) broadcasting Token Master Follower Follower Follower Dataset table Dataset table Dataset table Dataset table Target Grp = 255 (LocalDsNr) (RemoteDsNr) (RemoteDsNr) Chained multicast messaging Chained multicasting is supported only for drive-to-drive reference 1 by the firmware. The message chain is always started by the master. The target group is defined by parameter 57.13 NEXT REF1 MC GRP.
Page 326 Master Follower Follower Follower 2.17 D2D MAIN CW 2.17 D2D MAIN CW 2.17 D2D MAIN CW 2.19 D2D REF1 2.19 D2D REF1 2.19 D2D REF1 (57.08 FOLLOWER CW (57.08 FOLLOWER CW (57.08 FOLLOWER CW (57.08 FOLLOWER CW SRC) SRC) SRC) SRC) (57.06 REF 1 SRC)
Page 327: Examples Of Using Standard Function Blocks In Drive-To-Drive Communication
Examples of using standard function blocks in drive-to-drive communication See also the descriptions of the drive-to-drive function blocks starting on page 233. Example of master point-to-point messaging Master Follower (node 1) 1. The master sends a constant (1) and the value of the message counter into follower dataset 20.
Page 328: Example Of Read Remote Messaging
Example of read remote messaging Master Follower (node 1) 1. The master reads the contents of the follower dataset 22 into its own dataset 18. Data is accessed using the DS_ReadLocal block. 2. In the follower, constant data is prepared into dataset 22. Releasing tokens for follower-to-follower communication Master 1.
Page 329: Example Of Follower-To-Follower Multicasting
Example of follower-to-follower multicasting Follower 1 Follower 2 1. Follower 1 writes local dataset 24 to follower 2 dataset 30 (3 ms interval). 2. Follower 2 writes local dataset 33 to follower 1 dataset 28 (6 ms interval). 3. In addition, both followers read received data from local datasets. Appendix B –...
Page 330: Example Of Standard Master-To-Follower(S) Multicast Messaging
Example of standard master-to-follower(s) multicast messaging Master Follower(s) in Std Mcast Group 10 1. The master sends a constant (9876) and the value of the message counter to all followers in standard multicast group 10. The data is prepared into and sent from master dataset 19 to follower dataset 23. 2.
Page 334 ABB Oy ABB Inc. ABB Beijing Drive Systems Co. Ltd. AC Drives Automation Technologies No. 1, Block D, A-10 Jiuxianqiao Beilu P.O. Box 184 Drives & Motors Chaoyang District FI-00381 HELSINKI 16250 West Glendale Drive Beijing, P.R. China, 100015 FINLAND...

ABB ACSM1 Firmware Manual

Table of Contents

Introduction to the Manual

Start-Up

Drive Programming Using PC Tools

Drive Control and Features

Default Connections of the Control Unit

Parameters and Firmware Blocks

Parameter Data

Fault Tracing

Standard Function Blocks

Application Program Template

Control Chain Block Diagrams

Appendix A - Fieldbus Control

Appendix B - Drive-To-Drive Link

Quick Links

Related Manuals for ABB ACSM1

Summary of Contents for ABB ACSM1