Page 1 ABB motion control drives Firmware manual ACSM1 motion control program...
Page 2 Drive PC tools manuals DriveStudio User Manual 3AFE68749026 DriveSPC User Manual 3AFE68836590 Application guides Application guide - Safe torque off function for ACSM1, 3AFE68929814 ACS850 and ACQ810 drives Functional Safety Solutions with ACSM1 Drives 3AUA0000031517 Application Guide System Engineering Manual...
Page 5: Table Of Contents
Providing feedback on ABB Drives manuals ........
Page 6 Drive control chain for positioning ..........40 Motor control features .
Page 7 Group 11 START/STOP MODE ........... 126 START/STOP MODE .
Page 8 Group 51 FBA SETTINGS ............209 Group 52 FBA DATA IN .
Page 9 Fault tracing What this chapter contains ............303 Safety .
Page 10 GE ..............349 GT .
Page 11 FILT1 ..............392 Parameters .
Page 12 Providing feedback on ABB Drives manuals ........
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 Motion Control program version UMFI1880 and later. See parameter 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, ie, 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, eg, 60 V per 1000 rpm, the voltage for 3000 rpm nominal speed is 3 ×...
Page 19 Multimotor drives Ie, 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 ID RUN (motor identification run) WARNING! With Normal or Reduced ID run the motor will run at up to approximately 50…100% of the nominal speed during the motor ID run. ENSURE THAT IT IS SAFE TO RUN THE MOTOR BEFORE PERFORMING THE MOTOR ID RUN! Note: Ensure that possible Safe Torque Off and emergency stop circuits are closed during the motor ID run.
Page 21 Select the motor identification method by parameter 99.13 IDRUN 99.13 IDRUN MODE MODE. During the motor ID run, the drive will identify the 11.07 AUTOPHASING MODE characteristics of the motor for optimum motor control. The motor ID run is performed at the next start of the drive. Note: The motor shaft must NOT be locked and the load torque must be <...
Page 22 Start the motor to activate the motor ID run. Note: RUN ENABLE must be active. 10.09 RUN ENABLE Motor ID run is indicated by alarm ID-RUN and by a rotating display on Alarm: ID-RUN the 7-segment display. 7-segment display: rotating display If the motor ID run is not successfully completed, fault ID-RUN FAULT Fault ID-RUN FAULT...
Page 23 If the direction of rotation is selected as forward, check that the actual 1.08 ENCODER 1 SPEED speed (1.08 ENCODER 1 SPEED 1.10 ENCODER 2 SPEED) is 1.10 ENCODER 2 positive: SPEED • If the actual direction of rotation is forward and the actual speed negative, the phasing of the pulse encoder wires is reversed.
Page 24 For Safe Torque Off wiring, see the appropriate hardware manual and Application guide - Safe torque off function for ACSM1, ACS850 and ACQ810 drives (3AFE68929814 [English]). If there is a Safe Torque Off circuit in use, check that the circuit functions.
Page 25 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 26 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 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 control connections are wired according to the connection diagram given in chapter Default connections of the control unit.
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 following picture presents a view from DriveSPC. SPEED REF SEL Firmware TL2 250 µsec 3.01 SPEED REF1 function blocks 3.02 SPEED REF2 24.01 SPEED REF1 SEL 24.02 SPEED REF2 SEL SPEED REF MOD TL3 250 µsec 3.03 SPEEDREF RAMP IN O U TPU T(44) <...
Page 31: Application Programming
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 32: Program Execution
Program execution The application program is loaded to the permanent (non-volatile) memory of the memory unit (JMU). When the loading finishes, the drive control board is automatically reset, and the downloaded program started. The program is executed in real time on the same Central Processing Unit (CPU of the drive control board) as the drive firmware.
Page 33: 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 34 Drive programming using PC tools...
Page 35: 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 36: 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 37: Drive Control Chain For Speed And Torque Control
Drive control and features...
Page 38: Position Control
Position control In position control, the load is positioned along a single axis from the start position to the defined target position. A position reference is given to the drive to indicate the target position. The path to the target position is calculated by the position profile generator, controlled by position reference sets.
Page 39: Homing Control
Homing control Homing establishes a correspondence between the actual position of the driven machinery and the drive internal zero position. An encoder must always be used in homing control. See section Position correction on page 68. Note: Homing control is not available in local control mode. Profile velocity control In profile velocity control, the motor rotates at a speed proportional to the speed reference given to the drive.
Page 40: Drive Control Chain For Positioning
Drive control and features...
Page 41: 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 performance of DTC is not achieved in scalar control. It is recommended to activate the scalar motor control mode in the following situations: •...
Page 42: Autophasing
Autophasing Autophasing is an automatic measurement routine to determine the angular position of the magnetic flux of a permanent magnet synchronous motor or the magnetic axis of a synchronous reluctance motor. The motor control requires the absolute position of the rotor flux to control the motor torque accurately. Sensors like absolute encoders and resolvers indicate the rotor position at all times after the offset between the zero angle of rotor and that of the sensor has been established.
Page 43 Note: The same parameter is used by the autophasing routine which always writes its result to parameter 97.20 POS OFFSET USER. Autophasing ID run results are updated even if the user mode is not enabled (see parameter 97.01 USE GIVEN PARAMS).
Page 44: Flux Braking
Flux braking The drive can provide greater deceleration by raising the level of magnetization in the motor. By increasing the motor flux with 40.10 FLUX BRAKING, the energy generated by the motor during braking can be converted to motor thermal energy. Motor = Braking torque speed...
Page 45 Thermal motor protection model The drive calculates the temperature of the motor on the basis of the following assumptions: 1) When power is applied to the drive for the first time, the motor is at ambient temperature (defined by parameter 45.05 AMBIENT TEMP).
Page 46 The figure below shows typical KTY84 sensor resistance values as a function of the motor operating temperature. 3000 2000 KTY84 scaling 90 °C = 936 ohm 110 °C = 1063 ohm 1000 130 °C = 1197 ohm 150 °C = 1340 ohm T (°C) -100 It is possible to adjust the motor temperature supervision limits and select how the...
Page 47: Dc Voltage Control Features
For encoder interface module FEN-xx connection, see the User’s Manual of the appropriate encoder interface module. 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 48: Braking Chopper
Automatic identification of the supply voltage is performed every time the drive is powered. Automatic identification can be disabled by parameter 47.03 SUPPLVOLTAUTO-ID; the user can define the voltage manually at parameter 47.04 SUPPLY VOLTAGE. Overvoltage fault level (U , high + 70 V; 880 V max.) Overvoltage control level (1.25 ×...
Page 49 + 30 V power level *Requires additional DC power supply JPO-01 Different system configurations are detailed in ACSM1 System Engineering Manual (3AFE68978297 [English]). Note: The Low voltage mode is not available for frames E to G. Drive control and features...
Page 50: Speed Control Features
Speed control features Jogging Jogging is typically used during servicing or commissioning to control the machinery locally. It involves rotating the motor in small increments until the desired load position is achieved. Two jogging functions (1 or 2) are available. When a jogging function is activated, the drive starts and accelerates to the defined jogging speed (parameters 24.10 SPEED REF JOG1...
Page 51: Speed Controller Tuning
Phase Jog Start Description enable 11-12 Normal operation overrides the jogging. Drive accelerates to the speed reference along the active acceleration ramp. 12-13 Start command overrides the jog enable signal. 13-14 Drive decelerates to the jogging speed along the deceleration ramp of the jogging function. 14-15 Drive runs at the jogging speed.
Page 52 The figure below illustrates the motor speed and torque behaviour during an autotuning routine. 0.25 A: Speed actual B: Torque reference The prerequisites for performing the autotune routine are: • The motor ID run has been successfully completed • Speed, torque, current and acceleration limits (parameter groups and 25) are •...
Page 53 The figure below shows speed responses at a speed reference step (typically 1…20%). A: Undercompensated B: Normally tuned (autotuning) C: Normally tuned (manually). Better dynamic performance than with B D: Overcompensated speed controller The figure below is a simplified block diagram of the speed controller. The controller output is the reference for the torque controller.
Page 54: 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 55: Mechanical Brake Control
Mechanical brake control 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. Mechanical brake control (with or without acknowledgement) is activated by parameter 35.01 BRAKE CONTROL.
Page 56 Mechanical brake state diagram From any state BSM STOPPED 0/0/1/1 Fault/Alarm* 0/1/1/1 BRAKE NOT CLOSED START BSM = Brake State Machine OPEN Fault/Alarm* 1/1/1/1 * Depends on setting of BRAKE START TORQUE BRAKE par. 35.09 BRAKE FAULT FUNC. RELEASE 1/1/0/0 RAMP CLOSE 0/1/1/0...
Page 57 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 58 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 59: Position/Synchron Control Features
Position/synchron control features Position calculation The actual position of the drive is measured using a position feedback device. During normal operation, the actual position is calculated by keeping track of the position change between the current time and the last known position. The position calculation is non-saturating: after the maximum position has been reached, the position gets the negative value with the maximum absolute value.
Page 60: Position Estimation
With absolute encoders and resolvers, there is often a need to change the position calculation zero permanently without physically rotating the motor. This is possible by using parameter 62.20 POS ACT OFFSET. The value of the parameter is added to the position feedback value. The offset can be made permanent after the homing procedure using parameter 62.21 POS COR MODE.
Page 61: Load Encoder Gear Function
Load encoder gear function Positioning uses the measured speed and position of the load. The load encoder gear function calculates the actual load position on the basis of the measured motor shaft position. Load encoder gear application examples: Positioning uses the measured speed and position of the load.
Page 62 Because the drive speed control uses motor speed, a gear function between position control (load side) and speed control (motor side) is needed. This gear function is formed from the motor gear function and inverted load gear function. The gear function is applied to the position control output (speed reference) as follows: 71.07 GEAR RATIO MUL Motor speed...
Page 63 Gear ratio 71.07/71.08 Position ref. Speed ref. Position Speed n1:n2 control control Position act. Speed act. Load gear Motor gear n1:n2 60.03/60.04 22.03/22.04 Drive firmware Mechanical set-up Drive hardware n2:n1 Gear ratio 71.07/71.08 Position ref. Speed ref. Position Speed n1:n2 control control Position act.
Page 64: Position Profile Generator
Position profile generator The position profile generator moves the position reference to the selected target position, taking the positioning speed acceleration/deceleration into account. The generator continuously calculates the speed from which the drive can decelerate to a stop within the target distance using the defined deceleration reference. Acceleration reference is used at start of positioning to increase the positioning speed until reference speed or calculated speed is reached.
Page 65 Parameters 66.05 POS ENABLE 65.03 POS START 1 65.11 POS START 2 control the operation of the position profile generator. The following figure shows the positioning commands and signals when parameter 65.24 POS START MODE is set NORMAL. 66.05 POS ENABLE 65.03 POS START 1 65.11 POS START 2 4.06 POS REF...
Page 66: Dynamic Position Reference Limiter
Position reference sets The user can define two different position reference sets. Each reference set consists of • position reference • positioning speed reference • positioning acceleration reference • positioning deceleration reference • positioning reference filter time • positioning style •...
Page 67 Start: linear axis, absolute synchronisation Speed A = B Used when the master and the follower are to be driven equal distances. 70.04 POS SPEED LIM 70.06 POS DECEL LIM 60.02 POS AXIS MODE is set to Linear. 68.07 Master speed SYNCHRON MODE is set Absolute.
Page 68: Position Correction
Position correction Homing Normally, before first homing, the actual position of the driven machinery does not correspond to the internal zero position in the drive position control (for example, with an incremental encoder after each power-up). Homing establishes a correspondence between these two positions. During homing, the direction can be changed by an external latch signal or limit switch.
Page 69 The following table presents homing methods 1…35. For more detailed descriptions, Appendix C – Homing methods. Note: Homing methods 1…14, 33 and 34 do not work with an absolute encoder or position estimation. Homing methods 17…30 work with position estimation as well. Homing Starting Limit switches...
Page 70 Homing Starting Limit switches Method Homing latch signal Homing done condition** speed 2 direction required Home switch Negative* Negative Home switch Negative* Negative Home switch Negative Negative Home switch Negative Negative 31…32 Reserved Index pulse Negative None Index pulse Positive None None None...
Page 71 Cyclic position correction Cyclic position correction functions are used to change or correct the system position continuously according to data measured by external probe signals, for example, if there is play in the machinery. The cyclic position correction functions always need an external probe (or probes) to operate. By means of a programmable bit pointer, the probes can be configured to use digital inputs DI1 and DI2 of the encoder interface with different triggering conditions (such as falling or rising edge) or the digital inputs of the drive control board unit as trigger sources.
Page 72 Actual position correction The purpose of the actual position correction is to compare the difference between 62.16 PROBE1 POS and the actual encoder position at the moment when the triggering conditions are fulfilled. If there is a deviation, a corresponding correction is carried out on signal 1.12 POS ACT.
Page 73 65.03 POS START 1 Encoder DI1 1.01 SPEED ACT 1.12 POS ACT 120° 90° : Rising edge of encoder digital input DI1 signal (proximity switch signal) is detected when the load position should be 90°. The actual position of the encoder is 120°...
Page 74 MASTER FOLLOWER Encoder DI1 (motor) (load) 4.03 PROBE1 POS MEAS Proximity Encoder DI1 switch 4.05 CYCLIC POS ERR 60° 360 = 0 Position ref. 90° 4.18 SYNC ERROR ° ° ° - 30 °- 30° 1.12 POS ACT ° 4.16 SYNC REF GEARED °...
Page 75 Master/Follower distance correction The purpose of the master/follower distance correction is to measure the distance between the two probe positions and compare it with the distance between reference positions 62.16 PROBE1 POS 62.18 PROBE2 POS. If there is a deviation, a correction is carried out on both the drive synchron reference 4.16 SYNC REF GEARED and actual position...
Page 76 MASTER FOLLOWER Encoder DI2 Encoder DI1 0° -130 4.04 PROBE2 POS MEAS 4.03 PROBE1 POS MEAS -100° 4.05 CYCLIC POS ERR CYC POS ACT ERR 360 = 0 0° 4.18 SYNC ERROR ° ° ° ° - 120 ° ° - 120 °...
Page 77 Example 2: Linear axis application Two conveyer systems are synchronised using two encoders. The follower is in synchron control and follows the master encoder 2 position. Note: In linear axis applications, only the difference between the master and follower positions is corrected. MASTER 10 mm Encoder DI2...
Page 78 Encoder DI1 Encoder DI2 1.08 ENCODER 1 SPEED 40 mm 4.16 SYNC REF GEARED 1.12 POS ACT 35 mm 30 mm 25 mm 4.03 PROBE1 POS MEAS 20 mm 4.04 PROBE2 POS MEAS 4.18 SYNC ERROR : Rising edge of encoder digital input DI1 signal (proximity switch signal) is detected.
Page 79 Distance correction with one probe The purpose is to measure the distance between two consecutive latches from one probe and compare it with the distance of the reference positions 62.16 PROBE1 62.18 PROBE2 POS. If there is a deviation, a corresponding correction is carried out on drive actual position 1.12 POS ACT.
Page 80 1.01 SPEED ACT Encoder DI1 POSITION DERIVATION 1.12 POS ACT MEASURED POSITION DIFFERENCE • Rising edge of encoder DI1 (proximity switch signal) is detected at the first mark of the belt. Position 0 mm is stored to signal 4.03 PROBE1 POS MEAS.
Page 81 Distance correction with two probes The purpose is to measure the distance between two consecutive latches from two probes and compare it with the distance between the reference positions 62.16 PROBE1 POS 62.18 PROBE2 POS. If there is a deviation, a corresponding correction is carried out on the drive actual position 1.12 POS ACT.
Page 82: 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 83: Miscellaneous Features
Miscellaneous features Backup and restore of drive contents General The drive offers a possibility of backing up numerous settings and configurations to external storage such as a PC file (using the DriveStudio tool) and the internal memory of the control panel. These settings and configurations can then be restored to the drive, or a number of drives.
Page 84: Drive-To-Drive Link
For example, retaining the existing motor ID run results in the drive will make a new motor ID run unnecessary. Restore of individual parameters can fail for the following reasons: • The restored value does not fall within the minimum and maximum limits of the drive parameter •...
Page 85: Fan Control Logic
Fan control logic The fan operation can be controlled via parameter 46.13 FAN CTRL MODE. The parameter provides the following four operation modes: Normal, Force OFF, Force ON and Advanced. The control logic (Normal or Advanced) can be overridden by forcing the fan ON or OFF in which case the fan is running always or never.
Page 86 Drive control and features...
Page 87: 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 88 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 89: 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 90: Firmware Blocks
Note: Pointing to a non-existing bit will be interpreted as 0 (FALSE). For additional parameter data, eg, 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 that contains the most of the block inputs/outputs.
Page 91: Group 01 Actual Values
Group 01 ACTUAL VALUES This group contains basic actual signals for monitoring the drive. Firmware block: ACTUAL VALUES ACTUAL VALUES 1.01 SPEED ACT FW block: SPEED FEEDBACK (page 149) Filtered actual speed in rpm. Used speed feedback is defined by parameter 22.01 SPEED FB SEL.
Page 92 1.10 ENCODER 2 SPEED FW block: ENCODER (page 256) Encoder 2 speed in rpm. 1.11 ENCODER 2 POS FW block: ENCODER (page 256) Actual position of encoder 2 within one revolution. 1.12 POS ACT FW block: POS FEEDBACK (page 219) Actual position of the encoder.
Page 93 1.27 RUN TIME COUNTER FW block: ACTUAL VALUES (see above) Motor run time counter. The counter run when the drive modulates. The counter can be reset using the DriveStudio tool. 1.28 FAN ON-TIME FW block: ACTUAL VALUES (see above) Running time of the drive cooling fan. Can be reset by entering 0. 1.31 MECH TIME CONST FW block:...
Page 94: Group 02 I/O Values
Group 02 I/O VALUES This group contains information on the I/Os of the drive. 2.01 DI STATUS FW block: (page 131) Status word of the digital inputs. Example: 000001 = DI1 is on, DI2 to DI6 are off. 2.02 RO STATUS FW block: (page 131) Status of relay output.
Page 95 2.12 FBA MAIN CW FW block: FIELDBUS (page 205) Control Word for fieldbus communication. Log. = Logical combination (ie, Bit AND/OR Selection parameter). Par. = Selection parameter. See State diagram on page 429. 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 96 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 50. 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 97 2.12 FBA MAIN CW (continued from previous page) Name Val. Information Log. Par. POSITION- Enable position profile generator. 66.05 ING ENA Disable position profile generator. PO REF LIM Enable position reference. 70.03 Disable position reference. Position reference speed limit is set to zero. Positioning task is rejected.
Page 98 2.13 FBA MAIN SW FW block: FIELDBUS (page 205) Status Word for fieldbus communication. See State diagram on page 429. 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 99 2.13 FBA MAIN SW (continued from previous page) Name Value Information FOLLOWING ERROR 1 The difference between the reference and the actual position is within the defined following error window 71.09 FOLLOW ERR WIN. The difference between the reference and the actual position is outside the defined following error window.
Page 100 2.17 D2D MAIN CW FW block: D2D COMMUNICATION (page 214) Drive-to-drive control word received through the drive-to-drive link. See also actual signal 2.18 below. Information Stop. Start. 2…6 Reserved. Run enable. By default, not connected in a follower drive. Reset. By default, not connected in a follower drive. 9…14 Freely assignable through bit pointer parameters.
Page 101: Group 04 Pos Ctrl Values
Group 03 CONTROL VALUES 3.01 SPEED REF1 FW block: SPEED REF SEL (page 155) Speed reference 1 in rpm. 3.02 SPEED REF2 FW block: SPEED REF SEL (page 155) Speed reference 2 in rpm. 3.03 SPEEDREF RAMP IN FW block: SPEED REF MOD (page 156) Used speed reference ramp input in rpm.
Page 102 3.15 BRAKE COMMAND FW block: MECH BRAKE CTRL (page 186) Brake on/off command. 0 = Close. 1 = Open. For brake on/off control, connect this signal to a relay output (or a digital output). See section Mechanical brake control on page 55. 3.16 FLUX REF USED FW block:...
Page 103: Group 06 Drive Status
Group 04 POS CTRL VALUES 4.01 SPEED REF POS FW block: POS CONTROL (page 253) Position controller output (speed reference) for the speed controller in rpm. 4.02 SPEED ACT LOAD FW block: POS FEEDBACK (page 219) Filtered actual speed of the load. The unit depends on parameter 60.05 POS UNIT selection.
Page 104 4.12 POS END SPEED FW block: PROFILE REF SEL (page 234) Positioning speed used after the target has been reached.The unit depends on parameter 60.05 POS UNIT 60.10 POS SPEED UNIT selections. 4.13 POS REF IPO FW block: PROFILE GENERATOR (page 242) Position reference from the position profile generator.
Page 105: Group 08 Alarms & Faults
Group 06 DRIVE STATUS 6.01 STATUS WORD 1 FW block: DRIVE LOGIC (page 120) 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. STARTED Drive has received start command.
Page 106 6.02 STATUS WORD 2 FW block: DRIVE LOGIC (page 120) 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 motor ID run inhibition.
Page 107 6.03 SPEED CTRL STAT FW block: DRIVE LOGIC (page 120) 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 108 6.07 TORQ LIM STATUS FW block: DRIVE LOGIC (page 120) 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 109 6.09 POS CTRL STATUS FW block: DRIVE LOGIC (page 120) Position control status word. Name Val. Information IN POSITION Position reference generator has reached the used position reference. Position reference generator is active, ie, calculating the position refer- ence. IN POS WIN Difference between position reference and actual position is within the defined position window, 66.04 POS...
Page 110 6.10 POS CTRL STATUS2 FW block: DRIVE LOGIC (page 120) Additional position control status word. Name Val. Information IN SYNC Position profile generator distance to target is below the absolute value of the synchron error limit, ie, value of 4.14 DIST TGT smaller than value of 70.07 SYNC ERR LIM.
Page 111 6.11 POS CORR STATUS FW block: DRIVE LOGIC (page 120) Position correction status word. Name Val. Information HOMING START Homing start is active. Source for the homing start is selected by parameter 62.03 HOMING START. Homing start is inactive. HOMING DONE Homing has been performed.
Page 112 6.12 OP MODE ACK FW block: REFERENCE CTRL (page 183) Operation mode acknowledge: 0 = Stopped, 1 = Speed, 2 = Torque, 3 = Min, 4 = Max, 5 = Add, 6 = Position, 7 = Synchron, 8 = Homing, 9 = Prof vel, 10 = Scalar, 11 = Forced magn (ie, DC Hold). 6.14 SUPERV STATUS FW block:...
Page 113: Group 09 System Info
Group 08 ALARMS & FAULTS 8.01 ACTIVE FAULT FW block: FAULT FUNCTIONS (page 196) Fault code of the latest (active) fault. 8.02 LAST FAULT FW block: FAULT FUNCTIONS (page 196) Fault code of the 2nd latest fault. 8.03 FAULT TIME HI FW block: FAULT FUNCTIONS (page 196)
Page 114 8.06 ALARM LOGGER 2 FW block: FAULT FUNCTIONS (page 196) Alarm logger 2. For possible causes and remedies, see chapter Fault tracing. Can be reset by entering a 0. Alarm IGBT OVERTEMP FIELDBUS COMM LOCAL CTRL LOSS AI SUPERVISION Reserved NO MOTOR DATA ENCODER 1 FAIL ENCODER 2 FAIL...
Page 115 8.08 ALARM LOGGER 4 FW block: FAULT FUNCTIONS (page 196) Alarm logger 4. For possible causes and remedies, see chapter Fault tracing. Can be reset by entering a 0. Alarm OPTION COMM LOSS SOLUTION ALARM 2…5 Reserved PROT. SET PASS 7…8 Reserved DC NOT CHARGED...
Page 116 8.15 ALARM WORD 1 FW block: FAULT FUNCTIONS (page 196) Alarm word 1. For possible causes and remedies, see chapter Fault tracing. This alarm word is refreshed, ie, when the alarm goes off, the corresponding alarm bit is cleared from the signal. Alarm BRAKE START TORQUE BRAKE NOT CLOSED...
Page 117 8.17 ALARM WORD 3 FW block: FAULT FUNCTIONS (page 196) Alarm word 3. For possible causes and remedies, see chapter Fault tracing. This alarm word is refreshed, ie, when the alarm goes off, the corresponding alarm bit is cleared from the signal. Alarm ENCODER 2 CABLE D2D COMM...
Page 118: Group 10 Start/Stop
9.02 DRIVE RATING ID FW block: None Displays the inverter type of the drive. (0) Unconfigured, (1) ACSM1-xxAx-02A5-4, (2) ACSM1-xxAx-03A0-4, (3) ACSM1-xxAx-04A0-4, (4) ACSM1-xxAx-05A0-4, (5) ACSM1-xxAx-07A0-4, (6) ACSM1-xxAx-09A5-4, (7) ACSM1-xxAx-012A-4, (8) ACSM1-xxAx-016A-4, (9) ACSM1-xxAx-024A-4, (10) ACSM1-xxAx-031A-4, (11) ACSM1-xxAx-040A-4, (12) ACSM1-xxAx-046A-4,...
Page 119 9.20 OPTION SLOT 1 FW block: None Displays the type of the optional module in option Slot 1. (0) NO OPTION, (1) NO COMM, (2) UNKNOWN, (3) FEN-01, (4) FEN-11, (5) FEN-21, (6) FIO-01, (7) FIO-11, (8) FPBA-01, (9) FPBA-02, (10) FCAN-01, (11) FDNA-01, (12) FENA-01, (13) FENA-11, (14) FLON-01, (15) FRSA-00, (16) FMBA-01, (17) FFOA-01, (18) FFOA-02, (19) FSEN-01, (20) FEN-31, (21) FIO-21, (22) FSCA-01, (23) FSEA-21, (24) FIO-31, (25) FECA-01, (26) FENA-21, (27) FB COMMON, (28) FMAC-01, (29) FEPL-01, (30) FCNA-01...
Page 120: 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 121 Block outputs located in other 2.18 D2D FOLLOWER CW (page 100) parameter groups 6.01 STATUS WORD 1 (page 105) 6.02 STATUS WORD 2 (page 106) 6.03 SPEED CTRL STAT (page 107) 6.05 LIMIT WORD 1 (page 107) 6.07 TORQ LIM STATUS (page 108) 6.09 POS CTRL STATUS (page 109)
Page 122 10.02 EXT1 START IN1 FW block: DRIVE LOGIC (see above) Selects the source 1 for the start and stop commands in external control location EXT1. See parameter 10.01 EXT1 START FUNC selections (1) In1 3-wire. Note: This parameter cannot be changed while the drive is running. Bit pointer: Group, index and bit 10.03 EXT1 START IN2 FW block:...
Page 123 (6) IN1S IN2DIR The source selected by 10.05 EXT2 START IN1 is the start signal (0 = stop, 1 = start), the source selected by 10.06 EXT2 START IN2 the direction signal (0 = forward, 1 = reverse). 10.05 EXT2 START IN1 FW block: DRIVE LOGIC (see above)
Page 124 Bit pointer: Group, index and bit 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 125 10.16 D2D CW USED FW block: DRIVE LOGIC (see above) Selects the source for the control word for drive-to-drive communication. By default, the source is parameter 2.17 D2D MAIN Value pointer: Group and index 10.17 START ENABLE FW block: DRIVE LOGIC (see above) Selects the source for the start enable signal.
Page 126: 11 Start/Stop Mode
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. Firmware block: START/STOP MODE START/STOP MODE (11) 11.01 START MODE FW block: START/STOP MODE (see above)
Page 127 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 128 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 129: 12 Digital Io
Group 12 DIGITAL IO Settings for the digital inputs and outputs, and the relay output. Firmware block: DIO1 DIO1 Selects whether DIO1 is used as a digital input or as a digital output and connects an actual signal to the digital output.
Page 130 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. (2) Freq input DIO2 is used as a frequency input.
Page 131 12.10 DIO3 F MAX SCALE FW block: DIO3 (see above) When 12.03 DIO3 CONF is set to (2) Freq output, defines the real value of the signal (selected by parameter 12.07 DIO3 F OUT PTR) that corresponds to the maximum DIO3 frequency output value (defined by parameter 12.08 DIO3 F MAX).
Page 132 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 133: 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 134: 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 135 13.07 AI2 MAX FW block: (see above) Defines the maximum value for analogue input AI2. The type is selected with jumper J2 on the JCU Control Unit. -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.
Page 136 (3) AI2 min tune Current analogue input AI2 signal value is set as minimum value for AI2, parameter 13.08 AI2 MIN. The value reverts back to (0) No action automatically. (4) AI2 max tune Current analogue input AI2 signal value is set as maximum value for AI2, parameter 13.07 AI2 MAX.
Page 137: 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 138: Ao2
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 139 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 140: Group 16 System
Group 16 SYSTEM Local control and parameter access settings, restoration of default parameter values, save of parameters into permanent memory. 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 141 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 user set are not automatically stored into the loaded set –...
Page 142 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 (10) IO mode. The status of the source defined by this parameter and parameter 16.12 select the user parameter set as follows:...
Page 143: Group 17 Panel Display
Group 17 PANEL DISPLAY Selection of signals for 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 144 17.06 SIGNAL3 MODE FW block: None Defines the way the signal selected by parameter 17.01 SIGNAL1 PARAM is displayed on the optional control panel. (-1) Disabled Signal not displayed. Any other signals that are not disabled are shown together with their respective signal name. (0) Normal Shows the signal as a numerical value followed by unit.
Page 145: Group 20 Limits
Group 20 LIMITS Definition of drive operation limits. Firmware block: LIMITS LIMITS (20) Adjusts the drive speed, current and torque limits, selects the source for the positive/negative speed reference enable command and enables the thermal current limitation. Block outputs located in other 3.20 MAX SPEED REF (page 102) parameter groups...
Page 146 20.03 POS SPEED ENA FW block: LIMITS (see above) Selects the source of the positive speed reference enable command. 1 = Positive speed reference is enabled. 0 = Positive speed reference is interpreted as zero speed reference (In the figure below 3.03 SPEEDREF RAMP IN is set to zero after the positive speed enable signal has cleared).
Page 147 20.08 THERM CURR LIM FW block: None Enables the thermal current limitation. Thermal current limit is calculated by the inverter thermal protection function. (0) Disable The calculated thermal limit is not used. If the inverter output current is excessive, alarm IGBT OVERTEMP is generated and eventually the drive trips on fault IGBT OVERTEMP.
Page 148: 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 149: Speed Feedback
Firmware block: SPEED FEEDBACK SPEED FEEDBACK (22) Block outputs located in other 1.01 SPEED ACT (page 91) parameter groups 22.01 SPEED FB SEL FW block: SPEED FEEDBACK (see above) Selects the speed feedback value used in control. (0) Estimated Calculated speed estimate. (1) Enc1 speed Actual speed measured with encoder 1.
Page 150 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 151 22.06 ZERO SPEED DELAY FW block: SPEED FEEDBACK (see above) Defines the delay for the zero speed delay function. The function is useful in applications where a smooth and quick restarting is essential. During the delay the drive knows accurately the rotor position.
Page 152 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). If the actual speed (1.01 SPEED ACT) exceeds the speed limit defined by parameter 20.01 20.02 by more than...
Page 153 22.10 SPD SUPERV EST FW block: FAULT FUNCTIONS (see page 196) Defines the activation level for encoder supervision. The drive reacts according to 22.09 SPEED FB FAULT when: • the estimated speed (1.14 SPEED ESTIMATED) is greater than 22.10 SPD SUPERV EST •...
Page 154: 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 155: 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 156: Speed Ref Mod
(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 (3.02 SPEED REF2).
Page 157 -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 158: Group 25 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 159: Speed Ref Ramp
Firmware block: SPEED REF RAMP SPEED REF RAMP (25) This block • selects the source for the speed ramp input • adjusts acceleration and deceleration times (also for jogging) • adjusts acceleration/deceleration ramp shapes • adjusts ramp time for emergency stop OFF3 •...
Page 160 25.04 DEC TIME FW block: SPEED REF RAMP (see above) Defines the deceleration time, ie, 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 161 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 162: Group 26 Speed Error
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 163: Speed Error
Firmware block: SPEED ERROR SPEED ERROR (26) This block • selects the source for speed error calculation (speed reference - actual speed) in different control modes • selects the sources for speed reference and speed reference feedforward • defines the speed error filtering time •...
Page 164 Value pointer: Group and index 26.05 SPEED STEP FW block: SPEED ERROR (see above) Defines an additional speed step given to the input of the speed controller (added to the speed error value). -30000…30000 rpm Speed step. 26.06 SPD ERR FTIME FW block: SPEED ERROR (see above)
Page 165 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 166 (1) Absolute Speed error window control active. The boundaries defined by parameters 26.11 26.12 are absolute. (2) Relative Speed error window control active. The boundaries defined by parameters 26.11 26.12 are relative to speed reference. 26.11 SPEED WIN HI FW block: SPEED ERROR (see above) Defines the upper boundary of the speed error window.
Page 167: 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 168: Speed Control
Firmware block: SPEED CONTROL SPEED CONTROL (28) This block • selects the source for speed error • adjusts PID-type speed controller variables • defines limits for speed controller output torque • selects the source for acceleration compensation torque • configures the balancing function which forces the output of the speed controller to an external value...
Page 169 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 170 28.04 DERIVATION TIME FW block: SPEED CONTROL (see above) Defines the derivation time of the speed controller. Derivative action boosts the controller output if the error value changes. The longer the derivation time, the more the speed controller output is boosted during the change.
Page 171 28.07 DROOPING RATE FW block: SPEED CONTROL (see above) Defines the droop rate (in percent of the motor nominal speed). The drooping slightly decreases the drive speed as the drive load increases. The actual speed decrease at a certain operating point depends on the droop rate setting and the drive load (= torque reference / speed controller output).
Page 172 28.12 PI ADAPT MAX SPD FW block: SPEED CONTROL (see above) Maximum actual speed for speed controller adaptation. Speed controller gain and integration time can be adapted according to actual speed. This is done by multiplying the gain (28.02 PROPORT GAIN) and integration time (28.03 INTEGRATION TIME) by...
Page 173 28.16 PI TUNE MODE FW block: None Activates the speed controller autotune function. The autotune will automatically set parameters 28.02 PROPORT GAIN 28.03 INTEGRATION TIME, as well as 1.31 MECH TIME CONST. If the User autotune mode is chosen, also 26.06 SPD ERR FTIME is automatically set.
Page 174: 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 175: Torq Ref Sel
Firmware block: TORQ REF SEL TORQ REF SEL (32) Selects the source for torque reference 1 (from a parameter selection list) and the source for torque reference addition (used, eg, for compensating mechanical interferences). Also shows the torque reference and reference addition values.
Page 176: Torq Ref Mod
Firmware block: TORQ REF MOD TORQ REF MOD (33) This block • selects the source for the torque reference • scales the input torque reference according to the defined load share factor • defines limits for the torque reference • defines ramp-up and ramp-down times for the torque reference •...
Page 177 32.08 TORQ RAMP DOWN FW block: TORQ REF MOD (see above) Defines the torque reference ramp-down time, ie, the time for the reference to decrease from the nominal motor torque to zero. 0…60 s Torque reference ramp-down time. 32.09 RUSH CTRL GAIN FW block: TORQ REF MOD (see above)
Page 178: Group 33 Supervision
Group 33 SUPERVISION Configuration of signal supervision. Firmware block: SUPERVISION SUPERVISION (17) Block outputs located in other 6.14 SUPERV STATUS (page 112) parameter groups 33.01 SUPERV1 FUNC FW block: SUPERVISION (see above) Selects the mode of supervision 1. (0) Disabled Supervision 1 not in use.
Page 179 33.03 SUPERV1 LIM HI FW block: SUPERVISION (see above) Sets the upper limit for supervision 1. See parameter 33.01 SUPERV1 FUNC. -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.
Page 180 33.09 SUPERV3 FUNC FW block: SUPERVISION (see above) Selects the mode of supervision 3. (0) Disabled Supervision 3 not in use. (1) Low When the signal selected by parameter 33.10 SUPERV3 ACT falls below the value of parameter 33.12 SUPERV3 LIM LO, bit 2 of 6.14 SUPERV STATUS...
Page 181 Digital input DI4 (as indicated by 2.01 DI STATUS, bit 3). Digital input DI5 (as indicated by 2.01 DI STATUS, bit 4). Digital input DI6 (as indicated by 2.01 DI STATUS, bit 5). Relay output RO1 (as indicated by 2.02 RO STATUS, bit 0).
Page 182: 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/POSITION/ SYNCHRON/HOMING/PROF VEL) and the used torque reference in local and external control.
Page 183: 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 Firmware block: REFERENCE CTRL REFERENCE CTRL (34) This block...
Page 184 (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 185 34.07 LOCAL CTRL MODE FW block: REFERENCE CTRL (see above) Selects the control mode for local control. Note: This parameter cannot be changed while the drive is running. (1) Speed Speed control. Torque reference is 3.08 TORQ REF SP CTRL, which is the output of the SPEED CONTROL firmware block.
Page 186: Group 35 Mech Brake Ctrl
Group 35 MECH BRAKE CTRL Settings for the control of a mechanical brake. See also section Mechanical brake control on page 55. Firmware block: MECH BRAKE CTRL MECH BRAKE CTRL (35) Block outputs located in other 3.14 BRAKE TORQ MEM (page 101) parameter groups 3.15 BRAKE COMMAND...
Page 187 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 188 35.09 BRAKE FAULT FUNC FW block: MECH BRAKE CTRL (see above) Defines how the drive reacts in case of mechanical brake control error. If brake control supervision has not been activated by parameter 35.01 BRAKE CONTROL, this parameter is disabled. (0) FAULT The drive trips on fault BRAKE NOT CLOSED / BRAKE NOT OPEN if the status of the optional external brake acknowledgement signal...
Page 189: 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 190 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 191 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 192: 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 44. Firmware block: MOT THERM PROT MOT THERM PROT (45) Configures motor overtemperature protection and temperature measurement. Also shows the estimated and measured motor temperatures.
Page 193 (1) KTY JCU The temperature is supervised using a KTY84 sensor connected to drive thermistor input TH. (2) KTY 1st FEN The temperature is supervised using a KTY84 sensor connected to encoder interface module FEN-xx installed in drive Slot 1/2. If two encoder interface modules are used, encoder module connected to Slot 1 is used for the temperature supervision.
Page 194 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. The value is given in percent of nominal motor current. When the parameter is set to 100%, the maximum load is equal to the value of the parameter 99.06 MOT NOM CURRENT (higher loads heat...
Page 195 45.09 MOTNOM TEMP RISE 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 196: 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. Firmware block: FAULT FUNCTIONS FAULT FUNCTIONS (46) This block •...
Page 197 46.01 EXTERNAL FAULT FW block: FAULT FUNCTIONS (see above) Selects an interface for an external fault signal. 0 = External fault trip. 1 = No external fault. Bit pointer: Group, index and bit 46.02 SPEED REF SAFE FW block: FAULT FUNCTIONS (see above) Defines the fault speed.
Page 198 Note: This parameter is for supervision only. The Safe Torque Off function can activate even when this parameter is set to For general information on the Safe Torque Off function, see the Hardware Manual of the drive and Application guide - Safe torque off function for ACSM1, ACS850 and ACQ810 drives (3AFE68929814 [English]). (1) Fault The drive trips on SAFE TORQUE OFF when one or both of the STO signals are lost.
Page 199 46.09 STALL FUNCTION FW block: FAULT FUNCTIONS (see above) Selects how the drive reacts to a motor stall condition. A stall condition is defined as follows: • The drive is at stall current limit (46.10 STALL CURR LIM), and • the output frequency is below the level set by parameter 46.11 STALL FREQ HI, and •...
Page 200 (0) Coast Stop by cutting off the motor power supply. The motor coasts to stop. (1) Emergency ramp stop The drive is stopped along the emergency stop ramp time, 25.11 EM STOP TIME. Parameters and firmware blocks...
Page 201: Group 47 Voltage Ctrl
Group 47 VOLTAGE CTRL Settings for overvoltage and undervoltage control, and supply voltage. Firmware block: VOLTAGE CTRL VOLTAGE CTRL (47) This block • enables/disables overvoltage and undervoltage control • enables/disables automatic identification of supply voltage • provides a parameter for manual definition of supply voltage •...
Page 202 47.03 SUPPLVOLTAUTO-ID FW block: VOLTAGE CTRL (see above) Enables the auto-identification of the supply voltage. See also section Voltage control and trip limits page 47. (0) Disable Auto-identification of supply voltage disabled. The drive sets the voltage control and trip limits using the value of parameter 47.04 SUPPLY VOLTAGE.
Page 203: Group 48 Brake Chopper
Group 48 BRAKE CHOPPER Configuration of an internal braking chopper. Firmware block: BRAKE CHOPPER BRAKE CHOPPER (48) This block configures the braking chopper control and supervision. 48.01 BC ENABLE FW block: BRAKE CHOPPER (see above) Enables the braking chopper control. Note: Before enabling the braking chopper control, ensure the braking resistor is installed and the overvoltage control is switched off (parameter 47.01 OVERVOLTAGE...
Page 204 48.05 R BR FW block: BRAKE CHOPPER (see above) Defines the resistance value of the braking resistor. The value is used for braking chopper protection. 0.1…1000 ohm Resistance. 48.06 BR TEMP FAULTLIM FW block: BRAKE CHOPPER (see above) Selects the fault limit for the braking 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 205: Group 50 Fieldbus
Group 50 FIELDBUS Basic settings for fieldbus communication. See also Appendix A – Fieldbus control on page 423. Firmware block: FIELDBUS FIELDBUS (50) This block • initialises the fieldbus communication • selects communication supervision method • defines scaling of the fieldbus references and actual values •...
Page 206 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 (eg, 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 207 50.06 FBA ACT1 TR SRC FW block: FIELDBUS (see above) Selects the source for fieldbus actual value 1 when parameter 50.04 FBA REF1 MODESEL 50.05 FBA REF2 MODESEL is set to (0) Raw data. Value pointer: Group and index 50.07 FBA ACT2 TR SRC FW block: FIELDBUS (see above)
Page 208 50.12 FBA CYCLE TIME FW block: FIELDBUS (see above) Selects the fieldbus communication speed. The default selection is Fast. Lowering the speed reduces the CPU load. The table below shows the read/write intervals for cyclic and cyclic low data with each parameter setting.
Page 209: 51 Fba Settings
In format xyz, where x = major revision number; y = minor revision number; z = correction number. 51.29 DRIVE TYPE CODE 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. Parameters and firmware blocks...
Page 210 51.30 MAPPING FILE VER FW block: None Displays the fieldbus adapter module mapping file revision stored in the memory of the drive. In hexadecimal format. Example: 0x107 = revision 1.07. 51.31 D2FBA COMM STA FW block: None Displays the status of the fieldbus adapter module communication. (0) IDLE Adapter not configured.
Page 211: 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 423.
Page 212: 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 423.
Page 213: Group 57 D2D Communication
Group 55 COMMUNICATION TOOL Settings for an RS-485 network implemented using optional JPC-01 Network communication adapters. The network enables the use of a single PC or control panel to control multiple drives. For more information, see the JPC-01 Network communication adapter User’s manual (3AUA0000072233).
Page 214: Group 60 Pos Feedback
Group 57 D2D COMMUNICATION Drive-to-drive communication settings. See Appendix B – Drive-to-drive link on page 431. Firmware block: D2D COMMUNICATION D2D COMMUNICATION (57) This block sets up the drive-to-drive communication. It also shows the main drive-to-drive control word and the two references. Block outputs located in other 2.17 D2D MAIN CW (page 100)
Page 215 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 216 57.09 KERNEL SYNC MODE FW block: D2D COMMUNICATION (see above) Determines which signal the time levels of the drive are synchronised with. An offset can be defined by parameter 57.10 KERNEL SYNC OFFS if desired. (0) NoSync 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).
Page 217 57.12 REF1 MC GROUP FW block: D2D COMMUNICATION (see above) Selects the multicast group the drive belongs to. See parameter 57.11 REF 1 MSG TYPE. 0…62 Multicast group (0 = none). 57.13 NEXT REF1 MC GRP FW block: D2D COMMUNICATION (see above) Specifies the next multicast group of drives the multicast message is relayed to.
Page 218: Group 60 Pos Feedback
Group 60 POS FEEDBACK Configuration of drive position feedback including • feedback source • load gear ratio • axis type • positioning unit • scalings for fieldbus • scaling between rotational and translational systems • resolution of internal position calculation •...
Page 219: Pos Feedback
Firmware block: POS FEEDBACK POS FEEDBACK (60) This block • selects the source for measured actual position value (encoder 1, encoder 2 or estimated position) • selects whether positioning is executed along linear or rollover axis • configures the load encoder gear function •...
Page 220 60.03 LOAD GEAR MUL FW block: POS FEEDBACK (see above) Defines the numerator for the load encoder gear function. See also section Load encoder gear function on page 61. 60.03 LOAD GEAR MUL Load speed 60.04 LOAD GEAR DIV Encoder 1/2 speed Note: When load encoder gear function is set, the gear function defined by parameters 71.07 GEAR RATIO MUL...
Page 221 60.07 FEED CONST DEN FW block: POS FEEDBACK (see above) Defines, together with parameter 60.06 FEED CONST NUM, the feed constant for the position calculation. 1… 2 Feed constant denominator. 60.08 POS2INT SCALE FW block: POS FEEDBACK (see above) Scales position values to integer values. Integer values are used in the control program and fieldbus communication.
Page 222 60.12 POS SPEED SCALE FW block: POS FEEDBACK (see above) Defines an additional scaling for internal positioning speed, acceleration and deceleration values. Can be used, eg, to improve calculation accuracy at low and high speeds. Example: If parameter value is set to 0.1, internal speed value 1 rev/s is changed to value 10 rev/s. 0…32768 Additional scaling factor.
Page 223: Group 62 Pos Correction
Group 62 POS CORRECTION Settings for position correction functions (homing, presets, and cyclic corrections). With these functions, the user can define the relationship between the actual position of the drive positioning system and the driven machinery. Some of the correction functions need an external probe or limit switch to be connected to the digital inputs of the drive control board or encoder interface module.
Page 224 62.01 HOMING METHOD FW block: HOMING (see above) Selects the homing method. Note: For cyclic corrections to work, this parameter must be set to (0) No Method. For more information, see • section Homing on page • Appendix C – Homing methods on page •...
Page 225: Preset
62.06 POS LIMIT SWITCH FW block: HOMING (see above) Selects the source for the positive limit switch signal (ie, external latch signal source for the maximum position). Used to prevent movement beyond a certain maximum position (drive stopped along emergency stop ramp), and with homing methods 2, 7…10, 18 and 23…26. Homing method is selected by parameter 62.01 HOMING METHOD.
Page 226 62.11 PRESET MODE FW block: PRESET (see above) Selects the preset mode. Presets are used to set the position system to a parameter value (preset position) or actual position. The physical position of the driven machinery is not changed, but the new position value is used as home position.
Page 227: Cyclic Correction
62.13 PRESET POSITION FW block: PRESET (see above) Defines the preset position. The unit depends on parameter 60.05 POS UNIT selection. -32768…32768 Preset position. Firmware block: CYCLIC CORRECTION CYCLIC CORRECTION (64) This block • selects the cyclic correction mode • defines the source for the latching command for position probe 1/2 •...
Page 228 (3) ENC1 DI2 _– Encoder 1 position Rising edge of DI2 (4) ENC1 DI2 –_ Encoder 1 position Falling edge of DI2 Reserved. (6) ENC1 Zerop Encoder 1 position Zero pulse (7) ENC1 DI1_– z Encoder 1 position First zero pulse after rising edge of DI1 (8) ENC1 DI1–_ z Encoder 1 position...
Page 229 (28) ENC2 DI2=0 z Encoder 2 position First zero pulse when DI2 = 0 (29) PROBE1 SW Encoder 1 position The trigger signal is selected by parameter 62.22 TRIG PROBE1 (30) PROBE2 SW Encoder 1 position The trigger signal is selected by parameter 62.23 TRIG PROBE2 62.16 PROBE1 POS...
Page 230 62.21 POS COR MODE FW block: HOMING (see above) Determines if the position change made in homing or in preset mode 2 or 3 is forced permanently into the drive memory by saving it to parameter 62.20 POS ACT OFFSET, or only until the next power- down.
Page 231 62.26 Z-PULSE SOURCE 2 FW block: HOMING (see above) Selects which zero pulse is used for probe 2 latching when a zero pulse dependent triggering condition is selected by parameter 62.17 TRIG PROBE2. (0) ProbePosSrc The source of the zero pulse is the same as the source of the position data (see parameter 62.17 TRIG PROBE2).
Page 232 62.30 PROBE TRIG FILT FW block: HOMING (see above) To avoid false latch events due to signal disturbances, latchings are verified on the basis of a low-pass filtered signal. The signal is filtered using the time constant (τ) defined by this parameter. In effect, the value of this parameter determines how long the probe signal must stay in its new state to be accepted as a latching.
Page 233: Group 65 Profile Reference
Group 65 PROFILE REFERENCE Positioning profile and start command settings. The shape of the profile are defined by position reference, speed, acceleration, deceleration, filtering time, style, and end speed. The position reference can be taken from an analogue input, fieldbus, drive-to-drive link or the position reference table.
Page 234: Profile Ref Sel
Firmware block: PROFILE REF SEL PROFILE REF SEL (65) This block • selects the source for position reference • selects the source for position reference set 1/2 selection • defines the position reference sets 1 and 2 • selects the source for an additional position reference •...
Page 235 65.02 PROF SET SEL FW block: PROFILE REF SEL (see above) Selects the source for position reference set 1 or 2 selection. 0 = position reference set 1, 1 = position reference set 2. See parameters 65.04 POS REF 1 SEL 65.12 POS REF 2 SEL.
Page 236 0…1000 ms Position reference filter time for position reference set 1. 65.09 POS STYLE 1 FW block: PROFILE REF SEL (see above) Determines the behaviour of the position profile generator when position reference set 1 is used. The figures below display the behaviour of each bit (different bit combinations are also possible). Bits 0…2 determine in which way the drive moves to an additional position reference or corrects the synchronisation error (caused by position reference limitation or cyclic correction) in synchron control mode.
Page 237 Bit 2 1 = Positioning to the target position along the shortest path, regardless of bit 0 and 1 values. 65.03 POS START 1 4.01 SPEED REF POS 4.13 POS REF IPO Actual pos. 90° Actual pos. 90° Pos. reference 180° Pos.
Page 238 Bit 7 Effective only when bit 4 = 1 and bit 2 = 0. 1 = When positioning is started by the rising edge of 65.03 POS START 1, the motor rotates one revolution exactly according to bits 0 and 1. This feature is provided in the roll-over mode only. 0 = One revolution positioning is disabled.
Page 239 65.18 POS END SPEED 2 FW block: PROFILE REF SEL (see above) Defines the positioning speed when target is reached when position reference set 1 is used. The unit depends on parameter 60.05 POS UNIT 60.10 POS SPEED UNIT selections. -32768…32768 Positioning speed when target is reached for position reference set 2.
Page 240 65.22 PROF VEL REF SEL FW block: PROFILE REF SEL (see above) Selects the source for the speed reference in profile velocity mode. The profile velocity mode is activated by parameter 34.03, 34.04 or 34.05, depending on the control location used. (0) ZERO Zero reference.
Page 241: Group 66 Profile Generator
Group 66 PROFILE GENERATOR Position profile generator settings. With these settings, the user can change the positioning speed during positioning, define positioning speed limits (for example, because of limited power), and set the window for target position. See also section Position profile generator on page 64.
Page 242: Profile Generator
Firmware block: PROFILE GENERATOR PROFILE GENERATOR (66) This block • selects the source for position profile generator input position reference • defines the online positioning speed multiplier • defines a positioning speed value above which the acceleration/ deceleration time is reduced, ie, defines the power limit used in position reference calculation •...
Page 243 66.03 PROF ACC WEAK SP FW block: PROFILE GENERATOR (see above) Defines a positioning speed value (for the profile generator), above which acceleration/deceleration is slowed down. Because the drive power depends on the torque and angular velocity, this parameter defines the power limit used in the position reference calculation. ω...
Page 244: Group 67 Sync Ref Sel
Group 67 SYNC REF SEL Synchronisation reference source selection that is used in synchron control mode. Synchron reference can be smoothed with fine interpolation if the reference is updated too slowly or changes drastically because of missing data. If the reference is taken from the virtual master, a rotating position reference is calculated according to the configured virtual master speed.
Page 245 67.01 SYNC REF SEL FW block: SYNC REF SEL (see above) Selects the source for the position reference in synchron control. (0) ZERO Zero position reference. (1) AI1 Analogue input 1. (2) AI2 Analogue input 2. (3) FBA REF1 Fieldbus reference 1. (4) FBA REF2 Fieldbus reference 2.
Page 246 67.03 INTERPOLAT MODE FW block: SYNC REF SEL (see above) Selects whether the synchronisation reference selected by parameter 67.01 SYNC REF SEL interpolated or not. This function can be used to smooth out short breaks in the reference. (0) NONE Interpolation is not used.
Page 247: Group 68 Sync Ref Mod
Group 68 SYNC REF MOD Synchronisation reference modification settings that are used to select between absolute or relative synchronisation, to set an electrical gear ratio between the synchronisation reference and the drive positioning system, and to filter the reference. 68.05 SYNC REF FTIME 68.04 SYNC GEAR ADD 68.02 SYNC GEAR MUL 68.01 SYNC GEAR IN...
Page 248 68.02 SYNC GEAR MUL FW block: SYNC REF MOD (see above) Defines the numerator for the synchron gear function. The gear function modifies the position alterations of the synchron position reference value in order to obtain a certain ratio between the master and follower motion.
Page 249: Group 70 Pos Ref Limit
Group 70 POS REF LIMIT Position reference (dynamic) limiter and synchronisation error supervision settings. The limiter adds the reference changes from the profile reference generator (4.13 POS REF IPO) and synchron reference (4.16 SYNC REF GEARED). The limiter monitors speed, acceleration and deceleration changes in the positioning reference. The limited reference changes generate a synchronous error shown by 4.18 SYNC ERROR.
Page 250: Pos Ref Lim
Firmware block: POS REF LIM POS REF LIM (70) This block • selects the sources for the dynamic limiter inputs • selects the source for the position reference enable command • selects the positioning speed, acceleration rate and deceleration limits •...
Page 251 70.05 POS ACCEL LIM FW block: POS REF LIM (see above) Limits the positioning acceleration rate. An active limitation is indicated by 6.09 POS CTRL STATUS, bit 13. The unit depends on parameter 60.05 POS UNIT 60.10 POS SPEED UNIT selections.
Page 252: Group 71 Position Ctrl
Group 71 POSITION CTRL Settings for the position controller. The position controller calculates a speed reference that is used to minimise the difference between position reference and actual values. The user can set the controller gain, the feed forward value and a cyclical delay between the reference and the actual value.
Page 253: Pos Control
Firmware block: POS CONTROL POS CONTROL (71) This block • selects the sources for the actual and reference position inputs of the position controller • defines the position control loop gain and the speed feed forward gain • defines a delay for the position reference •...
Page 254 71.04 P CTRL FEED GAIN FW block: POS CONTROL (see above) Defines the speed feed forward gain. The default gain value is suitable for most applications. In some cases the gain can be used to compensate the difference between the reference position and actual position caused by external disturbances.
Page 255: Group 90 Enc Module Sel
Group 90 ENC MODULE SEL Settings for encoder activation, emulation, TTL echo, and encoder cable fault detection. The firmware supports two encoders, encoder 1 and 2 (but only one FEN-21 Resolver Interface Module). Revolution counting is only supported for encoder 1. The following optional interface modules are available: •...
Page 256: Encoder
Firmware block: ENCODER ENCODER This block • activates the communication to encoder interface 1/2 • enables encoder emulation/echo • shows encoder 1/2 speed and actual position. Block inputs located in other 93.21 EMUL PULSE NR (page 269) parameter groups 93.22 EMUL POS REF (page 269) Block outputs located in other 1.08 ENCODER 1 SPEED...
Page 257 (7) FEN-31 HTL Communication active. Module type: FEN-31 HTL Encoder Interface. Input: HTL encoder input (X82). See parameter group 93. 90.02 ENCODER 2 SEL FW block: ENCODER (see above) Activates the communication to the optional encoder/resolver interface 2. For selections, see parameter 90.01 ENCODER 1 SEL.
Page 258 (7) FEN-21 SWref Module type: FEN-21 Resolver Interface. Emulation: Drive software position (source selected by par. 93.22 EMUL POS REF) is emulated to FEN-21 TTL output. (8) FEN-21 RES Module type: FEN-21 Resolver Interface. Emulation: FEN-21 resolver input (X52) position is emulated to FEN-21 TTL output. (9) FEN-21 TTL Module type: FEN-21 Resolver Interface.
Page 259 90.05 ENC CABLE FAULT FW block: ENCODER (see above) Selects the action in case an encoder cable fault is detected by the FEN-xx encoder interface. Notes: • This functionality is only available with the absolute encoder input of the FEN-11 based on sine/ cosine incremental signals, and with the HTL input of the FEN-31.
Page 260: 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 encoders: • Incremental sin/cos encoders with or without zero pulse and with or without sin/ cos commutation signals •...
Page 261 91.01 SINE COSINE NR FW block: ABSOL ENC CONF (see above) Defines the number of sine/cosine wave cycles within one revolution. Note: This parameter does not need to be set when EnDat or SSI encoders are used in continuous mode. See parameter 91.25 SSI MODE 91.30 ENDAT MODE.
Page 262 91.06 ABS POS TRACKING FW block: ABSOL ENC CONF (see above) Enables position tracking, which counts the number of absolute encoder overflows (single and multiturn encoder and resolver) in order to determine the actual position uniquely and clearly after a power-up (or encoder refresh), especially with an odd load gear ratio.
Page 263 91.21 SSI POSITION MSB FW block: ABSOL ENC CONF (see above) Defines the location of the MSB (main significant bit) of the position data within a SSI message. Used with SSI encoders, ie, when parameter 91.02 ABS ENC INTERF is set to SSI.
Page 264 91.26 SSI TRANSMIT CYC FW block: ABSOL ENC CONF (see above) Selects the transmission cycle for SSI encoder. Note: This parameter needs to be set only when an SSI encoder is used in continuous mode, ie, SSI encoder without incremental sin/cos signals (supported only as encoder 1). SSI encoder is selected by setting parameter 91.02 ABS ENC INTERF SSI.
Page 265 (1) 100 us 100 µs. (2) 1 ms 1 ms. (3) 50 ms 50 ms. Parameters and firmware blocks...
Page 266: 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 267: Group 93 Pulse Enc Conf
Group 93 PULSE ENC CONF TTL/HTL input and TTL output configuration. See also parameter group on page 256, 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 268 (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 269 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 270: Group 95 Hw Configuration
Group 95 HW CONFIGURATION Miscellaneous hardware-related settings. 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 271: Group 97 User Motor Par
Group 97 USER MOTOR PAR User adjustment of motor model values estimated during motor ID run. The values can be entered in either “per unit” or SI. 97.01 USE GIVEN PARAMS FW block: None Activates the motor model parameters 97.02…97.14 and the rotor angle offset parameter 97.20.
Page 272 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 273 97.18 SIGNAL INJECTION FW block: None Enables signal injection. A high frequency alternating signal is injected to the motor at the low speed region to improve the stability of torque control. Signal injection can be enabled with different amplitude levels. Note: Use as low a level as possible that gives satisfactory performance.
Page 274: Group 98 Motor Calc Values
Group 98 MOTOR CALC VALUES Calculated motor 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. 0…2147483 Nm Nominal torque.
Page 275: 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 276 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 277 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 20.
Page 278 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 motor ID run, the drive is stopped. Note: This parameter cannot be changed while the drive is running.
Page 279 (2) Reduced Reduced ID run. This mode should be selected instead of the Normal ID run • if mechanical losses are higher than 20% (ie, the motor cannot be de-coupled from the driven equipment), or • if flux reduction is not allowed while the motor is running (ie, in case of a motor with an integrated brake supplied from the motor terminals), or •...
Page 280 (6) Advanced Advanced ID run. Guarantees the best possible control accuracy. The motor ID run can take a couple of minutes. This mode should be selected when top performance is needed in the whole operating area. Notes: • The driven machinery must be de-coupled from the motor because of high torque and speed transients that are applied.
Page 281: 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 282: 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 283: 32-Bit Integer Bit Pointers
32-bit integer bit pointers When a bit pointer parameter is connected to value 0 or 1, the format is as follows: 30…31 16…29 1…15 Name Source type Not in use Not in use Value Value 0…1 Description Bit pointer is 0 = False, 1 = True connected to 0/1.
Page 284: 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 285 Index Name Type Range Unit FbEq Update Data Save Page time length 2.12 FBA MAIN CW 0 … 1 = 1 500 µs 0xFFFFFFFF 2.13 FBA MAIN SW 0 … 1 = 1 500 µs 0xFFFFFFFF 2.14 FBA MAIN REF1 INT32 …2 1 = 1...
Page 286 Index Name Type Range Unit FbEq Update Data Save Page time length 4.14 DIST TGT REAL -32768…32768 60.09 500 µs 4.15 SYNC REF UNGEAR REAL -32768…32768 60.09 500 µs 4.16 SYNC REF GEARED REAL -32768…32768 60.09 500 µs 4.17 POS REF LIMITED REAL -32768…32768 60.09...
Page 287 Index Name Type Range Unit FbEq Update Data Save Page time length 9.12 SLOT 1 VIE VER INT32 0x0000…0xFFFF 1 = 1 9.13 SLOT 2 VIE NAME INT32 0x0000…0xFFFF 1 = 1 9.14 SLOT 2 VIE VER INT32 0x0000…0xFFFF 1 = 1 9.20 OPTION SLOT 1 INT32...
Page 288: Parameter Groups 10
Parameter groups 10…99 Index Parameter Type Range Unit FbEq Update Data Save Page time length 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 289 Index Parameter Type Range Unit FbEq Update Data Save Page time length 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 290 Index Parameter Type Range Unit FbEq Update Data Save Page time length 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 291 Index Parameter Type Range Unit FbEq Update Data Save Page time length 24.03 SPEED REF1 IN Val pointer 10 ms P.03.01 24.04 SPEED REF2 IN Val pointer 10 ms P.03.02 24.05 SPEED REF 1/2SEL Bit pointer 2 ms C.False 24.06 SPEED SHARE REAL -8…8 1 = 1000...
Page 292 Index Parameter Type Range Unit FbEq Update Data Save Page time length 28.02 PROPORT GAIN REAL 0…200 1 = 100 2 ms 28.03 INTEGRATION TIME REAL 0…600 1 = 1000 2 ms 28.04 DERIVATION TIME REAL 0…10 1 = 1000 2 ms 28.05 DERIV FILT TIME REAL...
Page 293 Index Parameter Type Range Unit FbEq Update Data Save Page time length 33.08 SUPERV2 LIM LO REAL -32768… 1 = 100 2 ms 32768 33.09 SUPERV3 FUNC UINT32 0…4 1 = 1 2 ms 33.10 SUPERV3 ACT Val pointer 2 ms P.01.06 33.11 SUPERV3 LIM HI REAL...
Page 294 Index Parameter Type Range Unit FbEq Update Data Save Page time length 40.02 SF REF enum 0…16 1 = 1 40.03 SLIP GAIN REAL 0…200 1 = 1 40.04 VOLTAGE RESERVE REAL 1 = 1 40.05 FLUX OPT enum 0…1 1 = 1 40.06 FORCE OPEN LOOP enum...
Page 295 Index Parameter Type Range Unit FbEq Update Data Save Page time length 47.07 LOW VOLT DC MAX REAL 350…810 1 = 1 10 ms 47.08 EXT PU SUPPLY Bit pointer C.False BRAKE CHOPPER 48.01 BC ENABLE enum 0…2 1 = 1 48.02 BC RUN-TIME ENA Bit pointer 2 ms...
Page 296 Index Parameter Type Range Unit FbEq Update Data Save Page time length 52.12 FBA DATA IN12 UINT32 0…9999 1 = 1 FBA DATA OUT 53.01 FBA DATA OUT1 UINT32 0…9999 1 = 1 … … … … … … … …...
Page 297 Index Parameter Type Range Unit FbEq Update Data Save Page time length 60.14 MINIMUM POS REAL -32768… 60.09 2 ms -32768 32768 60.15 POS THRESHOLD REAL -32768… 60.09 2 ms 32768 POS CORRECTION 62.01 HOMING METHOD UINT32 0…35 1 = 1 10 ms 62.02 HOMING enum...
Page 298 Index Parameter Type Range Unit FbEq Update Data Save Page time length 65.02 PROF SET SEL Bit pointer 2 ms P.02.01.04 65.03 POS START 1 Bit pointer 2 ms P.02.01.03 65.04 POS REF 1 SEL enum 0…8 1 = 1 2 ms 65.05 POS SPEED 1 REAL...
Page 299 Index Parameter Type Range Unit FbEq Update Data Save Page time length 68.03 SYNC GEAR DIV UINT32 1…2 1 = 1 10 ms 68.04 SYNC GEAR ADD REAL -30…30 1 = 1000 500 µs 68.05 SYNC REF FTIME REAL 0…1000 1 = 1 10 ms 68.06 SYNCFILT DLY LIM...
Page 300 Index Parameter Type Range Unit FbEq Update Data Save Page time length 91.21 SSI POSITION MSB UINT32 1…126 1 = 1 91.22 SSI REVOL MSB UINT32 1…126 1 = 1 91.23 SSI DATA FORMAT UINT32 0…1 1 = 1 91.24 SSI BAUD RATE UINT32 0…7 1 = 1...
Page 301 Index Parameter Type Range Unit FbEq Update Data Save Page time length 97.07 LQ USER REAL24 0…10 p.u. 1 = 100000 97.08 PM FLUX USER REAL24 0…2 p.u. 1 = 100000 97.09 RS USER SI REAL24 0…100 ohm 1 = 100000 97.10 RR USER SI REAL24 0…100...
Page 302 Parameter data...
Page 303: Fault Tracing
9102…9106 = Internal error. Contact an ABB representative. 9107…9108 = Application initialization fault. 9109…9111 = Internal error. Contact an ABB representative. 9112 = Problem with ACSM1 variant data (Speed / Motion). “A-” followed by Alarm. See section Alarm messages generated by the drive on page 305.
Page 304: How To Reset
How to reset The drive can be reset either by pressing the reset key on the PC tool ( ) or control panel (RESET) or switching the supply voltage off for a while. When the fault has been removed, the motor can be restarted. A fault can also be reset from an external source by parameter 10.08 FAULT RESET SEL.
Page 305: Alarm Messages Generated By The Drive
(0xFF7A) connected to connector X6 is manual and Application guide - Safe torque Programmable fault: 46.07 lost while drive is stopped and off function for ACSM1, ACS850 and STO DIAGNOSTIC parameter 46.07 STO ACQ810 drives (3AFE68929814 [English]). DIAGNOSTIC is set to Alarm.
Page 306 Code Alarm Cause What to do (fieldbus code) 2007 RUN ENABLE No Run enable signal is Check setting of parameter 10.09 RUN received. ENABLE. Switch signal on (eg, in the fieldbus (0xFF54) Control Word) or check wiring of selected source. 2008 ID-RUN Motor identification run is on.
Page 307 Code Alarm Cause What to do (fieldbus code) 2013 DEVICE OVERTEMP Measured drive temperature Check ambient conditions. has exceeded internal alarm (0x4210) Check air flow and fan operation. limit. Check heatsink fins for dust pick-up. Check motor power against unit power. 2014 INTBOARD OVERTEMP Interface board (between power...
Page 308 Code Alarm Cause What to do (fieldbus code) 2021 NO MOTOR DATA Parameters in group 99 have Check that all the required parameters in not been set. group 99 have been set. (0x6381) Note: It is normal for this alarm to appear during the start-up until the motor data is entered.
Page 309 Code Alarm Cause What to do (fieldbus code) 2024 LATCH POS 1 FAILURE Position latch 1 from encoder 1 Check latch source parameter settings: 62.04 or 2 has failed. HOME SWITCH TRIG, 62.12 PRESET TRIG, (0x7382) 62.15 TRIG PROBE1 62.17 TRIG PROBE2.
Page 310 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. due to failure in writing new (0x7387) (position) reference for emulation. 2030...
Page 311 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 message buffer overflow. (0x7520) Programmable fault: 57.02...
Page 312 Code Alarm Cause What to do (fieldbus code) 2041 MOTOR NOM VALUE The motor configuration Check the settings of the motor configuration parameters are set incorrectly. parameters in group 99. (0x6383) The drive is not dimensioned Check that the drive is sized correctly for the correctly.
Page 313 Code Alarm Cause What to do (fieldbus code) 2080 ENC 2 PULSE Encoder 2 is receiving too high Check encoder settings. FREQUENCY data flow (pulse frequency). Change parameters 93.03 ENC1 SP (0x738C) CALCMODE 93.13 ENC2 SP CALCMODE to use only one channel pulses/ edges.
Page 314: Fault Messages Generated By The Drive
Check the braking chopper cabling. Extension: 1 Short-circuit in the upper Contact your local ABB representative. transistor of the U-phase. Extension: 2 Short-circuit in the lower Contact your local ABB representative. transistor of the U-phase.
Page 315 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 316 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. phase U2 and W2 current (0x3183) measurement gain is too great. 0014 CABLE CROSS CON Incorrect input power and motor Check input power connections.
Page 317 TORQUE. Make sure that 20.06 MAXIMUM low. TORQUE > 100%. Extension: 5…8 Internal error. Contact your local ABB representative. Extension: 9 Asynchronous motors only: Contact your local ABB representative. Acceleration did not finish within reasonable time. Extension: 10 Asynchronous motors only: Contact your local ABB representative.
Page 318 (0x8182) connected between X6:1 and hardware manual and Application guide - X6:3 is lost while drive is at Safe torque off function for ACSM1, ACS850 stopped state and parameter and ACQ810 drives (3AFE68929814 46.07 STO DIAGNOSTIC [English]).
Page 319 Application guide - Programmable fault: 46.07 connector X6 is lost Safe torque off function for ACSM1, ACS850 STO DIAGNOSTIC and ACQ810 drives (3AFE68929814 - during drive start or drive run [English]). - while drive is stopped and parameter 46.07 STO...
Page 320 Reduce the number of parameters. firmware maximum. Fault code extension: Drive internal fault. Contact your local ABB representative. Other 0038 OPTION COMM LOSS Communication between drive Check that option modules are properly and option module (FEN-xx connected to Slot 1 and (or) Slot 2.
Page 321 Code Fault Cause What to do (fieldbus code) 0039 ENCODER1 Encoder 1 feedback fault If fault appears during first start-up before encoder feedback is used: (0x7301) - 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 322 Check fieldbus parameter settings. See COMM LOSS FUNC module is lost. parameter group on page 205. Check cable connections. Check if communication master can communicate. 0046 FB MAPPING FILE Drive internal fault Contact your local ABB representative. (0x6306) Fault tracing...
Page 323 ENC CABLE FAULT 90.10 ENC PAR REFRESH. 0052 D2D CONFIG Configuration of the drive-to- Contact your local ABB representative. drive link has failed for a reason (0x7583) other than those indicated by alarm 2042, for example start inhibition is requested but not granted.
Page 324 1 and/or 2 for five consecutive drive. reference handling cycles. Check the drive-to-drive link wiring. 0054 D2D BUF OVLOAD Transmission of drive-to-drive Contact your local ABB representative. references failed because of (0x7520) message buffer overflow. Programmable fault: 57.02 COMM LOSS FUNC...
Page 325 Code Fault Cause What to do (fieldbus code) 0067 FPGA ERROR1 Drive internal fault Contact your local ABB representative. (0x5401) 0068 FPGA ERROR2 Drive internal fault Contact your local ABB representative. (0x5402) 0069 ADC ERROR Drive internal fault Contact your local ABB representative.
Page 326 Contact your local ABB representative. (0x6100) 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. Fault tracing...
Page 327 Memory unit full Reduce the application size and reload the application. Fault code extension: Corrupted application file Reload application. Other If fault is still active, contact your local ABB representative. 0310 USERSET LOAD Loading of user set is not Reload. successfully completed...
Page 328 Fault Cause What to do (fieldbus code) 0316 DAPS MISMATCH Mismatch between firmware Contact your local ABB representative. version (in JMU) and power unit (0x5484) logic versions. 0317 SOLUTION FAULT Fault generated by function Check the usage of the SOLUTION_FAULT block SOLUTION_FAULT in the block in the application program.
Page 329: 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 may vary depending on the drive application used. The block execution time describes how much CPU load (1.21 CPU USAGE) the...
Page 330: Alphabetical Index
Alphabetical index ABS ....331 EXPT ....332 OR.
Page 331: Arithmetic
Arithmetic (10001) Illustration 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 332: 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 333: Move
MOVE (10005) Illustration 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). Inputs The input data type and number of inputs (2…32) are selected by the user.
Page 334: 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 335: Bitstring
Bitstring (10010) Illustration 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 336: Rol
(10012) Illustration 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 337: Ror
Outputs Output (O): INT, DINT (10014) Illustration 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 338: Shr
Inputs The input data type is selected by the user. Number of bits (BITCNT): INT; DINT Input (I): INT, DINT Outputs Output (O): INT; DINT (10016) Illustration 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 339: Xor
(10017) Illustration Execution time 1.24 µs (when two inputs are used) + 0.72 µs (for every additional input). When all inputs are used, the execution time is 22.85 µs. 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.
Page 340: Bitwise
Bitwise BGET (10034) Illustration 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. Inputs The input data type is selected by the user.
Page 341: Bitor
BITOR (10036) Illustration 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 1 1 1 0 0 1 1 1 1 1 1 0 1 1 1 1 1 1 0 1 1 0 1 1 1 0 1 1 1 1 1 1 Input...
Page 342: Reg
Outputs Output (O): INT, DINT (10038) Illustration 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 343: Sr-D
SR-D (10039) Illustration 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 344: Communication
Communication See also Appendix B – Drive-to-drive link (page 431). D2D_Conf (10092) Illustration Execution time Operation Defines handling interval for drive-to-drive references 1 and 2, and the address (group number) for standard (non-chained) multicast messages. The values of the Ref1/2 Cycle Sel inputs correspond to the following intervals: Value Handling interval Default (500 µs for reference 1;...
Page 345: D2D_Mcasttoken
D2D_McastToken (10096) Illustration 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.
Page 346 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 347: Ds_Readlocal
The Target Node/Grp input specifies the target drive or multicast group of drives depending on message type. See the message type explanations above. Note: The input must be connected in DriveSPC even if not used. The LocalDsNr input specifies the number of the local dataset used as the source or the target of the message.
Page 348: Ds_Writelocal
Operation Reads the dataset defined by the LocalDsNr input from the local dataset table. One dataset contains one 16-bit and one 32-bit word which are directed to the Data1 16B and Data2 32B outputs respectively. The LocalDsNr input defines the number of the dataset to be read. The error codes indicated by the Error output are as follows: Description LOCAL_DS_ERR: LocalDsNr out of range (16…199)
Page 349: Comparison
Comparison (10040) Illustration 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 350 > (10042) Illustration 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 (IN1 > IN2) & (IN2 > IN3) & … & (IN31 > IN32). Otherwise the output is 0.
Page 351 < (10044) Illustration 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 Output (OUT) is 1 if (IN1 < IN2) & (IN2 < IN3) & … & (IN31 < IN32). Otherwise the output is 0.
Page 352: Conversion
Conversion BOOL_TO_DINT (10018) Illustration Execution time 13.47 µs Operation The output (OUT) value is a 32-bit integer value formed from the boolean input (IN1…IN31 and SIGN) values. IN1 = bit 0 and IN31 = bit 30. Example: IN1 = 1, IN2 = 0, IN3…IN31 = 1, SIGN = 1 OUT = 1111 1111 1111 1111 1111 1111 1111 1101 IN31…IN1 SIGN...
Page 353: Bool_To_Int
Input Sign input (SIGN): Boolean Input (IN1…IN31): Boolean Output Output (OUT): DINT (31 bits + sign) BOOL_TO_INT (10019) Illustration Execution time 5.00 µs Operation The output (OUT) value is a 16-bit integer value formed from the boolean input (IN1…IN15 and SIGN) values. IN1 = bit 0 and IN15 = bit 14. Example: IN1…IN15 = 1, SIGN = 0 OUT = 0111 1111 1111 1111...
Page 354: Dint_To_Bool
DINT_TO_BOOL (10020) Illustration Execution time 11.98 µs Operation The boolean output (OUT1…OUT32) values are formed from the 32-bit integer input (IN) value. Example: IN = 0 111 1111 1111 1111 1111 1111 1111 1100 OUT32…OUT1 SIGN Inputs Input (IN): DINT Outputs Output (OUT1…OUT32): Boolean Sign output (SIGN): Boolean...
Page 355: Dint_To_Int
DINT_TO_INT (10021) Illustration 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 -32767 Inputs Input (I): DINT Outputs Output (O): INT...
Page 356: Dint_To_Realn_Simp
DINT_TO_REALn_SIMP (10022) Illustration 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 1001 The calculated REAL/REAL24 value exceeds the minimum value of the selected data type range.
Page 357: Int_To_Bool
INT_TO_BOOL (10024) Illustration Execution time 4.31 µs Operation The boolean output (OUT1…OUT16) values are formed from the 16-bit integer input (IN) value. Example: IN = 0111 1111 1111 1111 OUT16…OUT1 SIGN Inputs Input (IN): INT Outputs Output (OUT1…OUT16): Boolean Sign output (SIGN): Boolean Standard function blocks...
Page 358: Int_To_Dint
INT_TO_DINT (10025) Illustration Execution time 0.33 µs 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 Execution time 1.35 µs Operation Output (O) is the REAL24 equivalent of the REAL input (I).
Page 359: Real24_To_Real
REAL24_TO_REAL (10027) Illustration Execution time 1.20 µs Operation Output (O) is the REAL equivalent of the REAL24 input (I). The output value is limited to the maximum value of the data type range. Example: I = 0010 0110 1111 1111 1111 1111 0000 0000 Fractional value Integer value O = 0000 0000 0010 0110 1111 1111 1111 1111...
Page 360: Realn_To_Dint_Simp
REALn_TO_DINT_SIMP (10028) Illustration Execution time 5.54 µs Operation Output (O) is the 32-bit integer equivalent of the REAL/REAL24 input (I) multiplied by the scale input (SCALE). Error codes are indicated by the error output (ERRC) as follows: Error code Description No error 1001 The calculated integer value exceeds the minimum value.
Page 361: Counters
Counters (10047) Illustration 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 362: Ctd_Dint
CTD_DINT (10046) Illustration 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 (LD) value is 1, the preset input (PV) value is stored as the counter output (CV) value.
Page 363: 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 364: Ctud
Inputs Counter input (CU): Boolean Reset input (R): Boolean Preset input (PV): DINT Outputs Counter output (CV): DINT Status output (Q): Boolean CTUD (10051) Illustration Execution time 1.40 µs Standard function blocks...
Page 365 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) is 0 and the load input (LD) is 0. The counter output (CV) value is decreased by 1 if the counter input (CD) changes from 0 ->...
Page 366: Ctud_Dint
CTUD_DINT (10050) Illustration Execution time 1.40 µs Operation The counter output (CV) value is increased by 1 if the counter input (CU) changes from 0 -> 1 and the reset input (R) is 0 and the load input (LD) is 0. The counter output (CV) value is decreased by 1 if the counter input (CD) changes from 0 ->...
Page 367 Inputs Up counter input (CU): Boolean Down counter input (CD): Boolean Reset input (R): Boolean Load input (LD): Boolean Preset input (PV): DINT Outputs Counter output (CV): DINT Up counter status output (QU): Boolean Down counter status output (QD): Boolean Standard function blocks...
Page 368: Edge & Bistable
Edge & bistable FTRIG (10030) Illustration 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 369: Rtrig
Operation The output (Q1) is 1 if the set input (S) is 1 and the reset input (R1) is 0. The output will retain the previous output state if the set input (S) and the reset input (R1) are 0. The output is 0 if the reset input is 1.
Page 370 (10033) Illustration 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 371: Extensions
Extensions FIO_01_slot1 (10084) Illustration 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 372: Fio_01_Slot2
FIO_01_slot2 (10085) Illustration 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 373: Fio_11_Ai_Slot1
FIO_11_AI_slot1 (10088) Illustration Execution time 11.1 µs Operation The block controls the three analogue inputs (AI1…AI3) of a FIO-11 Analog I/O Extension mounted on slot 1 of the drive control unit. The block outputs both the unscaled (AIx) and scaled (AIx scaled) actual values of each analogue input.
Page 374 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 375: Fio_11_Ai_Slot2
FIO_11_AI_slot2 (10089) Illustration Execution time 11.1 µs Operation The block controls the three analogue inputs (AI1…AI3) of a FIO-11 Analog I/O Extension mounted on slot 2 of the drive control unit. The block outputs both the unscaled (AIx) and scaled (AIx scaled) actual values of each analogue input.
Page 376 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 377: Fio_11_Ao_Slot1
FIO_11_AO_slot1 (10090) Illustration 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. The block converts the input signal (AO scaled) to a 0…20 mA signal (AO) that drives the analogue output;...
Page 378: 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 379 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 380: Fio_11_Dio_Slot1
FIO_11_DIO_slot1 (10086) Illustration 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. 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 381: Fio_11_Dio_Slot2
FIO_11_DIO_slot2 (10087) Illustration 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 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 382: Feedback & Algorithms
Feedback & algorithms CYCLET (10074) Illustration Execution time 0.00 µs Operation Output (OUT) is the time level of the CYCLET function block. Inputs Outputs Output (OUT): DINT. 1 = 1 µs DATA CONTAINER (10073) Illustration Execution time 0.00 µs Operation Output (OUT) is an array of data with values 1…99.
Page 383: Fung-1V
FUNG-1V (10072) Illustration Execution time 9.29 µs 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 384: Int
Outputs Y value output (Y): DINT, INT, REAL, REAL24 Balance reference output (BALREFO): DINT, INT, REAL, REAL24 Error output (ERROR): Boolean (10065) Illustration 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.
Page 385: Motpot
Outputs Output (O): REAL High limit output (O=HL): Boolean Low limit output (O=LL): Boolean MOTPOT (10067) Illustration 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 386: Pid
(10075) Illustration Execution time 15.75 µs Standard function blocks...
Page 387 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 388: Ramp
Inputs Actual input (IN_act): REAL Reference input (IN_ref): REAL 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 Integrator reset input (I_reset): Boolean Balance input (BAL): Boolean Balance reference input (BAL_ref): REAL...
Page 389: Reg-G
Inputs Input (IN): REAL Maximum positive step change input (STEP+): REAL Maximum negative step change input (STEP-): REAL Ramp-up value per second input (SLOPE+): REAL Ramp-down value per second 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...
Page 390 Operation Combines the array (group of variables) (if any) on the EXP input with the values of the I1…I32 pins to produce an output array. The data type of the arrays can be INT, DINT, REAL16, REAL24 or Boolean. The output array consists of the data from the EXP input and the values of the I1…In (in this order).
Page 391: Solution_Fault
SOLUTION_FAULT (10097) Illustration Execution time Operation When the block is enabled (by setting the Enable input to 1), a fault (F-0317 SOLUTION FAULT) is generated by the drive. The value of the Flt code ext input is recorded by the fault logger.
Page 392: Filters
Filters FILT1 (10069) Illustration 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 < 32767. If the ratio exceeds 32767, it is considered as 32767.
Page 393: Parameters
Parameters GetBitPtr (10099) Illustration 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 394: Parrdintr
Operation Reads the scaled 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 395: 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 396: Program Structure
Program structure (10105) Illustration Execution time Operation The BOP (Bundle OutPut) block collects the outputs of several different sources. The sources are connected to the B_Output pins. The B_Output pin that changed last is relayed to the Output pin. The block is intended for use with conditional IF-ENDIF structures. See the example under the block.
Page 397: Elseif
ELSEIF Illustration Execution time Operation See description of block. Inputs Input (COND): Boolean Outputs ENDIF Illustration Execution time Operation See description of block. Inputs Outputs Standard function blocks...
Page 398 (10103) Illustration Execution time Operation The IF, ELSE, ELSEIF and ENDIF blocks define, by Boolean logic, which parts of the application program are executed. If the condition input (COND) is true, the blocks between the IF block and the next ELSEIF, ELSE or ENDIF block (in execution order) are run.
Page 399: Selection
Selection LIMIT (10052) Illustration 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. Minimum input limit (MN): INT, DINT, REAL, REAL24 Input (IN): INT, DINT, REAL, REAL24 Maximum input limit (MX): INT, DINT, REAL, REAL24...
Page 400: 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 Execution time 0.70 µs...
Page 401: Switch & Demux
Switch & Demux DEMUX-I (10061) Illustration Execution time 1.38 µs (when two outputs are used) + 0.30 µs (for every additional output). When all outputs 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). All other outputs are 0.
Page 402: 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 403: Switchc
SWITCHC (10064) Illustration 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 404: Timers
Timers MONO (10057) Illustration 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 405: Tof
(10058) Illustration 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 (ET) starts when the input is set to 0 and stops when the input is set to 1.
Page 406 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 (ET) starts when the input is set to 1 and stops when the input is set to 0.
Page 407: Application Program Template
Application program template What this chapter contains This chapter presents the application program template as displayed by the DriveSPC tool after empty template upload (Drive - Upload Template from Drive). Application program template...
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Page 423: Appendix A - Fieldbus Control
Appendix A – Fieldbus control What this chapter contains The chapter describes how the drive can be controlled by external devices over a communication network (fieldbus) through an optional fieldbus adapter module. System overview The drive can be connected to an external control system via a fieldbus adapter module.
Page 424: Setting Up Communication Through A Fieldbus Adapter Module
• EtherCAT® (FECA-xx adapter) • MACRO (FMAC-xx adapter) • ControlNet™ (FCNA-xx adapter) • EthernetPOWERLINK (FEPL-xx adapter) • Sercos II (FSEA-xx adapter). 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.
Page 425 Setting for Parameter Function/Information fieldbus control 51.30 MAPPING FILE – Displays the fieldbus adapter module mapping file revision stored in the memory of the drive. 51.31 D2FBA COMM – Displays the status of the fieldbus adapter module communication. 51.32 FBA COMM SW –...
Page 426: Setting The Drive Control Parameters
Setting the drive control parameters The Setting for fieldbus control column gives the value to use when the fieldbus interface is the desired source or destination for that particular signal. The Function/ Information column gives a description of the parameter. Setting for Parameter Function/Information...
Page 427: Basics Of The Fieldbus Adapter Interface
Basics of the fieldbus adapter 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 bits) in each direction. Data transmitted from the drive to the fieldbus controller is defined by parameters 52.01 FBA DATA IN1…52.12 FBA DATA IN12 and data transmitted from the fieldbus...
Page 428: Actual Values
With other profiles (eg, 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 429: 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 430 Appendix A – Fieldbus control...
Page 431: 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 function blocks in the communication are also given starting on page 439. 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 432: 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 433: Types Of Messaging
The communication status of the followers can be supervised by a periodic supervision message from the master to the individual followers (see parameters 57.04 FOLLOWER MASK 1 57.05 FOLLOWER MASK Drive-to-drive function blocks can be used in the DriveSPC tool to enable additional communication methods (such as follower-to-follower messaging) and to modify the use of datasets between the drives.
Page 434: 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 435: Follower Point-To-Point Messaging
Follower point-to-point messaging 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 point-to-point message. The target drive is specified using the node address.
Page 436: Broadcast Messaging
Follower-to-follower(s) multicasting Token Master Follower Follower Follower Dataset table Dataset table Dataset table Dataset table Target Grp = X (LocalDsNr) (RemoteDsNr) (RemoteDsNr) Std Mcast Group = X Std Mcast Group = X Broadcast messaging In broadcasting, the master sends one dataset to all followers, or a follower sends one dataset to all other followers (after receiving a token from the master).
Page 437: 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 438 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 439: 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 344. 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 440: 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 441: Example Of Follower Point-To-Point Messaging
Example of follower point-to-point messaging Follower 1 (node 1) Follower 2 (node 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.
Page 442: 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 443: Appendix C - Homing Methods
Appendix C – Homing methods What this chapter contains This chapter describes homing methods 1…35. Negative direction means that the movement is to the left and positive direction means that the movement is to the right. The following picture presents an example of a homing application: Negative limit switch (Source selected by par.
Page 444 Homing method 1 The status of the home switch at start is insignificant. Homing method 1 Homing start (par. 62.03) Negative limit switch (par. 62.05) Index pulse Start in the negative direction (left) by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 445 Homing method 3 Homing method 3 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the home switch signal is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 446 Homing method 4 Homing method 4 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the home switch signal is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 447 Homing method 5 Homing method 5 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the home switch signal is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 448 Homing method 6 Homing method 6 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the home switch signal is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 449 Homing method 7 Homing method 7 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the home switch signal is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 450 Homing method 7 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the home switch signal is 1 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 451 Homing method 8 Homing method 8 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 452 Homing method 8 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 1 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 453 Homing method 9 Homing method 9 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 454 Homing method 9 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 1 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 455 Homing method 10 Homing method 10 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 456 Homing method 10 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 1 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 457 Homing method 11 Homing method 11 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 458 Homing method 11 Homing start (par. 62.03) Home switch (par. 62.04) Negative limit switch (par. 62.05) Index pulse If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 459 Homing method 12 Homing method 12 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 460 Homing method 12 Homing start (par. 62.03) Home switch (par. 62.04) Negative limit switch (par. 62.05) Index pulse If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 461 Homing method 13 Homing method 13 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 0: Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 462 Homing method 13 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 1: Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 463 Homing method 14 Homing method 14 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 464 Homing method 14 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 1 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 465 Homing method 17 The status of the home switch at start is insignificant. Homing method 17 Homing start (par. 62.03) Negative limit switch (par. 62.05) Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 466 Homing method 19 Homing method 19 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 467 Homing method 20 Homing method 20 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 468 Homing method 21 Homing method 21 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 469 Homing method 22 Homing method 22 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 470 Homing method 23 Homing method 23 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 471 Homing method 23 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 1 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 472 Homing method 24 Homing method 24 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 473 Homing method 24 Homing start (par. 62.03) Home switch (par. 62.04) Positive limit switch (par. 62.06) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 474 Homing method 25 Homing method 25 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0: (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 475 Homing method 25 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 1: (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 476 Homing method 26 Homing method 26 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 477 Homing method 26 Homing start (par. 62.03) Home switch (par. 62.04) Positive limit switch (par. 62.06) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 478 Homing method 27 Homing method 27 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 479 Homing method 27 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 1 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 480 Homing method 28 Homing method 28 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 481 Homing method 28 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 1: (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 482 Homing method 29 Homing method 29 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 483 Homing method 29 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 1 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 484 Homing method 30 Homing method 30 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 485 Homing method 30 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 1 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 486 Homing method 33 The status of the home switch at start is insignificant. Homing method 33 Homing start (par. 62.03) Index pulse Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 487: Appendix D - Application Examples
Appendix D – Application examples What this chapter contains This chapter contains the following application examples: • Position system commissioning • Absolute linear positioning • Relative linear positioning • Synchronisation through drive-to-drive link • Synchronisation through drive-to-drive link with synchron gear •...
Page 488: Basic Motion Control Configuration
× M (rev) / 20 × 6 mm / rev == n × 0.3 mm / rev The PLC controls the ACSM1 drive through a PROFIBUS DP bus using the PROFIdrive positioning mode. The drive is position-controlled and uses an absolute encoder (4096/EnDat) installed on the motor.
Page 489 34.04 EXT1 CTRL MODE2 (8) Homing 34.05 EXT2 CTRL MODE1 (9) Prof Vel 50.01 FBA ENABLE (1) Enable 50.04 FBA REF1 MODESEL (3) Position 50.05 FBA REF2 MODESEL (4) Velocity 51.05 PROFILE (4) PROFIdrive positioning mode 57.01 LINK MODE (2) Master (1) Follower 57.03 NODE ADDRESS...
Page 490: Example - Position System Commissioning
Example – Position system commissioning In order to commission the position system properly, you must check and configure the settings of the following position parameters. Upon the start of the commissioning procedure, these parameters must be at their default values. Commissioning procedure 1.
Page 491: Example - Absolute Linear Positioning
Example – Absolute linear positioning FEN-11 FPBA-01 EnDat 400 mm In this example, the drive uses absolute positioning in linear mode. Five references are given: 75 mm, 150 mm, 275 mm, 400 mm and 0 mm. Parameter settings Index Parameter Value 22.03 MOTOR GEAR MUL...
Page 492: Example - Relative Linear Positioning
Example – Relative linear positioning FEN-11 +75 mm +125 mm +125 mm +75 mm FPBA-01 -400 mm EnDat 400 mm In this example, the drive uses relative positioning in linear mode. Five references are given: 75 mm, 75 mm, 125 mm, 125 mm and -400 mm. Parameter settings Index Parameter...
Page 493: Example - Synchronisation Through Drive-To-Drive Link
Example – Synchronisation through drive-to-drive link Follower Master FEN-11 FPBA-01 FEN-11 EnDat FPBA-01 EnDat 400 mm In this example, there are two drives, the first of which is position-controlled and uses absolute positioning in linear mode. The second drive is synchronised with the first one via the drive-to-drive link.
Page 494 Parameter settings Index Parameter Value 22.03 MOTOR GEAR MUL 22.04 MOTOR GEAR DIV 34.03 EXT1 CTRL MODE1 (6) Position (7) Synchron 57.01 LINK MODE (2) Master (1) Follower 57.03 NODE ADDRESS (User setting) 57.06 REF 1 SRC P.01.12 (1.12 POS ACT) 57.08 FOLLOWER CW SRC...
Page 495: Example - Synchronisation Through Drive-To-Drive Link With Synchron Gear
Example – Synchronisation through drive-to-drive link with synchron gear Follower Master FEN-11 FPBA-01 Follower FEN-11 EnDat FPBA-01 400 mm EnDat Master This example is similar to Example – Synchronisation through drive-to-drive link; however, the follower here is synchronised to the master but with half the speed and half the target position.
Page 496 Parameter settings Index Parameter Value 22.03 MOTOR GEAR MUL 22.04 MOTOR GEAR DIV 34.03 EXT1 CTRL MODE1 (6) Position (7) Synchron 57.01 LINK MODE (2) Master (1) Follower 57.03 NODE ADDRESS (User setting) 57.06 REF 1 SRC P.01.12 (1.12 POS ACT) 57.08 FOLLOWER CW SRC...
Page 497: Example - Cam Synchronisation
Example – Cam synchronisation Follower 400 mm Master FEN-11 0 mm FPBA-01 Follower FEN-11 EnDat FPBA-01 400 mm EnDat Master This example is similar to Example – Synchronisation through drive-to-drive link; however, the follower here is cam synchronised to the master. The master is given two position references in an automatic sequence (400 mm and 0 mm) while the follower runs in sync with it.
Page 498 Parameter settings Index Parameter Value 22.03 MOTOR GEAR MUL 22.04 MOTOR GEAR DIV 34.03 EXT1 CTRL MODE1 (6) Position (7) Synchron 57.01 LINK MODE (2) Master (1) Follower 57.03 NODE ADDRESS (User setting) 57.06 REF 1 SRC P.01.12 (1.12 POS ACT) 57.08 FOLLOWER CW SRC...
Page 499: Example - Homing
Example – Homing Homing method 23 Homing start (par. 62.03) Home switch (par. 62.04) Positive limit switch (par. 62.06) ENC1 DI1 FEN-11 FPBA-01 Positive limit switch Negative limit switch Home switch EnDat In this example, the drive performs a homing using Homing method 23. When homing is started, the home switch is not active, so the machine is moved in the positive (right) direction.
Page 500 Appendix D – Application examples...
Page 501: Appendix E - Control Chain And Drive Logic Diagrams
Appendix E – Control chain and drive logic diagrams What this chapter contains This chapter presents the drive control chain and logic. Appendix E – Control chain and drive logic diagrams...
Page 502 Appendix E – Control chain and drive logic diagrams...
Page 503 Appendix E – Control chain and drive logic diagrams...
Page 504 Appendix E – Control chain and drive logic diagrams...
Page 505 Appendix E – Control chain and drive logic diagrams...
Page 506 Appendix E – Control chain and drive logic diagrams...
Page 507 Appendix E – Control chain and drive logic diagrams...
Page 508 Appendix E – Control chain and drive logic diagrams...
Page 509: Product And Service Inquiries
Product and service inquiries Address any inquiries about the product to your local ABB representative, quoting the type designation 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 510 Contact us www.abb.com/drives www.abb.com/drivespartners...

ABB ACSM1 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

Appendix A - Fieldbus Control

Quick Links

Related Manuals for ABB ACSM1

Summary of Contents for ABB ACSM1