Page 1 ABB motion control drives Firmware manual ACSM1 speed and torque 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 Thermal motor protection ............41 DC voltage control features .
Page 7 AO1 ..............105 AO2 .
Page 8 Group 93 PULSE ENC CONF ........... 197 PULSE ENC CONF .
Page 9 SHL ..............261 SHR .
Page 10 FIO_01_slot2 ............. . 296 FIO_11_AI_slot1 .
Page 11 Providing feedback on ABB Drives manuals ........
Page 12 Table of contents...
Page 13: Introduction To The Manual
The chapter includes a description of the contents of the manual. In addition it contains information about the compatibility, safety and intended audience. Compatibility The manual is compatible with ACSM1 Speed and Torque Control program version 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: 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 39: 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 40 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 41: 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 42 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 43 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 44: 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 45: 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 46 + 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 47: 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 48: 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 49 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 50 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 51: 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 52: 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 53 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 54 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 55: Emergency Stop
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 56 For more information, refer to Application Guide: Functional Safety Solutions with ACSM1 Drives (3AUA0000031517 [English]). Drive control and features...
Page 57: 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 58: 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 59: 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 60 Drive control and features...
Page 61: 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 62 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 63: 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 64: 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 65: 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 117) Filtered actual speed in rpm. Used speed feedback is defined by parameter 22.01 SPEED FB SEL.
Page 66: Pos Feedback
1.10 ENCODER 2 SPEED FW block: ENCODER (page 186) Encoder 2 speed in rpm. 1.11 ENCODER 2 POS FW block: ENCODER (page 186) Actual position of encoder 2 within one revolution. Firmware block: POS FEEDBACK POS FEEDBACK (60) 1.12 POS ACT FW block: POS FEEDBACK (see above)
Page 67 1.22 INVERTER POWER FW block: ACTUAL VALUES (see above) Drive output power in kilowatts. 1.26 ON TIME COUNTER FW block: ACTUAL VALUES (see above) This counter runs when the drive is powered. The counter can be reset using the DriveStudio tool. 1.27 RUN TIME COUNTER FW block:...
Page 68: 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 99) Status word of the digital inputs. Example: 000001 = DI1 is on, DI2 to DI6 are off. 2.02 RO STATUS FW block: (page 99) Status of relay output.
Page 69 2.12 FBA MAIN CW FW block: FIELDBUS (page 172) Control Word for fieldbus communication. Log. = Logical combination (ie, Bit AND/OR Selection parameter). Par. = Selection parameter. See State diagram on page 349. 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 70 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 47. 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 71 2.13 FBA MAIN SW FW block: FIELDBUS (page 172) Status Word for fieldbus communication. See State diagram on page 349. 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 72 2.13 FBA MAIN SW (continued from previous page) Name Value Information 18…26 Not in use with Speed and Torque Control Program REQUEST CTL Control word is requested from fieldbus. Control word is not requested from fieldbus. SW B28 Programmable status bits (unless fixed by the used profile).
Page 73 2.18 D2D FOLLOWER CW FW block: DRIVE LOGIC (page 88) Drive-to-drive control word sent to the followers by default. See also firmware block COMMUNICATION on page 181. Information Stop. Start. 2…6 Reserved. Run enable. Reset. 9…14 Reserved. EXT1/EXT2 selection. 0 = EXT1 active, 1 = EXT2 active. 2.19 D2D REF1 FW block:...
Page 74: Group 06 Drive Status
Group 03 CONTROL VALUES 3.01 SPEED REF1 FW block: SPEED REF SEL (page 123) Speed reference 1 in rpm. 3.02 SPEED REF2 FW block: SPEED REF SEL (page 123) Speed reference 2 in rpm. 3.03 SPEEDREF RAMP IN FW block: SPEED REF MOD (page 124) Used speed reference ramp input in rpm.
Page 75 3.15 BRAKE COMMAND FW block: MECH BRAKE CTRL (page 153) 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 52. 3.16 FLUX REF USED FW block:...
Page 76: Group 08 Alarms & Faults
Group 06 DRIVE STATUS 6.01 STATUS WORD 1 FW block: DRIVE LOGIC (page 88) 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 77 6.02 STATUS WORD 2 FW block: DRIVE LOGIC (page 88) 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 78 6.03 SPEED CTRL STAT FW block: DRIVE LOGIC (page 88) 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 79 6.07 TORQ LIM STATUS FW block: DRIVE LOGIC (page 88) 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 80 6.17 BIT INVERTED SW FW block: None Shows the inverted values of the bits selected by parameters 33.17...33.22. Name Information See parameter 33.17 BIT0 INVERT SRC. INVERTED BIT0 See parameter 33.18 BIT1 INVERT SRC. INVERTED BIT1 See parameter 33.19 BIT2 INVERT SRC.
Page 81: Group 09 System Info
Group 08 ALARMS & FAULTS 8.01 ACTIVE FAULT FW block: FAULT FUNCTIONS (page 163) Fault code of the latest (active) fault. 8.02 LAST FAULT FW block: FAULT FUNCTIONS (page 163) Fault code of the 2nd latest fault. 8.03 FAULT TIME HI FW block: FAULT FUNCTIONS (page 163)
Page 82 8.06 ALARM LOGGER 2 FW block: FAULT FUNCTIONS (page 163) 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 83 8.08 ALARM LOGGER 4 FW block: FAULT FUNCTIONS (page 163) 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 84 8.15 ALARM WORD 1 FW block: FAULT FUNCTIONS (page 163) 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 85 8.17 ALARM WORD 3 FW block: FAULT FUNCTIONS (page 163) 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 86: Group 10 Start/Stop
09 SYSTEM INFO 9.01 DRIVE TYPE FW block: None Displays the drive application type. (1) ACSM1 Speed: Speed and torque control application 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,...
Page 87 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 88: 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 89 Block outputs located in other 2.18 D2D FOLLOWER CW (page 73) parameter groups 6.01 STATUS WORD 1 (page 76) 6.02 STATUS WORD 2 (page 77) 6.03 SPEED CTRL STAT (page 78) 6.05 LIMIT WORD 1 (page 78) 6.07 TORQ LIM STATUS (page 79) Outputs 6.09…6.11 are not used with the Speed and Torque Control Program.
Page 90 Bit pointer: Group, index and bit 10.03 EXT1 START IN2 FW block: DRIVE LOGIC (see above) Selects the source 2 for the start and stop commands in external control location EXT1. See parameter 10.01 EXT1 START FUNC selection 3-wire. Note: This parameter cannot be changed while the drive is running. Bit pointer: Group, index and bit 10.04 EXT2 START FUNC FW block:...
Page 91 10.05 EXT2 START IN1 FW block: DRIVE LOGIC (see above) Selects the source 1 for the start and stop commands in external control location EXT2. See parameter 10.04 EXT2 START FUNC selections (1) In1 3-wire. Note: This parameter cannot be changed while the drive is running. Bit pointer: Group, index and bit 10.06 EXT2 START IN2 FW block:...
Page 92 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 93 Value pointer: Group and index 10.17 START ENABLE FW block: DRIVE LOGIC (see above) Selects the source for the start enable signal. If the start enable signal is switched off, the drive will not start or stops if the drive is running. 1 = Start enable. Note: This parameter cannot be changed while the drive is running.
Page 94: Group 12 Digital Io
Group 11 START/STOP MODE These parameters select the start and stop functions as well as the autophasing mode, define the DC magnetising time of the motor, and configure the DC hold function. Firmware block: START/STOP MODE START/STOP MODE (11) 11.01 START MODE FW block: START/STOP MODE (see above)
Page 95 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 96 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 97: Dio1
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 98 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 99 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 100 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 101: 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 102: 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 103 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 104 (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 105: 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 106: 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 107 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 108: 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 109 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 110 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 111: Group 20 Limits
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 112 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 113: Group 22 Speed Feedback
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 75) parameter groups...
Page 114 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 115 (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. (1) Enable The calculated thermal current value limits the inverter output current (ie, motor current).
Page 116: 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 117: Speed Feedback
Firmware block: SPEED FEEDBACK SPEED FEEDBACK (22) Block outputs located in other 1.01 SPEED ACT (page 65) 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 118 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 119 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 120 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 121 22.10 SPD SUPERV EST FW block: FAULT FUNCTIONS (see page 163) 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 122: 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 123: 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 124: 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 125 -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 126: 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 127: 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 128 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 129 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 130: 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 131: 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 source for speed reference • defines the speed error filtering time •...
Page 132 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) Defines the time constant of the speed error low pass filter.
Page 133 0…600 s Derivation time for acceleration/deceleration compensation. 26.09 ACC COMP FTIME FW block: SPEED ERROR (see above) Defines the filter time for the acceleration compensation. 0…1000 ms Filter time for acceleration compensation. 0 ms = filtering disabled. 26.10 SPEED WIN FUNC FW block: SPEED ERROR (see above)
Page 134: 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 135: 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 136 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 137 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 138 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 139 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 140 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 141: 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 142: 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 143: 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 144 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 145: 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 79) 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 146 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 147 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 148 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 149: Group 34 Reference Ctrl
Group 34 REFERENCE CTRL Reference source and type selection. Using the parameters in this group, it is possible to select whether external control location EXT1 or EXT2 is used (either one is active at a time). These parameters also select the control mode (SPEED/TORQUE/MIN/MAX/ADD) and the used torque reference in local and external control.
Page 150: 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 151 (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 152 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 153: 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 52. Firmware block: MECH BRAKE CTRL MECH BRAKE CTRL (35) Block outputs located in other 3.14 BRAKE TORQ MEM (page 74) parameter groups 3.15 BRAKE COMMAND...
Page 154 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 155 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 156: 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 157 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 158 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 159: 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 41. 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 160 (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 161 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 162 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 163: 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 164 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 165 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 166 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 167 (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 168: 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 169 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 44. (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 170: 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 171 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 172: Fieldbus
Group 50 FIELDBUS Basic settings for fieldbus communication. See also Appendix A – Fieldbus control on page 343. 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 173 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 174 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 175 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 176: 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 177 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 178: 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 343.
Page 179: 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 343.
Page 180: Communication Tool
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 181: D2D Communication
Group 57 D2D COMMUNICATION Drive-to-drive communication settings. See Appendix B – Drive-to-drive link on page 351. 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 72)
Page 182 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 183 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 184 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 185: 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 186: 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 199) parameter groups 93.22 EMUL POS REF (page 199) Block outputs located in other 1.08 ENCODER 1 SPEED...
Page 187 (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 188 (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 189 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 190: 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 191 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 192 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 193 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 194 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 195 (1) 100 us 100 µs. (2) 1 ms 1 ms. (3) 50 ms 50 ms. Parameters and firmware blocks...
Page 196: 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 197: Group 93 Pulse Enc Conf
Group 93 PULSE ENC CONF TTL/HTL input and TTL output configuration. See also parameter group on page 186, 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 198 (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 199 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 200: 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 201: 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 202 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 203 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 204: 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 205: 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 206 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 207 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 208 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 209 (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 210 (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 211: 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 212: 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 213: 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 214: Actual Signals (Parameter Groups 1...9)
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 215 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 216 Index Name Type Range Unit FbEq Update Data Save Page time length 8.04 FAULT TIME LO INT32 …2 time 1 = 1 8.05 ALARM LOGGER 1 UINT32 1 = 1 2 ms 8.06 ALARM LOGGER 2 UINT32 1 = 1 2 ms 8.07 ALARM LOGGER 3...
Page 217 Index Parameter Type Range Unit FbEq Update Data Save Page time length 10.15 JOG ENABLE Bit pointer 2 ms C.False 10.16 D2D CW USED Val pointer 2 ms P.02.17 10.17 START ENABLE Bit pointer 2 ms C.True START/STOP MODE 11.01 START MODE enum 0…2 1 = 1...
Page 218 Index Parameter Type Range Unit FbEq Update Data Save Page time length 13.08 AI2 MIN REAL -11…11/ V or 1 = 1000 10 ms -22…22 13.09 AI2 MAX SCALE REAL -32768… 1 = 1000 10 ms 32767 13.10 AI2 MIN SCALE REAL -32768…...
Page 219 Index Parameter Type Range Unit FbEq Update Data Save Page time length 17.04 SIGNAL1 MODE INT32 -1…3 1 = 1 17.05 SIGNAL2 MODE INT32 1…3 1 = 1 17.06 SIGNAL3 MODE INT32 1…3 1 = 1 LIMITS 20.01 MAXIMUM SPEED REAL 0…30000 1 = 1...
Page 220 Index Parameter Type Range Unit FbEq Update Data Save Page time length 25.03 ACC TIME REAL 0…1800 1 = 1000 10 ms 25.04 DEC TIME REAL 0…1800 1 = 1000 10 ms 25.05 SHAPE TIME ACC1 REAL 0…1000 1 = 1000 10 ms 25.06 SHAPE TIME ACC2 REAL...
Page 221 Index Parameter Type Range Unit FbEq Update Data Save Page time length 28.15 I TIME ADPT COEF REAL 0…10 1 = 1000 10 ms 28.16 PI TUNE MODE enum 0…4 1 = 1 28.17 TUNE BANDWIDTH REAL 0…2000 1 = 100 28.18 TUNE DAMPING REAL 0…200...
Page 222 Index Parameter Type Range Unit FbEq Update Data Save Page time length 34.02 EXT1 MODE 1/2SEL Bit pointer 2 ms C.False (P.02.01.05 for pos. appl.) 34.03 EXT1 CTRL MODE1 enum 1…5 (1…9 1 = 1 2 ms for pos. appl.) 34.04 EXT1 CTRL MODE2 enum 1…5 (1…9...
Page 223 Index Parameter Type Range Unit FbEq Update Data Save Page time length 45.08 BREAK POINT INT32 0.01…500 1 = 100 45.09 MOTNOM TEMP INT32 0…300 °C 1 = 1 RISE 45.10 MOT THERM TIME INT32 100…10000 1 = 1 FAULT FUNCTIONS 46.01 EXTERNAL FAULT Bit pointer 2 ms...
Page 224 Index Parameter Type Range Unit FbEq Update Data Save Page time length 50.04 FBA REF1 MODESEL enum 0…2 (0…4 1 = 1 10 ms for pos. appl.) 50.05 FBA REF2 MODESEL enum 0…2 (0…4 1 = 1 10 ms for pos. appl.) 50.06 FBA ACT1 TR SRC Val pointer...
Page 225 Index Parameter Type Range Unit FbEq Update Data Save Page time length COMMUNICATION TOOL 55.01 MDB STATION ID UINT32 1…247 1 = 1 55.02 MDB BAUD RATE UINT32 0…4 1 = 1 55.03 MDB PARITY UINT32 0…3 1 = 1 COMMUNICATION 57.01 LINK MODE UINT32...
Page 226 Index Parameter Type Range Unit FbEq Update Data Save Page time length 91.23 SSI DATA FORMAT UINT32 0…1 1 = 1 91.24 SSI BAUD RATE UINT32 0…7 1 = 1 91.25 SSI MODE UINT32 0…3 1 = 1 91.26 SSI TRANSMIT CYC UINT32 0…5 1 = 1...
Page 227 Index Parameter Type Range Unit FbEq Update Data Save Page time length 97.09 RS USER SI REAL24 0…100 ohm 1 = 100000 97.10 RR USER SI REAL24 0…100 ohm 1 = 100000 97.11 LM USER SI REAL24 0…100000 1 = 100000 97.12 SIGL USER SI REAL24 0…100000...
Page 228 Parameter data...
Page 229: What This Chapter Contains
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 231.
Page 230: 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 231: 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 232 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 233 Code Alarm Cause What to do (fieldbus code) 2014 INTBOARD OVERTEMP Interface board (between power Let drive cool down. unit and control unit) (0x7182) Check for excessive ambient temperature. temperature has exceeded Check for cooling fan failure. internal alarm limit. Check for obstructions in the air flow.
Page 234 Code Alarm Cause What to do (fieldbus code) 2022 ENCODER 1 FAILURE Encoder 1 has been activated Check parameter 90.01 ENCODER 1 SEL by parameter but the encoder setting corresponds to encoder interface 1 (0x7301) interface (FEN-xx) cannot be (FEN-xx) installed in drive Slot 1/2 (signal found.
Page 235 Code Alarm Cause What to do (fieldbus code) 2026 ENC EMULATION Encoder emulation error If position value used in emulation is FAILURE measured by encoder: (0x7384) - Check that FEN-xx encoder used in emulation (90.03 EMUL MODE SEL) corresponds to FEN-xx encoder interface 1 or (and) 2 activated by parameter 90.01 ENCODER 1 SEL...
Page 236 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 237 95.01 CTRL UNIT SUPPLY is set to (1) External 24V. 2036 RESTORE Restoration of backed-up Contact your local ABB representative. parameters failed. (0x630D) 2037 CUR MEAS Current measurement Informative alarm. CALIBRATION calibration will occur at next start.
Page 238 Code Alarm Cause What to do (fieldbus code) 2048 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. (0x7000) and/or FIO-xx) is lost. Check that option modules or Slot 1/2 connectors are not damaged.
Page 239: 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 240 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 241 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 242 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 243 (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 244 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 245 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 246 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 247 172. Check cable connections. Check if communication master can communicate. 0046 FB MAPPING FILE Drive internal fault Contact your local ABB representative. (0x6306) 0047 MOTOR OVERTEMP Estimated motor temperature Check motor ratings and load. (based on motor thermal model) (0x4310) Let motor cool down.
Page 248 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 249 Try installing the FMBA module into another slot. If the problem persists, contact your local ABB representative. 0067 FPGA ERROR1 Drive internal fault Contact your local ABB representative. (0x5401) 0068 FPGA ERROR2 Drive internal fault Contact your local ABB representative.
Page 250 Fault Cause What to do (fieldbus code) 0202 T3 OVERLOAD Firmware time level 3 overload Contact your local ABB representative. (0x6100) Note: This fault cannot be reset. 0203 T4 OVERLOAD Firmware time level 4 overload Contact your local ABB representative.
Page 251 0308 APPL FILE PAR CONF Corrupted application file Reload application. (0x6300) Note: This fault cannot be If fault is still active, contact your local ABB reset. representative. 0309 APPL LOADING Application file incompatible or Check the fault logger for a fault code corrupted.
Page 252 Code Fault Cause What to do (fieldbus code) 0313 UFF EOF UFF file structure failure Contact your local ABB representative. (0x6300) 0314 TECH LIB INTERFACE Incompatible firmware interface Contact your local ABB representative. (0x6100) Note: This fault cannot be reset.
Page 253: What This Chapter Contains
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 254: Alphabetical Index
Alphabetical index ABS ....255 EXPT ....256 OR.
Page 255: 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 256: 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 257: 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 258: 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 259: 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 260 (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 261 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 262 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 263 (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 264: 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 265: 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 266 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 267: 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 268: Communication
Communication See also Appendix B – Drive-to-drive link (page 351). 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 269: 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 270 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 271: 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 272: 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 273: 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 274 > (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 275 < (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 276: 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 277: 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 278: 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 279: 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 280: 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 281: 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 282: 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 283: 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 284: 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 285: 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 286: 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 287: 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 288: 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 289 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 290: 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 291 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 292: 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 293: 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 294 (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 295: 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 296: 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 297: 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 298 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 299: 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 300 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 301: 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 302: 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 303 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 304: 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 305: 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 306: 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 307: 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 308 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 309: 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 310 (10075) Illustration Execution time 15.75 µs Standard function blocks...
Page 311 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 312: 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 313: 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 314 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 315: 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 316: 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 317: 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 318: 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 319: 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 320: 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 321: 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 322 (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 323: 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 324 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 325: 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 326: 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 327: 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 328: 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 329 (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 330 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 331: What This Chapter Contains
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...
Page 332 Application program template...
Page 333 Application program template...
Page 334 Application program template...
Page 335 Application program template...
Page 336 Application program template...
Page 337 Application program template...
Page 338 Application program template...
Page 339 Application program template...
Page 340 Application program template...
Page 341 Application program template...
Page 342 Application program template...
Page 343: What This Chapter Contains
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 344: 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 345 Setting for Parameter Function/Information fieldbus control 51.32 FBA COMM SW – Displays the common program revision of the adapter module. 51.33 FBA APPL SW – Displays the application program revision of the adapter module. Note: In the User’s Manual of the fieldbus adapter module, the parameter group number is 1 or A for parameters 51.01…51.26.
Page 346: 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 347: 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 348: 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 349: 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 350 Appendix A – Fieldbus control...
Page 351: What This Chapter Contains
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 359. 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 352: 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 353: Types Of Messaging
use of datasets between the drives. See the function blocks under Communication (page 268). Types of messaging Each drive on the link has a unique node address allowing point-to-point communication between two drives. The node address 0 is automatically assigned to the master drive;...
Page 354: 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 355: 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 356: 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 357: 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 358 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 359: 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 268. 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 360: 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 361: 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 362: 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 363: What This Chapter Contains
Appendix C – Control chain and drive logic diagrams What this chapter contains This chapter presents the drive control chain and logic. Appendix C – Control chain and drive logic diagrams...
Page 364 Appendix C – Control chain and drive logic diagrams...
Page 365 Appendix C – Control chain and drive logic diagrams...
Page 366 Appendix C – Control chain and drive logic diagrams...
Page 367 Appendix C – Control chain and drive logic diagrams...
Page 368 Appendix C – Control chain and drive logic diagrams...
Page 369: 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 370 Contact us www.abb.com/drives www.abb.com/drivespartners...

ABB ACSM1 Firmware Manual

Table of Contents

Introduction to the Manual

Start-Up

Drive Programming Using PC Tools

Drive Control and Features

Default Connections of the Control Unit

Parameters and Firmware Blocks

Appendix B - Drive-To-Drive Link

Appendix A - Fieldbus Control

Appendix C - Control Chain and Drive Logic Diagrams

Quick Links

Related Manuals for ABB ACSM1

Summary of Contents for ABB ACSM1