Page 1 ACSM1 Firmware Manual ACSM1 Motion Control Program...
Page 5: Table Of Contents
Providing feedback on ABB Drives manuals ........
Page 6 Scalar motor control ............40 Autophasing .
Page 7 Group 15 ANALOGUE OUTPUTS ..........120 AO1 .
Page 8 Group 65 PROFILE REFERENCE ..........203 PROFILE REF SEL .
Page 9 Standard function blocks What this chapter contains ............287 Terms .
Page 10 DINT_TO_REALn_SIMP ........... . . 313 INT_TO_BOOL .
Page 11 Selection ..............355 LIMIT .
Page 12 Broadcast messaging (write only) ..........396 Chained multicast messaging .
Page 13: Introduction To The Manual
The chapter includes a description of the contents of the manual. In addition it contains information about the compatibility, safety and intended audience. Compatibility The manual is compatible with ACSM1 Motion Control program version UMFI1480 and later. See signal 9.04 FIRMWARE VER or PC tool (View - Properties).
Page 14: Contents
Product and service inquiries Address any inquiries about the product to your local ABB representative, quoting the type code and serial number of the unit in question. A listing of ABB sales, support and service contacts can be found by navigating to www.abb.com/drives...
Page 15: Start-Up
Start-up What this chapter contains This chapter describes the basic start-up procedure of the drive and instructs in how to control the drive through the I/O interface. How to start up the drive The drive can be operated: • locally from PC tool or control panel •...
Page 16 Safety The start-up may only be carried out by a qualified electrician. The safety instructions must be followed during the start-up procedure. See the safety instructions on the first pages of the appropriate hardware manual. Check the installation. See the installation checklist in the appropriate hardware manual. Check that the starting of the motor does not cause any danger.
Page 17 Note: Set the motor data to exactly the same value Asynchronous motor nameplate example: as on the motor nameplate. For example, ABB Motors if the motor nominal motor M2AA 200 MLA 4 speed is 1470 rpm on the IEC 200 M/L 55...
Page 18 (U refers to the highest voltage in each of the nominal voltage range, i.e. 480 V AC for ACSM1-04). With permanent magnet motors: The nominal voltage is the BackEMF voltage (at motor nominal speed). If the voltage is given as voltage per rpm, e.g. 60 V per 1000 rpm, the voltage for 3000 rpm nominal speed is 3 ×...
Page 19 Multimotor drives I.e. more than one motor is connected to one drive. Check that the motors have the same relative slip (only for asynchronous motors), nominal voltage and number of poles. If the manufacturer motor data is insufficient, use the following formulas to calculate the slip and the number of poles: ⋅...
Page 20 Note: Ensure that possible Safe Torque Off and emergency stop circuits are closed during the ID run. Check the direction of rotation of the motor before starting the ID run. When drive output During the run (Normal or Reduced), the motor will rotate in the phases U2, V2 and forward direction.
Page 21 Check the drive limits. The following must apply for all ID run methods: • 20.05 MAXIMUM CURRENT > 99.06 MOT NOM CURRENT In addition, the following must apply for Reduced and Normal ID run: • 20.01 MAXIMUM SPEED > 55% of 99.09 MOT NOM SPEED •...
Page 22 Enter a small speed reference value (for example 3% of the nominal motor speed). Start the motor. Check that the estimated (1.14 SPEED ESTIMATED) and actual 1.14 SPEED ESTIMATED speed (1.08 ENCODER 1 SPEED 1.10 ENCODER 2 SPEED) are equal. If the values differ, check the encoder/resolver parameter 1.08 ENCODER 1 settings.
Page 23 Emergency stop circuit If there is an emergency stop circuit in use, check that the circuit 10.10 EM STOP OFF3 10.11 EM STOP OFF1 functions (emergency stop signal is connected to the digital input (emergency stop control which is selected as the source for the emergency stop activation). through fieldbus 2.12 FBA MAIN CW...
Page 24 Start function Select the start function. 11.01 START MODE Setting 11.01 START MODE (2) AUTOMATIC selects a general- purpose start function. This setting also makes flying start (starting to a rotating motor) possible. The highest possible starting torque is achieved when 11.01 START MODE is set to...
Page 25 Speed filtering The measured speed always has a small ripple because of electrical and mechanical interferences, couplings and encoder resolution (i.e. small pulse number). A small ripple is acceptable as long as it does not affect the speed control chain. The interferences in the speed measurement can be filtered with a speed error filter or with an actual speed filter.
Page 26 Optimise the P-part of the speed controller: Set the integration time to 28.03 INTEGRATION TIME 0 to change the PI (proportional integral) controller into a P controller: Give a step change up, for example 10% (of the maximum speed of the drive).
Page 27 Fieldbus control Follow these instructions when the drive is controlled from a fieldbus control system via fieldbus adapter Fxxx. The adapter is installed in drive Slot 3. Enable the communication between the drive and fieldbus adapter. 50.01 FBA ENABLE Connect the fieldbus control system to the fieldbus adapter module. Set the communication and adapter module parameters: See section Setting up communication through a fieldbus adapter module on page...
Page 28: How To Control The Drive Through The I/O Interface
How to control the drive through the I/O interface The table below instructs how to operate the drive through the digital and analogue inputs, when the default parameter settings are valid. PRELIMINARY SETTINGS Ensure the original parameter settings (default) are valid. 16.04 PARAM RESTORE Ensure the control connections are wired according to the connection diagram given in chapter...
Page 29: Drive Programming Using Pc Tools
Drive programming using PC tools What this chapter contains This chapter introduces the drive programming using the DriveStudio and DriveSPC applications. For more information, see DriveStudio User Manual [3AFE68749026 (English)] and DriveSPC User Manual [3AFE68836590 (English)]. General The drive control program is divided into two parts: •...
Page 30: Programming Via Parameters
The normal delivery of the drive does not include an application program. The user can create an application program with the standard and firmware function blocks. ABB also offers customised application programs and technology function blocks for specific applications. For more information, contact your local ABB representative.
Page 31: Function Blocks
Function blocks The application program uses three types of function blocks: firmware function blocks, standard function blocks and technology function blocks. Firmware function blocks Most of the firmware functions are represented as function blocks in the DriveSPC tool. Firmware function blocks are part of the drive control firmware, and used as an interface between the application and firmware programs.
Page 32: Operation Modes
Operation modes The DriveSPC tool offers the following operation modes: Off-line When the off-line mode is used without a drive connection, the user can • open a application program file (if exists). • modify and save the application program. • print the program pages. When the off-line mode is used with a drive(s) connection, the user can •...
Page 33: Drive Control And Features
Local control vs. external control The drive has two main control locations: external and local. The control location is selected with the PC tool (Take/Release button) or with the LOC/REM key on the control panel. ACSM1 2) 3) External control 1) 3)
Page 34: Operating Modes Of The Drive
Local control is mainly used during commissioning and maintenance. The control panel always overrides the external control signal sources when used in local control. Changing the control location to local can be disabled by parameter 16.01 LOCAL LOCK. The user can select by a parameter (46.03 LOCAL CTRL LOSS) how the drive reacts to a control panel or PC tool communication break.
Page 35: Drive Control Chain For Speed And Torque Control
Drive control and features...
Page 36: Position Control
Position control In position control, the load is positioned along a single axis from the start position to the defined target position. A position reference is given to the drive to indicate the target position. The path to the target position is calculated by the position profile generator, controlled by position reference sets.
Page 37: Profile Velocity Control
Profile velocity control In profile velocity control, the motor rotates at a speed proportional to the speed reference given to the drive. The reference is given in position scale units (e.g. m/s) and handled by the position control reference chain (instead of the speed reference chain).
Page 38: Drive Control Chain For Positioning
Drive control and features...
Page 39: Special Control Modes
Special control modes In addition to the above-mentioned control modes, the following special control modes are available: • Emergency Stop modes OFF1 and OFF3: Drive stops along the defined deceleration ramp and drive modulation stops. • Jogging mode: Drive starts and accelerates to the defined speed when the jogging signal is activated.
Page 40: Motor Control Features
Motor control features Scalar motor control It is possible to select scalar control as the motor control method instead of Direct Torque Control (DTC). In scalar control mode, the drive is controlled with a frequency reference. However, the outstanding performance of DTC is not achieved in scalar control.
Page 41: Thermal Motor Protection
(±360/polepairs)° in order to determine the rotor position. In case 2 (open-loop control), the shaft is turned only in one direction and the angle is smaller. The standstill modes can be used if the motor cannot be turned (for example, when the load is connected).
Page 42 Temperature sensors It is possible to detect motor overtemperature by connecting a motor temperature sensor to thermistor input TH of the drive or to optional encoder interface module FEN-xx. Constant current is fed through the sensor. The resistance of the sensor increases as the motor temperature rises over the sensor reference temperature T , as does the voltage over the resistor.
Page 43 connected to other equipment - the temperature sensor must be isolated from the I/O terminals. The figure below shows a motor temperature measurement when thermistor input TH is used. One PTC or KTY84 sensor JCU Control Unit Motor AGND 10 nF JCU Control Unit Three PTC sensors Motor...
Page 44: Dc Voltage Control Features
DC voltage control features Overvoltage control Overvoltage control of the intermediate DC link is needed with two-quadrant line-side converters when the motor operates within the generating quadrant. To prevent the DC voltage from exceeding the overvoltage control limit, the overvoltage controller automatically decreases the generating torque when the limit is reached.
Page 45: Braking Chopper
SUPPLVOLTAUTO-ID; the user can define the voltage manually at parameter 47.04 SUPPLY VOLTAGE. Overvoltage trip level (1.63 × U Overvoltage control level (1.50 × U 1.07 DC-VOLTAGE (1.35 × 1.19 USED SUPPLY VOLT) Undervoltage control level (0.74 × U 50 V min Undervoltage trip level (0.65 ×...
Page 46: Speed Control Features
Speed control features Jogging Two jogging functions (1 or 2) are available. When a jogging function is activated, the drive starts and accelerates to the defined jogging speed along the defined jogging acceleration ramp. When the function is deactivated, the drive decelerates to a stop along the defined jogging deceleration ramp.
Page 47 Notes: • Jogging is not operational when the drive start command is on, or when the drive is in local control. • Normal start is inhibited when jog enable is active. • The ramp shape time is set to zero during jogging. Drive control and features...
Page 48: 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 49: Mechanical Brake
Mechanical brake The program supports the use of a mechanical brake to hold the motor and load at zero speed when the drive is stopped or not powered. The brake control is configured by the parameters in 35 MECH BRAKE CTRL (page 163).
Page 50 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 51 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 52: Position/Synchron Control Features
Position/synchron control features Load encoder gear function Positioning uses the measured speed and position of the load. The load encoder gear function calculates the actual load position on the basis of the measured motor shaft position. Load encoder gear application examples: Positioning uses the measured speed and position of the load.
Page 53: Position Profile Generator
The equation quite often translates to 71.07 GEAR RATIO MUL 22.03 MOTOR GEAR MUL × 60.04 LOAD GEAR DIV 71.08 GEAR RATIO DIV 22.04 MOTOR GEAR DIV × 60.03 LOAD GEAR MUL Parameters 71.07 GEAR RATIO MUL 71.08 GEAR RATIO DIV are also inputs of the firmware block POS CONTROL...
Page 54 positioning commands and signals when parameter 65.24 POS START MODE is set NORMAL. 66.05 POS ENABLE 65.03 POS START 1 65.11 POS START 2 4.06 POS REF 4.13 POS REF IPO 6.09 POS CTRL STATUS bit 0 (IN POSITION) The following figure shows the positioning commands and signals when parameter 65.24 POS START MODE is set to PULSE.
Page 55: Dynamic Position Reference Limiter
One reference set is used at a time. The definition and selection of position reference sets are done using the parameters in Group 65 PROFILE REFERENCE. Dynamic position reference limiter The dynamic limiter controls the position reference limitation in position control and synchron control modes.
Page 56: Position Correction
Speed Stop: linear axis A = B 60.02 POS AXIS MODE is set to LINEAR. Master speed The figure shows how the dynamic limiter works STOP together with the position profile generator when the Follower speed drives are stopped: Before the stop command of the 65.05 POS SPEED 1 master, the speed of the follower is limited by the 65.13 POS SPEED 2...
Page 57 The following state diagram presents the homing sequence. 6.11 bit 0 HOMING START (0 ->1) and 6.11 bit 6 LATCH 1 STAT = 0/1 and 6.12 OP MODE ACK = HOMING STARTHOMING WITH 6.11 bit 0 HOMING START = 1 HOMING SPEED 1 6.11 bit 11 HOMING DONE = 0...
Page 58 The following table presents homing modes 1…35. For more detailed descriptions, see chapter Appendix C – Homing modes. Latch state Start Change direction Change to speed 2 Stop at start direction Negative Negative limit switch: 0 -> 1 Negative limit switch: 1 -> 0 Index pulse Positive Positive limit switch: 0 ->...
Page 59 Latch state Start Change direction Change to speed 2 Stop at start direction Negative Home switch: 1 -> 0 Home switch: 0 -> 1 Index pulse Negative Negative limit switch: 0 -> 1 Home switch: 0 -> 1 Index pulse Negative Home switch: 1 ->...
Page 60 Latch state Start Change direction Change to speed 2 Stop at start direction Positive Home switch: 1 -> 0 Positive Home switch: 1 -> 0 Positive 1) Positive limit switch: 0 -> 1 Home switch: 1 -> 0 2) Home switch: 0 -> 1 Negative Home switch: 0 ->...
Page 61 There are three different preset functions: • SYNCH REF: Preset drive synchron reference chain (4.16 SYNC REF GEARED) to the value of 62.12 PRESET POSITION. • ACT TO SYNCH: Preset drive synchron reference chain (4.16 SYNC REF GEARED) to the value of actual position (1.12 POS ACT).
Page 62 produce some drift on the load side. In order to compensate this drift, actual position correction is used. A proximity switch is located on the load side at 90°. ENCODER MOTOR GEARBOX LOAD PROXIMITY SWITCH 90° Encoder DI1 Parameter Setting Information 60.05 POS UNIT (1) DEGREE...
Page 63 Master reference correction The purpose of the master reference correction is to correct the difference between the master and reference positions. Note: In master reference correction the follower must always be in synchron control mode. Example: Parameter Setting Information 60.05 POS UNIT (1) DEGREE All position values are in degrees 60.02 POS AXIS MODE...
Page 64 : Error has been corrected and the follower (load) is in line with the master (motor). Cyclic function is ready for a new correction if necessary. Master/Follower distance correction The purpose of the master/follower distance correction is to measure the distance between two positions and compare it with the defined reference.
Page 65 MASTER FOLLOWER Encoder DI2 Encoder DI1 0° -130 4.04 PROBE2 POS MEAS 4.03 PROBE1 POS MEAS -130° 4.05 CYCLIC POS ERR CYC POS ACT ERR 360 = 0 0° 4.18 SYNC ERROR ° ° ° - 100 ° ° ° - 120 °...
Page 66 Example 2: Linear axis application Two conveyer systems are synchronised using two encoders. The follower is in synchron control and follows the master encoder 2 position. Note: In linear axis applications, only the difference between the master and follower positions is corrected. MASTER 10 mm Encoder DI2...
Page 67 Encoder DI1 Encoder DI2 1.08 ENCODER 1 SPEED 40 mm 4.16 SYNC REF GEARED 30 mm 1.12 POS ACT 20 mm 4.03 PROBE1 POS MEAS 4.04 PROBE2 POS MEAS 4.18 SYNC ERROR : Rising edge of encoder digital input DI1 (proximity switch signal) is detected. The follower position is 20 mm (stored to signal 4.04 PROBE2 POS MEAS).
Page 68 Example: The following figure shows a conveyer system where a box should be positioned. The conveyer belt is marked every 40 mm. 40 mm ENCODER MOTOR GEARBOX PROXIMITY SWITCH Encoder DI1 Parameter Setting Information 60.02 POS AXIS MODE (0) LINEAR Positioning between minimum position 60.14 MINIMUM POS...
Page 69 (62.18 PROBE2 POS 62.16 PROBE1 POS) - (4.04 PROBE2 POS MEAS 4.03 PROBE1 POS MEAS)] = (40 - 0) - (30 - 0) = 10 mm The error is stored to 4.18 SYNC ERROR. Actual position of the encoder 1.12 POS ACT is corrected according to 4.18 SYNC ERROR...
Page 70 Parameter Setting Information 62.18 PROBE2 POS 0.060 m (=60 mm) Reference position for actual position probe 2 1.01 SPEED ACT Encoder DI1 Encoder DI2 1.12 POS ACT POSITION DERIVATION MEASURED POSITION DIFFERENCE • Rising edge of encoder DI1 (proximity switch signal) is detected at the first mark of the belt.
Page 71: Emergency Stop
Note: When an emergency stop signal is detected, the emergency stop function cannot be cancelled even though the signal is cancelled. For more information, refer to Application Guide: Functional Safety Solutions with ACSM1 Drives (3AUA0000031517 [English]). Drive control and features...
Page 72 Drive control and features...
Page 73: 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 74 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 75: 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 76: Firmware Blocks
Note: Pointing to a nonexisting bit will be interpreted as 0 (FALSE). For additional parameter data, e.g. update cycles and fieldbus equivalents, see chapter Parameter data. Firmware blocks Firmware blocks accessible from the DriveSPC PC tool are described in the parameter group most of the block inputs/outputs are included in.
Page 77: Group 01 Actual Values
Group 01 ACTUAL VALUES This group contains basic actual signals for monitoring the drive. 01 ACTUAL VALUES Firmware block: ACTUAL VALUES ACTUAL VALUES TLF10 2 msec 1.02 SPEED ACT PERC 1.03 FREQUENCY 1.04 CURRENT 1.05 CURRENT PERC 1.06 TORQUE 1.07 DC-VOLTAGE 1.14 SPEED ESTIMATED 1.15 TEMP INVERTER 1.16 TEMP BC...
Page 78 1.10 ENCODER 2 SPEED FW block: ENCODER (page 225) Encoder 2 speed in rpm. 1.11 ENCODER 2 POS FW block: ENCODER (page 225) Actual position of encoder 2 within one revolution. 1.12 POS ACT FW block: POS FEEDBACK (page 192) Actual position of the encoder.
Page 79 1.27 RUN TIME COUNTER FW block: ACTUAL VALUES (see above) Motor run time counter. The counter run when the drive modulates. The counter can be reset using the DriveStudio tool. 1.31 MECH TIME CONST FW block: None Calculated mechanical time constant of the system as identified by the speed control autotuning routine.
Page 80: Group 02 I/O Values
Group 02 I/O VALUES This group contains information on the I/Os of the drive. 02 I/O VALUES 2.01 DI STATUS FW block: (page 114) Status word of the digital inputs. Example: 000001 = DI1 is on, DI2 to DI6 are off. 2.02 RO STATUS FW block:...
Page 81 2.12 FBA MAIN CW FW block: FIELDBUS (page 180) Control Word for fieldbus communication. Log. = Logical combination (i.e. Bit AND/OR Selection parameter). Par. = Selection parameter. See State diagram on page 390. 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 82 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 46. 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 83 2.12 FBA MAIN CW (continued from previous page) Name Val. Information Log. Par. POSITION- Enable position control. 66.05 ING ENA Disable position control. PO REF LIM Enable position reference. 70.03 Disable position reference. Position reference speed limit is set to zero. Positioning task is rejected.
Page 84 2.13 FBA MAIN SW FW block: FIELDBUS (page 180) Status Word for fieldbus communication. See State diagram on page 390. 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 85 2.13 FBA MAIN SW (continued from previous page) Name Value Information FOLLOWING ERROR 1 The difference between the reference and the actual position is within the defined following error window 71.09 FOLLOW ERR WIN. The difference between the reference and the actual position is outside the defined following error window.
Page 86 2.17 D2D MAIN CW FW block: D2D COMMUNICATION (page 187) Drive-to-drive control word received through the drive-to-drive link. See also actual signal 2.18 below. Information Stop. Start. Reserved. Reserved. Reserved. Reserved. Reserved. Run enable. By default, not connected in a follower drive. Reset.
Page 87: Group 04 Pos Ctrl Values
Group 03 CONTROL VALUES Actual signals containing information on e.g. the reference. 03 CONTROL VALUES 3.01 SPEED REF1 FW block: SPEED REF SEL (page 135) Speed reference 1 in rpm. 3.02 SPEED REF2 FW block: SPEED REF SEL (page 135) Speed reference 2 in rpm.
Page 88 3.13 TORQ REF TO TC FW block: REFERENCE CTRL (page 160) Torque reference in % for the torque control. When 99.05 MOTOR CTRL MODE is set to SCALAR, this value is forced to 0. 3.14 BRAKE TORQ MEM FW block: MECH BRAKE CTRL (page 163) Torque value (in %) stored when the mechanical brake close command is issued.
Page 89: Group 06 Drive Status
Group 04 POS CTRL VALUES Actual signals containing positioning information. 04 POS CTRL VALUES 4.01 SPEED REF POS FW block: POS CONTROL (page 222) Position controller output (speed reference) for the speed controller in rpm. 4.02 SPEED ACT LOAD FW block: POS FEEDBACK (page 192) Filtered actual speed of the load.
Page 90 4.12 POS END SPEED FW block: PROFILE REF SEL (page 204) Positioning speed used after the target has been reached.The unit depends on parameter 60.05 POS UNIT 60.10 POS SPEED UNIT selections. 4.13 POS REF IPO FW block: PROFILE GENERATOR (page 212) Position reference from the position profile generator.
Page 91: Group 08 Alarms & Faults
Group 06 DRIVE STATUS Status words. 06 DRIVE STATUS 6.01 STATUS WORD 1 FW block: DRIVE LOGIC (page 103) Status word 1. Name Val. Information READY Drive is ready to receive start command. Drive is not ready. ENABLED External run enable signal is received. No external run enable signal is received.
Page 92 6.02 STATUS WORD 2 FW block: DRIVE LOGIC (page 103) Status word 2. Name Val. Information START ACT Drive start command is active. Drive start command is inactive. STOP ACT Drive stop command is active. Drive stop command is inactive. READY RELAY Ready to function: run enable signal on, no fault, emergency stop signal off, no ID run inhibition.
Page 93 6.03 SPEED CTRL STAT FW block: DRIVE LOGIC (page 103) 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 94 6.07 TORQ LIM STATUS FW block: DRIVE LOGIC (page 103) 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 95 6.09 POS CTRL STATUS FW block: DRIVE LOGIC (page 103) Position control status word. Name Val. Information IN POSITION Position reference generator has reached the used position reference. Position reference generator is active, i.e. calculating the position refer- ence. IN POS WIN Position is within the defined position window, 66.04 POS WIN.
Page 96 6.10 POS CTRL STATUS2 FW block: DRIVE LOGIC (page 103) Additional position control status word. Name Val. Information IN SYNC Position profile generator distance to target is below the absolute value of the synchron error limit, i.e. value of actual signal 4.14 DIST is smaller than value of parameter 70.07 SYNC ERR...
Page 97 6.11 POS CORR STATUS FW block: DRIVE LOGIC (page 103) Position correction status word. Name Val. Information HOMING START Homing start is active. Source for the homing start is selected by parameter 62.03 HOMING START. Homing start is inactive. HOMING DONE Homing has been performed.
Page 98 6.14 SUPERV STATUS FW block: SUPERVISION (page 156) Supervision status word. See also parameter group 33 SUPERVISION (page 156). Name Val. Information Supervision function 1 is active (below low limit or over high SUPERV FUNC1 limit) STATUS Supervision function 2 is active (below low limit or over high SUPERV FUNC2 limit) STATUS...
Page 99: Group 09 System Info
Group 08 ALARMS & FAULTS Signals containing alarm and fault information. 08 ALARMS & FAULTS 8.01 ACTIVE FAULT FW block: FAULT FUNCTIONS (page 173) Fault code of the latest (active) fault. 8.02 LAST FAULT FW block: FAULT FUNCTIONS (page 173) Fault code of the 2nd latest fault.
Page 100 8.06 ALARM WORD 2 FW block: FAULT FUNCTIONS (page 173) Alarm word 2. For possible causes and remedies, see chapter Fault tracing. Alarm IGBT OVERTEMP FIELDBUS COMM LOCAL CTRL LOSS AI SUPERVISION Reserved NO MOTOR DATA ENCODER 1 FAILURE ENCODER 2 FAILURE LATCH POS 1 FAILURE LATCH POS 2 FAILURE ENC EMULATION FAILURE...
Page 101: Group 10 Start/Stop
09 SYSTEM INFO 9.01 DRIVE TYPE FW block: None Displays the drive application type. (1) ACSM1 SPEED: Speed and torque control application (2) ACSM1 MOTION: Motion control application 9.02 DRIVE RATING ID FW block: None Displays the inverter type of the drive.
Page 102 9.22 OPTION SLOT 3 FW block: None Displays the type of the optional module in option Slot 3. See signal 9.20 OPTION SLOT Parameters and firmware blocks...
Page 103: 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 104 Block outputs located in other 2.18 D2D FOLLOWER CW (page 86) parameter groups 6.01 STATUS WORD 1 (page 91) 6.02 STATUS WORD 2 (page 92) 6.03 SPEED CTRL STAT (page 93) 6.05 LIMIT WORD 1 (page 93) 6.07 TORQ LIM STATUS (page 94) 6.09 POS CTRL STATUS (page 95)
Page 105 10.02 EXT1 START IN1 FW block: DRIVE LOGIC (see above) Selects the source 1 for the start and stop commands in external control location EXT1. See parameter 10.01 EXT1 START FUNC selections (1) IN1 3-WIRE. Note: This parameter cannot be changed while the drive is running. Bit pointer: Group, index and bit 10.03 EXT1 START IN2 FW block:...
Page 106 (6) IN1S IN2DIR The source selected by 10.05 EXT2 START IN1 is the start signal (0 = stop, 1 = start), the source selected by 10.06 EXT2 START IN2 the direction signal (0 = forward, 1 = reverse). 10.05 EXT2 START IN1 FW block: DRIVE LOGIC (see above)
Page 107 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 108 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 109: Group 12 Digital Io
Group 11 START/STOP MODE These parameters select the start and stop functions as well as the autophasing mode, define the DC magnetising time of the motor, and configure the DC hold function. 11 START/STOP MODE Firmware block: START/STOP MODE START/STOP MODE TLF10 2 msec [ Const time ] 11.01 START MODE...
Page 110 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 111 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 112: Dio1
Group 12 DIGITAL IO Settings for the digital inputs and outputs, and the relay output. 12 DIGITAL IO Firmware block: DIO1 DIO1 TLF7 2 msec 2.03 2.03 DIO STATUS Bit 0 [ Output ] Selects whether DIO1 is used as a 12.01 DIO1 CONF [ STATUS WORD 2.2 ] <...
Page 113 (1) INPUT DIO1 is used as a digital input. 12.02 DIO2 CONF FW block: DIO2 (see above) Selects whether DIO2 is used as a digital input, as a digital output or as a frequency input. (0) OUTPUT DIO2 is used as a digital output. (1) INPUT DIO2 is used as a digital input.
Page 114 12.09 DIO3 F MIN FW block: DIO3 (see above) Defines the minimum value for frequency output (when 12.03 DIO3 CONF is set to (2) FREQ OUTPUT). 3…32768 Hz Minimum DIO3 output frequency. 12.10 DIO3 F MAX SCALE FW block: DIO3 (see above) Defines the real value that corresponds to the maximum frequency output value defined by parameter...
Page 115 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 116: 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 117: 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 118 -11…11 V / -22…22 mA Maximum AI2 input value. 13.08 AI2 MIN FW block: (see above) Defines the minimum value for analogue input AI2. The type is selected with jumper J2 on the JCU Control Unit. -11…11 V / -22…22 mA Minimum AI2 input value.
Page 119 13.12 AI SUPERVISION FW block: None Selects how the drive reacts when analogue input signal limit is reached. The limit is selected by parameter 13.13 AI SUPERVIS ACT. (0) NO No action taken. (1) FAULT The drive trips on fault AI SUPERVISION. (2) SPD REF SAFE The drive generates alarm AI SUPERVISION and sets the speed to the speed defined by parameter...
Page 120: 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 121: Ao2
0…22.7 mA Maximum AO1 output value. 15.04 AO1 MIN FW block: (see above) Defines the minimum value for analogue output AO1. 0…22.7 mA Minimum AO1 output value. 15.05 AO1 MAX SCALE FW block: (see above) Defines the real value that corresponds to the maximum analogue output value defined by parameter 15.03 AO1 MAX.
Page 122 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 123: Group 16 System
Group 16 SYSTEM Local control and parameter access settings, restoration of default parameter values, save of parameters into permanent memory. 16 SYSTEM 16.01 LOCAL LOCK FW block: None Selects the source for disabling local control (Take/Release button on the PC tool, LOC/REM key of the panel).
Page 124 (0) DONE Save completed. (1) SAVE Save in progress. 16.09 USER SET SEL FW block: None Enables the save and restoration of up to four custom sets of parameter settings. The set that was in use before powering down the drive is in use after the next power-up. Note: Any parameter changes made after loading a set are not automatically stored –...
Page 125 (512) SET3 PAR ACT User parameter set 3 has been loaded using parameter 16.09. (1024) SET4 PAR ACT User parameter set 4 has been loaded using parameter 16.09. 16.11 USER IO SET LO FW block: None Together with parameter 16.12 USER IO SET HI, selects the user parameter set when parameter 16.09 USER SET SEL is set to...
Page 126: Group 17 Panel Display
Group 17 PANEL DISPLAY Selection of signals for panel display. 17 PANEL DISPLAY 17.01 SIGNAL1 PARAM FW block: None Selects the first signal to be displayed on the control panel. The default signal is 1.03 FREQUENCY. Value pointer: Group and index 17.02 SIGNAL2 PARAM FW block: None Selects the second signal to be displayed on the control panel.
Page 127: Group 20 Limits
Group 20 LIMITS Definition of drive operation limits. 20 LIMITS Firmware block: LIMITS LIMITS TLF10 2 msec [ 1500 rpm ] 20.01 MAXIMUM SPEED (20) [ -1500 rpm ] 20.02 MINIMUM SPEED [ TRUE ] Adjusts the drive speed, current and <...
Page 128 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 129 20.08 THERM CURR LIM FW block: None Enables the thermal current limitation. Thermal current limit is calculated by the inverter thermal protection function. (0) ENABLE The calculated thermal current value limits the inverter output current (i.e. motor current). (1) DISABLE The calculated thermal limit is not used.
Page 130: 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 131: 22 Speed Feedback
22 SPEED FEEDBACK Firmware block: SPEED FEEDBACK SPEED FEEDBACK TLF8 250 μsec (22) 1.01 SPEED ACT [ Estimated ] 22.01 SPEED FB SEL [ 3.000 ms ] 22.02 SPEED ACT FTIME [ 1 ] 22.03 MOTOR GEAR MUL [ 1 ] 22.04 MOTOR GEAR DIV [ 30.00 rpm ] 22.05 ZERO SPEED LIMIT...
Page 132 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 133 22.07 ABOVE SPEED LIM FW block: SPEED FEEDBACK (see above) Defines the supervision limit for the actual speed. 0…30000 rpm Supervision limit for actual speed. 22.08 SPEED TRIPMARGIN FW block: SPEED FEEDBACK (see above) Defines, together with 20.01 MAXIMUM SPEED 20.02 MINIMUM SPEED, the maximum allowed speed of the motor (overspeed protection).
Page 134: 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 135: 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 136: Speed Ref Mod
(5) D2D REF1 Drive to drive reference 1. (6) D2D REF2 Drive to drive reference 2. (7) ENC1 SPEED Encoder 1 (1.08 ENCODER 1 SPEED). (8) ENC2 SPEED Encoder 2 (1.10 ENCODER 2 SPEED). 24.02 SPEED REF2 SEL FW block: SPEED REF SEL (see above) Selects the source for speed reference 2...
Page 137 -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 138: 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 139: 25 Speed Ref Ramp
25 SPEED REF RAMP Firmware block: SPEED REF RAMP SPEED REF RAMP TLF3 250 μsec (25) 3.04 SPEEDREF RAMPED [ SPEEDREF RAMP IN ] This block < 25.01 SPEED RAMP IN (6 / 3.03) [ 1500 rpm ] 25.02 SPEED SCALING •...
Page 140 25.04 DEC TIME FW block: SPEED REF RAMP (see above) Defines the deceleration time i.e. the time required for the speed to change from the speed value defined by parameter 25.02 SPEED SCALING to zero. If the speed reference decreases slower than the set deceleration rate, the motor speed will follow the reference signal.
Page 141 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 142: 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 143: 26 Speed Error
26 SPEED ERROR Firmware block: SPEED ERROR SPEED ERROR TLF3 250 μsec (26) 3.05 SPEEDREF USED 3.06 SPEED ERROR FILT This block 3.07 ACC COMP TORQ • selects the source for speed error SPEED ACT < 26.01 SPEED ACT NCTRL (7 / 1.01) calculation (speed reference - SPEEDREF RAMPED...
Page 144 26.04 SPEED FEED PCTRL FW block: SPEED ERROR (see above) Selects the source for the speed reference feedforward in position and synchron control modes. Selects the source for the speed reference in homing and profile velocity modes. Note: This parameter is only for positioning applications. Value pointer: Group and index 26.05 SPEED STEP FW block:...
Page 145 26.08 ACC COMP DERTIME FW block: SPEED ERROR (see above) Defines the derivation time for acceleration (deceleration) compensation. Used to improve the speed control dynamic reference change. In order to compensate inertia during acceleration, a derivative of the speed reference is added to the output of the speed controller.
Page 146 (2) RELATIVE Speed error window control active. The window boundaries set by parameters 28.02 28.02 are only effective in the forward direction (i.e. when actual speed is positive). 26.11 SPEED WIN HI FW block: SPEED ERROR (see above) High limit for speed window control. See parameter 26.10 SPEED WIN FUNC.
Page 147: 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 148: 28 Speed Control
28 SPEED CONTROL Firmware block: SPEED CONTROL SPEED CONTROL TLF3 250 μsec (28) 3.08 TORQ REF SP CTRL SPEED ERROR FILT This block < 28.01 SPEED ERR NCTRL (7 / 3.06) [ 10.00 ] 28.02 PROPORT GAIN • selects the source for speed error [ 0.500 s ] 28.03 INTEGRATION TIME •...
Page 149 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 150 0…10 s Derivation time for speed controller. 28.05 DERIV FILT TIME FW block: SPEED CONTROL (see above) Defines the derivation filter time constant. 0…1000 ms Derivation filter time constant. 28.06 ACC COMPENSATION FW block: SPEED CONTROL (see above) Selects the source for the acceleration compensation torque. The default value is P.3.7, i.e signal 3.07 ACC COMP TORQ, which is the output of the...
Page 151 Bit pointer: Group, index and bit 28.10 MIN TORQ SP CTRL FW block: SPEED CONTROL (see above) Defines the minimum speed controller output torque. -1600…1600% Minimum speed controller output torque. 28.11 MAX TORQ SP CTRL FW block: SPEED CONTROL (see above) Defines the maximum speed controller output torque.
Page 152 28.15 I TIME ADPT COEF FW block: SPEED CONTROL (see above) Integration time coefficient. See parameter 28.12 PI ADAPT MAX SPD. 0.000 … 10.000 Integration time coefficient. Parameters and firmware blocks...
Page 153: 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 154: Torq Ref Mod
(1) AI1 Analogue input AI1. (2) AI2 Analogue input AI2. (3) FBA REF1 Fieldbus reference 1. (4) FBA REF2 Fieldbus reference 2. (5) D2D REF1 Drive to drive reference 1. (6) D2D REF2 Drive to drive reference 2. 32.02 TORQ REF ADD SEL FW block: TORQ REF SEL (see above)
Page 155 Value pointer: Group and index 32.04 MAXIMUM TORQ REF FW block: TORQ REF MOD (see above) Defines the maximum torque reference. 0…1000% Maximum torque reference. 32.05 MINIMUM TORQ REF FW block: TORQ REF MOD (see above) Defines the minimum torque reference. -1000…0% Minimum torque reference.
Page 156: Group 33 Supervision
Group 33 SUPERVISION Configuration of signal supervision. 33 SUPERVISION Firmware block: SUPERVISION SUPERVISION TLF11 10 msec (17) 6.14 SUPERV STATUS [ Disabled ] 33.01 SUPERV1 FUNC [ SPEED ACT ] < 33.02 SUPERV1 ACT (7 / 1.01) [ 0.00 ] 33.03 SUPERV1 LIM HI [ 0.00 ] 33.04 SUPERV1 LIM LO...
Page 157 -32768…32768 Upper limit for supervision 1. 33.04 SUPERV1 LIM LO FW block: SUPERVISION (see above) Sets the lower limit for supervision 1. See parameter 33.01 SUPERV1 FUNC. -32768…32768 Lower limit for supervision 1. 33.05 SUPERV2 FUNC FW block: SUPERVISION (see above) Selects the mode of supervision 2.
Page 158 (2) HIGH When the signal selected by parameter 33.10 SUPERV3 ACT exceeds the value of parameter 33.11 SUPERV3 LIM HI, bit 2 of 6.14 SUPERV STATUS is activated. (3) ABS LOW When the absolute value of the signal selected by parameter 33.10 SUPERV3 ACT falls below the value of parameter...
Page 159: 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 160: 34 Reference Ctrl
6.12 OP MODE ACK 1= SPEED (B) 3.11 TORQ REF RUSHLIM 2=TORQUE (A) 3=MIN (A/B) 3.13 TORQ REF TO TC 4=MAX(A/B) 3.08 TORQ REF SP CTRL 5=ADD (A+B) 99.05 MOTOR CTRL MODE 3.12 TORQUE REF ADD 34 REFERENCE CTRL Firmware block: REFERENCE CTRL REFERENCE CTRL TLF8 250 μsec...
Page 161 (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 162 (1) SPEED Speed control. Torque reference is 3.08 TORQ REF SP CTRL, which is the output of the SPEED CONTROL firmware block. Torque reference source can be changed by parameter 34.08 TREF SPEED SRC. (2) TORQUE Torque control. Torque reference is 3.11 TORQ REF RUSHLIM, which is an output of the...
Page 163: Group 35 Mech Brake Ctrl
Group 35 MECH BRAKE CTRL Settings for the control of a mechanical brake. See also section Mechanical brake page 49. 35 MECH BRAKE CTRL Firmware block: MECH BRAKE CTRL MECH BRAKE CTRL TLF10 2 msec (35) 3.14 BRAKE TORQ MEM 3.15 BRAKE COMMAND [ NO ] 35.01 BRAKE CONTROL...
Page 164 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 165 (0) FAULT The drive trips on fault BRAKE NOT CLOSED / BRAKE NOT OPEN if the status of the optional external brake acknowledgement signal does not meet the status presumed by the brake control function. The drive trips on fault BRAKE START TORQUE if the required motor starting torque at brake release is not achieved.
Page 166: 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 167 1/2/3/4/5/8/16 kHz Switching frequency. 40.03 SLIP GAIN FW block: MOTOR CONTROL (see above) Defines the slip gain which is used to improve the estimated motor slip. 100% means full slip gain; 0% means no slip gain. The default value is 100%. Other values can be used if a static speed error is detected despite of the full slip gain.
Page 168 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 169: 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. 45 MOT THERM PROT Firmware block: MOT THERM PROT MOT THERM PROT TLF11 10 msec (45) 1.17 MOTOR TEMP 1.18 MOTOR TEMP EST Configures motor overtemperature [ No ]...
Page 170 (0) ESTIMATED The temperature is supervised based on the motor thermal protection model, which uses the motor thermal time constant (parameter 45.10 MOT THERM TIME) and the motor load curve (parameters 45.06…45.08). User tuning is typically needed only if the ambient temperature differs from the normal operating temperature specified for the motor.
Page 171 45.05 AMBIENT TEMP FW block: MOT THERM PROT (see above) Defines the ambient temperature for the thermal protection mode. -60…100 °C Ambient temperature. 45.06 MOT LOAD CURVE FW block: MOT THERM PROT (see above) Defines the load curve together with parameters 45.07 ZERO SPEED LOAD 45.08 BREAK POINT.
Page 172 45.09 MOTNOMTEMPRISE FW block: MOT THERM PROT (see above) Defines the temperature rise of the motor when the motor is loaded with nominal current. See the motor manufacturer's recommendations. The temperature rise value is used by the motor thermal protection model when parameter 45.02 MOT TEMP SOURCE is set to...
Page 173: Group 46 Fault Functions
Group 46 FAULT FUNCTIONS Definition of drive behaviour upon a fault situation. An alarm or a fault message indicates abnormal drive status. For the possible causes and remedies, see chapter Fault tracing. 46 FAULT FUNCTIONS Firmware block: FAULT FUNCTIONS FAULT FUNCTIONS TLF10 2 msec (10) (46)
Page 174 (1) FAULT Drive trips on LOCAL CTRL LOSS fault. (2) SPD REF SAFE The drive generates alarm LOCAL CTRL LOSS and sets the speed to the speed defined by parameter 46.02 SPEED REF SAFE. WARNING! Make sure that it is safe to continue operation in case of a communication break.
Page 175 46.08 CROSS CONNECTION FW block: FAULT FUNCTIONS (see above) Selects how the drive reacts to incorrect input power and motor cable connection (i.e. input power cable is connected to drive motor connection). (0) NO No reaction. (1) FAULT Drive trips on CABLE CROSS CON fault. Parameters and firmware blocks...
Page 176: Group 47 Voltage Ctrl
Group 47 VOLTAGE CTRL Settings for overvoltage and undervoltage control, and supply voltage. 47 VOLTAGE CTRL Firmware block: VOLTAGE CTRL VOLTAGE CTRL TLF11 10 msec (47) 1.19 USED SUPPLY VOLT [ Enable ] This block 47.01 OVERVOLTAGE CTRL [ Enable ] 47.02 UNDERVOLT CTRL •...
Page 177 47.04 SUPPLY VOLTAGE FW block: VOLTAGE CTRL (see above) Defines the nominal supply voltage. Used if auto-identification of the supply voltage is not enabled by parameter 47.03 SUPPLVOLTAUTO-ID. 0…1000 V Nominal supply voltage. Parameters and firmware blocks...
Page 178: Group 48 Brake Chopper
Group 48 BRAKE CHOPPER Configuration of internal brake chopper. 48 BRAKE CHOPPER Firmware block: BRAKE CHOPPER BRAKE CHOPPER TLF10 2 msec (11) [ Disable ] (48) 48.01 BC ENABLE [ TRUE ] < 48.02 BC RUN-TIME ENA [ 0 s ] This block configures the brake 48.03 BRTHERMTIMECONST [ 0.0000 kW ]...
Page 179 48.05 R BR FW block: BRAKE CHOPPER (see above) Defines the resistance value of the brake resistor. The value is used for brake chopper protection. 0.1…1000 ohm Resistance. 48.06 BR TEMP FAULTLIM FW block: BRAKE CHOPPER (see above) Selects the fault limit for the brake resistor temperature supervision. The value is given in percent of the temperature the resistor reaches when loaded with the power defined by parameter 48.04 BR POWER MAX...
Page 180: Group 50 Fieldbus
Group 50 FIELDBUS Basic settings for fieldbus communication. See also chapter Appendix A – Fieldbus control on page 385. 50 FIELDBUS Firmware block: FIELDBUS FIELDBUS TLF9 500 μsec (50) 2.12 FBA MAIN CW 2.13 FBA MAIN SW This block 2.14 FBA MAIN REF1 •...
Page 181 50.06 FBA ACT1 TR SRC. (1) TORQUE Fieldbus adapter module uses torque reference scaling. Torque reference scaling is defined by the used fieldbus profile (e.g. with ABB Drives Profile integer value 10000 corresponds to 100% torque value). Signal 1.06 TORQUE is sent to the fieldbus as an actual value.
Page 182 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 183: Group 51 Fba Settings
Group 51 FBA SETTINGS Further fieldbus communication configuration. These parameters need to be set only if a fieldbus adapter module is installed. See also Appendix A – Fieldbus control page 385. Notes: • This parameter group is presented in the User’s Manual of the fieldbus adapter as parameter group 1 or A.
Page 184 FW block: None Displays the drive type code of the fieldbus adapter module mapping file stored in the memory of the drive. Example: 520 = ACSM1 Speed and Torque Control Program. 51.30 MAPPING FILE VER FW block: None Displays the fieldbus adapter module mapping file revision stored in the memory of the drive.
Page 185: Group 52 Fba Data In
Group 52 FBA DATA IN These parameters select the data to be sent by the drive to the fieldbus controller, and need to be set only if a fieldbus adapter module is installed. See also Appendix A – Fieldbus control on page 385.
Page 186: Group 53 Fba Data Out
Group 53 FBA DATA OUT These parameters select the data to be sent by the fieldbus controller to the drive, and need to be set only if a fieldbus adapter module is installed. See also Appendix A – Fieldbus control on page 385.
Page 187: Group 57 D2D Communication
Group 57 D2D COMMUNICATION Drive-to-drive communication settings. See Appendix B – Drive-to-drive link on page 391. 57 D2D COMMUNICATION Firmware block: D2D COMMUNICATION D2D COMMUNICATION TLF9 500 μsec (57) 2.17 D2D MAIN CW 2.19 D2D REF1 This block sets up the drive-to-drive 2.20 D2D REF2 communication.
Page 188 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 189 (0) NO SYNC No synchronisation. (1) D2DSYNC If the drive is the master on a drive-to-drive link, it broadcasts a synchronisation signal to the follower(s). If the drive is a follower, it synchronises its firmware time levels to the signal received from the master.
Page 190 57.14 NR REF1 MC GRPS FW block: D2D COMMUNICATION (see above) In the master drive, sets the total number of links (followers or groups of followers) in the multicast message chain. See parameter 57.11 REF 1 MSG TYPE. Notes: • This parameter has no effect if the drive is a follower. •...
Page 191: Group 60 Pos Feedback
Group 60 POS FEEDBACK Configuration of drive position feedback including • feedback source • load gear ratio • axis type • positioning unit • scalings for fieldbus • scaling between rotational and translational systems • resolution of internal position calculation •...
Page 192: 60 Pos Feedback
60 POS FEEDBACK Firmware block: POS FEEDBACK POS FEEDBACK TLF4 500 μsec (60) 1.12 POS ACT 1.13 POS 2ND ENC This block 4.02 SPEED ACT LOAD • selects the source for measured [ ENC1 ] 60.01 POS ACT SEL actual position value (encoder 1 or [ Linear ] 60.02 POS AXIS MODE [ 1 ]...
Page 193 60.03 LOAD GEAR MUL FW block: POS FEEDBACK (see above) Defines the numerator for the load encoder gear function. See also section Load encoder gear function on page 52. 60.03 LOAD GEAR MUL Load speed 60.04 LOAD GEAR DIV Encoder 1/2 speed Note: When load encoder gear function is set, the gear function defined by parameters 71.07 GEAR RATIO MUL...
Page 194 1… 2 Feed constant denominator. 60.08 POS2INT SCALE FW block: POS FEEDBACK (see above) Scales position values to integer values. Integer values are used in the control program and fieldbus communication. For positioning speed, acceleration and deceleration value scaling, see parameter 60.11 POS SPEED2INT.
Page 195 60.13 MAXIMUM POS FW block: POS FEEDBACK (see above) Defines the maximum position value. If the actual position value exceeds the maximum position limit, fault message POSERR MAX is generated. The unit depends on parameter 60.05 POS UNIT selection. 0…32768 Maximum position value.
Page 196: Group 62 Pos Correction
Group 62 POS CORRECTION Settings for position correction functions (homing, presets, and cyclic corrections). With these functions, the user can define the relationship between the actual position of the drive positioning system and the driven machinery. Some of the correction functions need an external probe or limit switch to be connected to the digital inputs of the drive control board or encoder interface module.
Page 197 62.02 HOMING STARTFUNC FW block: HOMING (see above) Selects the homing start function. (0) NORMAL Rising edge of a signal from the source defined by 62.03 HOMING START activates the homing. The input signal has to stay TRUE during the homing task. (1) PULSE Rising edge of a pulse from the source defined by 62.03...
Page 198: Preset
0…32768 Homing speed reference 2. 62.09 HOME POSITION FW block: HOMING (see above) Defines the home position, which is set as the drive actual position after the home switch latch conditions have been fulfilled. The unit depends on parameter 60.05 POS UNIT selection.
Page 199: Cyclic Correction
(2) ENC1 DI1 -_ Falling edge of encoder 1 digital input DI1. (3) ENC1 DI2 _- Rising edge of encoder 1 digital input DI2. (4) ENC1 DI2 -_ Falling edge of encoder 1 digital input DI2. Reserved. (6) ENC1 ZEROP Rising edge of encoder 1 zero pulse.
Page 200 (4) 2 PROBE DIST Distance correction with two probes. (5) COR M/F DIST Master/Follower distance correction. 62.15 TRIG PROBE1 FW block: CYCLIC CORRECTION (see above) Defines the source of the latching command for position probe 1. (0) DISABLED None. (1) ENC1 DI1 _- Rising edge of encoder 1 digital input DI1.
Page 201 (22) ENC2 DI1-_ Z First rising edge of encoder 2 Z-pulse after the falling edge of encoder 2 digital input DI1. (23) ENC2 DI1=1 Z First rising edge of encoder 2 Z-pulse when encoder 2 digital input DI1 = 1. (24) ENC2 DI1=0 Z First rising edge of encoder 2 Z-pulse when encoder 2 digital input DI1 = 0.
Page 202 62.20 POS ACT OFFSET FW block: HOMING (see above) Offsets all the position values used by the position system, effectively correcting the position and revolution count signal received from the encoder. For example, this parameter can be used if a non- zero position signal received from the encoder needs to be defined as the zero position for the application.
Page 203: 65 Profile Reference
Group 65 PROFILE REFERENCE Positioning profile and start command settings. The shape of the profile are defined by seven values: position reference, speed, acceleration, deceleration, filtering time, style, and end speed. The position reference can be taken from an analogue input, fieldbus, drive-to-drive link or the position reference table.
Page 204: Profile Ref Sel
65 PROFILE REFERENCE Firmware block: PROFILE REF SEL PROFILE REF SEL TLF6 500 μsec (65) 4.06 POS REF 4.07 PROF SPEED This block 4.08 PROF ACC • selects whether position reference 4.09 PROF DEC is defined with reference set 1/2 or 4.10 PROF FILT TIME received through fieldbus 4.11 POS STYLE...
Page 205 65.02 PROF SET SEL FW block: PROFILE REF SEL (see above) Selects the source for position reference set 1 or 2 selection. 0 = position reference set 1, 1 = position reference set 2. See parameters 65.04 POS REF 1 SEL 65.12 POS REF 2 SEL.
Page 206 0…1000 ms Position reference filter time for position reference set 1. 65.09 POS STYLE 1 FW block: PROFILE REF SEL (see above) Determines the behaviour of the position profile generator when position reference set 1 is used. The figures below display the behaviour of each bit (different bit combinations are also possible). In synchron applications, bits 0…2 determine in which way the drive moves to an additional position reference or corrects the synchronising.
Page 207 Bit 2 1 = Positioning to the target position along the shortest path, regardless of bit 0 and 1 values. 65.03 POS START 1 4.01 SPEED REF POS 4.13 POS REF IPO Actual pos. 90° Actual pos. 90° Pos. reference 180° Pos.
Page 208 Bit 6 Effective only when bit 4 = 0. 1 = Selected target position is relative to the actual position. 0 = Selected target position is relative to the previous target position. 65.10 POS END SPEED 1 FW block: PROFILE REF SEL (see above) Defines the positioning speed when target is reached when position reference set 1 is used.
Page 209 65.18 POS END SPEED 2 FW block: PROFILE REF SEL (see above) Defines the positioning speed when target is reached when position reference set 1 is used. The unit depends on parameter 60.05 POS UNIT 60.10 POS SPEED UNIT selections. -32768…32768 Positioning speed when target is reached for position reference set 2.
Page 210 (5) D2D REF1 Drive-to-drive reference 1. (6) D2D REF2 Drive-to-drive reference 2. (7) POS VEL REF Profile velocity reference 1 defined by parameter 65.23 PROF VEL REF1. 65.23 PROF VEL REF1 FW block: PROFILE REF SEL (see above) Defines profile velocity reference 1. Used when parameter 65.22 PROF VEL REF SEL is set to POS VEL...
Page 211 Group 66 PROFILE GENERATOR Position profile generator settings. With these settings, the user can change the positioning speed during positioning, define positioning speed limits (for example, because of limited power), and set the window for target position. See also section Position profile generator on page 53.
Page 212 66 PROFILE GENERATOR Firmware block: PROFILE GENERATOR PROFILE GENERATOR TLF6 500 μsec (66) 4.13 POS REF IPO 4.14 DIST TGT This block POS REF < 66.01 PROF GENERAT IN • selects the source for position (9 / 4.06) [ 1.000 ] 66.02 PROF SPEED MUL profile generator input position [ 32768.000 u/s ]...
Page 213 66.03 PROF ACC WEAK SP FW block: PROFILE GENERATOR (see above) Defines a positioning speed value (for the profile generator), above which the acceleration/ deceleration time is reduced. Because the drive power depends on the torque and angular velocity, this parameter defines the power limit used in the position reference calculation. ω...
Page 214: 67 Sync Ref Sel
Group 67 SYNC REF SEL Synchronisation reference source selection that is used in synchron control mode. Synchron reference can be smoothed with fine interpolation if the reference is updated too slowly or changes drastically because of missing data. If the reference is taken from the virtual master, a rotating position reference is calculated according to the configured virtual master speed.
Page 215 (4) FBA REF2 Fieldbus reference 2. (5) D2D REF1 Drive-to-drive reference 1. (6) D2D REF2 Drive-to-drive reference 2. Reserved. (8) POS 2ND ENC Encoder 2. (9) VIRT MAST Virtual master reference. 67.02 SPEED REF VIRT M FW block: SYNC REF SEL (see above) Selects the source for the virtual master speed reference.
Page 216 (1) INTERPOLATE The synchronisation reference is interpolated as shown in the diagram below. The synchronisation reference is sampled at intervals defined by parameter 67.04 INTERPOLAT CYCLE. Signal 4.15 SYNC REF UNGEAR is updated to the sampled reference value after one cycle. Synchronisation reference 4.15 SYNC REF UNGEAR...
Page 217: 68 Sync Ref Mod
Group 68 SYNC REF MOD Synchronisation reference modification settings that are used to select between absolute or relative synchronisation, to set an electrical gear ratio between the synchronisation reference and the drive positioning system, and to filter the reference. 68.05 SYNC REF FTIME 68.04 SYNC GEAR ADD 68.02 SYNC GEAR MUL 68.01 SYNC GEAR IN...
Page 218 68.02 SYNC GEAR MUL FW block: SYNC REF MOD (see above) Defines the numerator for the synchron gear function. The gear function modifies the position alterations of the synchron position reference value in order to obtain a certain ratio between the master and follower motion.
Page 219: 70 Pos Ref Limit
Group 70 POS REF LIMIT Position reference (dynamic) limiter and synchronisation error supervision settings. The limiter adds the changes from the profile reference generator and synchron reference. The limiter monitors speed, acceleration and deceleration changes in the positioning reference. The limits should be set according to the mechanical limits of the driven machinery.
Page 220 70.01 POS REF PROFILE FW block: POS REF LIM (see above) Selects the source for the position reference for the dynamic limiter. Default value is P.4.13, i.e. 4.13 POS REF IPO, which is an output of the PROFILE GENERATOR firmware block (see page 212). Value pointer: Group and index.
Page 221: Position Ctrl
Group 71 POSITION CTRL Settings for the position controller. The position controller calculates a speed reference that is used to minimise the difference between position reference and actual values. The user can set the controller gain, the feed forward value and a cyclical delay between the reference and the actual value.
Page 222: Pos Control
71 POSITION CTRL Firmware block: POS CONTROL POS CONTROL TLF4 500 μsec (71) 4.01 SPEED REF POS 4.19 POS ERROR This block 4.20 SPEED FEED FWD • selects the sources for the actual [ POS ACT ] < 71.01 POS ACT IN (11 / 1.12) and reference position inputs of the POS REF LIMITED...
Page 223 71.05 POS CTRL DELAY FW block: POS CONTROL (see above) Defines the delay for the position reference. The selected number corresponds to the number of the position control cycles: If parameter value is set to 1, the position reference used in the position error calculation is the reference value updated during the previous position control cycle.
Page 224 Group 90 ENC MODULE SEL Settings for encoder activation, emulation, TTL echo, and communication fault detection. The firmware supports two encoders (or resolvers), encoder 1 and 2. Multiturn encoders are supported only as encoder 1. The following optional interface modules are available: •...
Page 225: Encoder
90 ENC MODULE SEL Firmware block: ENCODER ENCODER TLF8 250 μsec 1.08 ENCODER 1 SPEED 1.09 ENCODER 1 POS This block 1.10 ENCODER 2 SPEED • activates the communication to 1.11 ENCODER 2 POS encoder interface 1/2 2.16 FEN DI STATUS •...
Page 226 (5) FEN-21 RES Communication active. Module type: FEN-21 Resolver Interface. Input: Resolver input (X52). See parameter group 92 RESOLVER CONF. (6) FEN-21 TTL Communication active. Module type: FEN-21 Resolver Interface. Input: TTL encoder input (X51). See parameter group 93 PULSE ENC CONF.
Page 227 (5) FEN-11 ABS Module type: FEN-11 Absolute Encoder Interface. Emulation: FEN-11 absolute encoder input (X42) position is emulated to FEN-11 TTL output. (6) FEN-11 TTL Module type: FEN-11 Absolute Encoder Interface. Emulation: FEN-11 TTL encoder input (X41) position is emulated to FEN-11 TTL output. (7) FEN-21 SWREF Module type: FEN-21 Resolver Interface.
Page 228 (2) WARNING The drive generates an ENCODER 1/2 CABLE warning. This is the recommended setting if the maximum pulse frequency of sine/cosine incremental signals exceeds 100 kHz; at high frequencies, the signals may attenuate enough to invoke the function. The maximum pulse frequency can be calculated as follows: Pulses per revolution (par.
Page 229: 91 Absol Enc Conf
Group 91 ABSOL ENC CONF Absolute encoder configuration; used when parameter 90.01 ENCODER 1 SEL 90.02 ENCODER 2 SEL is set to (3) FEN-11 ABS. The optional FEN-11 Absolute Encoder Interface module supports the following absolute encoders: • Incremental sin/cos encoders with or without zero pulse and with or without •...
Page 230 91.02 ABS ENC INTERF FW block: ABSOL ENC CONF (see above) Selects the source for the encoder position (absolute position). (0) NONE Not selected. (1) COMMUT SIG Commutation signals. (2) ENDAT Serial interface: EnDat encoder. (3) HIPERFACE Serial interface: HIPERFACE encoder. (4) SSI Serial interface: SSI encoder.
Page 231 (0) 4800 4800 bits/s. (1) 9600 9600 bits/s. (2) 19200 19200 bits/s. (3) 38400 38400 bits/s. 91.12 HIPERF NODE ADDR FW block: ABSOL ENC CONF (see above) Defines the node address for HIPERFACE encoder (i.e. when parameter 91.02 ABS ENC INTERF set to HIPERFACE).
Page 232 (4) 500 kbit/s 500 kbit/s. (5) 1000 kbit/s 1000 kbit/s. 91.25 SSI MODE FW block: ABSOL ENC CONF (see above) Selects the SSI encoder mode. Note: Parameter needs to be set only when an SSI encoder is used in continuous mode, i.e. SSI encoder without incremental sin/cos signals (supported only as encoder 1).
Page 233 (1) CONTINUOUS Continuous position data transfer mode. 91.31 ENDAT MAX CALC FW block: ABSOL ENC CONF (see above) Selects the maximum encoder calculation time for EnDat encoder. Note: This parameter needs to be set only when an EnDat encoder is used in continuous mode, i.e. EnDat encoder without incremental sin/cos signals (supported only as encoder 1).
Page 234: 92 Resolver Conf
Group 92 RESOLVER CONF Resolver configuration; used when parameter 90.01 ENCODER 1 SEL /90.02 ENCODER 2 SEL is set to (5) FEN-21 RES. The optional FEN-21 Resolver Interface module is compatible with resolvers which are excited by sinusoidal voltage (to the rotor winding) and which generate sine and cosine signals proportional to the rotor angle (to stator windings).
Page 235: 93 Pulse Enc Conf
Group 93 PULSE ENC CONF TTL/HTL input and TTL output configuration. See also parameter group 90 ENC MODULE SEL on page 225, 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 236 (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 237 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 238: 95 Hw Configuration
Group 95 HW CONFIGURATION Miscellaneous hardware-related settings. 95 HW CONFIGURATION 95.01 CTRL UNIT SUPPLY FW block: None Defines the manner in which the drive control unit is powered. (0) INTERNAL 24V The drive control unit is powered from the drive power unit it is mounted on.
Page 239: 97 User Motor Par
Group 97 USER MOTOR PAR User adjustment of motor model values estimated during ID run. The values can be entered in either “per unit” or SI. 97 USER MOTOR PAR 97.01 USE GIVEN PARAMS FW block: None Activates the motor model parameters 97.02…97.14. The value is automatically set to zero when ID run is selected by parameter 99.13 IDRUN MODE.
Page 240 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 241: 98 Motor Calc Values
Group 98 MOTOR CALC VALUES Calculated motor values. 98 MOTOR CALC VALUES 98.01 TORQ NOM SCALE FW block: None Nominal torque in N•m which corresponds to 100%. Note: This parameter is copied from parameter 99.12 MOT NOM TORQUE if given. Otherwise the value is calculated.
Page 242: 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 243 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 244 99.08 MOT NOM FREQ FW block: None Defines the nominal motor frequency. Note: This parameter cannot be changed while the drive is running. 5…500 Hz Nominal motor frequency. 99.09 MOT NOM SPEED FW block: None Defines the nominal motor speed. Must be equal to the value on the motor rating plate. When parameter value is changed, check the speed limits in parameter group LIMITS.
Page 245 99.13 IDRUN MODE FW block: None Selects the type of the motor identification performed at the next start of the drive in DTC mode. During the identification, the drive will identify the characteristics of the motor for optimum motor control. After the ID run, the drive is stopped. Note: This parameter cannot be changed while the drive is running.
Page 246 (3) STANDSTILL Standstill ID run. The motor is injected with DC current. With asynchronous motor, the motor shaft is not rotating (with permanent magnet motor the shaft can rotate < 0.5 revolution). Note: This mode should be selected only if the Normal or Reduced ID run is not possible due to the restrictions caused by the connected mechanics (e.g.
Page 247: 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 248: 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 249: 32-Bit Integer Bit Pointers
32-bit integer bit pointers When bit pointer parameter is connected to value 0 or 1, the format is as follows: 30…31 16…29 Name Source type Not in use Value Value 0…1 Description Bit pointer is connected 0 = False, 1 = True to 0/1.
Page 250: Actual Signals (Parameter Groups 1
Actual signals (Parameter groups 1…9) Index Name Type Range Unit FbEq Update Data Save Page time length ACTUAL VALUES 1.01 SPEED ACT REAL -30000…30000 1 = 100 250 µs 1.02 SPEED ACT PERC REAL -1000…1000 1 = 100 2 ms 1.03 FREQUENCY REAL...
Page 251 Index Name Type Range Unit FbEq Update Data Save Page time length 2.15 FBA MAIN REF2 INT32 …2 1 = 1 500 µs 2.16 FEN DI STATUS 0…0x33 1 = 1 500 µs 2.17 D2D MAIN CW 0…0xFFFF 1 = 1 500 µs 2.18 D2D FOLLOWER CW...
Page 252 Index Name Type Range Unit FbEq Update Data Save Page time length 4.20 SPEED FEED FWD REAL -32768…32768 1 = 100 250 µs DRIVE STATUS 6.01 STATUS WORD 1 0…65535 1 = 1 2 ms 6.02 STATUS WORD 2 0…65535 1 = 1 2 ms 6.03...
Page 253: Parameter Groups 10
Parameter groups 10…99 Index Parameter Type Range Unit FbEq Update Data Save Page time len. START/STOP 10.01 EXT1 START FUNC enum 0…6 2 ms 10.02 EXT1 START IN1 Bit pointer 2 ms P.02.01.00 WPD 10.03 EXT1 START IN2 Bit pointer 2 ms C.False 10.04 EXT2 START FUNC...
Page 254 Index Parameter Type Range Unit FbEq Update Data Save Page time len. 12.16 DIO2 F MAX SCALE REAL -32768… 1 = 1 10 ms 1500 32768 12.17 DIO2 F MIN SCALE REAL -32768… 1 = 1 10 ms 32768 ANALOGUE INPUTS 13.01 AI1 FILT TIME REAL 0…30...
Page 255 Index Parameter Type Range Unit FbEq Update Data Save Page time len. 16.03 PASS CODE INT32 0…2 1 = 1 16.04 PARAM RESTORE enum 0…2 1 = 1 16.07 PARAM SAVE enum 0…1 1 = 1 16.09 USER SET SEL enum 1…10 1 = 1...
Page 256 Index Parameter Type Range Unit FbEq Update Data Save Page time len. 24.09 CONST SPEED ENA Bit pointer 2 ms C.False 24.10 SPEED REF JOG1 REAL -30000…. 1 = 1 2 ms 30000 24.11 SPEED REF JOG2 REAL -30000…. 1 = 1 2 ms 30000 24.12 SPEED REFMIN ABS...
Page 257 Index Parameter Type Range Unit FbEq Update Data Save Page time len. 28.08 BAL REFERENCE REAL -1600… 1 = 10 2 ms 1600 28.09 SPEEDCTRL BAL EN Bit pointer 2 ms C.False 28.10 MIN TORQ SP CTRL REAL -1600… 1 = 10 2 ms -300 1600...
Page 258 Index Parameter Type Range Unit FbEq Update Data Save Page time len. 34.03 EXT1 CTRL MODE1 enum 1…5 (1…9 1 = 1 2 ms for pos. appl.) 34.04 EXT1 CTRL MODE2 enum 1…5 (1…9 1 = 1 2 ms 2 (8 for for pos.
Page 259 Index Parameter Type Range Unit FbEq Update Data Save Page time len. 46.02 SPEED REF SAFE REAL -30000… 1 = 1 2 ms 30000 46.03 LOCAL CTRL LOSS enum 0…3 1 = 1 46.04 MOT PHASE LOSS enum 0…1 1 = 1 2 ms 46.05 EARTH FAULT enum...
Page 260 Index Parameter Type Range Unit FbEq Update Data Save Page time len. 51.27 FBA PAR REFRESH UINT32 0…1 1 = 1 51.28 PAR TABLE VER UINT32 0…65536 1 = 1 51.29 DRIVE TYPE CODE UINT32 0…65536 1 = 1 51.30 MAPPING FILE VER UINT32 0…65536 1 = 1...
Page 261 Index Parameter Type Range Unit FbEq Update Data Save Page time len. 60.10 POS SPEED UNIT enum 0…2 1 = 1 10 ms 60.11 POS SPEED2INT enum 1…1000000 1 = 1 10 ms 1000 60.12 POS SPEED SCALE REAL 0…32768 1 = 10000 10 ms 60.13 MAXIMUM POS...
Page 262 Index Parameter Type Range Unit FbEq Update Data Save Page time len. 65.07 PROF DEC 1 REAL -32768…0 60.10 2 ms 65.08 PROF FILT TIME 1 REAL 0…1000 1 = 1 2 ms 65.09 POS STYLE 1 UINT32 0…0xFFFF 1 = 1 2 ms 65.10 POS END SPEED 1 REAL...
Page 263 Index Parameter Type Range Unit FbEq Update Data Save Page time len. 70.02 POS REF SYNC Val pointer 500 µs P.04.16 70.03 POS REF ENA Bit pointer 500 µs C.True 70.04 POS SPEED LIM REAL 0…32768 60.10 2 ms 32768 70.05 POS ACCEL LIM REAL 0…32768...
Page 264 Index Parameter Type Range Unit FbEq Update Data Save Page time len. RESOLVER CONF 92.01 RESOLV POLEPAIRS UINT32 1…32 1 = 1 92.02 EXC SIGNAL AMPL UINT32 4…12 Vrms 1 = 10 92.03 EXC SIGNAL FREQ UINT32 1…20 1 = 1 PULSE ENC CONF 93.01 ENC1 PULSE NR UINT32...
Page 265 Index Parameter Type Range Unit FbEq Update Data Save Page time len. 98.02 POLEPAIRS UINT32 0…1000 1 = 1 START-UP DATA 99.01 LANGUAGE enum 1 = 1 99.04 MOTOR TYPE enum 0…1 1 = 1 99.05 MOTOR CTRL MODE enum 0…1 1 = 1 99.06 MOT NOM CURRENT...
Page 266 Parameter data...
Page 267: Fault Tracing
Alarm and fault indications An alarm or a fault message indicates abnormal drive status. Most alarm and fault causes can be identified and corrected using this information. If not, an ABB representative should be contacted. The four-digit code number in brackets after the message is for the fieldbus communication.
Page 268: Fault History
Fault history When fault is detected, it is stored in the fault logger with a time stamp. The fault history stores information on the 16 latest faults of the drive. Three of the latest faults are stored at the beginning of a power switch off. Signals 8.01 ACTIVE FAULT 8.02 LAST FAULT...
Page 269: Alarm Messages Generated By The Drive
46.07 STO DIAGNOSTIC is set to ALARM. 2004 STO MODE CHANGE Error in changing Safe Torque Contact your local ABB representative. (0xFF7A) Off supervision, i.e. parameter 46.07 STO DIAGNOSTIC setting could not be changed to value ALARM. 2005...
Page 270 Code Alarm Cause What to do (fieldbus code) 2006 EMERGENCY OFF Drive has received emergency To restart drive, activate RUN ENABLE signal (0xF083) OFF2 command. (source selected by parameter 10.09 RUN ENABLE) and start drive. 2007 RUN ENABLE No Run enable signal is Check setting of parameter 10.09 RUN (0xFF54)
Page 271 Code Alarm Cause What to do (fieldbus code) 2014 INTBOARD OVERTEMP Interface board (between power Let drive cool down. (0x7182) unit and control unit) temperature has exceeded internal alarm limit. 2015 BC MOD OVERTEMP Input bridge or brake chopper Let drive cool down. (0x7183) temperature has exceeded internal alarm limit.
Page 272 Code Alarm Cause What to do (fieldbus code) 2023 ENCODER 2 FAILURE Encoder 2 has been activated Check parameter 90.02 ENCODER 2 SEL (0x7381) by parameter but the encoder setting corresponds to encoder interface 2 interface (FEN-xx) cannot be (FEN-xx) installed in drive Slot 1/2 (signal found.
Page 273 Code Alarm Cause What to do (fieldbus code) 2025 LATCH POS 2 FAILURE Position latch 2 from encoder 1 See alarm LATCH POS 1 FAILURE. (0x7383) or 2 has failed. 2026 ENC EMULATION Encoder emulation error If position value used in emulation is FAILURE measured by encoder: (0x7384)
Page 274 90.10 ENC PAR REFRESH used or after the JCU control unit is powered up the next time. 2029 ENC EMUL REF ERROR Encoder emulation has failed Contact your local ABB representative. (0x7387) due to failure in writing new (position) reference for emulation. 2030...
Page 275 Code Alarm Cause What to do (fieldbus code) 2034 D2D BUFFER Transmission of drive-to-drive Contact your local ABB representative. OVERLOAD references failed because of (0x7520) message buffer overflow. Programmable fault: 57.02 COMM LOSS FUNC 2035 PS COMM Communication errors detected...
Page 276: Fault Messages Generated By The Drive
EARTH FAULT motor cables: - measure insulation resistances of motor and motor cable. If no earth fault can be detected, contact your local ABB representative. 0007 FAN FAULT Fan is not able to rotate freely or Check fan operation and connection.
Page 277 Check fault limit setting, parameter 48.06. Check that braking cycle meets allowed limits. 0013 CURR MEAS GAIN Difference between output Contact your local ABB representative. (0x3183) phase U2 and W2 current measurement gain is too great. 0014 CABLE CROSS CON Incorrect input power and motor Check input power connections.
Page 278 TORQUE. Make sure that 20.06 MAXIMUM TORQUE > 100%. Fault code extension: Internal error. Contact your local ABB representative. 4…16 0018 CURR U2 MEAS Measured offset error of U2 Contact your local ABB representative. (0x3184) output phase current measurement is too great.
Page 279 46.07 STO DIAGNOSTIC setting is (2) ALARM 0023 STO MODE CHANGE Error in changing Safe Torque Contact your local ABB representative. (0xFF7A) Off supervision, i.e. parameter 46.07 STO DIAGNOSTIC setting could not be changed to value FAULT.
Page 280 46.03 Replace control panel in mounting platform. communicating. LOCAL CTRL LOSS 0037 NVMEMCORRUPTED Drive internal fault Contact your local ABB representative. (0x6320) Note: This fault cannot be reset. 0038 OPTION COMM LOSS Communication between drive Check that option modules are properly...
Page 281 Code Fault Cause What to do (fieldbus code) 0039 ENCODER1 Encoder 1 feedback fault If fault appears during first start-up before (0x7301) encoder feedback is used: - Check cable between encoder and encoder interface module (FEN-xx) and order of connector signal wires at both ends of cable. If absolute encoder, EnDat/Hiperface/SSI, with incremental sin/cos pulses is used, incorrect wiring can be located as follows:...
Page 282 COMM LOSS FUNC Check fieldbus parameter settings. See module is lost. parameter group 50 FIELDBUS on page 180. Check cable connections. Check if communication master can communicate. 0046 FB MAPPING FILE Drive internal fault Contact your local ABB representative. (0x6306) Fault tracing...
Page 283 ENC CABLE FAULT 90.10 ENC PAR REFRESH. 0052 D2D CONFIG Configuration of the drive-to- Contact your local ABB representative. (0x7583) drive link has failed for a reason other than those indicated by alarm 2042, for example start inhibition is requested but not granted.
Page 284 1 and/or 2 for five consecutive drive. reference handling cycles. Check the drive-to-drive link wiring. 0054 D2D BUF OVLOAD Transmission of drive-to-drive Contact your local ABB representative. (0x7520) references failed because of message buffer overflow. Programmable fault: 57.02 COMM LOSS FUNC...
Page 285 Fault Cause What to do (fieldbus code) 0203 T4 OVERLOAD Firmware time level 4 overload Contact your local ABB representative. (0x6100) Note: This fault cannot be reset. 0204 T5 OVERLOAD Firmware time level 5 overload Contact your local ABB representative.
Page 286 Note: This fault cannot be reset. 0308 APPL FILE PAR CONF Corrupted application file Reload application. (0x6300) Note: This fault cannot be If fault is still active, contact your local ABB reset. representative. 0309 APPL LOADING Corrupted application file Reload application. (0x6300)
Page 287: 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 can vary depending on the used drive application. Terms Data type Description...
Page 288: Arithmetic
Arithmetic (10001) Illustration (DINT) TLA1 1 msec OUT(46) Execution time 0.53 µs Operation The output (OUT) is the absolute value of the input (IN). OUT = | IN | Inputs The input data type is selected by the user. Input (IN): DINT, INT, REAL or REAL24 Outputs Output (OUT): DINT, INT, REAL or REAL24 (10000)
Page 289: 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 290: Move
MOVE (10005) Illustration MOVE (BOOL) TLA1 1 msec OUT1(51) OUT1 OUT2(51) OUT2 Execution time 2.10 µs (when two inputs are used) + 0.42 µs (for every additional input). When all inputs are used, the execution time is 14.55 µs. Operation Copies the input values (IN1…32) to the corresponding outputs (OUT1…32).
Page 291: 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 292: Bitstring
Bitstring (10010) Illustration TLA1 1 msec OUT(56) Execution time 1.55 µs (when two inputs are used) + 0.60 µs (for every additional input). When all inputs are used, the execution time is 19.55 µs. Operation The output (OUT) is 1 if all the connected inputs (IN1…IN32) are 1. Otherwise the output is 0.
Page 293: Rol
(10012) Illustration TLA1 1 msec OUT(58) Execution time 1.55 µs (when two inputs are used) + 0.60 µs (for every additional input). When all inputs are used, the execution time is 19.55 µs. Operation The output (OUT) is 0, if all connected inputs (IN) are 0. Otherwise the output is 1. Truth table: The inputs can be inverted.
Page 294: Ror
Outputs Output (O): INT, DINT (10014) Illustration (DINT) TLA1 1 msec BITCNT O(60) Execution time 1.28 µs Operation Input bits (I) are rotated to the right by the number (N) of bits defined by BITCNT. The N least significant bits (LSB) of the input are stored as the N most significant bits (MSB) of the output.
Page 295: Shr
Inputs The input data type is selected by the user. Input (I): INT, DINT Number of bits (BITCNT): INT; DINT Outputs Output (O): INT; DINT (10016) Illustration (DINT) TLA1 1 msec BITCNT O(62) Execution time 0.80 µs Operation Input bits (I) are rotated to the right by the number (N) of bits defined by BITCNT. The N least significant bits (LSB) of the input are lost and the N most significant bits (MSB) of the output are set to 0.
Page 296 Operation The output (OUT) is 1 if one of the connected inputs (IN1…IN32) is 1. Output is zero if all the inputs have the same value. Example: The inputs can be inverted. Inputs The number of inputs (2…32) is selected by the user. Input (IN1…IN32): Boolean Outputs Output (OUT): Boolean...
Page 297: Bitwise
Bitwise BGET (10034) Illustration BGET (DINT) TLA1 1 msec BITNR O(64) Execution time 0.88 µs Operation The output (O) is the value of the selected bit (BITNR) of the input (I). BITNR: Bit number (0 = bit number 0, 31 = bit number 31) If bit number is not in the range of 0…31 (for DINT) or 0…15 (for INT), the output is 0.
Page 298: Bitor
BITOR (10036) Illustration BITOR TLA1 1 msec O(66) Execution time 0.32 µs Operation The output (O) bit value is 1 if the corresponding bit value of any of the inputs (I1 or I2) is 1. Otherwise the output bit value is 0. Example: 1 1 1 0 0 0 0 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 1 1 0 0 1 1 0 1 0 1 0 0 0 0 0 1 1 1 0 0 1 0 1 1 1 0 1 0 0 1 1 0 0 1 1 0 1 0 1 1 1 1...
Page 299: Reg
Outputs Output (O): INT, DINT (10038) Illustration (BOOL) TLA1 1 msec O1(68) >L O2(68) Execution time 2.27 µs (when two inputs are used) + 1.02 µs (for every additional input). When all inputs are used, the execution time is 32.87 µs. Operation The input (I1…I32) value is stored to the corresponding output (O1…O32) if the load input (L) is set to 1 or the set input (S) is 1.
Page 300: Sr-D
SR-D (10039) Illustration SR-D TLA1 1 msec O(69) >C Execution time 1.04 µs Operation When clock input (C) is set to 1, the data input (D) value is stored to the output (O). When reset input (R) is set to 1, the output is set to 0. If only set (S) and reset (R) inputs are used, SR-D block acts as an block: The output is 1 if the set input (S) is 1.
Page 301: Communication
Communication D2D_Conf (10092) Illustration D2D_Conf TLA1 1 msec Ref1 Cycle Sel Error(70) Error Ref2 Cycle Sel Std Mcast Group Execution time Operation Defines handling interval for drive-to-drive references 1 and 2, and the address (group number) for outgoing standard (non-chained) multicast messages. The values of the Ref1/2 Cycle Sel inputs correspond to the following intervals: Value Handling interval...
Page 302: D2D_Sendmessage
Execution time Operation Configures the transmission of token messages sent to a follower. Each token authorizes the follower to send one message to another follower or group of followers. For the message types, see the block D2D_SendMessage. Note: This block is only supported in the master. The Target Node input defines the node address the master sends the tokens to;...
Page 303 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 304: Ds_Readlocal
The error codes indicated by the Error output are as follows: Description D2D_MODE_ERR: Drive-to-drive communication not activated, or message type not supported in current drive-to-drive mode (master/follower) LOCAL_DS_ERR: LocalDsNr input out of range (16…199) TARGET_NODE_ERR: Target Node/Grp input out of range (1…62) REMOTE_DS_ERR: Remote dataset number out of range (16…199) MSG_TYPE_ERR: Msg Type input out of range (0…5) 5…6 Reserved...
Page 305: Ds_Writelocal
Outputs Contents of dataset (Data1 16B): INT Contents of dataset (Data2 32B): DINT Error output (Error): DINT DS_WriteLocal (10093) Illustration DS_WriteLocal TLA1 1 msec LocalDsNr Error(74) Error Data1 16B Data2 32B Execution time Operation Writes data into the local dataset table. Each dataset contains 48 bits; the data is input through the Data1 16B (16 bits) and Data2 32B (32 bits) inputs.
Page 306: Comparison
Comparison (10040) Illustration (DINT) TLA1 1 msec OUT(75) Execution time 0.89 µs (when two inputs are used) + 0.43 µs (for every additional input). When all inputs are used, the execution time is 13.87 µs. Operation The output (OUT) is 1 if all the connected input values are equal (IN1 = IN2 = … = IN32).
Page 307 Operation The output (OUT) is 1 if (IN1 > IN2) & (IN2 > IN3) & … & (IN31 > IN32). Otherwise the output is 0. Inputs The input data type and the number of inputs (2…32) are selected by the user. Input (IN1…IN32): INT, DINT, REAL, REAL24 Outputs Output (OUT): Boolean...
Page 308 <> (10045) Illustration (DINT) TLA1 1 msec O(80) Execution time 0.44 µs Operation The output (O) is 1 if I1 <> I2. Otherwise the output is 0. Inputs The input data type is selected by the user. Input (I1, I2): INT, DINT, REAL, REAL24 Outputs Output (O): Boolean Standard function blocks...
Page 309: Conversion
Conversion BOOL_TO_DINT (10018) Illustration BOOL_TO_DINT TLA1 1 msec SIGN OUT(81) IN10 IN11 IN12 IN13 IN14 IN15 IN16 IN17 IN18 IN19 IN20 IN21 IN22 IN23 IN24 IN25 IN26 IN27 IN28 IN29 IN30 IN31 Execution time 13.47 µs Operation The output (OUT) value is a 32-bit integer value formed from the boolean integer input (IN1…IN31 and SIGN) values.
Page 310: Bool_To_Int
Input Sign input (SIGN): Boolean Input (IN1…IN31): Boolean Output Output (OUT): DINT (31 bits + sign) BOOL_TO_INT (10019) Illustration BOOL_TO_INT TLA1 1 msec OUT(82) IN10 IN11 IN12 IN13 IN14 IN15 SIGN Execution time 5.00 µs Operation The output (OUT) value is a 16-bit integer value formed from the boolean integer input (IN1…IN1 and SIGN) values.
Page 311: Dint_To_Bool
DINT_TO_BOOL (10020) Illustration DINT_TO_BOOL TLA1 1 msec OUT1(83) OUT1 OUT2(83) OUT2 OUT3(83) OUT3 OUT4(83) OUT4 OUT5(83) OUT5 OUT6(83) OUT6 OUT7(83) OUT7 OUT8(83) OUT8 OUT9(83) OUT9 OUT10(83) OUT10 OUT11(83) OUT11 OUT12(83) OUT12 OUT13(83) OUT13 OUT14(83) OUT14 OUT15(83) OUT15 OUT16(83) OUT16 OUT17(83) OUT17 OUT18(83) OUT18...
Page 312: Dint_To_Int
DINT_TO_INT (10021) Illustration DINT_TO_INT TLA1 1 msec O(84) Execution time 0.53 µs Operation The output (O) value is a 16-bit integer value of the 32-bit integer input (I) value. Examples: I (31 bits + sign) O (15 bits + sign) 2147483647 32767 -2147483648...
Page 313: Dint_To_Realn_Simp
DINT_TO_REALn_SIMP (10022) Illustration DINT_TO_REALn_SIMP (REAL) TLA1 1 msec O(86) SCALE ERRC(86) ERRC Execution time 6.53 µs Operation The output (O) is the REAL/REAL24 equivalent of the input (I) divided by the scale input (SCALE). Error codes indicated at the error output (ERRC) are as follows: Error code Description No error...
Page 314: Int_To_Bool
INT_TO_BOOL (10024) Illustration INT_TO_BOOL TLA1 1 msec OUT1(87) OUT1 OUT2(87) OUT2 OUT3(87) OUT3 OUT4(87) OUT4 OUT5(87) OUT5 OUT6(87) OUT6 OUT7(87) OUT7 OUT8(87) OUT8 OUT9(87) OUT9 OUT10(87) OUT10 OUT11(87) OUT11 OUT12(87) OUT12 OUT13(87) OUT13 OUT14(87) OUT14 OUT15(87) OUT15 OUT16(87) OUT16 SIGN(87) SIGN Execution time 4.31 µs...
Page 315: Real_To_Real24
Operation The output (O) value is a 32-bit integer value of the 16-bit integer input (I) value. 32767 32767 -32767 -32767 Inputs Input (I): INT Outputs Output (O): DINT REAL_TO_REAL24 (10026) Illustration REAL_TO_REAL24 TLA1 1 msec O(89) Execution time 1.35 µs Operation Output (O) is the REAL24 equivalent of the REAL input (I).
Page 316: Realn_To_Dint
Inputs Input (I): REAL24 Outputs Output (O): REAL REALn_TO_DINT (10029) Illustration REALn_TO_DINT (REAL) TLA1 1 msec O1(91) O2(91) Execution time 6.45 µs Operation Output (O) is the 32-bit integer equivalent of the REAL/REAL24 input (I). Output O1 is the integer value and output O2 is the fractional value. The output value is limited to the maximum value of the data type range.
Page 317 Inputs The input data type is selected by the user. Input (I): REAL, REAL24 Scale input (SCALE): DINT Outputs Output (O): DINT Error output (ERRC): DINT Standard function blocks...
Page 318: Counters
Counters (10047) Illustration TLA1 1 msec CV(93) >CD Q(93) Execution time 0.92 µs Operation The counter output (CV) value is decreased by 1 if the counter input (CD) value changes from 0 -> 1 and the load input (LD) value is 0. If the load input value is 1, the preset input (PV) value is stored as the counter output (CV) value.
Page 319: Ctu
Operation The counter output (CV) value is decreased by 1 if the counter input (CD) value changes from 0 -> 1 and the load input (LD) value is 0. If the load input (LD) value is 1, the preset input (PV) value is stored as the counter output (CV) value. If the counter output has reached its minimum value -2147483648, the counter output remains unchanged.
Page 320: 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 321: Ctud
Inputs Counter input (CU): Boolean Reset input (R): Boolean Preset input (PV): DINT Outputs Status output (Q): Boolean Counter output (CV): DINT CTUD (10051) Illustration CTUD TLA1 1 msec >CU CV(97) >CD QU(97) QD(97) Execution time 1.40 µs Standard function blocks...
Page 322 Operation The counter output (CV) value is increased by 1 if the counter input (CU) value changes from 0 -> 1 and the reset input (R) value is 0. The counter output (CV) value is decreased by 1 if the counter input (CD) value changes from 0 ->...
Page 323: Ctud_Dint
CTUD_DINT (10050) Illustration CTUD_DINT TLA1 1 msec >CU CV(98) >CD QU(98) QD(98) Execution time 1.40 µs Operation The counter output (CV) value is increased by 1 if the counter input (CU) value changes from 0 -> 1 and the reset input (R) value is 0. The counter output (CV) value is decreased by 1 if the counter input (CD) value changes from 0 ->...
Page 324 Inputs Down counter input (CD): Boolean Up counter input (CU): Boolean Load input (LD): Boolean Reset input (R): Boolean Preset input (PV): DINT Outputs Down counter status output (QD): Boolean Up counter status output (QU): Boolean Counter output (CV): DINT Standard function blocks...
Page 325: Edge & Bistable
Edge & bistable FTRIG (10030) Illustration FTRIG TLA1 1 msec >CLK Q(99) Execution time 0.38 µs Operation The output (Q) is set to 1 when the clock input (CLK) changes from 1 to 0. The output is set back to 0 with the next execution of the block. Otherwise the output is 0. previous 1 (for one execution cycle time, returns to 0 at the next execution)
Page 326: Rtrig
Operation The output (Q1) is 0 if the set input (S) is 1 and the reset input (R) value is 0. The output will retain the previous output state if the set input (S) and the reset input (R) are 0. The output is 0 if the set input is 0 and the reset input is 1.
Page 327 (10033) Illustration TLA1 1 msec Q1(48) Execution time 0.38 µs Operation The output (Q1) is 1 if the set input (S1) is 1. The output will retain the previous output state if the set input (S1) and the reset input (R) are 0. The output is 0 if the set input is 0 and the reset input is 1.
Page 328: Extensions
Extensions FIO_01_slot1 (10084) Illustration FIO_01_slot1 TLA1 1 msec DIO1 conf DI1(49) DIO2 conf DI2(49) DIO3 conf DI3(49) DIO4 conf DI4(49) Error(49) Error Execution time 8.6 µs Operation The block controls the four digital inputs/outputs (DIO1…DIO4) and two relay outputs (RO1, RO2) of a FIO-01 Digital I/O Extension mounted on slot 1 of the drive control unit. The state of a DIOx conf input of the block determines whether the corresponding DIO on the FIO-01 is an input or an output (0 = input, 1 = output).
Page 329: Fio_01_Slot2
FIO_01_slot2 (10085) Illustration FIO_01_slot2 TLA1 1 msec DIO1 conf DI1(50) DIO2 conf DI2(50) DIO3 conf DI3(50) DIO4 conf DI4(50) Error(50) Error Execution time 8.6 µs Operation The block controls the four digital inputs/outputs (DIO1…DIO4) and two relay outputs (RO1, RO2) of a FIO-01 Digital I/O Extension mounted on slot 2 of the drive control unit. The state of a DIOx conf input of the block determines whether the corresponding DIO on the FIO-01 is an input or an output (0 = input, 1 = output).
Page 330: Fio_11_Ai_Slot1
FIO_11_AI_slot1 (10088) Illustration FIO_11_AI_slot1 TLA1 1 msec AI1 filt gain AI1 mode(51) AI1 mode AI1 Min AI1(51) AI1 Max AI1 scaled(51) AI1 scaled AI1 Min scale AI2 mode(51) AI2 mode AI1 Max scale AI2(51) AI2 filt gain AI2 scaled(51) AI2 scaled AI2 Min AI3 mode(51) AI3 mode...
Page 331 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 332: Fio_11_Ai_Slot2
FIO_11_AI_slot2 (10089) Illustration FIO_11_AI_slot2 TLA1 1 msec AI1 filt gain AI1 mode(52) AI1 mode AI1 Min AI1(52) AI1 Max AI1 scaled(52) AI1 scaled AI1 Min scale AI2 mode(52) AI2 mode AI1 Max scale AI2(52) AI2 filt gain AI2 scaled(52) AI2 scaled AI2 Min AI3 mode(52) AI3 mode...
Page 333 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 334: Fio_11_Ao_Slot1
FIO_11_AO_slot1 (10090) Illustration FIO_11_AO_slot1 TLA1 1 msec AO Min AO(53) AO Max Error(53) Error AO Min Scale AO Max Scale AO scaled Execution time 4.9 µs Operation The block controls the analogue output (AO1) of a FIO-11 Analog I/O Extension mounted on slot 1 of the drive control unit.
Page 335: 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 336 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 337: Fio_11_Dio_Slot1
FIO_11_DIO_slot1 (10086) Illustration FIO_11_DIO_slot1 TLA1 1 msec DIO1 conf DI1(55) DIO2 conf DI2(55) Error(55) Error DI1 filt gain DI2 filt gain Execution time 6.0 µs Operation The block controls the two digital inputs/outputs (DIO1, DIO2) of a FIO-11 Digital I/O Extension mounted on slot 1 of the drive control unit.
Page 338 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 339: Feedback & Algorithms
Feedback & algorithms CRITSPEED (10068) Illustration CRITSPEED TLA1 1 msec CRITSPEEDSEL REFOUTPUT (57) REFOUTPUT CRITSPEED1LO OUTSTATE (57) OUTSTATE CRITSPEED1HI OUTACTIVE(57) OUTACTIVE CRITSPEED2LO CRITSPEED2HI CRITSPEED3LO CRITSPEED3HI REFINPUT Execution time 4.50 µs Operation A critical speeds function block is available for applications where it is necessary to avoid certain motor speeds or speed bands because of e.g.
Page 340: Cyclet
Outputs Reference output (REFOUTPUT): REAL Output state (OUTSTATE): REAL Output active (OUTACTIVE): Boolean CYCLET (10074) Illustration CYCLET TLA1 1 msec OUT(58) Execution time 0.00 µs Operation Output (OUT) is the execution time of the selected function block. Inputs Outputs Output (OUT): DINT. 1 = 1 µs DATA CONTAINER (10073) Illustration...
Page 341 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 342: Int
(10065) Illustration TLA1 1 msec O(61) O=HL(61) O=HL O=LL(61) O=LL RINT BALREF Execution time 4.73 µs Operation The output (O) is the integrated value of the input (I): ∫ O(t) = K/TI ( I(t) dt) Where TI is the integration time constant and K is the integration gain. The step response for the integration is: O(t) = K ×...
Page 343: Motpot
MOTPOT (10067) Illustration MOTPOT TLA1 1 msec ENABLE OUTPUT(62) OUTPUT DOWN RAMPTIME MAXVAL MINVAL RESETVAL RESET Execution time 2.92 µs Operation The motor potentiometer function controls the rate of change of the output from the minimum to the maximum value and vice versa. The function is enabled by setting the ENABLE input to 1.
Page 344: Pid
(10075) Illustration TLA1 1 msec IN_act Out(63) IN_ref Dev(63) O=HL(63) O=HL O=LL(63) O=LL ERROR(63) ERROR I_reset BAL_ref Execution time 15.75 µs Standard function blocks...
Page 345 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 346: Ramp
Inputs Proportional gain input (P): REAL Integration time constant input (tI): REAL. 1 = 1 ms Derivation time constant input (tD): REAL. 1 = 1 ms Antiwind-up correction time constant input (tC): IQ6. 1 = 1 ms Output high limit input (OHL): REAL Output low limit input (OLL): REAL Actual input (IN_act): REAL Reference input (IN_ref): REAL...
Page 347: Reg-G
Inputs Input (IN): REAL Maximum positive step change input (STEP+): REAL Maximum negative step change input (STEP-): REAL Positive ramp input (SLOPE+): REAL Negative ramp input (SLOPE-): REAL Balance input (BAL): Boolean Balance reference input (BALREF): REAL Output high limit input (OHL): REAL Output low limit input (OLL): REAL Outputs Output (O): REAL...
Page 348: Solution_Fault
Inputs Set (S): Boolean, INT, DINT, REAL, REAL24 Load (L): Boolean, INT, DINT, REAL, REAL24 Write (WR): Boolean, INT, DINT, REAL, REAL24 Write address (AWR): INT Reset (R): Boolean Expander (EXP): IArray Data input (I1…In): Boolean, INT, DINT, REAL, REAL24 Outputs Error (ERR): INT Array data output (O): OC1...
Page 349: Filters
Filters FILT1 (10069) Illustration FILT1 TLA1 1 msec O(67) Execution time 7.59 µs Operation The output (O) is the filtered value of the input (I) value and the previous output value ). The FILT1 block acts as 1st order low pass filter. prev Note: Filter time constant (T1) must be selected so that T1/Ts <...
Page 350 Standard function blocks...
Page 351: Lead/Lag
Inputs Input (X): REAL -3 dB cutoff frequency input (FRQ): DINT (0…16383 Hz) Reset input (RESET): Boolean Outputs Output (Y): REAL LEAD/LAG (10071) Illustration LEAD/LAG TLA1 1 msec Y(69) ALPHA RESET Execution time 5.55 µs Operation The output (Y) is the filtered value of the input (X). When ALPHA > 1, the function block acts as a lead filter.
Page 352: Parameters
Parameters GetBitPtr (10099) Illustration GetBitPtr TLA1 1 msec Bit ptr Out(70) Execution time Operation Reads the status of one bit within a parameter value cyclically. The Bit ptr input specifies the parameter group, index and bit to be read. The output (Out) provides the value of the bit. Inputs Parameter group, index and bit (Bit ptr): DINT Outputs...
Page 353: Parrdintr
Operation Reads the value of a parameter (specified by the Group and Index inputs). If the parameter is a pointer parameter, the Output pin provides the number of the source parameter instead of its value. Error codes are indicated by the error output (Error) as follows: Error code Description No error...
Page 354: 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 355: Selection
Selection LIMIT (10052) Illustration LIMIT (DINT) TLA1 1 msec OUT(76) Execution time 0.53 µs Operation The output (OUT) is the limited input (IN) value. Input is limited according to the minimum (MN) and maximum (MX) values. Inputs The input data type is selected by the user. Maximum input limit (MX): INT, DINT, REAL, REAL24 Minimum input limit (MN): INT, DINT, REAL, REAL24 Input (IN): INT, DINT, REAL, REAL24...
Page 356: Mux
Operation The output (OUT) is the lowest input value (IN). Inputs The input data type and the number of inputs (2…32) are selected by the user. Input (IN1…IN32): INT, DINT, REAL, REAL24 Outputs Output (OUT): INT, DINT, REAL, REAL24 (10055) Illustration (DINT) TLA1 1 msec...
Page 357: Switch & Demux
Switch & Demux DEMUX-I (10061) Illustration DEMUX-I (BOOL) TLA1 1 msec OA1(81) OA2(81) Execution time 1.38 µs (when two inputs are used) + 0.30 µs (for every additional input). When all inputs are used, the execution time is 10.38 µs. Operation Input (I) value is stored to the output (OA1…OA32) selected by the address input (A).
Page 358: 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 359: Switchc
SWITCHC (10064) Illustration SWITCHC (BOOL) TLA1 1 msec OUT1(84) OUT1 CH A1 OUT2(84) OUT2 CH A2 CH B1 CH B2 Execution time 1.53 µs (when two inputs are used) + 0.73 µs (for every additional input). When all inputs are used, the execution time is 23.31 µs. Operation The output (OUT) is equal to the corresponding channel A input (CH A1…32) if the activate input (ACT) is 0.
Page 360: Timers
Timers MONO (10057) Illustration MONO TLA1 1 msec O(85) TE(85) Execution time 1.46 µs Operation The output (O) is set to 1 and the timer is started, if the input (I) is set to 1. The output is reset to 0 when the time defined by the time pulse input (TP) has elapsed. Elapsed time (TE) count starts when the output is set to 1 and stops when the output is set to 0.
Page 361: Tof
(10058) Illustration TLA1 1 msec ET(86) Q(86) Execution time 1.10 µs Operation The output (Q) is set to 1, when the input (IN) is set to 1. The output is reset to zero when the input has been 0 for a time defined by the pulse time input (PT). Elapsed time count (TE) starts when the input is set to 0 and stops when the input is set to 1.
Page 362 Operation The output (Q) is set to 1 when the input (IN) has been 1 for a time defined by the pulse time input (PT). The output is set to 0, when the input is set to 0. Elapsed time count (TE) starts when the input is set to 1 and stops when the input is set to 0.
Page 363: Application Program Template
Application program template What this chapter contains This chapter presents the application program template as displayed by the DriveSPC tool. Application program template...
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Page 379: Control Chain Block Diagrams
Control chain block diagrams What this chapter contains This chapter presents the drive control chain in different control modes. Control chain block diagrams...
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Page 385: Appendix A - Fieldbus Control
The chapter describes how the drive can be controlled by external devices over a communication network. System overview The drive can be connected to a fieldbus controller via a fieldbus adapter module. The adapter module is connected to drive Slot 3. ACSM1 Fieldbus controller Fieldbus Other...
Page 386: Setting Up Communication Through A Fieldbus Adapter Module
Setting up communication through a fieldbus adapter module Before configuring the drive for fieldbus control, the adapter module must be mechanically and electrically installed according to the instructions given in the User’s Manual of the appropriate fieldbus adapter module. The communication between the drive and the fieldbus adapter module is activated by setting parameter 50.01 FBA ENABLE ENABLE.
Page 387: Drive Control Parameters
Setting for Parameter Function/Information fieldbus control TRANSMITTED DATA SELECTION 52.01 FBA DATA IN1 Defines the data transmitted from drive to fieldbus controller. … 52.12 FBA DATA 4…6 Note: If the selected data is 32 bits long, two parameters are reserved IN12 14…16 for the transmission.
Page 388: The Fieldbus Control Interface
The fieldbus control interface The cyclic communication between a fieldbus system and the drive consists of 16/ 32-bit input and output data words. The drive supports at the maximum the use of 12 data words (16-bit) in each direction. Data transmitted from the drive to the fieldbus controller is defined by parameters 52.01…52.12 (FBA DATA IN) and data transmitted from the fieldbus controller to the drive is defined by parameters...
Page 389: Actual Values
With other profiles (e.g. PROFIdrive for FPBA-01, AC/DC drive for FDNA-01, DS-402 for FCAN-01 and ABB Drives profile for all fieldbus adapter modules) fieldbus adapter module converts the fieldbus-specific control word to the FBA communication profile and status word from FBA communication profile to the fieldbus-specific status word.
Page 390: 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 391: Appendix B - Drive-To-Drive Link
Appendix B – Drive-to-drive link What this chapter contains This chapter describes the wiring of, and available communication methods on the drive-to-drive link. Examples of using standard firmware blocks in the communication are also given starting on page 399. 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 392: 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 393: Types Of Messaging
Drive-to-drive function blocks can be used in the DriveSPC tool to enable additional communication methods (such as follower-to-follower messaging) and to modify the use of datasets between the drives. See the function blocks under Communication (page 301). Types of messaging Each drive on the link has a unique node address allowing point-to-point communication between two drives.
Page 394: 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 395: Follower Multicast Messaging (Write Only)
Follower multicast messaging (write only) This type of messaging is for point-to-point communication between followers. After receiving a token from the master, a follower can send one dataset to another follower with a follower multicast message. The target drive is specified using the node address.
Page 396: Broadcast Messaging (Write Only)
Follower-to-follower(s) multicasting Token Master Follower Follower Follower Dataset table Dataset table Dataset table Dataset table Target Grp = X (LocalDsNr) (RemoteDsNr) (RemoteDsNr) 57.12 REF1 MC GROUP 57.12 REF1 MC GROUP Broadcast messaging (write only) In broadcasting, the master sends one dataset to all followers, or a follower sends one dataset to all other followers.
Page 397: 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 398 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 399: 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 301. 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 400: 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 401: Example Of Follower-To-Follower Multicasting
Example of follower-to-follower multicasting Follower 1 Follower 2 1. Follower 1 writes local dataset 24 to follower 2 dataset 30 (3 ms interval). 2. Follower 2 writes local dataset 33 to follower 1 dataset 28 (6 ms interval). 3. In addition, both followers read received data from local datasets. Appendix B –...
Page 402: 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 403: Appendix C - Homing Modes
Appendix C – Homing modes What this chapter contains This chapter describes homing modes 1…35. Negative direction means that the movement is to the left and positive direction means that the movement is to the right. The following picture presents an example of an homing application: Negative limit switch (Source selected by par.
Page 404 Homing mode 1 The status of the home switch at start is insignificant. Homing mode 1 Homing start (par. 62.03) Negative limit switch (par. 62.05) Index pulse Start in the negative direction (left) by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 405 Homing mode 3 Homing mode 3 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the home switch signal is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 406 Homing mode 4 Homing mode 4 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the home switch signal is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 407 Homing mode 5 Homing mode 5 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the home switch signal is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 408 Homing mode 6 Homing mode 6 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the home switch signal is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 409 Homing mode 7 Homing mode 7 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the home switch signal is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 410 Homing mode 7 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the home switch signal is 1 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 411 Homing mode 8 Homing mode 8 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 412 Homing mode 8 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 1 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 413 Homing mode 9 Homing mode 9 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 414 Homing mode 9 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 1 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 415 Homing mode 10 Homing mode 10 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 416 Homing mode 10 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 1 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 417 Homing mode 11 Homing mode 11 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 418 Homing mode 11 Homing start (par. 62.03) Home switch (par. 62.04) Negative limit switch (par. 62.05) Index pulse If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 419 Homing mode 12 Homing mode 12 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 420 Homing mode 12 Homing start (par. 62.03) Home switch (par. 62.04) Negative limit switch (par. 62.05) Index pulse If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 421 Homing mode 13 Homing mode 13 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 0: Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 422 Homing mode 13 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 1: Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par. 62.07 HOMING SPEEDREF1.
Page 423 Homing mode 14 Homing mode 14 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 424 Homing mode 14 Homing start (par. 62.03) Home switch (par. 62.04) Index pulse If the state of the home switch is 1 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 425 Homing mode 17 The status of the home switch at start is insignificant. Homing mode 17 Homing start (par. 62.03) Negative limit switch (par. 62.05) Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 426 Homing mode 19 Homing mode 19 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 427 Homing mode 20 Homing mode 20 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 428 Homing mode 21 Homing mode 21 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 429 Homing mode 22 Homing mode 22 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 430 Homing mode 23 Homing mode 23 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 431 Homing mode 23 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 1 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 432 Homing mode 24 Homing mode 24 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 433 Homing mode 24 Homing start (par. 62.03) Home switch (par. 62.04) Positive limit switch (par. 62.06) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 434 Homing mode 25 Homing mode 25 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0: (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 435 Homing mode 25 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 1: (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 436 Homing mode 26 Homing mode 26 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 437 Homing mode 26 Homing start (par. 62.03) Home switch (par. 62.04) Positive limit switch (par. 62.06) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 438 Homing mode 27 Homing mode 27 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 439 Homing mode 27 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 1 (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 440 Homing mode 28 Homing mode 28 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 441 Homing mode 28 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 1: (par. 62.04 HOME SWITCH TRIG): Start in the positive (right) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 442 Homing mode 29 Homing mode 29 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 443 Homing mode 29 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 1 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 444 Homing mode 30 Homing mode 30 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 0 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 445 Homing mode 30 Homing start (par. 62.03) Home switch (par. 62.04) If the state of the home switch is 1 (par. 62.04 HOME SWITCH TRIG): Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par.
Page 446 Homing mode 33 The status of the home switch at start is insignificant. Homing mode 33 Homing start (par. 62.03) Index pulse Start in the negative (left) direction by the rising edge of the signal selected by par. 62.03 HOMING START with homing speed 1, par. 62.07 HOMING SPEEDREF1.
Page 448 ABB Oy ABB Inc. ABB Beijing Drive Systems Co. Ltd. AC Drives Automation Technologies No. 1, Block D, A-10 Jiuxianqiao Beilu P.O. Box 184 Drives & Motors Chaoyang District FI-00381 HELSINKI 16250 West Glendale Drive Beijing, P.R. China, 100015 FINLAND...

ABB ACSM1 Firmware Manual

Table of Contents

Introduction to the Manual

Start-Up

Drive Programming Using PC Tools

Drive Control and Features

Default Connections of the Control Unit

Parameters and Firmware Blocks

Parameter Data

Fault Tracing

Standard Function Blocks

Application Program Template

Control Chain Block Diagrams

Appendix A - Fieldbus Control

Appendix B - Drive-To-Drive Link

Appendix C - Homing Modes

Quick Links

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Summary of Contents for ABB ACSM1