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376   

Fieldbus control through the embedded fieldbus interface (EFB)

CANopen

CANopen

Embedded fieldbus with CANopen protocol is standard for ACS280 drive.
The embedded CANopen operates on multiple time levels. High priority cyclical 

data (control word, references, status word and actual values), and most of 

CANopen message handling are processed at 2ms time level. SDO messages 

and drive parameter access are processed at 10ms time level. Saving objects 

into non-volatile memory and restoring objects from non-volatile memory are 

processed in the background task.
The drive can be set to receive all of its control information through the fieldbus 

interface, or the control can be distributed between the embedded fieldbus 

interface and other available sources, for example, digital and analog inputs.

Connecting the fieldbus to the drive

Connect the fieldbus to grey terminal on the drive. The pin 10 is to connect with 

CANH, pin 11 is to connect with CANL, and pin 12 is to connect with AGND.

Note

: When taking the CANopen module into use, it is recommended that the 

cord is not connected during the first start. This is to avoid disturbing the CAN 

bus when the drive attempts to recognize the attached module. 

Summary of Contents for ACS280

Page 1: ... ABB MACHINERY DRIVES ACS280 coldplate drives Firmware manual ...

Page 2: ...sh Drive converter inverter safety instructions 3AXD50000037978 ACS280 Hardware manual 3AXD50001017705 Drive firmware manuals and guides ACS280 Firmware manual 3AXD50001017729 ACS280 Quick installation and start up guide 3AXD50001017743 Option manuals and guides ACS AP x Assistant control panels user s manual 3AUA0000085685 ACS BP S Basic control panel user s manual 3AXD50000032527 Tool and mainte...

Page 3: ...Firmware manual ACS280 machinery control program 3AXD50001017729 rev A EN EFFECTIVE 2023 11 30 3 Start up ID run and use Table of contents ...

Page 4: ......

Page 5: ...ckground information 18 ID run steps 19 4 Default control connection Contents 21 ABB standard connection 21 Default control connections 22 5 Program features What this chapter contains 25 Local and external control locations 26 Local control 26 External control 27 Operating modes of the drive 28 Speed control mode 28 Torque control mode 29 Frequency control mode 29 Special control modes 29 Setting...

Page 6: ...eed compensated stop 54 Application control 55 Control connection 55 Process PID control 55 PID trim function 58 Mechanical brake control 65 DC voltage control 69 Overvoltage control 69 Undervoltage control power loss ride through 69 Voltage control and trip limits 70 Settings and diagnostics 72 Safety and protections 73 Fixed Standard protections 73 Emergency stop 73 Motor thermal protection 74 A...

Page 7: ...1 Start stop mode 136 22 Speed reference selection 145 23 Speed reference ramp 155 24 Speed reference conditioning 159 25 Speed control 160 26 Torque reference chain 165 28 Frequency reference chain 169 30 Limits 180 31 Fault functions 188 32 Supervision 197 35 Motor thermal protection 210 36 Load analyzer 216 37 User load curve 220 40 Process PID set 1 224 43 Brake chopper 238 44 Mechanical brake...

Page 8: ...What this chapter contains 345 System overview 346 Modbus 346 Setting up the embedded fieldbus interface Modbus 346 Setting the drive control parameters 348 Basics of the embedded fieldbus interface 350 Control word and Status word 350 References 351 Actual values 351 Data input outputs 351 Register addressing 351 About the control profiles 352 Control Word 353 Control Word for the DCU Profile 354...

Page 9: ...II 413 Speed reference ramping and shaping 414 Speed error calculation 415 Speed controller 416 Torque reference source selection and modification 417 Reference selection for torque controller 418 Torque limitation 419 Process PID setpoint and feedback source selection 420 Process PID controller 421 External PID setpoint and feedback source selection 422 External PID controller 423 Direction lock ...

Page 10: ...10 ...

Page 11: ...y control program 2 16 or later To check the version of the control program see parameter 07 05 Firmware version Safety instructions Follow all safety instructions Read the complete safety instructions in the Hardware manual of the drive before you install commission or use the drive Read the firmware function specific warnings before changing parameter values Chapter Parameters lists the relevant...

Page 12: ...nual Target audience The reader is expected to know the fundamentals of electricity wiring electrical components and electrical schematic symbols The manual is written for readers worldwide Both SI and imperial units are shown ...

Page 13: ...ut interface for digital input signals DO Digital output interface for digital output signals Drive Frequency converter for controlling AC motors EFB Embedded fieldbus Frame size Refers to the drive physical size for example R1 The type designation label attached to the drive shows the frame of the drive see the hardware manual of the drive ID run Motor identification run During the identification...

Page 14: ...ge and or theft of data or information ABB and its affiliates are not liable for damages and or losses related to such security breaches any unauthorized access interference intrusion leakage and or theft of data or information See also section User lock page 86 Parameter User adjustable operation instruction to the drive or signal measured or calculated by the drive PID controller Proportional in...

Page 15: ...S basic control panel For information on the assistant control panels refer to the ACS AP I S W and ACH AP H W Assistant control panels user s manual 3AUA0000085685 EN In addition you can order a control panel platform for cabinet door installation These panel platforms are available Type Description DPMP 01 Control panel mounting platform flush mounting and cable DPMP 02 Control panel mounting pl...

Page 16: ...16 Control panel ...

Page 17: ...nit international or US and press OK 3 In the Motor data view set the motor type AsynM Asynchronous motor PMSM Permanent magnet motor PMaSynRM Permanent Magnet Assisted Synchronous Reluctance Machine 4 Set the motor control mode Vector Speed reference This is suitable for most cases The drive does an automatic stand still ID run Scalar Frequency reference Use this mode when The number of motors ca...

Page 18: ...30 11 Minimum speed 30 13 Minimum frequency and 30 12 Maximum speed 30 14 Maximum frequency on page 183 10 Tune the drive parameters to the application You can use the Assistant control panel ACS AP x or the Drive Composer PC tool with the drive Do the identification ID run Background information The drive automatically estimates motor characteristics using Standstill ID run when the drive is star...

Page 19: ...also parameters in group 26 Torque reference chain ID run steps Warning Make sure it is safe to run the procedure 1 Open the Main menu 2 Select the Parameters submenu 3 Select All parameters 4 Select 99 Motor data and press OK 5 Select 99 13 ID run requested select the wanted ID mode and press OK An AFF6 Identification run warning message is shown before you press Start The panel LED starts to bli...

Page 20: ...20 Start up ID run and use ...

Page 21: ...nection is set of default parameter values that apply to a specific control configuration They make it faster and easier to set up a drive for use ABB standard connection ABB standard connection is suitable for an I O controlled drive Digital inputs control start stop 2 wire and direction ...

Page 22: ...2 and output AO with parameters 12 15 12 25 and 13 15 respectively Terminals Descriptions Digital I O connections 3 24 V Aux 24 V DC max 200 mA 4 DGND Aux voltage output common 1 DI1 Stop 0 Start 1 2 DI2 Forward 0 Reverse 1 Analog I O 5 AI1 A3 Speed reference 0 10V 6 AI2 AI4 Not used 9 GND Analog output circuit common 8 AO1 DO1 AO Output frequency 0 10V 7 10V Ref voltage 10 V DC CANopen protocal 1...

Page 23: ...rol connection 23 Input signals Analog frequency reference AI1 Start stop selection DI1 Direction selection DI2 Output signals Digital output Running Relay output No fault Fault 1 Analog output AO Output frequency ...

Page 24: ...24 Default control connection ...

Page 25: ... this chapter contains Local and external control locations Operating modes of the drive Drive configuration and programming Control interfaces Motor control Application control DC voltage control Safety and protections Diagnostics Miscellaneous ...

Page 26: ...he external control signal sources when used in local control Changing the control location to local can be prevented by parameter 19 17 You can use parameter 20 28 to select how the drive reacts when the control location is switched between local and external Use parameter 49 05 to specify how the drive reacts to a control panel or PC tool communication break The parameter has no effect in extern...

Page 27: ...ables quick switching between different operating modes for example speed and torque control Selection between EXT1 and EXT2 is done via any binary source such as a digital input or fieldbus control word by a parameter 19 11 You can also select the source of reference for each operating mode separately Events Block diagram Run enable source for EXT1 The figure below shows the parameters that selec...

Page 28: ... is shown below Speed control mode In speed control mode the motor follows a speed reference given to the drive Speed control mode is available in both local and external control locations It is supported in vector motor control only Speed control uses speed reference chain Settings and diagnostics Parameter group 22 Speed reference selection Events Frequency reference Refer to group 28 Frequency ...

Page 29: ...erence chain page 169 Events Special control modes In addition to the above mentioned operating modes the following special operating modes are available Process PID control For more information see section Process PID control on page 55 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 def...

Page 30: ...igured and programmed with parameters Programming via parameters Parameters configure all of the standard drive operations and can be set via an external panel as described in chapter Control panel the Drive composer PC tool as described in Drive composer PC tool user s manual 3AUA0000094606 English or the fieldbus interface as described in chapters Fieldbus control through the embedded fieldbus i...

Page 31: ...s can be used as the input for the program The output of the program can be used e g as a start signal external event or reference or connected to the drive outputs See the table below for a listing of the available inputs and outputs If you connect the output of the adaptive program to a selection parameter that is a pointer parameter the selection parameter will be write protected Example If par...

Page 32: ...al32 47 01 Data storage 1 real32 Data storage 2 real32 47 02 Data storage 2 real32 Data storage 3 real32 47 03 Data storage 3 real32 Data storage 4 real32 47 04 Data storage 4 real32 Outputs available to the adaptive program Output Target I O RO1 10 21 RO status bit0 AO1 13 12 AO1 source DO1 11 06 DO1 output source Start control Ext1 Ext2 selection 19 11 Ext1 Ext2 selection Run enable 1 20 12 Run ...

Page 33: ... source Maximum torque 2 30 22 Max torque 2 source Events External event 1 31 01 External event 1 source External event 2 31 03 External event 2 source External event 3 31 05 External event 3 source External event 4 31 07 External event 4 source External event 5 31 09 External event 5 source Data Storage Data storage 1 real32 47 01 Data storage 1 real32 Data storage 2 real32 47 02 Data storage 2 r...

Page 34: ...rfaces Programmable analog inputs There are two programmable analog inputs Each of the inputs can be independently set as a voltage 0 2 10 V or current 0 4 20 mA input by parameter Each input can be filtered inverted and scaled AI1 can be configured as DI3 AI2 can be configured as DI4 by parameter Settings and diagnostics Parameter group 12 Standard AI Events Programmable analog outputs There is o...

Page 35: ...tors Permanent magnet PM motors Permanent Magnet Assisted Synchronous Reluctance Machine Settings and diagnostics Parameter 99 03 Motor type Events Motor identification In scalar motor control mode 99 04 the drive performs no motor identification The performance of vector control is based on an accurate motor model determined during the motor start up A motor Identification magnetization is automa...

Page 36: ... not activate the motor phase loss fault 31 19 Motor phase loss as the drive cannot measure the motor current accurately If the drive is used without a motor connected for example for test purposes If the drive runs a medium voltage motor through a step up transformer In scalar control some features are not available See also section Operating modes of the drive on page 28 IR compensation for scal...

Page 37: ...separate motor identification run ID run See also section Speed control performance figures on page 47 Settings and diagnostics Parameters 99 04 Motor control mode page 288 and 99 13 ID run requested page 291 Events Reference ramping Acceleration and deceleration ramping times can be set individually for speed torque and frequency reference With a speed or frequency reference the ramps are defined...

Page 38: ...frequencies override the normal reference irrespective of where the reference is coming from Settings and diagnostics Parameter groups 22 Speed reference selection and 28 Frequency reference chain Events Critical speeds frequencies Critical speeds sometimes called skip speeds can be predefined for applications where it is necessary to avoid certain motor speeds or speed ranges because of for examp...

Page 39: ...ller of the drive can be automatically adjusted using the autotune function Autotuning is based on an estimation of the mechanical time constant inertia of the motor and machine The autotune routine will run the motor through a series of acceleration deceleration cycles the number of which can be adjusted by parameter 25 40 Higher values will produce more accurate results especially if the differe...

Page 40: ...n stages only and not as accurate as with full braking power The motor will exceed the calculated maximum speed slightly at the end of each acceleration stage Before activating the autotune routine The prerequisites for performing the autotune routine are The motor identification run ID run has been successfully completed Speed and torque limits parameter group 30 Limits have been set The drive ha...

Page 41: ...ferent ways depending on the setting of parameter 25 34 The selections Smooth Normal and Tight define how the drive torque reference should react to a speed reference step after tuning The selection Smooth will produce a slow but robust response Tight will produce a fast response but possibly too high gain values for some applications The figure below shows speed responses at a speed reference ste...

Page 42: ...The controller output is the reference for the torque controller Warning indications A warning message AF90 will be generated if the autotune routine does not complete successfully See chapter Fault tracing page 327 for further information Settings and diagnostics Parameters groups 25 Speed control page 160 30 Limits page 180 and 99 Motor data page 287 Parameters 25 02 Speed proportional gain page...

Page 43: ...mentary switch to briefly rotate the motor The jogging function is typically used during servicing or commissioning to control the machinery locally Two jogging functions 1 and 2 are available each with their own activation sources and references The signal sources are selected by parameters 20 26 and 20 27 When jogging is activated the drive starts and accelerates to the defined jogging speed alo...

Page 44: ...rive follows the jog reference 7 8 0 1 0 Drive decelerates to zero speed along the deceleration ramp of the jogging function 8 9 0 1 0 0 Drive is stopped As long as the jog enable signal is on start commands are ignored After jog enable switches off a fresh start command is required 9 10 x 0 1 Drive accelerates to the speed reference along the selected acceleration ramp parameters 23 11 23 15 10 1...

Page 45: ...5 Jogging enable page 134 20 26 Jogging 1 start source page 135 20 27 Jogging 2 start source page 135 22 42 Jogging 1 ref page 152 22 43 Jogging 2 ref page 152 23 20 Acc time jogging page 156 23 21 Dec time jogging page 156 28 42 Jogging 1 frequency ref page 176 and 28 43 Jogging 2 frequency ref page 176 Events 14 15 x 0 1 1 Drive follows the speed reference As long as the start command is on the ...

Page 46: ... 2 the shaft is turned only in one direction and the angle is smaller The standstill mode Standstill can be used if the motor cannot be turned for example when load is connected For SynRM PMaSynRM and IPM motors the standstill autophasing time is usually less than 1 second For surface mounted PM motors autophasing time is longer 1 2 seconds Also for this kind of motor pulsating torque up to nomina...

Page 47: ... for torque control 100 t s T TN Tload nact nref nN Area 10 s TN rated motor torque nN rated motor speed nact actual speed nref speed reference Speed control Performance Static accuracy 20 of motor nominal slip Dynamic accuracy 1 s with 100 torque step t s TN rated motor torque Tref torque reference Tact actual torque Torque control Performance Non linearity 5 with nominal torque 20 at the most de...

Page 48: ... margin curves define a working envelope for the motor so that excursions outside the envelope can be supervised timed and detected An overload warning and or fault can be set to occur if the monitored signal stays continuously over the overload curve for a defined time An underload warning and or fault can be set to occur if the monitored signal stays continuously under the underload for a define...

Page 49: ...e at or near the rated torque of the motor throughout the frequency range In squared mode the ratio of the voltage to frequency increases as the square of the frequency below the field weakening point This is typically used in centrifugal pump or fan applications For these applications the torque required follows the square relationship with frequency Therefore if the voltage is varied using the s...

Page 50: ...es during flux braking not the rotor current The stator cools much more efficiently than the rotor Flux braking can be used with induction motors and permanent magnet motors Two braking power levels are available Moderate braking provides faster deceleration compared to a situation where flux braking is disabled The flux level of the motor is limited to prevent excessive heating of the motor Full ...

Page 51: ...on time it is possible to synchronize the motor start and for example the release of a mechanical brake Settings and diagnostics Parameters 21 01 Start mode page 136 21 19 Scalar start mode page 142 and 21 02 Magnetization time page 137 Events DC hold The function makes it possible to lock the rotor at near zero speed in the middle of normal operation DC hold is activated by parameter 21 08 When b...

Page 52: ...th DC current when the drive has been stopped The heating can only be activated when the drive is in the stopped state and starting the drive stops the heating When pre heating is activated and the stop command is given pre heating starts immediately if the drive is running below the zero speed limit see bit 0 in parameter 06 19 Speed control status word If the drive is running above the zero spee...

Page 53: ...r 45 11 Energy optimizer page 246 Events Automatic LS mode Automatic LS mode Low speed mode function can improve current harmonics at low speed which reduces motor noise If automatic LS mode is enabled 97 01 Switching frequency reference and 97 02 Minimum switching frequency are recommended to less than or equal to 8 000kHz The Maximum output current may be smaller with automatic LS mode enabled t...

Page 54: ...ere low noise is necessary but higher noise can be tolerated when the full output current is needed Settings and diagnostics Parameters 97 01 Switching frequency reference page 280 and 97 02 Minimum switching frequency page 280 Events Speed compensated stop Speed compensation stop is available for example for applications where a conveyer needs to travel a certain distance after receiving the stop...

Page 55: ...ction is predefined parameter edits and I O configurations See chapter Default control connection Process PID control There is a built in process PID controller in the drive The controller can be used to control process such as pressure or flow in the pipe or fluid level in the container In process PID control a process reference setpoint is connected to the drive instead of a speed reference An a...

Page 56: ...below its efficient operating range The following example visualizes the operation of the function Example The drive controls a pressure boost pump The water consumption falls at night As a consequence the process PID controller decreases the motor speed However due to natural losses in the pipes and the low efficiency of the centrifugal pump at low speeds the motor would never stop rotating The s...

Page 57: ...rs the sleep mode Wake up level Setpoint Wake up deviation 40 47 t tsd Motor speed Actual value STOP tsd Sleep delay 40 44 Sleep level 40 43 START Wake up delay 40 48 tsd Setpoint Time Sleep boost step 40 46 Sleep mode Sleep boost time 40 45 Time Time Non inverted 40 31 Not inverted Ref Fbk Wake up level Setpoint Wake up deviation 40 47 Actual value Time Inverted 40 31 Inverted Fbk Ref ...

Page 58: ... 0 when using the PID trim function This is required to do quick tension control by speed correction PID trim is implemented as one of the Process PID functions parameter groups 40 Process PID set 1 Both PID set 1 and PID set 2 can be used for this functionality The trimmed output is calculated from parameter40 01 Process PID output actual or 40 03 Process PID setpoint actual In most cases 40 01 P...

Page 59: ...des are available Direct Proportional Combined Direct The direct method is suitable when you need tension control at fixed rpm line speed In this mode the PID trim output parameter 40 05 Process PID trim output act is relative to the maximum speed parameter 30 12 Maximum speed torque 30 20 Maximum torque 1 or frequency 30 14 Maximum frequency You can make the selection with parameter 40 52 Set 1 t...

Page 60: ...nal method is suitable for applications where tension control is required throughout the speed range but not near zero speed In this mode the PID trim output actual parameter 40 05 Process PID trim output act is relative to the reference selected by parameter 40 53 Set 1 trimmed ref pointer and with 40 01 Process PID output actual or 40 03 Process PID setpoint actual It is recommended that the spe...

Page 61: ...r stable at 100 This is for understanding purpose only In real case scenario PID output can vary based on the setpoint and actual Example If parameter 40 52 Set 1 trim selection Speed parameter 40 56 Set 1 trim source PID output parameter 40 53 Set 1 trimmed ref pointer AI1 scaled parameter 22 11 Ext1 speed ref1 AI1 scaled parameter 12 20 AI1 scaled at AI1 max 1500 parameter 12 12 AI1 scaled value...

Page 62: ...rameter 40 55 Set 1 trim adjust 0 5 then Combined The combined mode is suitable for applications where the user needs to maintain tension from zero speed to maximum speed The combined mode is a combination of direct and proportional modes Here the trim for zero speed is defined by parameter 40 54 Set 1 trim mix and the trim for speed greater than zero speed is defined by parameter 40 55 Set 1 trim...

Page 63: ...tion Speed parameter 40 56 Set 1 trim source PID output parameter 30 12 Maximum speed 1500 rpm parameter 40 53 Set 1 trimmed ref pointer AI1 scaled parameter 22 11 Ext1 speed ref1 AI1 scaled parameter 12 20 AI1 scaled at AI1 max 1500 parameter 12 12 AI1 scaled value 750 AI1 actual scaled value parameter 40 01 Process PID output actual 100 limited to 100 parameter 40 54 Set 1 trim mix 0 1 parameter...

Page 64: ...ess PID trim output act to the speed torque and frequency reference chains In scalar control mode the speed trim and torque trim values are zero and in vector control mode the frequency trim value is zero Speed trim connection Speed trim is added at 23 02 Speed ref ramp output and 24 11 Speed correction and the final speed reference after the trim addition is available in parameter 24 01 Used spee...

Page 65: ...logic observes the settings of parameter group 44 Mechanical brake control as well as several external signals and moves between the states presented in the diagram on page 66 The tables below the state diagram detail the states and transitions The timing diagram on page 67 shows an example of a close open close sequence Inputs of the brake control logic The start command of the drive bit 5 of 06 ...

Page 66: ...lay elapses BRAKE OPEN The brake is open 44 01 Brake control status b0 1 Hold request is removed 44 01 Brake control status b2 0 and the drive is allowed to follow the reference BRAKE CLOSING Closing conditions have been met The open signal is deactivated 44 01 Brake control status b0 0 The ramp down request is maintained 44 01 Brake control status b3 1 The brake logic will remain in this state un...

Page 67: ... close 6 44 13 Brake close delay has elapsed 7 Brake control enabled parameter 44 06 Brake control enable 1 n tmd Motor magnetization delay tod Brake open delay parameter 44 08 Brake open delay ncs Brake close speed parameter 44 14 Brake close level tcd Brake close delay parameter 44 13 Brake close delay Start command 06 16 b5 Modulating 06 16 b6 1 2 3 4 5 6 7 8 Ready ref 06 11 b2 Speed reference ...

Page 68: ... not considered as a safety device mentioned in the European Machinery Directive and related harmonized standards Thus the personnel safety of the complete machinery must not be based on a specific frequency converter feature such as the brake control function but it has to be implemented as defined in the application specific regulations The brake is controlled by bit 0 of parameter 44 01 Brake c...

Page 69: ...ontinue to operate by utilizing the kinetic energy of the rotating motor The drive will be fully operational as long as the motor rotates and generates energy to the drive The drive can continue operation after the break if the main contactor if present remained closed Note Units equipped with a main contactor must be equipped with a hold circuit e g UPS to keep the contactor control circuit close...

Page 70: ...ltage regulator are relative to the supply voltage as well as drive inverter type The DC voltage UDC is approximately 1 41 times the line to line supply voltage and is displayed by parameter 01 11 DC voltage The following table shows the values of the selected DC voltage levels in volts Note that the absolute voltages vary according to drive inverter type and AC supply voltage range When adaptive ...

Page 71: ... DC voltage at lower bound of supply voltage range UDCmin 281 513 594 variable Charging activation standby limit 0 73 1 41 par 95 03 value 1 0 73 1 41 par 95 03 value 1 0 73 1 41 par 95 03 value 1 0 73 1 41 par 95 03 value 1 0 73 1 41 208 2142 0 73 1 41 380 391 2 0 73 1 41 440 453 2 Undervoltage fault limit 0 73 1 41 par 95 03 value 1 0 73 1 41 par 95 03 value 1 0 73 1 41 par 95 03 value 1 0 73 1 ...

Page 72: ... warning limit 372 745 745 745 745 Undervoltage warning limit 0 85 1 35 208 239 0 85 1 35 380 436 0 85 1 35 440 505 0 85 1 35 380 436 0 85 1 35 440 505 Undervoltage control limit 0 78 1 35 208 219 0 78 1 35 380 400 0 78 1 35 440 463 0 78 1 35 180 400 0 78 1 35 440 463 Charging relay closing limit 0 78 1 35 208 219 0 78 1 35 380 400 0 78 1 35 440 463 0 78 1 35 180 400 0 78 1 35 440 463 Charging rel...

Page 73: ...n overtemperature fault is generated Short circuit In case of a short circuit the IGBTs are shut down immediately to protect the drive Earth Ground fault detection Note that an earth fault in the supply cable does not activate the protection in a grounded supply the protection activates within 2 milliseconds in an ungrounded supply the supply capacitance must be 1 microfarad or more the capacitive...

Page 74: ... or maximum torque limit is set to 0 the emergency stop function may not be able to stop the drive During an emergency stop the speed and torque reference parameters such as reference ramp shapes 23 32 Shape time 1 and 23 33 Shape time 2 are not considered Settings and diagnostics Parameters 21 04 Emergency stop mode page 138 21 05 Emergency stop source page 138 23 23 Emergency stop time page 157 ...

Page 75: ...hen power is applied to the drive for the first time the motor is assumed to be at ambient temperature defined by parameter 35 50 Motor ambient temperature After this when power is applied to the drive the motor is assumed to be at the estimated temperature 2 Motor temperature is calculated using the user adjustable motor thermal time and motor load curve The load curve should be adjusted in case ...

Page 76: ...rnatives Separate the thermistor from live parts of the motor with double reinforced insulation Protect all circuits connected to the drive s digital and analog inputs Protect against contact and insulate from other low voltage circuits with basic insulation rated for the same voltage level as the drive s main circuit Use an external thermistor relay The relay insulation must be rated for the same...

Page 77: ...s Parameter group 35 Motor thermal protection page 210 Events Automatic fault resets The drive can automatically reset itself after overcurrent overvoltage undervoltage and external faults The user can also specify a fault that is automatically reset By default automatic resets are off and must be specifically activated by the user WARNING Before you activate the function make sure that no dangero...

Page 78: ... fault detection parameter 31 20 Note that an earth fault in the supply cable does not activate the protection in a grounded supply the protection activates within 2 milliseconds the protection is deactivated when the drive is stopped Swapped supply and motor cabling parameter 31 23 The drive can detect if the supply and motor cables have accidentally been swapped for example if the supply is conn...

Page 79: ...ergency stop ramps The user can either define a maximum time for stopping or a maximum deviation from the expected deceleration rate If the drive fails to stop in the expected manner a fault is generated and the drive coasts to a stop Custom motor current fault limit parameter 31 30 The control program sets a motor current limit based on drive hardware In most cases the default value is appropriat...

Page 80: ...uch a way that the total system efficiency is maximized A counter that monitors used and saved energy by the motor and displays them in kWh currency or volume of CO2 emissions and A load analyzer showing the load profile of the drive see section Load analyzer on page 81 In addition there are counters that show energy consumption in kWh of the current and previous hour as well as the current and pr...

Page 81: ...read only parameters according to their amplitude Parameter 1 shows the share of samples that have fallen in range 0 10 of the reference value during the time that the logging has been active Parameter 2 shows that share of samples that have fallen in range 10 20 of the reference value during the time that the logging has been active etc You can view this graphically with the assistant panel or th...

Page 82: ...atings in the Hardware manual of the drive The measured current is logged continuously The distribution of samples is shown by parameters 36 20 36 29 Settings and diagnostics Parameter group 36 Load analyzer page 216 Events ...

Page 83: ...pace for one automatic backup An automatic backup is created two hours after the last parameter change After completing the backup the panel waits for 24 hours before checking if there are additional parameter changes If there are it creates a new backup overwriting the previous one when two hours have passed after the latest change You cannot adjust the delay time or disable the automatic backup ...

Page 84: ...are reserved for data storage These parameters are unconnected by default and can be used for linking testing and commissioning purposes They can be written to and read from using other parameters source or target selections Settings and diagnostics Parameter group 47 Data storage page 252 Events Parameter checksum calculation Parameter checksums A and B can be calculated from a set of parameters ...

Page 85: ...ts Motor potentiometer The motor potentiometer is a counter whose value can be adjusted up and down using two digital signals selected by parameters When enabled the motor potentiometer assumes a set value Depending on the mode selected the motor potentiometer value is either retained or reset over a power cycle The change rate is defined as the time it would take for the value to change from the ...

Page 86: ... be opened even by ABB if the pass code is lost To activate the user lock for the first time enter the default pass code 10000000 into 96 02 Pass code This will make parameters 96 100 96 102 visible Then enter a new pass code into 96 100 Change user pass code and confirm the code in 96 101 Confirm user pass code In 96 102 User lock functionality define the actions that you want to prevent To close...

Page 87: ...ates a hysteresis value for the AI dead band AI dead band hysteresis value AI dead band value x 0 1 Example Parameter 12 110 AI dead band value is set to 50 In case of voltage signal AI unit selection V AI dead band value 10 x 50 x 0 01 5 V AI Hysteresis value 5 x 0 1 0 5 V Hysteresis positive value 5 0 5 5 5V Hysteresis negative value 5 0 5 4 5V Now when AI input voltage is increasing up to 5 5 V...

Page 88: ...88 Program features ...

Page 89: ...ains Terms and abbreviations Fieldbus addresses Summary of parameter groups Parameter listing Differences in the default values between 50 Hz and 60 Hz supply frequency settings Parameters supported by Modbus backwards compatibility with legacy drives ...

Page 90: ...ch selection A dash indicates that the user cannot access the parameter in 16 bit format 32 bit fieldbus equivalent The scaling between the value shown on the panel and the integer used in communication when a 32 bit value is selected for transmission to an external system Other The value is taken from another parameter Choosing Other displays a parameter list in which the user can specify the sou...

Page 91: ...ference selection motor potentiometer settings 145 23 Speed reference ramp Speed reference ramp settings programming of the acceleration and deceleration rates for the drive 155 24 Speed reference conditioning Speed error calculation speed error window control configuration speed error step 159 25 Speed control Speed controller settings 160 26 Torque reference chain Settings for the torque referen...

Page 92: ...4 95 HW configuration Various hardware related settings 270 96 System Language selection access levels parameter save and restore control unit reboot user parameter sets unit selection parameter checksum calculation user lock 272 97 Motor control Switching frequency slip gain voltage reserve flux braking anti cogging signal injection IR compensation 280 98 User motor parameters Motor values suppli...

Page 93: ...time motor speed 1000 00 1000 00 Motor speed See par 46 01 01 06 Output frequency Estimated drive output frequency in Hz A filter time constant for this signal can be defined by parameter 46 12 Filter time output frequency 598 00 598 00 Hz Estimated output frequency See par 46 02 01 07 Motor current Measured absolute motor current in A 0 00 30000 00 Motor current See par 46 05 01 08 Motor current ...

Page 94: ...h 01 20 Inverter kWh counter Amount of energy that has passed through the drive in either direction in full kilowatt hours Whenever the counter rolls over 01 19 Inverter MWh counter is incremented The minimum value is zero 0 1000 kWh Energy in kWh 10 1 kWh 01 24 Flux actual Used flux reference in percent of nominal flux of motor 0 200 Flux reference 1 1 01 30 Nominal torque scale Nominal torque in...

Page 95: ... passed through the drive in either direction in full megawatt hours Whenever the counter rolls over 01 55 Inverter GWh counter resettable is incremented The minimum value is zero You can reset the value by setting it to zero Resetting any of parameters 01 55 01 58 resets all of them 0 1000 MWh Energy in MWh 1 1 MWh 01 57 Inverter kWh counter resettable Amount of energy that has passed through the...

Page 96: ... 74 W phase RMS current W phase rms current real32 0 00 30000 00 A W phase rms current For 16 bit scaling see parameter 46 05 100 1 A 03 03 Input references Values of references received from various sources All parameters in this group are read only unless otherwise noted 03 01 Panel reference Local mode reference is given from the control panel 0 100000 00 100000 00 rpm Hz or Control panel or PC...

Page 97: ...ive warning 2 2nd active warning in warning register 0000h FFFFh Warning code 1 1 04 08 Active warning 3 3rd active warning in warning register 0000h FFFFh Warning code 1 1 04 11 Latest fault Latest fault in the trip log store The trip log store is loaded with the active faults in the order they occur 0000h FFFFh Fault code 1 1 04 12 2nd latest fault 2nd fault in trip log store 0000h FFFFh Fault c...

Page 98: ...4 47 Event word 1 bit 3 code 0X2340h 04 49 Event word 1 bit 4 code 0X0000h 04 51 Event word 1 bit 5 code 0X3220h 04 53 Event word 1 bit 6 code 0X80A0h 04 55 Event word 1 bit 7 code 0X0000h 04 57 Event word 1 bit 8 code 0X7122h 04 59 Event word 1 bit 9 code 0X7081h 04 61 Event word 1 bit 10 code 0XFF61h 04 63 Event word 1 bit 11 code 0X7121h 04 65 Event word 1 bit 12 code 0X4110h 04 67 Event word 1...

Page 99: ...ature of the control board 100 300 C or F Temperature in degrees Celsius for Fahrenheit 1 unit 05 11 Inverter temperature Estimated drive temperature in percent of fault limit The fault limit varies according to the type of the drive 0 0 0 C 32 F 100 0 Fault limit 40 0 160 0 Temperature in percent 1 1 05 20 Diagnostic word 1 Diagnostic word 1 For possible causes and remedies see chapter Fault trac...

Page 100: ... Output frequency at fault See par 46 02 05 82 DC voltage at fault Displays the DC link volt age 01 11 at which fault occurred 0 00 2000 00 V DC voltage at fault 10 1 V 05 83 Motor current at fault Displays the motor current 01 07 at which fault occurred 0 00 30000 00 A Motor current at fault See par 46 05 05 84 Motor torque at fault Displays the motor torque 01 10 at which fault occurred 1600 0 1...

Page 101: ...lays the inverter temperature 05 11 at which fault occurred 40 160 C Inverter temperature at fault 1 1 C 05 88 Reference used at fault Displays the reference used 28 01 26 73 23 01 at which fault occurred The type of the reference depends on the selected operation mode 19 01 598 00 598 00 Hz 1600 0 1600 0 30000 00 30000 00 rpm Reference used at fault See par 46 02 See par 46 03 See par 46 01 No Na...

Page 102: ...ord are as described on page 359 The related status word are presented on pages 359 This parameter is read only Note With the fieldbus control the parameter value is not same as the value that it receives from the PLC 0000h 0000h FFFFh Main control word 1 1 No Name Value Description Default FbEq 16 Bit Name 0 Off1 control 1 Off2 control 2 Off3 control 3 Run 4 Ramp out zero 5 Ramp hold 6 Ramp in ze...

Page 103: ...bed on page 362 Contents of the fieldbus control word The state diagram valid for ABB drives profile is on page 365 This parameter is read only Note With the fieldbus control the parameter value is not same as the value that it receives from the PLC 0000h 0000h FFFFh Main status word 1 1 No Name Value Description Default FbEq 16 Bit Name 0 Ready to switch ON 1 Ready run 2 Ready ref 3 Tripped 4 Off...

Page 104: ... Local control 1 Drive is in local control 10 Ext1 active 1 Control location EXT1 active 11 Ext2 active 1 Control location EXT2 active 12 Reserved 13 Start request 1 Start requested 0 When Enable to rotate signal see par 20 22 is 0 rotating of the motor is disabled 14 Running 1 Drive is running 15 Reserved Bit Name Description 0 Identification run done 1 Motor identification ID run has been perfor...

Page 105: ...t reset 1 A fault has been reset 4 Lost start enable 1 Start enable signal missing 5 Lost run enable 1 Run enable signal missing 6 Reserved 7 STO 1 Safe torque off function active 8 Current calibration ended 1 Current calibration routine has finished 9 ID run ended 1 Motor identification run has finished 10 Reserved 11 Em Off1 1 Emergency stop signal mode off1 12 Em Off2 1 Emergency stop signal mo...

Page 106: ...e selection see Terms and abbreviations 06 31 MSW bit 12 selection Selects a binary source whose status is transmitted as bit 12 User bit 1 of 06 11 Main status word Ext run enable False 0 0 True 1 1 Ext run enable Status of the external run enable signal see parameter 20 12 Run enable 1 source 2 No Name Value Description Default FbEq 16 Bit Name Description 0 Constant speed 1 1 Constant speed or ...

Page 107: ...0 Microprocessor load 1 1 07 25 Customizationpackage name First five ASCII letters of the name given to the customization package The full name is visible under System info on the control panel or the Drive composer PC tool _N A_ None 07 26 Customizationpackage version Customization package version number Also visible under System info on the control panel or the Drive composer PC tool 07 30 Adapt...

Page 108: ... has been selected in parameter 10 03 DI force selection Bit 0 is the forced value for DI1 0000h No Name Value Description Default FbEq 16 Bit Value 0 DI1 Status of digital input 1 1 DI2 Status of digital input 2 2 DI3 Status of digital input 3 3 DI4 Status of digital input 4 6 15 Reserved Bit Value 0 DI1 Delayed status of digital input 1 1 DI2 Delayed status of digital input 2 2 DI3 Delayed statu...

Page 109: ...lay for DI2 10 1 10 09 DI3 ON delay Defines the activation delay for digital output DI3 See parameter 10 05 DI1 ON delay 0 0 0 0 3000 0 s Activation delay for DI3 10 1 10 10 DI3 OFF delay Defines the deactivation delay for digital output DI3 See parameter 10 05 DI1 ON delay 0 0 0 0 3000 0 s Deactivation delay for DI3 10 1 10 11 DI4 ON delay Defines the activation delay for digital output DI4 See p...

Page 110: ...gnal to be connected to relay output RO1 Fault 1 Not energized Output is not energized 0 Energized Output is energized 1 Ready run Bit 1 of 06 11 Main status word 2 Enabled Bit 0 of 06 16 Drive status word 1 4 Started Bit 5 of 06 16 Drive status word 1 5 Magnetized Bit 1 of 06 17 Drive status word 2 6 Running Bit 6 of 06 16 Drive status word 1 7 Ready ref Bit 2 of 06 11 Main status word 8 At setpo...

Page 111: ...trol word bit0 Bit 0 of 10 99 RO DIO control word 40 Event word 1 Parameter 04 40 Event word 1 53 User load curve Bit 3 Outside load limit of 37 01 ULC output status word see page 220 61 RO DIO control word Maps to corresponding bit in parameter 10 99 RO DIO control word For example Bit 0 of 10 99 RO DIO control word controls RO1 62 Other bit Source selection see Terms and abbreviations 10 25 RO1 ...

Page 112: ...ys the delayed status of digital outputs DO1 This word is updated only after activation deactivation delays if any are specified Example 0001 DO1 is on This parameter is read only DO1 Delayed status of digital output 1 1 1 0000b 0001b Status of digital outputs 1 1 11 03 DO force selection Selects the digit output that will be controlled by parameter 11 04 The signals connected to the digit output ...

Page 113: ...Running Bit 6 of 06 16 Drive status word 1 7 Ready ref Bit 2 of 06 11 Main status word 8 At setpoint Bit 8 of 06 11 Main status word 9 Reverse Bit 2 of 06 19 Speed control status word 10 Zero speed Bit 0 of 06 19 Speed control status word 11 Above limit Bit 10 of 06 17 Drive status word 2 12 Warning Bit 7 of 06 11 Main status word 13 Fault Bit 3 of 06 11 Main status word 14 Fault 1 Inverted bit 3 ...

Page 114: ... controls DO1 and so on 62 Other bit Source selection see Terms and abbreviations 11 07 DO1 ON delay Defines the on activation delay for digital input output DO1 when used as a digital output or digital input 0 00 s 0 0 3000 0 s Activation delay for DO1 10 1 s 11 08 DO1 OFF delay Defines the deactivation delay for digital input output DO1 when used as a digital output or digital input See paramete...

Page 115: ...he input is 7 000 V the maximum limit supervision activates at 7 500 V The inputs and the limits to be observed are selected by parameter 12 04 AI supervision selection No action No action No action taken 0 Fault Drive trips on 80A0 AI supervision 1 Warning Drive generates an A8A0 AI supervision warning 2 Last speed Drive generates a warning A8A0 AI supervision and freezes the speed or frequency t...

Page 116: ...I1 after scaling See parameters 12 19 AI1 scaled at AI1 min and 12 20 AI1 scaled at AI1 max This parameter is read only 32768 32767 Scaled value of analog input AI1 1 1 12 13 AI1 forced value Defines the forced value that can be used instead of the true reading of the input See parameter 12 02 AI force selection 1000 1 12 15 AI1 unit selection Selects the unit for readings and settings related to ...

Page 117: ...e drive when the analog signal from plant is wound to its minimum setting 4 000 mA or 0 000 V 0 000 22 000 mA or 0 000 11 00 V Minimum value of AI1 1000 1 mA or V 12 18 AI1 max Defines the maximum site value for analog input AI1 Set the value actually sent to the drive when the analog signal from plant is wound to its maximum setting 20 000 mA or 10 00 V 0 000 22 000 mA or 0 000 11 00 V Maximum va...

Page 118: ...ng on whether the input is set to current or voltage by a hardware setting This parameter is read only 0 000 22 000 mA or 0 000 11 000 V Value of analog input AI2 1000 1 mA or V 12 22 AI2 scaled value Displays the value of analog input AI2 after scaling See parameters 12 29 AI2 scaled at AI2 min and 12 101 AI1 percent value This parameter is read only 32768 000 32767 000 Scaled value of analog inp...

Page 119: ...0 000 22 000 mA or 0 000 11 000 V Maximum value of AI2 1000 1 mA or V 12 29 AI2 scaled at AI2 min Defines the real value that corresponds to the minimum analog input AI2 value defined by parameter 12 27 AI2 min Changing the polarity settings of 12 29 and 12 101 can effectively invert the analog input 0 000 32768 000 32767 000 Real value corresponding to minimum AI2 value 1 1 12 30 AI2 scaled at AI...

Page 120: ...reset the force selections parameters 13 02 and 13 11 0000h 0000h FFFFh Forced values selector for analog output AO1 1 1 13 11 AO1 actual value Displays the value of AO1 in V This parameter is read only 0 000 11 000 V Value of AO1 1 1 V 13 12 AO1 source Selects a signal to be connected to analog output AO1 Output frequency Zero None 0 Motor speed used 01 01 Motor speed used 1 Output frequency 01 0...

Page 121: ... motor shaft power 01 68 Abs motor shaft power 32 External PID1 out 71 01 External PID act value 33 AO1 data storage 13 91 AO1 data storage 37 Other Source selection see Terms and abbreviations 13 13 AO1 forced value Forced value that can be used instead of the selected output signal See parameter 13 02 AO force selection 0 000 V 1000 1 13 16 AO1 filter time Defines the filtering time constant for...

Page 122: ...o the minimum required AO1 output value defined by parameter 13 19 AO1 out at AO1 src min Setting 13 17 to the maximum value and 13 18 to the minimum value inverts the output 0 0 No Name Value Description Default FbEq 16 13 18 13 17 13 20 13 19 IAO1 mA Signal selected by 13 12 IAO1 mA 13 20 13 19 13 18 13 17 Signal real selected by 13 12 ...

Page 123: ...ame Value Description Default FbEq 16 13 12 AO1 source 13 17 AO1 source min 13 18 AO1 source max 0 Zero N A Output is constant zero 1 Motor speed used 0 46 01 Speed scaling 3 Output frequency 0 46 02 Frequency scaling 4 Motor current 0 Max value of 30 17 Maximum current 5 Motor current of motor nom 0 100 6 Motor torque 0 46 03 Torque scaling 7 DC voltage Min value of 01 11 DC voltage Max value of ...

Page 124: ...rol and torque reference 26 74 Torque ref ramp out and the smaller of the two is used in vector motor control mode 4 Max The torque selector is comparing the output of the speed controller 25 01 Torque reference speed control and torque reference 26 74 Torque ref ramp out and the greater of the two is used in vector motor control mode 5 Add The speed controller output is added to the torque refere...

Page 125: ...If speed error becomes negative the drive follows the speed controller output until speed error becomes positive again This prevents the drive from accelerating uncontrollably if the load is lost in torque control 4 Maximum Combination of selections Speed and Torque the torque selector compares the speed controller output 25 01 Torque reference speed control and the torque reference 26 74 Torque r...

Page 126: ...nds for external control location 1 EXT1 See also parameters 20 02 20 05 See parameter 20 21 for the determination of the actual direction In1 Start In2 Dir not used No start or stop command sources selected 0 In1 Start The source of the start and stop commands is selected by parameter 20 03 Ext1 in1 source The state transitions of the source bits are interpreted as follows 1 In1 Start In2 Dir The...

Page 127: ...In3 Dir The sources of the start and stop commands are selected by parameters 20 03 Ext1 in1 source and 20 04 Ext1 in2 source The source selected by 20 05 Ext1 in3 source determines the direction The state transitions of the source bits are interpreted as follows Notes Parameter 20 02 Ext1 start trigger type has no effect with this setting When source 2 is 0 the Start and Stop keys on the control ...

Page 128: ...he descriptions of the selections of parameter 20 01 Ext1 commands Level Edge The start signal is edge triggered 0 Level The start signal is level triggered 1 20 03 Ext1 in1 source Selects source 1 for parameter 20 01 Ext1 commands DI1 Always off 0 always off 0 Always on 1 always on 1 DI1 Digital input DI1 10 02 DI delayed status bit 0 2 DI2 Digital input DI2 10 02 DI delayed status bit 1 3 DI3 Di...

Page 129: ...cted by 20 08 Ext2 in1 source is the start signal the source selected by 20 09 Ext2 in2 source determines the direction The state transitions of the source bits are interpreted as follows 2 In1 Start fwd In2 Start rev The source selected by 20 08 Ext2 in1 source is the forward start signal the source selected by 20 09 Ext1 in2 source is the reverse start signal The state transitions of the source ...

Page 130: ... the control panel are disabled 5 In1P Start fwd In2P Start rev In3 Stop The sources of the start and stop commands are selected by parameters 20 08 Ext2 in1 source 20 09 Ext1 in2 source and 20 10 Ext2 in3 source The source selected by 20 10 Ext2 in3 source determines the direction The state transitions of the source bits are interpreted as follows Note Parameter 20 07 Ext2 start trigger type has ...

Page 131: ... stop mode Selects the way the motor is stopped when the run enable signal switches off The source of the run enable signal is selected by parameter 20 12 Run enable 1 source Coast Coast Stop by switching off the output semiconductors of the drive The motor coasts to a stop WARNING If a mechanical brake is used ensure it is safe to stop the drive by coasting 0 Ramp Stop along the active decelerati...

Page 132: ...nning will not stop the drive See also parameter 20 12 Run enable 1 source On Off 0 0 On 1 1 DI1 Digital input DI1 10 02 DI delayed status bit 0 2 DI2 Digital input DI2 10 02 DI delayed status bit 1 3 DI3 Digital input DI3 10 02 DI delayed status bit 2 4 DI4 Digital input DI4 10 02 DI delayed status bit 3 5 Supervision 1 Bit 0 of 32 01 Supervision status 24 Supervision 2 Bit 1 of 32 01 Supervision...

Page 133: ...tiplied by 1 0 Forward Motor rotates forward regardless of the sign of the external reference Negative reference values are replaced by zero Positive reference values are used as is 1 Reverse Motor rotates reverse regardless of the sign of the external reference Negative reference values are replaced by zero Positive reference values are multiplied by 1 2 No Name Value Description Default FbEq 16 ...

Page 134: ... 32 01 Supervision status 28 Supervision 6 Bit 5 of 32 01 Supervision status 29 Other bit Source selection see Terms and abbreviations 20 25 Jogging enable Selects the source for a jog enable signal The sources for jogging activation signals are selected by parameters 20 26 Jogging 1 start source and 20 27 Jogging 2 start source 1 Jogging is enabled 0 Jogging is disabled Notes Jogging is supported...

Page 135: ... 32 01 Supervision status 26 Supervision 4 Bit 3 of 32 01 Supervision status 27 Supervision 5 Bit 4 of 32 01 Supervision status 28 Supervision 6 Bit 5 of 32 01 Supervision status 29 Other bit Source selection see Terms and abbreviations 20 27 Jogging 2 start source If enabled by parameter 20 25 Jogging enable selects the source for the activation of jogging function 2 Jogging function 2 can also b...

Page 136: ...gnetization on page 51 Const time Fast The drive pre magnetizes the motor before start The pre magnetizing time is determined automatically typically 200 ms to 2 s depending on motor size Select this mode if a high break away torque is required 0 Const time The drive pre magnetizes the motor before start The pre magnetizing time is defined by parameter 21 02 Magnetization time This mode should be ...

Page 137: ...is parameter 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 Note This parameter cannot be changed while the drive is running 500 ms 0 10000 ms Constant DC magnetizing time 1 1 ms 21 03 Stop mode Selects the way the motor is stopped when a stop command is received Additional braking is possible by selecting flux braking ...

Page 138: ...23 23 Emergency stop time After the drive has stopped it can be restarted by removing the emergency stop signal and switching the start signal from 0 to 1 With the drive stopped 1 Starting allowed 0 Starting not allowed 2 21 05 Emergency stop source Selects the source of the emergency stop signal The stop mode is selected by parameter 21 04 Emergency stop mode 0 Emergency stop active 1 Normal oper...

Page 139: ...th zero speed delay The drive receives a stop command and decelerates along a ramp When actual motor speed falls below the value of parameter 21 06 Zero speed limit the zero speed delay function activates During the delay the function keeps the speed controller live the inverter modulates motor is magnetized and the drive is ready for a quick restart Zero speed delay can be used e g with the joggi...

Page 140: ...is limited to the magnetization current corresponding to the actual flux reference 30 0 0 0 100 0 DC hold current 1 1 21 11 Post magnetization time Defines the length of time for which post magnetization is active after stopping the motor The magnetization current is defined by parameter 21 10 DC current reference See parameter 21 08 DC current control 0 s 0 3000 s Post magnetization time 1 1 s 21...

Page 141: ...ered The heating function requires that the drive is not faulted Pre heating uses DC hold to produce current Off Off 0 Pre heating is always deactivated 0 On 1 Pre heating is always activated when the drive is stopped 1 DI1 Digital input DI1 10 02 DI delayed status bit 0 2 DI2 Digital input DI2 10 02 DI delayed status bit 1 3 DI3 Digital input DI3 10 02 DI delayed status bit 2 4 DI4 Digital input ...

Page 142: ...s the highest possible break away torque when the pre magnetizing time is set long enough Note This mode cannot be used to start into a rotating motor WARNING The drive will start after the set magnetizing time has passed even if motor magnetization is not completed In applications where a full break away torque is essential ensure that the constant magnetizing time is long enough to allow generat...

Page 143: ... instead of parameter 21 09 DC hold speed when the operating mode in use is Scalar frequency mode See parameters 19 01 Actual operation mode 21 08 DC current control and section DC hold on page 51 5 00 Hz 0 00 1000 00 Hz DC hold frequency 1 1 Hz 21 22 Start delay Defines the start delay After the conditions for start have been fulfilled the drive waits until the delay has elapsed and then starts t...

Page 144: ...mode no speed compensated stop 0 Speed comp FWD If the direction of rotation is forward speed compensation is used for constant distance braking Speed difference between used speed and maximum speed is compensated by running the drive with current speed before the motor is stopped along a ramp If the direction of rotation is reverse the drive is stopped along a ramp 1 Speed comp REV If the directi...

Page 145: ...Speed threshold as a percent of the motor nominal speed 1 1 22 22 Speed reference selection Speed reference selection motor potentiometer settings See the control chain diagrams on pages 418 422 22 01 Speed ref unlimited Displays the output of the speed reference selection block See the control chain diagram on page 418 This parameter is read only 0 00 rpm 30000 00 30000 00 rpm Value of the select...

Page 146: ...2 18 Ext2 speed ref1 22 19 Ext2 speed ref2 and 22 20 Ext2 speed function B in the figure below AI1 scaled Zero None 0 AI1 scaled 12 12 AI1 scaled value 1 AI2 scaled 12 22 AI2 scaled value 2 EFB ref1 03 09 EFB reference 1 8 EFB ref2 03 10 EFB reference 2 9 Motor potentiometer 22 80 Motor potentiometer ref act output of the motor potentiometer 15 PID 40 01 Process PID output actual output of the pro...

Page 147: ... used as a frequency input 22 Other Source selection see Terms and abbreviations 22 12 Ext1 speed ref2 Selects Ext1 speed reference source 2 For the diagram of reference source selection see parameter 22 11 Ext1 speed ref1 Zero Zero None 0 AI1 scaled 12 12 AI1 scaled value 1 AI2 scaled 12 22 AI2 scaled value 2 EFB ref1 03 09 EFB reference 1 8 EFB ref2 03 10 EFB reference 2 9 Motor potentiometer 22...

Page 148: ...s speed reference 1 as such no function applied 0 Add ref1 ref2 The sum of the reference sources is used as speed reference 1 1 Sub ref1 ref2 The subtraction 22 11 Ext1 speed ref1 22 12 Ext1 speed ref2 of the reference sources is used as speed reference 1 2 Mul ref1 ref2 The multiplication of the reference sources is used as speed reference 1 3 Min ref1 ref2 The smaller of the reference sources is...

Page 149: ...ue when DI3 or DI4 is used as a frequency input 22 Other Source selection see Terms and abbreviations 22 19 Ext2 speed ref2 Selects Ext2 speed reference source 2 For the selections and a diagram of reference source selection see parameter 22 18 Ext2 speed ref1 Zero 22 20 Ext2 speed function Selects a mathematical function between the reference sources selected by parameters 22 18 Ext2 speed ref1 a...

Page 150: ...eeds are selectable using the three sources defined by parameters 22 22 22 23 and 22 24 0 Separate Constant speeds 1 2 and 3 are separately activated by the sources defined by parameters 22 22 22 23 and 22 24 respectively In case of conflict the constant speed with the smaller number takes priority 1 Direction enable 1 Start dir To determine running direction for a constant speed the sign of the c...

Page 151: ... this parameter and parameters 22 22 Constant speed sel1 and 22 23 Constant speed sel2 select three sources that are used to activate constant speeds See table at parameter 22 22 Constant speed sel1 For the selections see parameter 22 22 Constant speed sel1 Always off 22 26 Constant speed 1 Defines constant speed 1 the speed the motor will turn when constant speed 1 is selected 300 00 rpm 30000 00...

Page 152: ...e 1 Note This value must be less than or equal to the value of 22 53 Critical speed 1 high 0 00 rpm 30000 00 30000 00 rpm Low limit for critical speed 1 See par 46 01 22 53 Critical speed 1 high Defines the high limit for critical speed range 1 Note This value must be greater than or equal to the value of 22 52 0 00 rpm 30000 00 30000 00 rpm High limit for critical speed 1 See par 46 01 22 54 Crit...

Page 153: ...the mode of the motor potentiometer See section Speed control performance figures in chapter Program features Disabled Disabled Motor potentiometer is disabled and its value set to 0 0 Enabled init at stop power up When enabled the motor potentiometer first adopts the value defined by parameter 22 72 The value can then be adjusted from the up and down sources defined by parameters 22 73 and 22 74 ...

Page 154: ...If both the up and down sources are on the potentiometer value will not change For the selections see parameter 22 73 not used 22 75 Motor potentiometer ramp time Defines the change rate of the motor potentiometer This parameter specifies the time required for the motor potentiometer to change from minimum parameter 22 76 to maximum parameter 22 77 The same change rate applies in both directions 4...

Page 155: ...reference in rpm before it enters the ramping and shaping functions See the control chain diagram on page 420 This parameter is read only 30000 00 30000 00 rpm Speed reference before ramping and shaping See par 46 01 23 02 Speed ref ramp output Displays the ramped and shaped speed reference in rpm See the control chain diagram on page 420 This parameter is read only 30000 00 30000 00 rpm Speed ref...

Page 156: ... in order not to exceed drive torque limits or not to exceed a safe DC link voltage If there is any doubt about the deceleration time being too short ensure that DC overvoltage control is on parameter 30 30 Overvoltage control Note If a short deceleration time is needed for a high inertia application the drive should be equipped with braking equipment such as a brake chopper and brake resistor 3 0...

Page 157: ...stop mode and activation source are selected by parameters 21 04 Emergency stop mode and 21 05 Emergency stop source respectively Emergency stop can also be activated through fieldbus Note Emergency stop Off1 uses the standard deceleration ramp as defined by parameters 23 11 23 15 The same parameter value is also used in frequency control mode ramp parameters 28 71 28 75 3 000 s 0 000 1800 000 s E...

Page 158: ...leration Deceleration 0 000 s 0 100 1800 000 s Ramp shape at start and end of acceleration and deceleration 10 1 s 23 33 Shape time 2 Defines the shape of the acceleration and deceleration ramps used with the set 2 See parameter 23 32 Shape time 1 0 000 s 0 100 1800 000 s Ramp shape at start and end of acceleration and deceleration 10 1 s No Name Value Description Default FbEq 16 S curve ramp 23 3...

Page 159: ...d Displays the inverted unfiltered speed error See the control chain diagram on page 418 This parameter is read only 30000 0 30000 0 rpm Inverted speed error See par 46 01 24 11 Speed correction Defines a speed reference correction ie a value added to the existing reference between ramping and limitation This is useful to trim the speed if necessary for example to adjust draw between sections of a...

Page 160: ...n Defines the proportional gain Kp of the speed controller Too high a gain may cause speed oscillation The figure below shows the speed controller output after an error step when the error remains constant 5 00 If gain is set to 1 a 10 change in error value reference actual value causes the speed controller output to change by 10 ie the output value is input gain 0 00 250 00 Proportional gain for ...

Page 161: ...ntrolled otherwise instability will result Setting the integration time to zero disables the I part of the controller This is useful to do when tuning the proportional gain adjust the proportional gain first then return the integration time Anti windup the integrator just integrates up to 100 stops the integrator if the controller output is limited See 06 05 Limit word1 The figure below shows the ...

Page 162: ...s not normally required and should be left at zero The speed error derivative must be filtered with a low pass filter to eliminate disturbances The figure below shows the speed controller output after an error step when the error remains constant 0 000 s 0 000 10 000 s Derivation time for speed controller 1000 1 s 25 05 Derivation filter time Defines the derivation filter time constant See paramet...

Page 163: ... inertia load is accelerated along a ramp No acceleration compensation Acceleration compensation 0 00 s 0 00 1000 00 s Acceleration compensation derivation time 10 1 s 25 07 Acc comp filter time Defines the acceleration or deceleration compensation filter time constant See parameters 25 04 Speed derivation time and 25 06 Acc comp derivation time 8 0 ms 0 0 1000 0 ms Acceleration deceleration compe...

Page 164: ...n The value can be adjusted manually 0 00 1000 00 s Mechanical time constant 10 1 s 25 38 Autotune torque step Defines an added torque value used by the auto tune function This value is scaled to the motor nominal torque Note The torque used by the auto tune function can also be limited by the torque limits in parameter group 30 Limits and the nominal motor torque 10 00 0 00 20 00 25 39 Autotune s...

Page 165: ...ction See par 46 03 26 26 Torque reference chain Settings for the torque reference chain See the control chain diagrams on pages 423 and 424 26 01 Torque reference to TC Displays the final torque reference given to the torque controller in percent This reference is then acted upon by various final limiters like power torque load etc See the control chain diagrams on pages 423 and 424 This paramete...

Page 166: ...ween the two sources or a mathematical function 26 13 Torque ref1 function applied to the two signals to create the reference Zero Zero None 0 AI1 scaled 12 12 AI1 scaled value see page 116 1 AI2 scaled 12 22 AI2 scaled value see page 118 2 EFB ref1 03 09 EFB reference 1 see page 96 8 EFB ref2 03 10 EFB reference 2 see page 96 9 Motor potentiometer 22 80 Motor potentiometer ref act output of the m...

Page 167: ...26 11 Torque ref1 source and 26 12 Torque ref2 source See diagram at 26 11 Torque ref1 source Ref1 Ref1 Signal selected by 26 11 Torque ref1 source is used as torque reference 1 as such no function applied 0 Add ref1 ref2 The sum of the reference sources is used as torque reference 1 1 Sub ref1 ref2 The subtraction 26 11 Torque ref1 source 26 12 Torque ref2 source of the reference sources is used ...

Page 168: ...reference ramp down time 100 1 s 26 20 Torque reversal Inverts the torque reference or selects the source for the inversion signal Torque reversal is located in the torque reference chain after torque reference act 3 signal so the inversion is visible in torque reference act 4 signal Always off Always off Torque reference is not inverted 0 Always on Torque reference is inverted 1 DI1 Digital input...

Page 169: ...ter is read only 1600 0 1600 0 Torque reference after limiting and ramping See par 46 03 26 75 Torque reference act 5 Displays the torque reference after control mode selection See the control chain diagram on page 424 This parameter is read only 1600 0 1600 0 Torque reference after control mode selection See par 46 03 26 76 Torque reference act 6 Displays the torque reference after torque trim Se...

Page 170: ... signals creates an Ext1 reference A in the figure below A digital source selected by 19 11 Ext1 Ext2 selection can be used to switch between Ext1 reference and the corresponding Ext2 reference defined by parameters 28 15 Ext2 frequency ref1 28 16 Ext2 frequency ref2 and 28 17 Ext2 frequency function B in the figure below Integrated panel ref saved Zero None 0 AI1 scaled 12 12 AI1 scaled value see...

Page 171: ...ignal is used as the new reference 19 Frequency input 2 11 46 Freq in 2 actual value when DI3 or DI4 is used as a frequency input 22 Other Source selection see Terms and abbreviations 28 12 Ext1 frequency ref2 Selects Ext1 frequency reference source 2 For the diagram of reference source selection see parameter 28 11 Ext1 frequency ref1 Zero Zero None 0 AI1 scaled 12 12 AI1 scaled value see page 11...

Page 172: ... 1 as such no function applied 0 Add ref1 ref2 The sum of the reference sources is used as frequency reference 1 1 Sub ref1 ref2 The subtraction 28 11 Ext1 frequency ref1 28 12 Ext1 frequency ref2 of the reference sources is used as frequency reference 1 2 Mul ref1 ref2 The multiplication of the reference sources is used as frequency reference 1 3 Min ref1 ref2 The smaller of the reference sources...

Page 173: ...is used as a frequency input 22 Other Source selection see Terms and abbreviations 28 16 Ext2 frequency ref2 Selects Ext2 frequency reference source 2 For the selections and a diagram of reference source selection see parameter 28 15 Ext2 frequency ref1 Zero 28 17 Ext2 frequency function Selects a mathematical function between the reference sources selected by parameters 28 15 Ext2 frequency ref1 ...

Page 174: ...rces defined by parameters 28 22 28 23 and 28 24 0 Separate Constant frequencies 1 2 and 3 are separately activated by the sources defined by parameters 28 22 28 23 and 28 24 respectively In case of conflict the constant frequency with the smaller number takes priority 1 Direction enable 1 Start dir To determine running direction for a constant frequency the sign of the constant frequency setting ...

Page 175: ...e at parameter 28 22 Constant frequency sel1 For the selections see parameter 28 22 Constant frequency sel1 Always off 28 24 Constant frequency sel3 When bit 0 of parameter 28 21 Constant frequency function is 0 Separate selects a source that activates constant frequency 3 When bit 0 of parameter 28 21 Constant frequency function is 1 Packed this parameter and parameters 28 22 Constant frequency s...

Page 176: ...6 02 28 51 Critical frequency function Enables disables the critical frequencies function Also determines whether the specified ranges are effective in both rotating directions or not See also section Critical speeds frequencies on page 38 0000h 0000h FFFFh Critical frequencies configuration word 1 1 28 52 Critical frequency 1 low Defines the low limit for critical frequency 1 Note This value must...

Page 177: ...3 high Defines the high limit for critical frequency 3 Note This value must be greater than or equal to the value of 28 56 Critical frequency 3 low 0 00 Hz 598 00 598 00 Hz High limit for critical frequency 3 See par 46 02 28 71 Freq ramp set selection Selects a source that switches between the two sets of acceleration deceleration times defined by parameters 28 72 28 75 0 Acceleration time 1 and ...

Page 178: ...to zero If there is any doubt about the deceleration time being too short ensure that DC overvoltage control 30 30 Overvoltage control is on Note If a short deceleration time is needed for a high inertia application the drive should be equipped with braking equipment such as a brake chopper and brake resistor 3 000 s 0 000 1800 000 s Deceleration time 1 10 1 s 28 74 Freq acceleration time 2 Define...

Page 179: ...leration Deceleration 0 000 s 0 000 1800 000 s Ramp shape at start and end of acceleration and deceleration 10 1 s 28 83 Shape time 2 Defines the shape of the acceleration and deceleration ramps used with the set 2 See parameter 28 82 Shape time 1 0 000 s 0 000 1800 000 s Ramp shape at start and end of acceleration and deceleration 10 1 s No Name Value Description Default FbEq 16 S curve ramp 28 8...

Page 180: ...ord 1 Displays limit word 1 This parameter is read only 0000h FFFFh Limit word 1 1 1 No Name Value Description Default FbEq 16 Bit Name Description 0 Torq lim 1 Drive torque is being limited by the motor control undervoltage control current control load angle control or pull out control or by the torque limits defined by parameters 1 2 Reserved 3 Torq ref max 1 Torque reference is being limited by...

Page 181: ...nt magnet motors and reluctance motors only 1 Load angle limit is active ie the motor cannot produce any more torque 6 Motor pullout With asynchronous motors only 1 Motor pull out limit is active ie the motor cannot produce any more torque 7 Reserved 8 Thermal 1 Input current is being limited by the main circuit thermal limit 9 Max current 1 Maximum output current IMAX is being limited 10 User cur...

Page 182: ...eed See par 46 01 30 12 Maximum speed Defines together with 30 11 Minimum speed allowed speed range See parameter 30 11 Minimum speed Note This parameter does not affect the speed acceleration and deceleration ramp times See parameter 46 01 Speed scaling WARNING The absolute value of 30 12 Maximum speed must not be lower than 30 11 Minimum speed WARNING In speed control mode only In frequency cont...

Page 183: ...46 02 30 14 Maximum frequency Defines together with 30 13 Minimum frequency allowed frequency range See 30 13 Minimum frequency Note This parameter does not affect the speed acceleration and deceleration ramp times See parameter 46 02 Frequency scaling WARNING This absolute value of 30 14 Maximum frequency must not be lower than 30 13 Minimum frequency WARNING In frequency control mode only 50 00 ...

Page 184: ...oth the minimum 30 21 and maximum 30 22 limits that allows the use of a selectable analog source such as an analog input Note In addition to the user defined limits torque may be limited for other reasons such as power limitation Refer to the block diagram on page 373 Torque limit set 1 Torque limit set 1 0 minimum torque limit defined by 30 19 and maximum torque limit defined by 30 20 are active ...

Page 185: ...n percent of nominal motor torque when the source selected by parameter 30 18 Torq lim sel is 1 or 30 18 is set to Torque limit set 2 See diagram at 30 18 Torq lim sel Note Any positive values received from the selected source are inverted Minimum torque 2 Zero None 0 AI1 scaled 12 12 AI1 scaled value see page 116 1 AI2 scaled 12 22 AI2 scaled value see page 118 2 PID 40 01 Process PID output actu...

Page 186: ...00 600 00 0 00 Maximum generating power 1 1 30 30 Overvoltage control Enables the overvoltage control of the intermediate DC link Fast braking of a high inertia load causes the voltage to rise to the overvoltage control limit To prevent the DC voltage from exceeding the limit the overvoltage controller automatically decreases the braking torque Note If the drive is equipped with a brake chopper an...

Page 187: ... is defined by parameters 30 11 Minimum speed and 30 12 Maximum speed The second set has selector parameters for both the minimum 30 37 and maximum 30 38 limits that allows the use of a selectable analog source such as an analog input not used Not used Adjustable speed limits are disabled Minimum speed limit defined by 30 11 Minimum speed and maximum speed limit defined by 30 12 Maximum speed are ...

Page 188: ...e drive when the source is selected by 30 36 Speed limit selection WARNING In vector motor control mode only In scalar motor control mode use frequency limits 30 13 and 30 14 Maximum speed Zero None 0 AI1 scaled 12 12 AI1 scaled value 1 AI2 scaled 12 22 AI2 scaled value 2 Maximum speed 30 12 Maximum speed 12 Other Source selection see Terms and abbreviations 31 31 Fault functions Configuration of ...

Page 189: ... Warning The external event generates a warning 1 31 09 External event 5 source Defines the source of external event 5 See also parameter 31 10 External event 5 type For the selections see parameter 31 01 External event 1 source Inactive true 31 10 External event 5 type Selects the type of external event 5 Fault Fault The external event generates a fault 0 Warning The external event generates a wa...

Page 190: ...external control locations page 26 Faults related to the Safe torque off STO function cannot be automatically reset The bits of this binary number correspond to the following faults 0000h 0000h FFFFh Automatic reset configuration word 1 1 31 13 Selectable fault Defines the fault that can be automatically reset using parameter 31 12 Autoreset selection bit 10 Faults are listed in chapter Fault trac...

Page 191: ...matic resets 10 1 s 31 16 Delay time Defines the time that the drive will wait after a fault before attempting an automatic reset See parameter 31 12 Autoreset selection 0 0 s 0 0 120 0 s Autoreset delay 10 1 s 31 19 Motor phase loss Selects how the drive reacts when a motor phase loss is detected See section Motor phase loss detection parameter 31 19 on page 78 Fault No action No action taken 0 F...

Page 192: ...is interpreted as a malfunction For more information on the STO see chapter The Safe torque off function in the hardware manual of the drive Fault Fault Fault Fault 0 Fault Warning 1 Fault Event 2 No Name Value Description Default FbEq 16 Inputs Indication running or stopped IN1 IN2 0 0 Fault 5091 Safe torque off 0 1 Fault FA81 Safe torque off 1 1 0 Fault FA82 Safe torque off 2 1 1 Normal operatio...

Page 193: ...the time set by parameter 31 28 Stall time No action No action None stall supervision disabled 0 Warning The drive generates an A780 Motor stall warning 1 Fault The drive trips on fault 7121 Motor stall 2 31 25 Stall current limit Stall current limit in percent of the nominal current of the motor See parameter 31 24 Stall function 200 0 0 0 1600 0 Stall current limit No Name Value Description Defa...

Page 194: ...imum speed and 30 12 Maximum speed the maximum allowed speed of the motor overspeed protection If the speed 24 02 Used speed feedback exceeds the speed limit defined by parameter 30 11 or 30 12 by more than the value of this parameter the drive trips on the 7310 Overspeed fault WARNING This function only supervises the speed in vector motor control mode The function is not effective in scalar moto...

Page 195: ... 24 02 Used speed feedback provide a supervision function for emergency stop modes Off1 and Off3 The supervision is based on either observing the time within which the motor stops or comparing the actual and expected deceleration rates If this parameter is set to 0 the maximum stop time is directly set in parameter 31 33 Otherwise 31 32 defines the maximum allowed deviation from the expected decel...

Page 196: ...upervision activation delay 1 1 s 31 40 Disable warning messages Selects the warnings to be suppressed This parameter is a 16 bit word with each bit corresponding to a warning Whenever a bit is set to 1 the corresponding warning is not logged to event log 0000h 0000h FFFFh Word for disabling warnings 1 1 31 54 Fault action Selects the stop mode when a non critical fault occurs Coast Coast The driv...

Page 197: ...limit 0 5 hysteresis 1 High Action is taken whenever the signal is above the Supervision 1 high limit 0 5 hysteresis Action is deactivated whenever the signal is below the Supervision 1 high limit 0 5 hysteresis 2 Abs low Action is taken whenever the absolute value of the signal is below the absolute value of the Supervision 1 low limit 0 5 hysteresis Action is deactivated whenever the absolute va...

Page 198: ...d the Supervision 1 low limit 0 5 hysteresis 7 Low falling Action is taken whenever the signal falls from a value higher than the Supervision 1 low limit 0 5 hysteresis to a value which is lower than the Supervision 1 low limit 0 5 hysteresis Action is deactivated when the signal rises to higher than the Supervision 1 low limit 0 5 hysteresis Note Supervision action is also deactivated for every m...

Page 199: ...t actual 26 Process PID deviation 40 04 Process PID deviation actual 27 Other Source selection see Terms and abbreviations 32 08 Supervision 1 filter time Defines a filter time constant for the signal monitored by signal supervision 1 0 000 s 0 000 30 000 s Signal filter time 1000 1 s 32 09 Supervision 1 low Defines the lower limit for signal supervision 1 0 00 21474830 00 21474830 00 Low limit 32...

Page 200: ...imit 0 5 hysteresis 4 Both Action is taken whenever the signal is above the Supervision 1 high limit 0 5 hysteresis or below the Supervision 1 low limit 0 5 hysteresis Action is deactivated whenever the signal is in between the Supervision 1 high limit 0 5 hysteresis and the Supervision 1 low limit 0 5 hysteresis 5 Abs both Action is taken whenever the absolute value of the signal is above the abs...

Page 201: ...eter does not affect the status indicated by 32 01 Supervision status No action No action No warning or fault generated 0 Warning Warning A8B0 Signal supervision is generated 1 Fault The drive trips on fault 80B0 Signal supervision 2 Fault if running The drive trips on fault 80B0 Signal supervision if running 3 32 17 Supervision 2 signal Selects the signal to be monitored by signal supervision fun...

Page 202: ...nal is above the absolute value of the Supervision 1 low limit 0 5 hysteresis 3 Abs high Action is taken whenever the absolute value of the signal is above the absolute value of the Supervision 1 high limit 0 5 hysteresis Action is deactivated whenever the absolute value of the signal is below the absolute value of the Supervision 1 high limit 0 5 hysteresis 4 Both Action is taken whenever the sig...

Page 203: ...vision 1 high limit 0 5 hysteresis Note Supervision action is also deactivated for every motor start command 9 32 26 Supervision 3 action Selects whether the drive generates a fault warning or neither when the value monitored by signal supervision 3 exceeds its limits Note This parameter does not affect the status indicated by 32 01 Supervision status No action No action No warning or fault genera...

Page 204: ...ue of the Supervision 1 low limit 0 5 hysteresis Action is deactivated whenever the absolute value of the signal is above the absolute value of the Supervision 1 low limit 0 5 hysteresis 3 Abs high Action is taken whenever the absolute value of the signal is above the absolute value of the Supervision 1 high limit 0 5 hysteresis Action is deactivated whenever the absolute value of the signal is be...

Page 205: ...rvision 1 high limit 0 5 hysteresis Note Supervision action is also deactivated for every motor start command 9 32 36 Supervision 4 action Selects whether the drive generates a fault warning or neither when the value monitored by signal supervision 4 exceeds its limits Note This parameter does not affect the status indicated by 32 01 Supervision status No action No action No warning or fault gener...

Page 206: ...ue of the Supervision 1 low limit 0 5 hysteresis Action is deactivated whenever the absolute value of the signal is above the absolute value of the Supervision 1 low limit 0 5 hysteresis 3 Abs high Action is taken whenever the absolute value of the signal is above the absolute value of the Supervision 1 high limit 0 5 hysteresis Action is deactivated whenever the absolute value of the signal is be...

Page 207: ...rvision 1 high limit 0 5 hysteresis Note Supervision action is also deactivated for every motor start command 9 32 46 Supervision 5 action Selects whether the drive generates a fault warning or neither when the value monitored by signal supervision 5 exceeds its limits Note This parameter does not affect the status indicated by 32 01 Supervision status No action No action No warning or fault gener...

Page 208: ...ue of the Supervision 1 low limit 0 5 hysteresis Action is deactivated whenever the absolute value of the signal is above the absolute value of the Supervision 1 low limit 0 5 hysteresis 3 Abs high Action is taken whenever the absolute value of the signal is above the absolute value of the Supervision 1 high limit 0 5 hysteresis Action is deactivated whenever the absolute value of the signal is be...

Page 209: ...rvision 1 high limit 0 5 hysteresis Note Supervision action is also deactivated for every motor start command 9 32 56 Supervision 6 action Selects whether the drive generates a fault warning or neither when the value monitored by signal supervision 6 exceeds its limits Note This parameter does not affect the status indicated by 32 01 Supervision status No action No action No warning or fault gener...

Page 210: ...log I O or PTC AI DI Voltage divider tree the motor thermal protection function converts the analog input signal 35 14 to PTC resistance value ohms and shows it in this parameter This is the case even the parameter name and unit refer to motor temperature C or F You cannot change the unit to ohm for the time being 96 16 1 1 unit 35 05 Motor overload level Shows the motor overload level as a percen...

Page 211: ...to U voltage Any change must be validated by a control unit reboot Set the appropriate analog input unit selection parameter in group 12 Standard AI to V volt In parameter group 13 Standard AO set the source selection parameter of the analog output to Temp sensor 1 excitation The analog output feeds a constant current through the sensor As the resistance of the sensor increases along with its temp...

Page 212: ...election parameter of the analog output to Temp sensor 1 excitation The analog output feeds a constant current through the sensor As the resistance of the sensor increases along with its temperature the voltage over the sensor increases The voltage is read by the analog input and converted into degrees 13 2 Pt1000 analog I O As selection 1 Pt1000 analog I O but with two sensors connected in series...

Page 213: ... unit is ohms 110 C or 230 F or 4000 ohm 60 5000 C or 76 9032 F or 0 5000 ohm Warning limit for temperature monitoring function 1 1 1 unit 35 14 Temperature 1 AI source Selects the input for parameter 35 11 Temperature 1 source selections 1 x Pt100 analog I O 2 x Pt100 analog I O 3 x Pt100 analog I O and Direct temperature not used not used None 0 AI1 actual value Analog input AI1 1 AI2 actual val...

Page 214: ...oint Defines the maximum motor load at zero speed of the load curve A higher value can be used if the motor has an external motor fan to boost the cooling See the motor manufacturer s recommendations See parameter 35 51 Motor load curve 70 25 150 Zero speed load for the motor load curve 1 1 35 53 Break point Defines the motor load curve together with parameters 35 51 Motor load curve and 35 52 Zer...

Page 215: ...ermal time constant for use with the motor thermal protection model defined as the time to reach 63 of the nominal motor temperature See the motor manufacturer s recommendations 256 s 100 10000 s Motor thermal time constant 1 1 s 35 56 Motor overload action Defines what action the drive should take when the motor overload specified by parameter 35 57 occurs Warning and fault No Name Value Descript...

Page 216: ...tor overload class 5 0 Class 10 Motor overload class 10 1 Class 20 Motor overload class 20 2 Class 30 Motor overload class 30 3 Class 40 Motor overload class 40 4 36 36 Load analyzer Peak value and amplitude logger settings See also section Load analyzer page 81 36 01 PVL signal source Selects the signal to be monitored by the peak value logger The signal is filtered using the filtering time speci...

Page 217: ... parameters 36 50 and 36 51 respectively For the selections see parameter 36 01 PVL signal source Motor torque See parameter 36 01 for the selections 36 07 AL2 signal scaling Defines the monitored signal value for the amplitude logger AL2 that corresponds to 100 sample value 100 00 0 00 32767 00 Signal value corresponding to 100 1 1 36 09 Reset loggers Resets the peak value logger and or amplitude...

Page 218: ...ples recorded by amplitude logger 1 that fall between 20 and 30 0 00 0 00 100 00 Amplitude logger 1 samples between 20 and 30 1 1 36 23 AL1 30 to 40 Shows the percentage of samples recorded by amplitude logger 1 that fall between 30 and 40 0 00 0 00 100 00 Amplitude logger 1 samples between 30 and 40 1 1 36 24 AL2 40 to 50 Shows the percentage of samples recorded by amplitude logger 1 that fall be...

Page 219: ... samples recorded by amplitude logger 2 that fall between 50 and 60 0 00 0 00 100 00 Amplitude logger 2 samples between 50 and 60 1 1 36 46 AL2 60 to 70 Percentage of samples recorded by amplitude logger 2 that fall between 60 and 70 0 00 0 00 100 00 Amplitude logger 2 samples between 60 and 70 1 1 36 47 AL2 70 to 80 Percentage of samples recorded by amplitude logger 2 that fall between 70 and 80 ...

Page 220: ...bove the overload curve for longer than the value of 37 41 ULC overload timer Disabled Disabled No warnings or fault generated 0 Warning The drive generates an A8C1 ULC overload warning if the signal has been continuously over the overload curve for a time defined by parameter 37 41 ULC overload timer 1 Fault The drive trips on 8002 ULC overload fault if the signal has been continuously over the o...

Page 221: ...oints on the X axis of the user load curve The values of the parameters must satisfy 30000 0 rpm 37 11 ULC speed table point 1 37 12 ULC speed table point 2 37 13 ULC speed table point 3 37 14 ULC speed table point 4 37 15 ULC speed table point 5 30000 0 rpm Speed points are used if parameter 99 04 Motor control mode is set to Vector or if 99 04 Motor control mode is set to Scalar and the referenc...

Page 222: ...0 Hz 598 00 598 00 Hz Frequency 1 1 Hz 37 18 ULC frequency table point 3 Defines the third frequency point See parameter 37 16 ULC frequency table point 1 43 0 Hz 598 00 598 00 Hz Frequency 1 1 Hz 37 19 ULC frequency table point 4 Defines the fourth frequency point See parameter 37 16 ULC frequency table point 1 50 0 Hz 598 00 598 00 Hz Frequency 1 1 Hz 37 20 ULC frequency table point 5 Defines th...

Page 223: ...er than the value of the overload curve point See parameter 37 21 ULC underload point 1 300 0 1600 0 1600 0 Overload point 1 1 37 32 ULC overload point 2 Defines the second overload point See parameter 37 31 ULC overload point 1 300 0 1600 0 1600 0 Overload point 1 1 37 33 ULC overload point 3 Defines the third overload point See parameter 37 31 ULC overload point 1 300 0 1600 0 1600 0 Overload po...

Page 224: ...ematical function parameter 40 10 Set 1 feedback function and filtering See the control chain diagram on page 427 This parameter is read only 0 00 200000 00 200000 00 PID customer units Process feedback 1 1 PID customer unit 40 03 Process PID setpoint actual Displays the value of process PID setpoint after source selection mathematical function 40 18 Set 1 setpoint function limitation and ramping ...

Page 225: ...iations 40 09 Set 1 feedback 2 source Selects the second source of process feedback The second source is used only if the setpoint function requires two inputs For the selections see parameter 40 08 Set 1 feedback 1 source not used 40 10 Set 1 feedback function Defines how process feedback is calculated from the two feedback sources selected by parameters 40 08 Set 1 feedback 1 source and 40 09 Se...

Page 226: ...alue in speed control In this case this parameter might be set to 50 and parameter 40 15 to the nominal motor speed at 50 Hz In effect the output of the PID controller 40 15 when deviation setpoint feedback 40 14 and 40 32 1 Note The scaling is based on the ratio between 40 14 and 40 15 For example the values 50 and 1500 would produce the same scaling as 1 and 30 0 00 20000 00 200000 00 Process se...

Page 227: ...viations 40 17 Set 1 setpoint 2 source Selects the second source of process setpoint The second source is used only if the setpoint function requires two inputs For the selections see parameter 40 16 Set 1 setpoint 1 source not used 40 18 Set 1 setpoint function Selects a function between the setpoint sources selected by parameters 40 16 Set 1 setpoint 1 source and 40 17 Set 1 setpoint 2 source In...

Page 228: ...3 Bit 2 of 32 01 Supervision status 23 Other bit Source selection see Terms and abbreviations 40 20 Set 1 internal setpoint sel2 Selects together with 40 19 Set 1 internal setpoint sel1 the internal setpoint used out of the three internal setpoints defined by parameters 40 21 40 23 See table at 40 19 Set 1 internal setpoint sel1 not used Not used 0 0 Used 1 1 DI1 Digital input DI1 10 02 DI delayed...

Page 229: ... 00 200000 00 Minimum limit for process PID controller setpoint 1 1 40 27 Set 1 setpoint max Defines a maximum limit for the process PID controller setpoint 200000 00 200000 00 200000 00 Maximum limit for process PID controller setpoint 1 1 40 28 Set 1 setpoint increase time Defines the minimum time it takes for the setpoint to increase from 0 to 100 0 0 s 0 0 1800 0 s Setpoint increase time 1 1 4...

Page 230: ...ted Ref Fbk Not inverted Ref Fbk 0 0 Inverted Fbk Ref 1 1 Other bit Source selection see Terms and abbreviations 40 32 Set 1 gain Defines the gain for the process PID controller See parameter 40 33 Set 1 integration time 1 00 0 01 100 00 Gain for PID controller 100 1 40 33 Set 1 integration time Defines the integration time for the process PID controller This time needs to be set to the same order...

Page 231: ...rict the operation range 0 00 200000 00 200000 00 Minimum limit for process PID controller output 1 1 40 37 Set 1 output max Defines the maximum limit for the process PID controller output See parameter 40 36 Set 1 output min 100 00 200000 00 200000 00 Maximum limit for process PID controller output 1 1 40 38 Set 1 output freeze enable Freezes or defines a source that can be used to freeze the out...

Page 232: ... delay 40 40 Set 1 deadband delay the PID controller output is frozen Normal operation resumes after the feedback value leaves the deadband 0 00 0 200000 0 Deadband range 1 1 40 40 Set 1 deadband delay Delay for the deadband See parameter 40 39 Set 1 deadband range 0 0 s 0 0 3600 0 s Delay for deadband area 1 1 s 40 43 Set 1 sleep level Defines the start limit for the sleep function If the value i...

Page 233: ...es up See also parameter 40 31 Set 1 deviation inversion 0 00 PID customer units 200000 00 200000 0 PID customer units Wake up level as deviation between process setpoint and feedback 1 1 PID customer unit 40 48 Set 1 wake up delay Defines a wake up delay for the sleep function to prevent nuisance wake ups See parameter 40 47 Set 1 wake up deviation The delay timer starts when the deviation exceed...

Page 234: ...between these is made by parameter 40 52 Set 1 trim selection 1 Proportional The trim function is active The trimming factor is relative to the reference selected by parameter 40 53 Set 1 trimmed ref pointer 2 Combined The trim function is active The trimming factor is a combination of both Direct and Proportional modes the proportions of each are defined by parameter 40 53 Set 1 trim mix 3 40 52 ...

Page 235: ...tegration term is not decreased This parameter is valid for the PID set 1 1 Other bit Source selection see Terms and abbreviations on page 90 40 60 Set 1 PID activation source Selects the source of process PID set 1 activation On Off Set 1 PID activation source is Off 0 On Set 1 PID activation source is On 1 Follow Ext1 Ext2 selection Selection follows the value of parameter 19 11 Ext1 Ext2 select...

Page 236: ...nit 1 0 Percentage 4 bar Bar 74 kPa Kilopascal 75 Pa Pascal 77 psi Pound per square inch 76 CFM Cubic feet per minute 26 inH2O Inch of water 58 C Centigrade 150 F Fahrenheit 151 mbar Millibar 44 m3 h Cubic meters per hour 78 dm3 h Cubic decimeters per hour 21 l s Liters per second 79 l min Liters per minute 37 l h Liters per hour 38 m3 s Cubic meter per second 88 m3 min Cubic meter per minute 40 k...

Page 237: ...ace The value can be sent to the drive as Modbus I O data Set the target selection parameter of that particular data 58 101 58 114 to Feedback data storage In 40 08 Set 1 feedback 1 source or 40 09 Set 1 feedback 2 source select Feedback storage 0 00 327 68 327 67 Storage parameter for process feedback 100 1 40 92 Setpoint data storage Storage parameter for receiving a process setpoint value eg th...

Page 238: ...r control and selects the brake resistor overload protection method calculation or measurement Note Before enabling brake chopper control ensure that a brake resistor is connected overvoltage control is switched off parameter 30 30 Overvoltage control the supply voltage range parameter 95 01 Supply voltage has been selected correctly Disabled Disabled Brake chopper control disabled 0 Enabled with ...

Page 239: ...on allowed This parameter can be used to enable the chopper operation only when the supply is missing from a drive with a regenerative supply unit On Off 0 0 On 1 1 Other bit Source selection see Terms and abbreviations 43 08 Brake resistor thermal tc Defines the thermal time constant of the brake resistor thermal model 0 s 0 10000 s Brake resistor thermal time constant ie the rated time to achiev...

Page 240: ...s parameter is read only 0000h 0000h FFFFh Mechanical brake control status word 1 1 44 02 Brake torque memory Displays the torque in percent at the instant of the previous brake close command This value can be used as a reference for the brake open torque See parameters 44 09 Brake open torque source and 44 10 Brake open torque 1600 0 1600 0 Torque at brake closure See par 46 03 44 03 Brake open t...

Page 241: ...r unexpected state of the acknowledgment signal is detected the drive reacts as defined by parameter 44 17 Brake fault function 0 Brake closed 1 Brake open No acknowledg e Off The brake acknowledge function is disabled 0 On The brake acknowledge function is enabled 1 No acknowledge Brake open closed supervision disabled 2 DI1 Digital input DI1 10 02 DI delayed status bit 0 3 DI2 Digital input DI2 ...

Page 242: ...r and has a greater absolute value Note This parameter is not effective in scalar motor control mode 0 0 1600 0 1600 0 Minimum torque at brake release See par 46 03 44 11 Keep brake closed Selects a source that prevents the brake from opening 0 Normal brake operation 1 Keep brake closed Note This parameter cannot be changed while the drive is running Not used Not used 0 0 Used 1 1 DI1 Digital inpu...

Page 243: ...t used Not used 0 0 Used 1 1 DI1 Digital input DI1 10 02 DI delayed status bit 0 2 DI2 Digital input DI2 10 02 DI delayed status bit 1 3 DI3 Digital input DI3 10 02 DI delayed status bit 2 4 DI4 Digital input DI4 10 02 DI delayed status bit 3 5 DIO1 Digital input output DIO1 11 02 DIO delayed status bit 0 10 DIO2 Digital input output DIO2 11 02 DIO delayed status bit 1 11 Not used 0 0 Timed functi...

Page 244: ...savings in GWh 1 1 GWh 45 02 Saved MW hours Energy saved in MWh compared to direct on line motor connection This parameter is incremented when 45 03 Saved kW hours rolls over When this parameter rolls over parameter 45 01 Saved GW hours is incremented This parameter is read only see parameter 45 21 Energy calculations reset 0 999 MWh Energy savings in MWh 1 1 MWh 45 03 Saved kW hours Energy saved ...

Page 245: ...kilotons Reduction in CO2 emissions in metric kilotons compared to direct on line motor connection This value is incremented when parameter 45 09 CO2 reduction in tons rolls over This parameter is read only see parameter 45 21 Energy calculations reset 0 65535 metric kilotons Reduction in CO2 emissions in metric kilotons 1 1 metric kiloton 45 09 CO2 reduction in tons Reduction in CO2 emissions in ...

Page 246: ... applied retroactively 1 000 units 0 000 4294967 295 units Energy tariff 1 45 13 Energy tariff 2 Defines energy tariff 2 price of energy per kWh See parameter 45 12 Energy tariff 1 2 000 units 0 000 4294967 295 units Energy tariff 2 45 14 Tariff selection Selects or defines a source that selects which pre defined energy tariff is used 0 45 12 Energy tariff 1 1 45 13 Energy tariff 2 Energy tariff 1...

Page 247: ... the hourly peak is found in the most recent 10 minutes In that case the values is shown immediately 0 00 kW 3000 00 3000 00 kW Peak power value 10 1 kW 45 25 Hourly peak power time Time of the peak power value during the last hour 00 00 00 Time N A 45 26 Hourly total energy resettable Total energy consumption during the last hour that is the most recent 60 minutes You can reset the value by setti...

Page 248: ...y of the present month 0 00 kWh 1000000 00 1000000 00 kWh 0 01 1 kWh 45 36 Lifetime peak power value Value of the peak power over the drive lifetime 0 00 kW 3000 00 3000 00 kW Peak power value 10 1 kW 45 37 Lifetime peak power date Date of the peak power over the drive lifetime 1 1 1980 Date N A 45 38 Lifetime peak power time Time of the peak power over the drive lifetime 00 00 00 Time N A 46 46 M...

Page 249: ... The value of this parameter corresponds to 10000 in fieldbus master follower etc communication For 32 bit scaling see 46 44 Current decimals 10000 A 0 30000 A Current corresponding to 10000 on fieldbus 1 1 A 46 06 Speed ref zero scaling Defines a speed corresponding to a zero reference received from fieldbus either the embedded fieldbus interface or interface EFB For example with a setting of 500...

Page 250: ...it 8 of 06 11 Main status word 50 00 rpm 0 00 30000 00 rpm Limit for at setpoint indication in speed control See par 46 01 46 22 At frequency hysteresis Defines the at setpoint limits for frequency control of the drive When the absolute difference between reference 28 96 Frequency ref ramp input and actual frequency 01 06 Output frequency is smaller than 46 22 At frequency hysteresis the drive is ...

Page 251: ...06 17 When actual frequency exceeds the limit bit 10 of 06 17 Drive status word 2 is set 50 00 Hz 0 00 1000 00 Hz Above limit indication trigger level for frequency control See par 46 02 46 33 Above torque limit Defines the trigger level for above limit indication in torque control This is indicated by bit 10 of parameter 06 11 and parameter 06 17 When actual torque exceeds the limit bit 10 of 06 ...

Page 252: ...7 02 Data storage 2 real32 Data storage parameter 2 See also parameter 47 01 0 000 2147483 008 2147483 008 32 bit real floating point number 47 03 Data storage 3 real32 Data storage parameter 3 See also parameter 47 01 0 000 2147483 008 2147483 008 32 bit real floating point number 47 04 Data storage 4 real32 Data storage parameter 4 See also parameter 47 01 0 000 2147483 008 2147483 008 32 bit re...

Page 253: ... 115 2 kbit s 4 230 4 kbps 230 4 kbit s 5 49 04 Communication loss time Sets a timeout for control panel or PC tool communication If a communication break lasts longer than the timeout the action specified by parameter 49 05 Communication loss action is taken Note Changes to this parameter take effect after the control unit is rebooted or the new settings validated by parameter 49 06 Refresh setti...

Page 254: ...protocol 1 CANopen Embedded fieldbus interface is enabled and uses the CANopen protocol 3 58 02 Protocol ID Displays the protocol ID and revision This parameter is read only Protocol ID and revision 1 1 58 03 Node address Defines the node address of the drive on the fieldbus link Values 1 247 are allowable Two devices with the same address are not allowed on line Changes to this parameter take eff...

Page 255: ...250 kbps 500 kbit s 5 1 Mbps 1 Mbit s 6 58 05 Parity Selects the type of parity bit and number of stop bits Changes to this parameter take effect after the control unit is rebooted or the new settings validated by parameter 58 06 Communication control Refresh settings Note If parameter 58 01 3 CANopen this parameter is hidden 8 EVEN 1 8 NONE 1 Eight data bits no parity bit one stop bit 0 8 NONE 2 ...

Page 256: ...Can be reset from the control panel by keeping Reset down for over 3 seconds Note If parameter 58 01 3 CANopen this parameter is hidden 0 4294967295 Number of transmitted packets 1 1 No Name Value Description Default FbEq 16 Bit Name Description 0 Init failed 1 EFB initialization failed 1 Addr config err 1 Node address not allowed by protocol 2 Silent mode 1 Drive not allowed to transmit 0 Drive a...

Page 257: ...k The drive does not trip if only reference is coming from EFB and the communication is lost Changes to this parameter take effect after the control unit is rebooted or the new settings validated by parameter 58 06 Communication control Refresh settings See also parameters 58 15 Communication loss mode and 58 16 Communication loss time Fault No action No action taken monitoring disabled 0 Fault Dr...

Page 258: ...tion break lasts longer than the timeout the action specified by parameter 58 14 Communication loss action is taken Changes to this parameter take effect after the control unit is rebooted or the new settings validated by parameter 58 06 Communication control Refresh settings See also parameter 58 15 Communication loss mode Notes There is a 30 second boot up delay immediately after power up During...

Page 259: ...can be saved into the drive s non volatile memory In that case the parameters don t need to be set every time the system is powered on 1 58 24 Transparent 16 scale Defines the scaling value for Transparent 16 communication profile Changes to this parameter take effect after the control unit is rebooted or the new settings validated by parameter 58 06 Communication control Refresh settings Note If ...

Page 260: ...he scaling is defined by parameter 46 02 Frequency scaling 5 58 27 EFB ref2 type Selects the type and scaling of reference 2 received through the embedded fieldbus interface The scaled reference is displayed by 03 10 EFB reference 2 Speed or frequency 58 28 EFB act1 type Selects the type source and scaling of actual value 1 transmitted to the fieldbus network through the embedded fieldbus interfac...

Page 261: ...neral The value selected by parameter 58 32 EFB act2 transparent source is sent as actual value 2 with a 16 bit scaling of 100 1 unit i e integer and two decimals 2 Torque 01 10 Motor torque is sent as actual value 2 Scaling is defined by parameter 46 03 Torque scalingg 3 Speed 01 01 Motor speed used is sent as actual value 2 Scaling is defined by parameter 46 01 Speed scaling 4 Frequency 01 06 Ou...

Page 262: ...d be mapped to register 420000 4400 160 424560 0 Mode 1 16 bit values groups 1 255 indexes 1 255 Register address 400000 256 parameter group parameter index For example parameter 22 80 would be mapped to register 400000 5632 80 405712 1 Mode 2 32 bit values groups 1 127 indexes 1 255 Register address 400000 512 parameter group 2 parameter index For example parameter 22 80 would be mapped to regist...

Page 263: ...ameter is read only Note If parameter 58 01 1 Modbus RTU this parameter is hidden 0 100000 100000 Reference value 1 1 1 58 72 EFB reference 2 Displays the raw unmodified reference value 2 for debugging purposes This parameter is read only Note If parameter 58 01 1 Modbus RTU this parameter is hidden 0 100000 100000 Reference value 2 1 1 58 73 EFB actual value 1 Displays the raw unmodified actual v...

Page 264: ...RTU this parameter is hidden 0 0 65535 Defines the time out time for the PDO 0 no timeout other if this PDO is enabled and not received for event timer milliseconds 58 14 Communication loss time is performed Note The timeout supervision is activated upon a successful reception of the RPDO 1 1 ms 58 79 TPDO1 COB ID Set the COB ID of the PDO Changing this parameter has an effect only if 58 23 Config...

Page 265: ...trol Refresh settings Note If parameter 58 01 1 Modbus RTU this parameter is hidden 0x0000 0x0000 0x07ff COB ID 0 RPDO disabled 1 use COB ID from CiA 301 pre defined connection set other value use selected COB ID 1 1 58 83 RPDO6 transmission type Set the transmission type of the PDO Changing this parameter has an effect only if 58 23 Configuration location is Drive parameters and after the control...

Page 266: ...ttings validated by parameter 58 06 Communication control Refresh settings Note If parameter 58 01 1 Modbus RTU this parameter is hidden 255 0 255 Transmission type 0 acyclic synchronous 1 240 cyclic synchronous 252 synchronous RTR only 253 asynchronous RTR only 254 255 asynchronous 1 1 58 87 TPDO6 event timer Set the event timer of the PDO Changing this parameter has an effect only if 58 23 Confi...

Page 267: ...RTU this parameter is hidden 0 0 65535 Defines the time out time for the PDO 0 no timeout other if this PDO is enabled and not received for event timer milliseconds 58 14 Communication loss time is performed Note The timeout supervision is activated upon a successful reception of the RPDO 1 1 ms 58 91 RPDO21 COB ID Set the COB ID of the PDO Changing this parameter has an effect only if 58 23 Confi...

Page 268: ...ted in a Modbus frame consisting of two 16 bit words If the value is 16 bit it is transmitted in the LSW least significant word If the value is 32 bit the subsequent parameter is also reserved for it and must be set to None CW 16bit None No mapping register is always zero 0 CW 16bit ABB Drives CiA402 and Transparent 16 profiles 16 bit control word DCU Profile lower 16 bits of the DCU control word ...

Page 269: ...ta I O 1 Act1 16bit 58 106 Data I O 6 Defines the address in the drive which the Modbus master accesses when it reads from or writes to register address 400006 For the selections see parameter 58 101 Data I O 1 Act2 16bit 58 107 Data I O 7 Parameter selector for Modbus register address 400007 For the selections see parameter 58 101 Data I O 1 None 58 108 Data I O 8 Parameter selector for Modbus re...

Page 270: ...le for ACS280 04 xxxx 1 2 drives 1 380 415 V 380 415 V available for ACS280 04 xxxx 4 drives 2 440 480 V 440 480 V available for ACS280 04 xxxx 4 drives 3 95 02 Adaptive voltage limits Enables adaptive voltage limits Adaptive voltage limits can be used if for example an IGBT supply unit is used to raise the DC voltage level If the communication between the inverter and IGBT supply unit is active t...

Page 271: ...rmal operation The last active reference before the disconnection is in use Note This feature is only available in scalar mode This parameter does not affect vector mode behavior Disable 0 Disable 1 1 1 Enable 1 1 95 200 Cooling fan mode Change the cooling fan control mode Auto Auto Cooling fan is controlled automatically 0 Always on Cooling fan is always running 1 No Name Value Description Defaul...

Page 272: ... Access levels status Entering 358 toggles the parameter lock which prevents the changing of all other parameters through the control panel or the Drive composer PC tool Entering the user pass code by default 10000000 enables parameters 96 100 96 102 which can be used to define a new user pass code and to select the actions that are to be prevented Entering an invalid pass code will close the user...

Page 273: ...gs parameter 95 20 HW options word 1 and the differentiated defaults implemented by it user lock configuration parameters 96 100 96 102 PC tool communication is interrupted during the restoring 62 Reset all fieldbus settings Restores all fieldbus and communication related settings to default values Note Fieldbus control panel and PC tool communication are interrupted during the restore 32 Reset ho...

Page 274: ...This parameter is read only See also section User parameter sets page 83 n a No user parameter sets have been saved 0 Loading A user set is being loaded 1 Saving A user set is being saved 2 Faulted Invalid or empty parameter set 3 User1 IO active User set 1 has been selected by parameters 96 12 User set I O mode in1 and 96 13 User set I O mode in2 4 User2 IO active User set 2 has been selected by ...

Page 275: ...oad set 3 Load user parameter set 3 4 Load set 4 Load user parameter set 4 5 Save to set 1 Save user parameter set 1 18 Save to set 2 Save user parameter set 2 19 Save to set 3 Save user parameter set 3 20 Save to set 4 Save user parameter set 4 21 96 12 User set I O mode in1 When parameter 96 11 User set save load is set to User set I O mode selects the user parameter set together with parameter ...

Page 276: ...ecksum control word bit 8 1 Approved checksum A if the parameter checksum 96 68 Actual checksum A does not match 96 71 Approved checksum A and or when 96 55 Checksum control word bit 9 1 Approved checksum B if the parameter checksum 96 69 Actual checksum B does not match 96 72 Approved checksum B No action No action No action taken The checksum feature is not in use 0 Pure event The drive generate...

Page 277: ...ksum A is generated and updated whenever an action is selected in 96 54 Checksum action and 96 55 Checksum control word bit 8 1 Approved checksum A The set of parameters for checksum A calculation does not include fieldbus settings parameters The parameters included in the checksum A calculation are user editable parameters in parameter groups 10 15 19 20 21 22 23 24 25 28 30 31 32 35 36 37 40 41 ...

Page 278: ... program is disabled Setting adaptive program to running mode is not possible If adaptive program was running when disabled then adaptive program is stopped and set to init state 1 96 71 Approved checksum A Approved reference checksum A 0x0000 0x0000 0xffff Approved checksum A 96 72 Approved checksum B Approved reference checksum B 0x0000 0x0000 0xffff Approved checksum B 96 100 Change user pass c...

Page 279: ...evented ie pass code 358 has no effect 2 Disable file download 1 Loading of files to drive prevented This applies to firmware upgrades parameter restore loading of adaptive or application programs changing home view of control panel editing drive texts editing the favorite parameters list on control panel configuration settings made through control panel such as time date formats and enabling disa...

Page 280: ...5 kHz 1 5 kHz 1 5 kHz In some larger frame sizes 1 kHz is used instead 1 5 2 kHz 2 kHz 2 4 kHz 4 kHz 4 8 kHz 8 kHz 8 12 kHz 12 kHz 12 97 03 Slip gain 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 having the setting at full slip gain E...

Page 281: ... parameter and should not be adjusted without appropriate skill Disabled Disabled Flux braking is disabled 0 Moderate Flux level is limited during the braking Deceleration time is longer compared to full braking 1 Full Maximum braking power Almost all available current is used to convert the mechanical braking energy to thermal energy in the motor WARNING Using full flux braking heats up the motor...

Page 282: ...w speeds 0 0 0 0 1600 0 Optimizer torque limit 10 1 97 11 TR tuning Rotor time constant tuning This parameter can be used to improve torque accuracy in closed loop control of an induction motor Normally the motor identification run provides sufficient torque accuracy but manual fine tuning can be applied in exceptionally demanding applications to achieve optimal performance Note This is an expert ...

Page 283: ...r and damage to the drive if operated for longer periods at low speed 3 20 0 00 50 00 Voltage boost at zero speed in percent of nominal motor voltage 1 1 No Name Value Description Default FbEq 16 U UN f Hz Field weakening point Relative output voltage No IR compensation Relative output voltage IR compensation set to 15 15 100 50 of nominal frequency 3 phase 180 480V drives PN kW 0 37 0 75 1 1 2 2 ...

Page 284: ...torque applications 0 Squared Squared ratio for centrifugal pump and fan applications With squared U f ratio the noise level is lower for most operating frequencies Not recommended for permanent magnet motors 1 97 33 Speed estimate filter time Defines a filtering time for estimated speed 5 00 0 00 100 00 ms Filtering time for estimated speed 1 1 ms 97 35 Automatic LS mode Enables disables automati...

Page 285: ...9 Motor nominal speed 0 0 200 Slip compensation in 1 1 97 94 IR comp max frequency Sets the frequency at which IR compensation set by parameter 97 13 IR compensation reaches 0 V The unit is of motor nominal frequency IR compensation When enabled IR compensation provides an extra voltage boost to the motor at low speeds Use IR compensation for example in applications that require a high breakaway t...

Page 286: ...2 Rs user Defines the stator resistance RS of the motor model With a star connected motor RS is the resistance of one winding With a delta connected motor RS is one third of the resistance of one winding 0 00000 p u 0 00000 0 50000 p u Stator resistance in per unit 98 03 Rr user Defines the rotor resistance RR of the motor model Note This parameter is valid only for asynchronous motors 0 00000 p u...

Page 287: ...100000 00 mH Main inductance 1 10000 mH 98 12 SigmaL user SI Defines the leakage inductance LS Note This parameter is valid only for asynchronous motors 0 00 mH 0 00 100000 00 mH Leakage inductance 1 10000 mH 98 13 Ld user SI Defines the direct axis synchronous inductance Note This parameter is valid only for permanent magnet motors 0 00 mH 0 00 100000 00 mH Direct axis inductance 1 10000 mH 98 14...

Page 288: ... has not been previously performed A new start command is required after standstill ID run Note To achieve a better motor control performance you can perform a normal ID run without load See also section Operating modes of the drive page 28 0 Scalar Scalar control Suitable for most applications if top performance is not required Motor identification run is not required Note Scalar control must be ...

Page 289: ...r rpm e g 60 V per 1000 rpm the voltage for a nominal speed of 3000 rpm is 3 60 V 180 V Note that the nominal voltage is not equal to the equivalent DC motor voltage EDCM specified by some motor manufacturers The nominal voltage can be calculated by dividing the EDCM voltage by 1 7 or square root of 3 The stress on the motor insulation is always dependent on the drive supply voltage This also appl...

Page 290: ...ory but is useful with an asynchronous motor especially when performing a standstill identification run With a permanent magnet or synchronous reluctance motor this value is not needed Notes Do not enter an estimated value If you do not know the exact value leave the parameter at zero This parameter cannot be changed while the drive is running 0 00 0 00 1 00 Cosphi of the motor 100 1 99 12 Motor n...

Page 291: ...run cannot be completed For the Advanced ID run the machinery must always be de coupled from the motor With a permanent magnet or synchronous reluctance motor a Normal Reduced or Standstill ID run requires that the motor shaft is NOT locked and the load torque is less than 10 Once the ID run is activated it can be canceled by stopping the drive The ID run must be performed every time any of the mo...

Page 292: ...eduction is not allowed while the motor is running ie in case of a motor with an integrated brake supplied from the motor terminals With this ID run mode the resultant motor control in the field weakening area or at high torques is not necessarily as accurate as motor control following a Normal ID run Reduced ID run is completed faster than the Normal ID Run 90 seconds Note Check the direction of ...

Page 293: ...ptation process is complete parameter 99 14 will be changed from Standstill to Adaptive 8 99 14 Last ID run performed Shows the type of ID run that was performed last None None No ID run has been performed 0 Normal Normal ID run 1 Reduced Reduced ID run 2 Standstill Standstill ID run 3 Autophasing Autophasing ID run 4 Advanced Advanced ID run 6 Adaptive Adaptive ID run 99 15 Motor polepairs calcul...

Page 294: ...12 20 AI1 scaled at AI1 max 1500 000 1800 000 13 18 AO1 source max 1500 0 1800 0 22 26 Constant speed 1 300 00 rpm 360 00 rpm 22 27 Constant speed 2 600 00 rpm 720 00 rpm 22 28 Constant speed 3 900 00 rpm 1080 00 rpm 22 29 Constant speed 4 1200 00 rpm 1440 00 rpm 22 30 Constant speed 5 1500 00 rpm 1800 00 rpm 22 31 Constant speed 6 2400 00 rpm 2880 00 rpm 22 32 Constant speed 7 3000 00 rpm 3600 00...

Page 295: ...03 05 FAULT WORD 1 Read only 03 06 FAULT WORD 2 Read only 03 07 FAULT WORD 3 Read only 03 08 ALARM WORD 1 Read only 03 09 ALARM WORD 2 Read only 04 01 LAST FAULT Read only 04 12 PREVIOUS FAULT 1 Read only 04 13 PREVIOUS FAULT 2 Read only 10 01 EXT1 COMMANDS Read Write 10 02 EXT2 COMMANDS Read Write 10 03 DIRECTION Read Write 10 04 JOGGING SEL Read Write 11 02 EXT1 EXT2 SEL Read Write 11 03 REF1 SE...

Page 296: ...Read only 33 04 DRIVE RATING Read only 40 01 GAIN Read Write 40 02 INTEGRATION TIME Read Write 40 03 DERIVATION TIME Read Write ACx310 320 355 parameter Name Read Write 11 04 REF1 MIN Read Write 11 05 REF1 MAX Read Write 11 06 REF2 SEL Read Write 11 07 REF2 MIN Read Write 11 08 REF2 MAX Read Write 12 01 CONST SPEED SEL Read Write 12 02 CONST SPEED 1 Read Write 12 03 CONST SPEED 2 Read Write 12 04 ...

Page 297: ...ED Read Write 99 09 MOTOR NOM POWER Read Write 99 10 ID RUN Read Write 99 15 MOTOR COS PHI Read Write ACx310 320 355 parameter Name Read Write 40 04 PID DERIV FILTER Read Write 40 08 0 VALUE Read Write 40 09 100 VALUE Read Write 40 10 SET POINT SEL Read Write 40 11 INTERNAL SETPNT Read Write 40 12 SETPOINT MIN Read Write 40 13 SETPOINT MAX Read Write 40 14 FBK SEL Read Write 40 15 FBK MULTIPLIER R...

Page 298: ...298 Parameters ...

Page 299: ...nd selecting the source parameter from a list In addition to the Other selection the parameter may offer other pre selected settings Binary src Binary source the value of the parameter can be taken from a specific bit in another parameter value Other Sometimes the value can be fixed to 0 false or 1 true In addition the parameter may offer other pre selected settings Data Data parameter FbEq32 32 b...

Page 300: ...esses Refer to Fieldbus control through the embedded fieldbus interface EFB No Parameter number PB Packed Boolean bit list Real Real number Type Parameter type See Analog src Binary src List PB Real Uint16 16 bit unsigned integer Term Definition ...

Page 301: ...verter kWh counter Real 0 1000 kWh 1 1 kWh 01 24 Flux actual Real 0 200 1 1 01 30 Nominal torque scale Real 0 000 4000000 N m or lb ft 1000 1 unit 01 50 Current hour kWh Real 0 00 1000000 00 kWh 100 1 kWh 01 51 Previous hour kWh Real 0 00 1000000 00 kWh 100 1 kWh 01 52 Current day kWh Real 0 00 1000000 00 kWh 100 1 kWh 01 53 Previous day kWh Real 0 00 1000000 00 kWh 100 1 kWh 01 54 Cumulative inve...

Page 302: ...FFFFh 1 1 04 16 Latest warning Data 0000h FFFFh 1 1 04 17 2nd latest warning Data 0000h FFFFh 1 1 04 18 3rd latest warning Data 0000h FFFFh 1 1 04 40 Event word 1 Data 0000h FFFFh 1 1 04 41 Event word 1 bit 0 code Data 0000h FFFFh 1 1 04 43 Event word 1 bit 1 code Data 0000h FFFFh 1 1 04 45 Event word 1 bit 2 code Data 0000h FFFFh 1 1 04 47 Event word 1 bit 3 code Data 0000h FFFFh 1 1 04 49 Event ...

Page 303: ...0000h FFFFh 1 1 05 87 Inverter temperature at fault PB 40 0 160 0 C 10 1 C 05 88 Reference used at fault Real 500 00 500 00 Hz 1600 0 1600 0 30000 00 30000 00 rpm Hz rpm 100 1 Hz 10 1 100 1 rpm 06 Control and status words 06 01 Main control word PB 0000h FFFFh 1 1 06 11 Main status word PB 0000h FFFFh 1 1 06 16 Drive status word 1 PB 0000h FFFFh 1 1 06 17 Drive status word 2 PB 0000h FFFFh 1 1 06 ...

Page 304: ... version Data 1 1 07 11 Cpu usage Real 0 100 1 1 07 25 Customization package name Data 1 1 07 26 Customization package version Data 1 1 07 30 Adaptive program status PB 0000h FFFFh 1 1 07 31 AP sequence state Data 0 20 1 1 No Name Type Range Unit FbEq32 ...

Page 305: ...O1 source Binary src 1 1 10 25 RO1 ON delay Real 0 0 3000 0 s 10 1 s 10 26 RO1 OFF delay Real 0 0 3000 0 s 10 1 s 10 99 RO DIO control word PB 0000h FFFFh 1 1 10 101 RO1 toggle counter Real 0 4294967000 1 1 11 IO mode configuration 11 02 DO delayed status PB 0000h FFFFh 1 1 11 03 DO force selection PB 0000h FFFFh 1 1 11 04 DO force data PB 0000h FFFFh 1 1 11 05 AO1 DO1 configuration List 1 1 11 06...

Page 306: ...nit 12 28 AI2 max Real 4 000 20 000 mA or 0 000 10 000 V mA or V 1000 1 unit 12 29 AI2 scaled at AI2 min Real 32768 000 32767 000 1000 1 12 30 AI2 scaled at AI2 max Real 32768 000 32767 000 1000 1 12 101 AI1 percent value Real 0 00 100 00 100 1 12 102 AI2 percent value Real 0 00 100 00 100 1 12 110 AI dead band Real 0 00 100 00 0 13 Standard AO 13 02 AO force selection PB 0000h FFFFh 1 1 13 11 AO1...

Page 307: ...inary src 1 1 20 27 Jogging 2 start source Binary src 1 1 20 28 Remote to local action List 0 1 1 1 20 30 Enable signals warning function PB 0000h FFFFh 1 1 21 Start stop mode 21 01 Start mode List 0 2 1 1 21 02 Magnetization time Real 0 10000 ms 1 1 ms 21 03 Stop mode List 0 2 1 1 21 04 Emergency stop mode List 0 3 1 1 21 05 Emergency stop source Binary src 1 1 21 06 Zero speed limit Real 0 00 30...

Page 308: ...ary src 1 1 22 26 Constant speed 1 Real 30000 00 30000 00 rpm 100 1 rpm 22 27 Constant speed 2 Real 30000 00 30000 00 rpm 100 1 rpm 22 28 Constant speed 3 Real 30000 00 30000 00 rpm 100 1 rpm 22 29 Constant speed 4 Real 30000 00 30000 00 rpm 100 1 rpm 22 30 Constant speed 5 Real 30000 00 30000 00 rpm 100 1 rpm 22 31 Constant speed 6 Real 30000 00 30000 00 rpm 100 1 rpm 22 32 Constant speed 7 Real ...

Page 309: ...eleration time 1 Real 0 000 1800 000 s 1000 1 s 23 14 Acceleration time 2 Real 0 000 1800 000 s 1000 1 s 23 15 Deceleration time 2 Real 0 000 1800 000 s 1000 1 s 23 20 Acc time jogging Real 0 000 1800 000 s 1000 1 s 23 21 Dec time jogging Real 0 000 1800 000 s 1000 1 s 23 23 Emergency stop time Real 0 000 1800 000 s 1000 1 s 23 32 Shape time 1 Real 0 000 1800 000 s 1000 1 s 23 33 Shape time 2 Real...

Page 310: ... 10 1 26 08 Minimum torque ref Real 1000 0 0 0 10 1 26 09 Maximum torque ref Real 0 0 1000 0 10 1 26 11 Torque ref1 source Analog src 1 1 26 12 Torque ref2 source Analog src 1 1 26 13 Torque ref1 function List 0 5 1 1 26 14 Torque ref1 2 selection Binary src 1 1 26 17 Torque ref filter time Real 0 000 30 000 s 1000 1 s 26 18 Torque ramp up time Real 0 000 60 000 s 1000 1 s 26 19 Torque ramp down t...

Page 311: ...00 1 Hz 28 43 Jogging 2 frequency ref Real 598 00 598 00 Hz 100 1 Hz 28 51 Critical frequency function PB 00b 11b 1 1 28 52 Critical frequency 1 low Real 598 00 598 00 Hz 100 1 Hz 28 53 Critical frequency 1 high Real 598 00 598 00 Hz 100 1 Hz 28 54 Critical frequency 2 low Real 598 00 598 00 Hz 100 1 Hz 28 55 Critical frequency 2 high Real 598 00 598 00 Hz 100 1 Hz 28 56 Critical frequency 3 low R...

Page 312: ...0 1 1 1 30 35 Thermal current limitation List 0 1 1 1 30 36 Speed limit selection Binary src 1 1 30 37 Min speed source Analog src 1 1 30 38 Max speed source Analog src 1 1 31 Fault functions 31 01 External event 1 source Binary src 1 1 31 02 External event 1 type List 0 1 1 1 31 03 External event 2 source Binary src 1 1 31 04 External event 2 type List 0 1 1 1 31 05 External event 3 source Binary...

Page 313: ...signal Analog src 1 1 32 08 Supervision 1 filter time Real 0 000 30 000 s 1000 1 s 32 09 Supervision 1 low Real 21474830 00 21474830 00 100 1 32 10 Supervision 1 high Real 21474830 00 21474830 00 100 1 32 11 Supervision 1 hysteresis Real 0 00 100000 00 100 1 32 15 Supervision 2 function List 0 9 1 1 32 16 Supervision 2 action List 0 2 1 1 32 17 Supervision 2 signal Analog src 1 1 32 18 Supervision...

Page 314: ...ist 0 9 1 1 32 56 Supervision 6 action List 0 2 1 1 32 57 Supervision 6 signal Analog src 1 1 32 58 Supervision 6 filter time Real 0 000 30 000 s 1000 1 s 32 59 Supervision 6 low Real 21474830 00 21474830 00 100 1 32 60 Supervision 6 high Real 21474830 00 21474830 00 100 1 32 61 Supervision 6 hysteresis Real 0 00 100000 00 100 1 35 Motor thermal protection 35 01 Motor estimated temperature Real 60...

Page 315: ...5 2159 1 1 36 17 PVL reset time Data 1 1 36 20 AL1 0 to 10 Real 0 00 100 00 100 1 36 21 AL1 10 to 20 Real 0 00 100 00 100 1 36 22 AL1 20 to 30 Real 0 00 100 00 100 1 36 23 AL1 30 to 40 Real 0 00 100 00 100 1 36 24 AL1 40 to 50 Real 0 00 100 00 100 1 36 25 AL1 50 to 60 Real 0 00 100 00 100 1 36 26 AL1 60 to 70 Real 0 00 100 00 100 1 36 27 AL1 70 to 80 Real 0 00 100 00 100 1 36 28 AL1 80 to 90 Real ...

Page 316: ...600 0 1600 0 10 1 37 23 ULC underload point 3 Real 1600 0 1600 0 10 1 37 24 ULC underload point 4 Real 1600 0 1600 0 10 1 37 25 ULC underload point 5 Real 1600 0 1600 0 10 1 37 31 ULC overload point 1 Real 1600 0 1600 0 10 1 37 32 ULC overload point 2 Real 1600 0 1600 0 10 1 37 33 ULC overload point 3 Real 1600 0 1600 0 10 1 37 34 ULC overload point 4 Real 1600 0 1600 0 10 1 37 35 ULC overload poi...

Page 317: ... unit 40 24 Set 1 internal setpoint 0 Real 200000 00 200000 00 PID custome r units 100 1 PID customer unit 40 26 Set 1 setpoint min Real 200000 00 200000 00 100 1 40 27 Set 1 setpoint max Real 200000 00 200000 00 100 1 40 28 Set 1 setpoint increase time Real 0 0 1800 0 s 10 1 s 40 29 Set 1 setpoint decrease time Real 0 0 1800 0 s 10 1 s 40 30 Set 1 setpoint freeze enable Binary src 1 1 40 31 Set 1...

Page 318: ...0 200000 00 PID custome r units 100 1 PID customer unit 40 65 Trim auto connection List 0 1 1 1 40 79 Set 1 units List 1 1 40 80 Set 1 PID output min source Analog src 1 1 40 81 Set 1 PID output max source Analog src 1 1 40 89 Set 1 setpoint multiplier Real 200000 00 200000 00 100 1 40 90 Set 1 feedback multiplier Real 200000 00 200000 00 100 1 40 91 Feedback data storage Real 327 68 327 67 100 1 ...

Page 319: ...Saved kW hours Real 0 0 999 0 kWh 10 1 kWh 45 04 Saved energy Real 0 0 214748364 7 kWh 10 1 kWh 45 05 Saved money x1000 Real 0 4294967295 thousands select able 1 1 unit 45 06 Saved money Real 0 00 999 99 select able 100 1 unit 45 07 Saved amount Real 0 00 21474836 47 select able 100 1 unit 45 08 CO2 reduction in kilotons Real 0 65535 metric kiloton 1 1 metric kiloton 45 09 CO2 reduction in tons Re...

Page 320: ...gs 46 01 Speed scaling Real 0 00 30000 00 rpm 100 1 rpm 46 02 Frequency scaling Real 0 10 1000 00 Hz 100 1 Hz 46 03 Torque scaling Real 0 1 1000 0 10 1 46 04 Power scaling Real 0 10 30000 00 10 1 unit 46 05 Current scaling Real 0 30000 A 1 1 A 46 06 Speed ref zero scaling Real 0 00 30000 00 rpm 100 1 rpm 46 07 Frequency ref zero scaling Real 0 00 1000 00 Hz 100 1 Hz 46 11 Filter time motor speed R...

Page 321: ...4 Data storage 4 int16 Real 32768 32767 1 1 49 Panel port communication 49 01 Node ID number Real 1 32 1 1 49 03 Baud rate List 1 5 1 1 49 04 Communication loss time Real 0 3 3000 0 s 10 1 s 49 05 Communication loss action List 0 3 1 1 49 06 Refresh settings List 0 1 1 1 58 Embedded fieldbus 58 01 Protocol enable List 0 1 3 1 1 58 02 Protocol ID Real 0 65535 1 1 58 03 Node address Node ID Real 0 2...

Page 322: ... EFB reference 1 Real 100000 100000 1 1 58 72 EFB reference 2 Real 100000 100000 1 1 58 73 EFB actual value 1 Real 100000 100000 1 1 58 74 EFB actual value 2 Real 100000 100000 1 1 58 76 RPDO1 COB ID Real 0 7FFh 1 1 58 77 RPDO1 transmission type Real 0 255 1 1 58 78 RPDO1 event timer Real 0 65535 ms 1 1 ms 58 79 TPDO1 COB ID Real 0 7FFh 1 1 58 80 TPDO1 transmission type Real 0 255 1 1 58 81 TPDO1 ...

Page 323: ...Data I O 10 Analog src 1 1 TPDO6 word 2 Analog src 1 1 58 111 Data I O 11 Analog src 1 1 TPDO6 word 3 Analog src 1 1 58 112 Data I O 12 Analog src 1 1 TPDO6 word 4 Analog src 1 1 58 113 Data I O 13 Analog src 1 1 RPDO6 word 1 Analog src 1 1 58 114 Data I O 14 Analog src 1 1 RPDO6 word 2 Analog src 1 1 58 115 RPDO6 word 3 Analog src 1 1 58 116 RPDO6 word 4 Analog src 1 1 58 117 TPDO21 word 1 Analog...

Page 324: ...d PB 0b0000 0b1111 1 1 96 68 Actual checksum A Real 0x0000 0xffff 1 1 96 69 Actual checksum B Real 0x0000 0xffff 1 1 96 70 Disable adaptive program List 0 1 1 1 96 71 Approved checksum A Real 0x0000 0xffff 1 1 96 72 Approved checksum B Real 0x0000 0xffff 1 1 Parameters 96 100 96 102 only visible when enabled by parameter 96 02 96 100 Change user pass code Data 10000000 99999999 1 1 96 101 Confirm ...

Page 325: ...l 0 00000 10 00000 p u 100000 1 p u 98 05 SigmaL user Real 0 00000 1 00000 p u 100000 1 p u 98 06 Ld user Real 0 00000 10 00000 p u 100000 1 p u 98 07 Lq user Real 0 00000 10 00000 p u 100000 1 p u 98 08 PM flux user Real 0 00000 2 00000 p u 100000 1 p u 98 09 Rs user SI Real 0 00000 100 00000 ohm 100000 1 p u 98 10 Rr user SI Real 0 00000 100 00000 ohm 100000 1 p u 98 11 Lm user SI Real 0 00 1000...

Page 326: ...00 1 unit 99 11 Motor nominal cos Φ Real 0 00 1 00 100 1 99 12 Motor nominal torque Real 0 000 N m or lb ft 1000 1 unit 99 13 ID run requested List 0 4 6 1 1 99 14 Last ID run performed List 0 4 6 1 1 99 15 Motor polepairs calculated Real 0 1000 1 1 99 16 Motor phase order List 0 1 1 1 No Name Type Range Unit FbEq32 ...

Page 327: ...chapter contact an ABB service representative If you use the Drive composer PC tool send the Support package created by the Drive composer to the ABB service representative Warnings and faults are listed in separate tables Each table is sorted by a warning fault code Safety WARNING Only qualified electricians are allowed to service the drive Read the instructions in chapter Safety instructions at ...

Page 328: ...Note that some faults require a reboot of the control unit either by switching the power off and on or using parameter 96 08 Control board boot this is mentioned in the fault listing wherever appropriate Pure events In addition to warnings and faults there are pure events that are only recorded in the event log of the drive The codes of these events are included in the Warning messages table on pa...

Page 329: ...4 Warnings and faults page 97 For previously occurred faults and warnings see Main menu Diagnostics Fault event log Note Active faults are also stored in the fault and event log parameters in group 04 Warnings and faults page 97 The event log can also be accessed and reset using the Drive composer PC tool See Drive composer PC tool user s manual 3AUA0000094606 English QR Code generation for mobile...

Page 330: ...le including phasing and delta star connection Check for an earth fault in motor or motor cables by measuring the insulation resistances of motor and motor cable See chapter Electrical installation section Checking the insulation of the assembly in the hardware manual of the drive Check there are no contactors opening and closing in motor cable Check that the start up data in parameter group 99 Mo...

Page 331: ...upply voltage setting parameter 95 01 Supply voltage Note that the wrong setting of the parameter may cause the motor to rush uncontrollably or may overload the brake chopper or resistor Check the supply voltage If the problem persists contact your local ABB representative A3A2 DC link undervoltage Intermediate circuit DC voltage too low when the drive is stopped A3AA DC not charged The voltage of...

Page 332: ...it Check the connections between the drive control unit and the power unit A591 Drive HW initialization Initialization of the drive hardware Check the auxiliary code See actions for each code below 0000 Drive hardware setup is initializing Wait for the setup to initialize 0001 Initializing HW settings for the first time Wait for the setup to initialize A5A0 Safe torque off Programmable warning 31 ...

Page 333: ...feature in 96 54 Checksum action A6A4 Motor nominal value The motor parameters are set incorrectly Check the settings of the motor configuration parameters in group 99 The drive is not dimensioned correctly Check that the drive is sized correctly for the motor A6A5 No motor data Parameters in group 99 have not been set Check that all the required parameters in group 99 have been set Note It is nor...

Page 334: ...35 has a higher value than the corresponding underload point 37 21 37 25 0003 Overload point below underload point A783 Motor overload Motor current is too high Check the motor and the machinery coupled to motor for overload Adjust the parameters used for the motor overload function 35 51 35 53 and 35 55 35 56 A784 Motor disconnect All three output phases are disconnected from motor Check if param...

Page 335: ...age is not excessive A7CE EFB comm loss Programmable warning 58 14 Communication loss action Communication break in embedded fieldbus EFB communication Check the status of the fieldbus master online offline error etc Check cable connections to the EIA 485 terminals 25 26 27 and 28 on the control unit A7EE Panel loss Programmable warning 49 05 Communication loss action Control panel or PC tool sele...

Page 336: ... supervision function Check the source of the warning parameter 32 17 Supervision 2 signal A8B2 Signal supervision Editable message text Programmable warning 32 26 Supervision 3 action Warning generated by a signal supervision function Check the source of the warning parameter 32 27 Supervision 3 signal A8B3 Signal supervision Editable message text Programmable warning 32 36 Supervision 4 action W...

Page 337: ...t 1 A8C8 ULC invalid frequency table User load curve X axis points frequency are not valid Check that points fulfill conditions 500 0 Hz 37 16 37 17 37 18 37 19 37 20 500 0 Hz See parameter 37 16 ULC frequency table point 1 A981 External warning 1 Editable message text Programmable warning 31 01 External event 1 source 31 02 External event 1 type Fault in external device 1 Check the external devic...

Page 338: ...e selection off2 command Check that it is safe to continue operation Then return emergency stop push button to normal position Restart drive If the emergency stop was unintentional check the source selected by parameter 21 05 Emergency stop source AFE2 Emergency stop off1 or off3 Drive has received an emergency stop mode selection off1 or off3 command AFEA Enable start signal missing Editable mess...

Page 339: ...ctor STO is lost Check safety circuit connections For more information see chapter The Safe torque off function in the hardware manual of the drive and description of parameter 31 22 STO indication run stop page 192 B686 Checksum mismatch Programmable event 96 54 Checksum action The calculated parameter checksum does not match any enabled reference checksum See A686 Checksum mismatch page 333 Code...

Page 340: ... 2310 Overcurrent Output current has exceeded internal fault limit In addition to an actual overcurrent situation this fault may also be caused by an earth fault or supply phase loss Check motor load Check acceleration times in parameter group 23 Speed reference ramp speed control 26 Torque reference chain torque control or 28 Frequency reference chain frequency control Also check parameters 46 01...

Page 341: ...d fan operation Check heatsink fins for dust pick up Check motor power against drive power 3130 Input phase loss Intermediate circuit DC voltage is oscillating due to missing input power line phase or blown fuse Check input power line fuses Check for loose power cable connections Check for input power supply imbalance 3181 Cross connection Programmable fault 31 23 Wiring or earth fault Incorrect i...

Page 342: ...wer 4290 Cooling Drive module temperature is excessive Check ambient temperature If it exceeds 50 C 122 F ensure that load current does not exceed derated load capacity of drive See chapter Technical data section Derating in the hardware manual of the drive Check drive module cooling air flow and fan operation Check inside of cabinet and heatsink of drive module for dust pick up Clean whenever nec...

Page 343: ... Fan Cooling fan stuck or disconnected Check fan operation and connection Replace fan if faulty 5681 PU communication Communication errors detected between the drive control unit and the power unit Check the connection between the drive control unit and the power unit 5682 Power unit lost Connection between the drive control unit and the power unit is lost Check the connection between the control ...

Page 344: ...0A Program corrupted or block non existent Restore the template program or download the program to the drive 000C Required block input missing Check the inputs of the block 000E Program corrupted or block non existent Restore the template program or download the program to the drive 0011 Program too large Remove blocks until the error stops 0012 Program is empty Correct the program and download it...

Page 345: ... fieldbus EFB parameter settings inconsistent or not compatible with selected protocol Check the settings in parameter group 58 Embedded fieldbus 6684 EFB load fault Embedded fieldbus EFB protocol firmware could not be loaded Contact your local ABB representative Version mismatch between EFB protocol firmware and drive firmware 6685 EFB fault 2 Fault reserved for the EFB protocol application Check...

Page 346: ...g cycle meets allowed limits 7310 Overspeed Motor is turning faster than highest allowed speed due to incorrectly set minimum maximum speed insufficient braking torque or changes in load when using torque reference Check minimum maximum speed settings parameters 30 11 Minimum speed and 30 12 Maximum speed Check adequacy of motor braking torque Check applicability of torque control Check need for b...

Page 347: ...tandard AI 80B0 Signal supervision Editable message text Programmable fault 32 06 Supervision 1 action Fault generated by the signal supervision 1 function Check the source of the fault parameter 32 07 Supervision 1 signal 80B1 Signal supervision Editable message text Programmable fault 32 16 Supervision 2 action Fault generated by the signal supervision 2 function Check the source of the fault pa...

Page 348: ...nal event 3 type Fault in external device 3 Check the external device Check setting of parameter 31 05 External event 3 source 9084 External fault 4 Editable message text Programmable fault 31 07 External event 4 source 31 08 External event 4 type Fault in external device 5 Check the external device Check setting of parameter 31 07 External event 4 source 9085 External fault 5 Editable message tex...

Page 349: ...or nominal frequency 99 09 Motor nominal speed Make sure that 30 12 0 55 99 09 0 50 synchronous speed 30 11 0 and supply voltage 0 66 99 07 0003 Maximum torque limit too low Check settings of parameter 99 12 Motor nominal torque and the torque limits in group 30 Limits Make sure that the maximum torque limit in force is greater than 100 0004 Current measurement calibration did not finish within re...

Page 350: ...ce motors only Pulse test error Contact your local ABB representative 0013 Asynchronous motors only Motor data error Check that the motor nominal value settings in the drive are the same as in the motor nameplate Contact your local ABB representative FF8E EFB force trip A fault trip command has been received through the embedded fieldbus interface Check the fault information provided by the PLC Co...

Page 351: ...s Setting up the embedded fieldbus interface Modbus Setting the drive control parameters Basics of the embedded fieldbus interface About the control profiles Control Word Status Word State transition diagrams References Actual values Modbus holding register addresses Modbus function codes Exception codes Coils 0xxxx reference set Discrete inputs 1xxxx reference set Error code registers holding reg...

Page 352: ...mple digital and analog inputs Setting up the embedded fieldbus interface Modbus To take the Modbus into use manually set the drive up for the embedded fieldbus communication with the parameters shown in the table below The Setting for fieldbus control column gives either the value to use or the default value The Function Information column gives a description of the parameter Modbus parameter set...

Page 353: ...ers 46 01 46 03 With the Speed or frequency setting the type is selected automatically according to the currently active drive control mode 58 28 58 29 EFB act1 type EFB act2 type Speed or frequency default for 58 28 Transparent default for 58 29 General Torque Speed Frequency Defines the types of actual values 1 and 2 The scaling for each actual value type is defined by parameters 46 01 46 03 Wit...

Page 354: ...to the register address corresponding to Modbus In Out parameters Select the parameters that you want to read or write through the Modbus I O words RO DIO control word AO1 data storage Feedback data storage Setpoint data storage These settings write the incoming data into storage parameters 10 99 RO DIO control word 13 91 AO1 data storage 40 91 Feedback data storage or 40 92 Setpoint data storage ...

Page 355: ...CE SELECTION 28 11 Ext1 frequency ref1 EFB ref1 Selects a reference received through the embedded fieldbus interface as frequency reference 1 28 15 Ext2 frequency ref1 EFB ref1 Selects a reference received through the embedded fieldbus interface as frequency reference 2 OTHER SELECTIONS EFB references can be selected as the source at virtually any signal selector parameter by selecting Other then ...

Page 356: ...controlling the drive from a fieldbus system The CW is sent by the fieldbus controller to the drive With drive parameters the user selects CW REF1 REF2 SW ACT1 ACT2 I O 1 I O 2 I O 3 I O 69 EFB CW 03 09 EFB reference 1 03 10 EFB reference 2 EFB SW Actual 1 Actual 2 Par 01 01 255 255 1 See also other parameters which can be controlled through fieldbus 2 Data conversion if parameter 58 25 Control pr...

Page 357: ...reference 1 and 03 10 EFB reference 2 respectively Whether the references are scaled or not depends on the settings of 58 26 EFB ref1 type and 58 27 EFB ref2 type See section About the control profiles on page 358 Actual values Fieldbus actual signals ACT1 and ACT2 are 16 bit or 32 bit signed integers They convey selected drive parameter values from the drive to the master Whether the actual value...

Page 358: ...be accessed by using 5 digit register numbers About the control profiles A control profile defines the rules for data transfer between the drive and the fieldbus master for example if packed boolean words are converted and how if signal values are scaled and how how drive register addresses are mapped for the fieldbus master You can configure the drive to receive and send messages according to one...

Page 359: ...p stop within time defined by drive parameter Proceed to OFF3 ACTIVE proceed to SWITCH ON INHIBITED Warning Ensure that the motor and driven machine can be stopped using this stop mode 3 INHIBIT_ OPERATION 1 Proceed to OPERATION ENABLED Note Run enable signal must be active see the drive documentation If the drive is set to receive the Run enable signal from the fieldbus this bit activates the sig...

Page 360: ...e This bit is effective only if the fieldbus interface is set as the source for this signal by drive parameters 0 Continue normal operation 10 REMOTE_ CMD 1 Fieldbus control enabled 0 Control Word 0 or Reference 0 Retain last Control Word and Reference Control Word 0 and Reference 0 Fieldbus control enabled Reference and deceleration acceleration ramp are locked 11 EXT_CTRL_ LOC 1 Select External ...

Page 361: ...ive the run enable signal from the fieldbus this bit activates the signal 7 STOPMODE_RAM P 1 Normal ramp stop mode 0 no op Default to parameter stop mode if bits 7 9 are all 0 8 STOPMODE_EME RGENCY_RAMP 1 Emergency ramp stop mode 0 no op Default to parameter stop mode if bits 7 9 are all 0 9 STOPMODE_COA ST 1 Coast stop mode 0 no op Default to parameter stop mode if bits 7 9 are all 0 10 Reserved ...

Page 362: ...L_REF 1 Local mode for reference from the fieldbus is requested Steal reference from the active source 0 no op 18 Reserved for RUN_DISABLE_1 Not yet implemented 19 Reserved 20 Reserved 21 Reserved 22 USER_0 Writable control bits that can be combined with drive logic for application specific functionality 23 USER_1 24 USER_2 25 USER_3 26 31 Reserved Bit Name Value STATE Description 0 RDY_ON 1 READY...

Page 363: ...OVE_ LIMIT 1 Actual frequency or speed equals or exceeds supervision limit set by drive parameter Valid in both directions of rotation Set by drive parameters 46 31 46 32 46 33 These parameters are indicated by bit 10 of 06 11 Main status word 0 Actual frequency or speed within supervision limit 11 USER_0 Status bits that can be combined with drive logic for application specific functionality 12 U...

Page 364: ...ted 0 Not yet implemented 12 PANEL_LOCAL 1 Panel keypad or PC tool is in local control mode 0 Panel keypad or PC tool is not in local control mode 13 FIELDBUS_LOCA L 1 Fieldbus is in local control mode 0 Fieldbus is not in local control mode 14 EXT2_ACT 1 External control location EXT2 is active 0 External control location EXT1 is active 15 FAULT 1 Drive is faulted 0 Drive is not faulted 16 ALARM ...

Page 365: ...nfigured to follow the commands of the control word from the embedded fieldbus interface The upper case texts refer to the states which are used in the tables representing the fieldbus Control and Status words See sections Control Word for the ABB Drives profile on page 359 and Status Word for the ABB Drives profile on page 362 26 REQ_CTL 1 Control is requested in this channel 0 Control is not req...

Page 366: ...cy OFF OFF2 CW Bit1 0 SW Bit4 0 B B C D CW Bit4 0 CW xxxx x1xx xxx1 1111 CW xxxx x1xx xx11 1111 D CW Bit6 0 A C CW xxxx x1xx x111 1111 SW Bit8 1 D from any state Fault SW Bit3 1 CW Bit7 1 CW xxxx x1xx xxxx x111 CW xxxx x1xx xxxx 1111 and SW Bit12 1 CW Control Word SW Status Word n Speed I Input Current RFG Ramp Function Generator f Frequency ABB Drives profile SWITCH ON NOT READY TO SWITCH READY T...

Page 367: ...Rising edge of MCW bit 7 Start after STO If 31 22 STO indication run stop is not Fault Fault make sure that 06 18 Start inhibit status word bit 7 STO 0 before giving a start command References References for the ABB Drives profile and DCU Profile The ABB Drives profile supports the use of two references EFB reference 1 and EFB reference 2 The references are 16 bit words each containing a sign bit ...

Page 368: ...ual values ACT1 and ACT2 The actual values are 16 bit words each containing a sign bit and a 15 bit integer A negative value is formed by calculating the two s complement from the corresponding positive value The actual values are scaled as defined by parameters 46 01 46 04 which scaling is in use depends on the setting of parameters 58 28 EFB act1 type and 58 29 EFB act2 type see page 260 46 01 w...

Page 369: ...word is used with the DCU Profile Register address Register data 16 bit words 400001 Default Control word CW 16bit See sections Control Word for the ABB Drives profile page 359 and Control Word for the DCU Profile page 360 The selection can be changed using parameter 58 101 Data I O 1 400002 Default Reference 1 Ref1 16bit The selection can be changed using parameter 58 102 Data I O 2 400003 Defaul...

Page 370: ...ameter 58 106 Data I O 6 400007 400014 Data in out 7 14 Selected by parameters 58 107 Data I O 7 58 114 Data I O 14 400015 400089 Unused 400090 400100 Error code access See section Error code registers holding registers 400090 400100 page 375 400101 465536 Parameter read write Parameters are mapped to register addresses according to parameter 58 33 Addressing mode Code Function name Description 01...

Page 371: ...0h Return Slave NAK negative acknowledge Count 11h Return Slave Busy Count 12h Return Bus Character Overrun Count 14h Clear Overrun Counter and Flag 0Bh Get Comm Event Counter Returns a status word and an event count 0Fh Write Multiple Coils Forces a sequence of coils 0X references to 0 or 1 10h Write Multiple Registers Writes the contents of a contiguous block of holding registers 4X references 1...

Page 372: ...Supported Object IDs 00h Vendor Name ABB 01h Product Code for example AMGKX 02h Major Minor Revision combination of contents of parameters 07 05 Firmware version and 58 02 Protocol ID 03h Vendor URL www abb com 04h Product name ACS280 Code Name Description 01h ILLEGAL FUNCTION The function code received in the query is not an allowable action for the server 02h ILLEGAL ADDRESS The data address rec...

Page 373: ...ed 000012 EXT_CTRL_LOC RAMP_OUT_ZERO 000013 USER_0 RAMP_HOLD 000014 USER_1 RAMP_IN_ZERO 000015 USER_2 Reserved 000016 USER_3 Reserved 000017 Reserved FB_LOCAL_CTL 000018 Reserved FB_LOCAL_REF 000019 Reserved Reserved 000020 Reserved Reserved 000021 Reserved CTL_MODE 000022 Reserved Reserved 000023 Reserved USER_0 000024 Reserved USER_1 000025 Reserved USER_2 000026 Reserved USER_3 000027 Reserved ...

Page 374: ...ISION 10 ABOVE_LIMIT Reserved 11 USER_0 Reserved 12 USER_1 PANEL_LOCAL 13 USER_2 FIELDBUS_LOCAL 14 USER_3 EXT2_ACT 15 Reserved FAULT 16 Reserved ALARM 17 Reserved Reserved 18 Reserved Reserved 19 Reserved Reserved 20 Reserved Reserved 21 Reserved Reserved 22 Reserved USER_0 23 Reserved USER_1 24 Reserved USER_2 25 Reserved USER_3 26 Reserved REQ_CTL 27 Reserved Reserved 28 Reserved Reserved 29 Res...

Page 375: ...bit 4 Delayed status of digital input DO1 parameter 11 02 DO delayed status bit 4 Reference Name Description 89 Reset Error Registers 1 Reset internal error registers 91 95 0 Do nothing 90 Error Function Code Function code of the failed query 91 Error Code Set when exception code 04h is generated see table above 00h No error 02h Low High limit exceeded 03h Faulty Index Unavailable index of an arra...

Page 376: ...m non volatile memory are processed in the background task The drive can be set to receive all of its control information through the fieldbus interface or the control can be distributed between the embedded fieldbus interface and other available sources for example digital and analog inputs Connecting the fieldbus to the drive Connect the fieldbus to grey terminal on the drive The pin 10 is to co...

Page 377: ...he Function Information column describes the parameter Parameter Setting 20 01 Ext1 commands Embedded fieldbus 20 03 Ext1 in1 not used 20 04 Ext1 in2 not used 22 11 Ext1 speed ref1 EFB ref1 22 22 Constant speed sel1 not used 22 23 Constant speed sel2 not used 23 11 Ramp set selection Acc Dec time 1 28 11 Ext1 frequency ref1 EFB ref1 28 22 Constant frequency sel1 not used 28 23 Constant frequency s...

Page 378: ...configuration is determined by drive parameters 58 76 58 93 and 58 101 58 124 58 25 Control profile CiA 402 default Selects the control profile used by the drive See section Basics of the user interface 58 26 58 27 EFB ref1 type EFB ref2 type Speed or frequency default for 58 26 Transparent General Torque default for 58 27 Speed Frequency Defines the types of fieldbus references 1 and 2 The scalin...

Page 379: ...s action is performed Note The timeout supervision is activated upon a successful reception of the RPDO 58 79 58 85 58 91 TPDO1 COB ID TPDO6 COB ID RPDO21 COB ID 1 default for 58 79 0 default for 58 85 and 58 91 Defines the COB ID for the PDO and also enables or disables it 0 Disable this PDO 1 Enable this PDO with default COB ID other Enable this PDO with given COB ID 58 80 58 86 58 92 TPDO1 tran...

Page 380: ...lues Defines the objects mapped to PDOs to and from the drive 58 06 Communication control Refresh settings Validates the settings of the configuration parameters Parameter Setting for fieldbus control Function Information CONTROL COMMAND SOURCE SELECTION 20 01 Ext1 commands Embedded fieldbus Selects fieldbus as the source for the start and stop commands when EXT1 is selected as the active control ...

Page 381: ...ue reference 2 FREQUENCY REFERENCE SELECTION 28 11 Ext1 frequency ref1 EFB ref1 Selects a reference received through the embedded fieldbus interface as frequency reference 1 28 15 Ext1 frequency ref2 EFB ref1 Selects a reference received through the embedded fieldbus interface as frequency reference 2 OTHER SELECTIONS EFB references can be selected as the source at virtually any signal selector pa...

Page 382: ... is or the data is converted See section About the control profiles on page 358 References EFB references 1 and 2 are 16 bit or 32 bit signed integers The contents of each reference word can be used as the source of virtually any signal such as the speed frequency torque or process reference In embedded fieldbus communication references 1 and 2 are displayed by 03 09 EFB reference 1 and 03 10 EFB ...

Page 383: ...f certain objects in section Object dictionary on page 400 You can configure the drive to receive and send messages according to one of the four profiles CiA 402 ABB Drives Transparent 16 Transparent 32 For the ABB Drives and CiA 402 profiles the embedded fieldbus interface of the drive converts the fieldbus data to and from the native data used in the drive The Transparent profiles perform no dat...

Page 384: ...8 Halt 9 10 Reserved 11 15 Drive specific Bit Velocity mode Profile velocity mode Profile torque 4 Ramp function generator enable Reserved Reserved 5 Ramp function generator unlock Reserved Reserved 6 Ramp function generator use ref Reserved Reserved Command Control word bit 1 Fault reset bit 7 Enable operation bit 3 Quick stop bit 2 Enable voltage bit 1 Switch on bit 0 State transitions Shut down...

Page 385: ... selected by CANopen object 605Dh Status Word for the CiA 402 profile Status word of the CiA 402 profile can be read from the object 6041h The table below shows the fieldbus Status Word for the CiA 402 control profile The embedded fieldbus interface converts the drive Status Word into this form for the fieldbus Fault Fault reaction specified by the drive Typically a Coast stop Mode Description Hal...

Page 386: ...switched to Profile velocity mode or Cyclic synchronous velocity mode with the object 6060h When in Profile torque mode the drive can be switched to Cyclic synchronous torque mode with the object 6060h Velocity mode Velocity mode is a basic mode to control the velocity of the drive with limits and ramp functions Target velocity is set with the object 6042h and velocity actual value can be read fro...

Page 387: ...mode enables the drive torque to be controlled directly Target torque is set with the object 6071h and the torque actual value can be read from the object 6077h Torque values are given in per thousand of the rated torque e g 10 1 Cyclic synchronous torque mode In cyclic synchronous torque mode the trajectory generator is in the control device and not in the drive The control device delivers a new ...

Page 388: ...CHED ON SW xxxxxxxxx01x0011 OPERATION ENABLED SW xxxxxxxxx01x0111 QUICK STOP ACTIVE SW xxxxxxxxx0xx0111 9 11 CW xxxxxxxxxxxxxx0x CW xxxxxxxxxxxxx01x 8 12 4 5 CW xxxxxxxxxxxx1111 CW xxxxxxxxxxxxx110 CW xxxxxxxxxxxx0111 CW xxxxxxxxxxxxx110 CW xxxxxxxxxxxxx111 3 6 CW xxxxxxxxxxxxxx0x Quick stop completed or 10 CW xxxxxxxxxxxxx01x or CW xxxxxxxxxxxxxx0x 2 7 15 1 CW xxxxxxxxxxxxx110 CW xxxxxxxxxxxxx01x...

Page 389: ... to SWITCH ON INHIBITED 2 OFF3 CONTROL 1 Continue operation OFF3 inactive 0 Emergency stop Emergency stop stop within time defined by drive parameter Proceed to OFF3 ACTIVE proceed to SWITCH ON INHIBITED Warning Ensure that the motor and driven machine can be stopped using this stop mode 3 INHIBIT OPERATION 1 Proceed to OPERATION ENABLED Note Run enable signal must be active see the drive document...

Page 390: ...source for this signal by drive parameters 0 Continue normal operation 9 JOGGING 2 1 Request running at Jogging 2 speed Note This bit is effective only if the fieldbus interface is set as the source for this signal by drive parameters 0 Continue normal operation 10 REMOTE CMD 1 Fieldbus control enabled 0 Control Word 0 or Reference 0 Retain last Control Word and Reference Control Word 0 and Refere...

Page 391: ...ION INHIBITED 3 TRIPPED 1 FAULT 0 No fault 4 OFF_2_STATUS 1 OFF2 inactive 0 OFF2 ACTIVE 5 OFF_3_STATUS 1 OFF3 inactive 0 OFF3 ACTIVE 6 SWC_ON_INHIB 1 SWITCH ON INHIBITED 0 7 ALARM 1 Warning Alarm 0 No warning alarm 8 AT_SETPOINT 1 OPERATING Actual value equals Reference is within tolerance limits e g in speed control speed error is 10 max of nominal motor speed 0 Actual value differs from Referenc...

Page 392: ... by calculating the two s complement from the corresponding positive value The actual values can be read from the objects 2105h and 2106h or alternatively from corresponding objects in the CiA 402 profile object area see section Object dictionary on page 400 The actual values are scaled as defined by parameters 46 01 46 04 which scaling is in use depends on the setting of parameters 58 28 EFB act1...

Page 393: ...mmands of the control word from the embedded fieldbus interface The upper case texts refer to the states which are used in the tables representing the fieldbus Control and Status words See sections Control Word for the ABB Drives profile on page 359 and Status Word for the ABB Drives profile on page 362 Fieldbus Drive 20000 10000 0 10000 20000 46 01 with speed reference 46 02 with frequency refere...

Page 394: ...mergency OFF OFF2 CW Bit1 0 SW Bit4 0 B B C D CW Bit4 0 CW xxxx x1xx xxx1 1111 CW xxxx x1xx xx11 1111 D CW Bit6 0 A C CW xxxx x1xx x111 1111 SW Bit8 1 D from any state Fault SW Bit3 1 CW Bit7 1 CW xxxx x1xx xxxx x111 CW xxxx x1xx xxxx 1111 and SW Bit12 1 CW Control Word SW Status Word n Speed I Input Current RFG Ramp Function Generator f Frequency ABB Drives profile SWITCH ON INHIBITED NOT READY T...

Page 395: ...trol location EXT1 Effective if the control location is parameterized to be selected from the fieldbus 6 RUN_DISABLE 1 Run disable If the drive is set to receive the run enable signal from the fieldbus this bit deactivates the signal 0 Run enable If the drive is set to receive the run enable signal from the fieldbus this bit activates the signal 7 STOPMODE_RA MP 1 Normal ramp stop mode 0 no op Def...

Page 396: ... is not active 2 Reserved for ENABLED_TO_R OTATE Not yet implemented 3 RUNNING 1 Drive is modulating 0 Drive is not modulating 4 ZERO_SPEED 1 Drive is at zero speed 0 Drive is not at zero speed 5 ACCELERATING 1 Not yet implemented 0 Not yet implemented 6 DECELERATING 1 Not yet implemented 0 Not yet implemented 7 AT_SETPOINT 1 Drive is at setpoint 0 Drive is not at setpoint 8 LIMIT 1 Drive operatio...

Page 397: ...tool is in local control mode 0 Panel keypad or PC tool is not in local control mode 13 FIELDBUS_LOC AL 1 Fieldbus is in local control mode 0 Fieldbus is not in local control mode 14 EXT2_ACT 1 External control location EXT2 is active 0 External control location EXT1 is active 15 FAULT 1 Drive is faulted 0 Drive is not faulted 0 No warning alarm Bit Name Value State Description 0 STOP 1 Stop accor...

Page 398: ...rce Ramp Function Generator output to zero Drive ramps to stop current and DC voltage limits in force 0 Normal operation 12 RAMP_HOLD 1 Halt ramping Ramp Function Generator output held 0 Normal operation 13 RAMP_IN_ZERO 1 Force Ramp Function Generator input to zero 0 Normal operation 14 REQ_LOCAL_LO CK 1 Not yet implemented 0 Not yet implemented 15 Reserved for TORQ_LIM_PAIR _2 Not yet implemented...

Page 399: ...ELERATING 1 Not yet implemented 0 Not yet implemented 6 DECELERATING 1 Not yet implemented 0 Not yet implemented 7 AT_SETPOINT 1 Drive is at setpoint 0 Drive is not at setpoint 8 LIMIT 1 Drive operation is limited 0 Drive operation is not limited 9 SUPERVISION 1 Actual value speed frequency or torque is above a limit Limit is set with parameters 46 31 46 33 0 Actual value speed frequency or torque...

Page 400: ...sts the communication related objects 2 Manufacturer specific profile area 2000 5FFF Lists the manufacturer specific objects 3 Standardized profile area 6000 9FFF Lists the CiA standard profile objects 14 EXT2_ACT 1 External control location EXT2 is active 0 External control location EXT1 is active 15 FAULT 1 Drive is faulted 0 Drive is not faulted 16 ALARM 1 Warning Alarm is active 0 No warning a...

Page 401: ...error is at sub index 1 When a new error occurs the previous errors move down the list See Fault tracing on page 389 for details on the meaning of error codes Writing 0 to sub index 0 deletes the entire error history NOTE Only sub indices up to 1001h 0h Number of Errors can be read E g if Number of Errors is 2 reading 1001h 2h is possible but attempting to read 1001h 3h causes an SDO abort 1 Stand...

Page 402: ...abilities to restore these values Several parameter groups are distinguished Sub index 1 all parameters Sub index 2 communication parameters 1000h 1FFFh Sub index 3 application parameters 6000h 9FFFh Sub index 4 request drive to perform parameter restore function For restoring the signature load 64616F6Ch must be written 1 Restore All Default Parameters U32 RW 2 Restore Communicati on Default Para...

Page 403: ...D U32 RO 2 Product Code U32 RO 3 Module revision U32 RO 4 Serial number U32 RO 1400h 0 Number Of Entries U8 RO Contain the communication parameters of the PDOs the device is able to receive Sub index 0 contains the number of PDO parameters implemented Sub index 1 describes the COB ID for the PDO If bit 31 is set the PDO is disabled Sub index 2 defines the transmission mode Sub index 3 is not used ...

Page 404: ...dex top 16bits Sub index 8bits Length in bits bottom 8bits 1 PDO Mapping Entry 1 U32 RW 2 PDO Mapping Entry 2 U32 RW 3 PDO Mapping Entry 3 U32 RW 4 PDO Mapping Entry 4 U32 RW 1605h 0 Number Of Entries U8 RW 1 PDO Mapping Entry 1 U32 RW 2 PDO Mapping Entry 2 U32 RW 3 PDO Mapping Entry 3 U32 RW 4 PDO Mapping Entry 4 U32 RW 1614h 0 Number Of Entries U8 RW 1 PDO Mapping Entry 1 U32 RW 2 PDO Mapping En...

Page 405: ...disabled Sub index 2 defines the transmission mode Sub index 3 defines inhibit time 10 1ms Sub index 5 defines a timeout for asynchronous PDOs 1 COB ID U32 RW 2 Transmission Type U8 RW 3 Inhibit Time U6 RW 5 Event Timer U6 RW 1805h 0 Number Of Entries U8 RO 1 COB ID U32 RW 2 Transmission Type U8 RW 3 Inhibit Time U6 RW 5 Event Timer U6 RW 1814h 0 Number Of Entries U8 RO 1 COB ID U32 RW 2 Transmiss...

Page 406: ... 2 U32 RW 3 PDO Mapping Entry 3 U32 RW 4 PDO Mapping Entry 4 U32 RW 1A05h 0 Number Of Entries U8 RW 1 PDO Mapping Entry 1 U32 RW 2 PDO Mapping Entry 2 U32 RW 3 PDO Mapping Entry 3 U32 RW 4 PDO Mapping Entry 4 U32 RW 1A14h 0 Number Of Entries U8 RW 1 PDO Mapping Entry 1 U32 RW 2 PDO Mapping Entry 2 U32 RW 3 PDO Mapping Entry 3 U32 RW 4 PDO Mapping Entry 4 U32 RW 2000h 0 Number Of Entries U8 RO 3 RE...

Page 407: ...file actual value 2 2051h 0 T16 CW U6 RWW Transparent 16 profile command word 2052h 0 T16 Ref1 INT16 RWW Transparent 16 profile reference value 1 2053h 0 T16 Ref2 INT16 RWW Transparent 16 profile reference value 2 2054h 0 T16 SW U6 RO Transparent 16 profile status word 2055h 0 T16 Act1 INT16 RO Transparent 16 profile actual value 1 2056h 0 T16 Act2 INT16 RO Transparent 16 profile actual value 2 21...

Page 408: ...tatus Word U6 RO 6042h 0 VI Target Velocity INT16 RWW This object is the required velocity of the system in velocity mode The value is multiplied by Vl Dimension Factor Numerator and divided by Vl Dimension Factor Denominator If both of these are 1 default the velocity is given in rpm 6043h 0 VI Velocity Demand INT16 RO This object provides the velocity generated by the ramp function It is an inte...

Page 409: ...ries U8 RO This object indicates the configured delta speed and delta time of the slope of the deceleration ramp Vl Velocity Deceleration Delta Speed Delta Time 1 Delta Speed U32 RWW The value shall be given in rotations per minute rpm or in user defined velocity unit if the Vl Dimension Factor object is not set to 1 2 Delta Time U6 RWW Value shall be given in seconds 604C h 0 Highest sub index su...

Page 410: ...OPERATION ENABLED 4 slow down on voltage limit and stay in OPERATION ENABLED 6060h 0 Mode of Operation INT8 RW The operational mode is selectable by this object This object shows only the value of the requested operation mode the actual operation mode of the PDS is reflected in the object 6061h The following value definition is valid 0 no mode change no mode assigned 1 profile position mode not su...

Page 411: ...s object provides the output value of the trajectory generator 606C h 0 Velocity actual value INT32 RO This object provides the actual velocity value derived either from the velocity sensor or the position sensor 6071h 0 Target torque INT16 RWW This object indicates the input value for the torque controller in profile torque mode 6072h 0 Max torque U6 RWW This object indicates the maximum permissi...

Page 412: ...f motor revolutions The position encoder resolution is calculated by the following formula position encoder resolution encoder increments motor revolutions 1 Encoder Increments U32 RW 2 Motor Revolutions U32 RW 60C2h 0 Highest sub index supported U8 Const This object indicates the interpolation cycle time 1 Interpolation time period value U8 RW Value of the time 2 Interpolation time index INT8 RW ...

Page 413: ...h PM synchronous motor 0004h FC synchronous motor 0005h switched reluctance motor 0006h wound rotor induction motor 0007h squirrel cage induction motor 0008h stepper motor 0009h micro step stepper motor 0010h sinusoidal PM BL motor 0011h trapezoidal PM BL motor 0012h AC synchronous reluctance sync 0013h DC commutator PM 0014h DC commutator wound field series 0015h DC commutator wound field compoun...

Page 414: ...terpolated position mode bit 7 cyclic synchronous position mode bit 8 cyclic synchronous velocity mode bit 9 cyclic synchronous torque mode bit 10 15 reserved bit 16 31 manufacturer specific The bit values have the following meaning bit value 0 mode is not supported bit value 1 mode is supported 6504h 0 Drive manufacturer Visible string Const This object indicates the manufacturer ABB Drives 6505h...

Page 415: ... The control chain diagrams can be used to trace how parameters interact and where parameters have an effect within the drive parameter system For a more general diagram see section Operating modes of the drive on page 28 Note The panel references in the diagrams refer to ACX AP x Assistant control panels and the Drive composer PC tool ...

Page 416: ...tion MUL ADD SUB MIN MAX 28 16 Ext2 frequency ref2 Value 06 16 bit 8 Local control Constant frequency command Constant frequency ref 28 22 Constant frequency sel1 28 23 Constant frequency sel2 28 24 Constant frequency sel3 28 26 Constant frequency 1 28 32 Constant frequency 7 28 31 Constant frequency 6 28 29 Constant frequency 4 28 27 Constant frequency 2 28 30 Constant frequency 5 28 28 Constant ...

Page 417: ...lue Value Value Value Value Value 28 71 Freq ramp set selection Selection 28 52 Critical frequency 1 low Selection 28 53 Critical frequency 1 high 28 54 Critical frequency 2 low 28 55 Critical frequency 2 high 28 56 Critical frequency 3 low 28 57 Critical frequency 3 high Value Value Value Value Value Value CRITICAL FREQ OR Value Value 28 02 Frequency ref ramp output Value 0 Value 6 1 bit 6 Ramp i...

Page 418: ...9 11 Ext1 Ext2 selection 22 13 Ext1 speed function Selection 22 86 Speed reference act 6 Value 22 12 Ext1 speed ref2 Selection 22 18 Ext2 speed ref1 22 20 Ext2 speed function Selection 22 19 Ext2 speed ref2 MUL ADD SUB MIN MAX Selection Selection Selection Selection MUL ADD SUB MIN MAX ...

Page 419: ...gh 22 56 Critical speed 3 low 22 57 Critical speed 3 high AND AND 22 87 Speed reference act 7 AND 49 05 Communication loss action Speed ref safe Panel comm loss active Panel as local control device 20 25 Jogging enable Value Value Value Jogging 2 Jogging 1 3 01 Panel reference 6 16 bit 8 Local control 22 22 Constant speed sel1 22 23 Constant speed sel2 22 24 Constant speed sel3 22 26 Constant spee...

Page 420: ...Value Value 22 01 Speed ref unlimited Value Value ACC TIME DEC TIME Value 23 20 Acc time jogging 23 21 Dec time jogging 6 11 bit 5 Off 3 inactive Value 30 11 Minimum speed 6 1 bit 6 Ramp in zero 30 12 Maximum speed 6 11 bit 5 Off 3 inactive 6 1 bit 4 Ramp out zero 22 42 Jogging 1 ref 22 43 Jogging 2 ref 23 20 Acc time jogging 23 21 Dec time jogging XOR Value Value Value 6 1 bit 4 Ramp out zero 6 1...

Page 421: ...me T AccCom 25 06 Acc comp derivation time 25 07 Acc comp filter time d dt 24 03 Speed error filtered 25 56 Torque acc compensation 24 01 Used speed reference 23 02 Speed ref ramp output Value Value Value Value Value Value Value Value 24 04 Speed error inverted Value x 1 24 02 Used speed feedback Value ...

Page 422: ...erence 25 56 Torque acc compensation Value Value Value Value Value Value Value 25 03 Speed integration time Value 30 19 Minimum torque Value PID Value 25 53 Torque prop reference Speed regulator Value 24 03 Speed error filtered 25 01 Torque reference speed control Value 30 21 Min torque 2 source 30 18 Torq lim sel Value 30 20 Maximum torque Value 30 22 Max torque 2 source 30 18 Torq lim sel Value ...

Page 423: ...rce Selection 26 70 Torque Reference act 1 26 71 Torque Reference act 2 MUL ADD SUB MIN MAX Ref 1 26 72 Torque reference act 3 Value Selection Value Value MAX 26 08 Minimum torque ref Value Value Internal torque lim min MIN 26 09 Maximum torque ref Value Value Value Value 26 74 Torque ref ramp out Value Value Internal torque lim max Value Value Value 6 16 bit 8 Local control 03 01 Panel reference ...

Page 424: ...ff1 control 6 01 bit 2 Off3 control 06 17 bit 5 Safe reference active 06 17 bit 6 Last speed active 06 16 bit 8 Local control Value 26 01 Torque reference to TC Value Speed limitation SPEED TORQUE MIN ADD ZERO MAX 26 74 Torque ref ramp out 25 01 Torq reference speed control Value 0 Torque selector Value Value 26 75 Torque reference act 5 01 01 Motor speed used Selection 26 21 Torque sel torque in ...

Page 425: ...e used Current limiter Load angle limitation Motor pull out limitation 30 17 Maximum current Value 30 02 Torque limit status To TC Value 30 02 Torque limit status Bit Name 0 Undervoltage 1 Overvoltage 2 Minimum torque 3 Maximum torque 4 Internal current 5 Load angle 6 Motor pull out 7 Reserved 8 Thermal 9 Max current 10 User current 11 Thermal IGBT 12 13 14 15 30 19 Minimum torque Value 30 21 Min ...

Page 426: ... Set 1 feedback 1 source Selection Value 40 09 Set 1 feedback 2 source Selection Selection 40 02 Process PID feedback actual Value Value Mul Add Feedback 1 ADD SUB MUL DIV MIN MAX AVE a a b a b a b Mul Add Setpoint 1 ADD SUB MUL DIV MIN MAX AVE a a b a b 40 45 Set 1 sleep boost time Value 40 46 Set 1 sleep boost step Value 0 RAMP 40 03 Process PID setpoint actual Value Value Value a b Value Pulse ...

Page 427: ...lue Value 40 45 Set 1 sleep boost time 40 06 Process PID status word Process PID status Value 40 06 bit 4 Sleep boost 40 58 Set 1 increase preventation Value 40 59 Set 1 Decrease preventation Value Value 40 14 Set 1 setpoint scaling Output Scale Value 40 15 Set 1 output scaling 40 97 Process PID feedback Value 40 98 Process PID setpoint Value 40 99 Process PID Deviation Value 100 scaling scaling P...

Page 428: ...ce Last Safe reference Constant reference Reference from PID Reference from Panel Reference from AI OR Reference from Motor potentiometer Reference from Panel Last Safe reference Reference from AI OR 20 21 Direction Reverse AND 20 21 Direction Request Reverse command active X MAX X 1 1 0 AND 20 21 Direction Request Reverse command active Input reference 0 ...

Page 429: ...ce contacts can be found by navigating to abb com searchchannels Product training For information on ABB product training navigate to new abb com service training Providing feedback on ABB Drives manuals Your comments on our manuals are welcome Navigate to new abb com drives manuals feedback form Document library on the Internet You can find manuals and other product documents in PDF format on the...

Page 430: ...abb com drives Copyright 2023 ABB All rights reserved Specifications subject to change without notice 3AXD50001017729 Rev A EN 2023 11 30 ...

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