manualshive.com logo in svg

ABB ACSM1 Series, Firmware Manual

Share
Download
ABB ACSM1 Series Firmware Manual Download Page 241

Standard function blocks

241

Conversion

BOOL_TO_DINT

(10018)

Illustration

Execution time

13.47 µs

Operation

The output (OUT) value is a 32-bit integer value formed from the boolean integer input 
(IN1…IN31 and SIGN) values. IN1 = bit 0 and IN31 = bit 30.
Example:
IN1 = 1, IN2 = 0, IN3…IN31 = 1, SIGN = 1

BOOL_TO_DINT

81

TLA1  1 msec

(1)

SIGN

IN1

IN2

IN3

IN4

IN5

IN6

IN7

IN8

IN9

IN10

IN11

IN12

IN13

IN14

IN15

IN16

IN17

IN18

IN19

IN20

IN21

IN22

IN23

IN24

IN25

IN26

IN27

IN28

IN29

IN30

IN31

OUT

OUT(81)

OUT = 1111 1111 1111 1111 1111 1111 1111 1101

IN31…IN1

SIGN

Summary of Contents for ACSM1 Series

Page 1: ...ACSM1 Firmware Manual ACSM1 Speed and Torque Control Program...

Page 2: ......

Page 3: ...ACSM1 Speed and Torque Control Program Firmware Manual 3AFE68848261 REV E EN EFFECTIVE 08 12 2008 2008 ABB Oy All Rights Reserved...

Page 4: ......

Page 5: ...e 28 Drive programming using PC tools What this chapter contains 29 General 29 Programming via parameters 30 Application programming 30 Function blocks 31 Program execution 31 Operation modes 32 Drive...

Page 6: ...3 Firmware blocks 54 Group 01 ACTUAL VALUES 55 ACTUAL VALUES 55 Group 02 I O VALUES 57 Group 03 CONTROL VALUES 63 Group 06 DRIVE STATUS 65 Group 08 ALARMS FAULTS 69 Group 09 SYSTEM INFO 71 Group 10 ST...

Page 7: ...T 138 Group 46 FAULT FUNCTIONS 142 FAULT FUNCTIONS 142 Group 47 VOLTAGE CTRL 145 VOLTAGE CTRL 145 Group 48 BRAKE CHOPPER 147 BRAKE CHOPPER 147 Group 50 FIELDBUS 149 FIELDBUS 149 Group 51 FBA SETTINGS...

Page 8: ...199 Safety 199 Alarm and fault indications 199 How to reset 199 Fault history 200 Alarm messages generated by the drive 201 Fault messages generated by the drive 208 Standard function blocks What this...

Page 9: ...45 INT_TO_BOOL 246 INT_TO_DINT 246 REAL_TO_REAL24 247 REAL24_TO_REAL 247 REALn_TO_DINT 248 REALn_TO_DINT_SIMP 248 Counters 250 CTD 250 CTD_DINT 250 CTU 251 CTU_DINT 252 CTUD 253 CTUD_DINT 255 Edge bis...

Page 10: ...87 LIMIT 287 MAX 287 MIN 287 MUX 288 SEL 288 Switch Demux 289 DEMUX I 289 DEMUX MI 289 SWITCH 290 SWITCHC 291 Timers 292 MONO 292 TOF 293 TON 293 TP 294 Application program template What this chapter...

Page 11: ...remote messaging 322 Follower multicast messaging write only 323 Standard multicast messaging write only 323 Broadcast messaging write only 324 Chained multicast messaging 325 Examples of using stand...

Page 12: ...Table of contents 12...

Page 13: ...ctions Follow all safety instructions delivered with the drive Read the complete safety instructions before you install commission or use the drive The complete safety instructions are given at the be...

Page 14: ...the possible causes and remedies Standard function blocks Application program template Control chain block diagrams Appendix A Fieldbus control describes the communication between the drive and a fiel...

Page 15: ...e can be powered up without using these start up functions The start up procedure can be repeated later if start up data needs to be changed In addition to the PC tool commissioning and drive power up...

Page 16: ...ransient during the ID run PC tool Install the DriveStudio PC tool to the PC For instruction see DriveStudio User Manual 3AFE68749026 English Connect the drive to the PC Connect the other end of the c...

Page 17: ...late Asynchronous motor nameplate example Permanent magnet motor nameplate example Note Set the motor data to exactly the same value as on the motor nameplate For example if the motor nominal speed is...

Page 18: ...Hz With multimotor drives see section Multimotor drives on page 19 With permanent magnet motor If the frequency is not given on the motor nameplate it has to be calculated with the following formula...

Page 19: ...the nominal speeds vary slightly parameter 99 09 MOT NOM SPEED can be set to an average value of the motor speeds 99 10 MOT NOM POWER 99 09 MOT NOM SPEED External mains choke If the drive is equipped...

Page 20: ...motor with Normal ID run if the load torque is higher than 20 or the machinery is not able to withstand the nominal torque transient during the ID run The REDUCED ID run should be selected instead of...

Page 21: ...en encoder resolver interface module FEN xx is installed in drive option Slot 1 or 2 Note Two encoder interface modules of the same type are not allowed Select the used encoder resolver For more infor...

Page 22: ...ted Changing the connection Disconnect the main power and wait for 5 minutes for the intermediate circuit capacitors to discharge Do the necessary changes Switch the power on and start the motor again...

Page 23: ...will automatically decrease the motor torque in order to keep the voltage above the lower limit To prevent the DC voltage from exceeding the overvoltage control limit the overvoltage controller automa...

Page 24: ...um speed For safe operation ensure the set limits are suitable for your application 20 01 20 07 Motor overtemperature protection 2 Set the alarm and fault limits for the motor overtemperature protecti...

Page 25: ...speed measurement In this case the actual speed filter is more suitable than the speed error filter Set the filter time constant If there are substantial interferences in the speed measurement the fi...

Page 26: ...lue which is caused by the proportional control as quickly as possible If the drive is stable and allows a high proportional gain an overcompensated step response is obtained if the integration time i...

Page 27: ...r is installed in drive Slot 3 Enable the communication between the drive and fieldbus adapter 50 01 FBA ENABLE Connect the fieldbus control system to the fieldbus adapter module Set the communication...

Page 28: ...ARTING AND CONTROLLING THE SPEED OF THE MOTOR Start the drive by switching digital input DI1 on Digital input status can be monitored with signal 2 01 DI STATUS 2 01 DI STATUS Check that analogue inpu...

Page 29: ...start stop I O feedback communication and protection functions Firmware functions are configured and programmed with parameters The functions of the firmware program can be extended with application...

Page 30: ...B representative SPEED REF SEL 3 TL2 250 sec 1 24 01 SPEED REF1 SEL 1 24 02 SPEED REF2 SEL 0 3 01 SPEED REF1 3 02 SPEED REF2 SPEED REF MOD 4 TL3 250 sec 1 24 03 SPEED REF1 IN OU TPU T 44 6 44 24 04 SP...

Page 31: ...standard Standard function blocks are presented in chapter Standard function blocks Standard function block library is always included in the drive delivery Technology function blocks Several technolo...

Page 32: ...application program from the connected drive an empty template which includes only the firmware blocks is available as default download the configured application program to the drive and start the pr...

Page 33: ...with DriveStudio and or DriveSPC or from the control panel keypad when the drive is in local control Speed and torque control modes are available for local control PC tool DriveStudio DriveSPC or Cont...

Page 34: ...l signals e g start stop and reference and control modes for both external control locations Depending on the user selection either EXT1 or EXT2 is active at a time Selection between EXT1 EXT2 is done...

Page 35: ...Drive control and features 35 0 0 12 3 0 1 4 5 2 2 2 30 3 5 1 1 1 6 7 Drive control chain for speed and torque control...

Page 36: ...g special control modes are available Emergency Stop modes OFF1 and OFF3 Drive stops along the defined deceleration ramp and drive modulation stops Jogging mode Drive starts and accelerates to the def...

Page 37: ...ctive only when the motor control mode is scalar When IR compensation is activated the drive gives an extra voltage boost to the motor at low speeds IR compensation is useful in applications that requ...

Page 38: ...ure The motor can be protected against overheating by the motor thermal protection model measuring the motor temperature with PTC or KTY84 sensors This will result in a more accurate motor model Therm...

Page 39: ...erature The figure below shows typical KTY84 sensor resistance values as a function of the motor operating temperature It is possible to adjust the motor temperature supervision limits and select how...

Page 40: ...The figure below shows a motor temperature measurement when thermistor input TH is used For encoder interface module FEN xx connection see the User s Manual of the appropriate encoder interface module...

Page 41: ...ol circuit closed during a short supply break Voltage control and trip limits The control and trip limits of the intermediate DC voltage regulator are relative either to a supply voltage value provide...

Page 42: ...e built in braking chopper of the drive can be used to handle the energy generated by a decelerating motor When the braking chopper is enabled and a resistor connected the chopper will start conductin...

Page 43: ...e set by parameter 10 15 JOG ENABLE Start cmd State of the drive start command Phase Jog cmd Jog enable Start cmd Description 1 2 1 1 0 Drive accelerates to the jogging speed along the acceleration ra...

Page 44: ...eatures 44 Notes Jogging is not operational when the drive start command is on or when the drive is in local control Normal start is inhibited when jog enable is active The ramp shape time is set to z...

Page 45: ...AR MUL and 22 04 MOTOR GEAR DIV are set as follows Note If the motor gear ratio differs from 1 the motor model uses an estimated speed instead of the speed feedback value M 3 Speed control uses the mo...

Page 46: ...WITH ACK or 2 NO ACK OR modulation of the drive is requested to stop The drive control mode is forced to speed scalar 2 External start command is on AND brake open request is on 35 07 BRAKE CLOSE REQ...

Page 47: ...hinery Directive and related harmonised 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...

Page 48: ...02 BRAKE ACKNOWL The brake control hardware and wirings need to be done by the user Brake on off control through selected relay digital output Brake supervision through selected digital input Emergen...

Page 49: ...Drive control and features 49...

Page 50: ...nected to the digital input which is selected as the source for the emergency stop activation parameter 10 10 EM STOP OFF3 or 10 11 EM STOP OFF1 Emergency stop can also be activated through fieldbus 2...

Page 51: ...51 Default connections of the control unit What this chapter contains This chapter shows the default control connections of the JCU Control Unit More information on the connectivity of the JCU is giv...

Page 52: ...ut 6 Not connected DI6 12 24 V DC 24VD 13 Digital I O ground DGND 14 Digital input output 1 1 Ready DIO1 15 Digital input output 2 2 Running DIO2 16 24 V DC 24VD 17 Digital I O ground DGND 18 Digital...

Page 53: ...power kW is set by writing the appropriate value to parameter 99 10 MOT NOM POWER e g 10 Value pointer parameter A value pointer parameter points to the value of another parameter The source paramete...

Page 54: ...ce is given Likewise parameters have a reference to the firmware block they are included in if any Note Not all parameters are available through firmware blocks 1 Inputs 2 Outputs 3 Input parameter va...

Page 55: ...RRENT FW block ACTUAL VALUES see above Measured motor current in A 1 05 CURRENT PERC FW block ACTUAL VALUES see above Motor current in percent of the nominal motor current 1 06 TORQUE FW block ACTUAL...

Page 56: ...VOLTAGE or the automatically determined supply voltage if auto identification is enabled by parameter 47 03 SUPPLVOLTAUTO ID 1 20 BRAKE RES LOAD FW block ACTUAL VALUES see above Estimated temperature...

Page 57: ...05 AI1 SCALED FW block AI1 page 86 Scaled value of analogue input AI1 See parameters 13 04 AI1 MAX SCALE and 13 05 AI1 MIN SCALE 2 06 AI2 FW block AI2 page 87 Analogue input AI2 value in V or mA The t...

Page 58: ...stop The drive will restart only with the next rising edge of the start signal when the run enable signal is on AND 0 No operation 3 STPMODE EM STOP 1 Emergency stop OFF3 bit 0 must be 1 Stop within...

Page 59: ...1 Force Ramp Function Generator input to zero 0 No operation 15 EXT1 EXT2 1 Switch to external control location EXT2 OR 34 01 0 Switch to external control location EXT1 16 REQ STARTINH 1 Activate star...

Page 60: ...ing 0 No alarm is active 8 AT SETPOINT 1 Drive is at setpoint Actual value equals reference value i e the difference between the actual speed and the speed reference is within the speed window defined...

Page 61: ...ink See also actual signal 2 18 below Bit Name Value Information 18 26 Not used with the Speed and Torque Control Program 27 REQUEST CTL 1 Control word is requested from fieldbus 0 Control word is not...

Page 62: ...TION on page 156 2 19 D2D REF1 FW block D2D COMMUNICATION page 156 Drive to drive reference 1 received through the drive to drive link 2 20 D2D REF2 FW block D2D COMMUNICATION page 156 Drive to drive...

Page 63: ...calculation 3 06 SPEED ERROR FILT FW block SPEED ERROR page 112 Filtered speed error value in rpm 3 07 ACC COMP TORQ FW block SPEED ERROR page 112 Output of the acceleration compensation torque in 3...

Page 64: ...in stored when the mechanical brake close command is issued 3 15 BRAKE COMMAND FW block MECH BRAKE CTRL page 132 Brake on off command 0 Close 1 Open For brake on off control connect this signal to a r...

Page 65: ...t modulating 4 EM OFF OFF2 1 Emergency OFF2 is active 0 Emergency OFF2 is inactive 5 EM STOP OFF3 1 Emergency stop OFF3 ramp stop is active 0 Emergency OFF3 is inactive 6 ACK STARTINH 1 Start inhibit...

Page 66: ...tion is disabled Drive is not following the given reference e g in magnetisation phase drive is modulating 5 JOGGING 1 Jogging function 1 or 2 is active 0 Jogging function is inactive 6 OFF1 1 Emergen...

Page 67: ...trol overvoltage control current control load angle control or pull out control or by parameter 20 06 MAXIMUM TORQUE or 20 07 MINIMUM TORQUE 1 SPD CTL TLIM MIN 1 Speed controller output minimum torque...

Page 68: ...more torque 6 MOTOR PULLOUT 1 For asynchronous motor only Motor pull out limit is active i e the motor cannot produce more torque 7 Reserved 8 THERMAL 1 Bit 4 0 Input current is limited by main circui...

Page 69: ...curred in format dd mm yy day month year 8 04 FAULT TIME LO FW block FAULT FUNCTIONS page 142 Time real time or power on time at which the active fault occurred in format hh mm ss hours minutes second...

Page 70: ...ault tracing Bit Alarm 0 IGBT OVERTEMP 1 FIELDBUS COMM 2 LOCAL CTRL LOSS 3 AI SUPERVISION 4 Reserved 5 NO MOTOR DATA 6 ENCODER 1 FAILURE 7 ENCODER 2 FAILURE 8 LATCH POS 1 FAILURE 9 LATCH POS 2 FAILURE...

Page 71: ...ACSM1 xxCx 040A 4 27 ACSM1 xxCx 046A 4 28 ACSM1 xxCx 060A 4 29 ACSM1 xxCx 073A 4 30 ACSM1 xxCx 090A 4 31 ACSM1 xxLx 110A 4 32 ACSM1 xxLx 135A 4 33 ACSM1 xxLx 175A 4 34 ACSM1 xxLx 210A 4 35 ACSM1 xxLx...

Page 72: ...Parameters and firmware blocks 72 9 22 OPTION SLOT 3 FW block None Displays the type of the optional module in option Slot 3 See signal 9 20 OPTION SLOT 1...

Page 73: ...s selects the sources for emergency stop OFF1 and OFF3 selects the source for jogging activation signal enables the start inhibit function DRIVE LOGIC 21 TLF10 2 msec 3 10 01 EXT1 START FUNC In1 10 02...

Page 74: ...START IN2 The start stop is controlled as follows 3 FBA Start and stop control from the source selected by parameter 10 13 FB CW USED 4 D2D Start and stop control from another drive via D2D Control W...

Page 75: ...N1 The start stop is controlled as follows 2 3 WIRE Source of the start and stop commands are selected by parameters 10 05 EXT2 START IN1 and 10 06 EXT2 START IN2 The start stop is controlled as follo...

Page 76: ...3 SPEED REF1 IN 24 04 SPEED REF2 IN 24 10 SPEED REF JOG1 24 11 SPEED REF JOG2 25 09 ACC TIME JOGGING 25 10 DEC TIME JOGGING and 22 06 ZERO SPEED DELAY Note This parameter cannot be changed while the d...

Page 77: ...above Selects the source for the control word when fieldbus FBA is selected as the external start and stop control location see parameters 10 01 EXT1 START FUNC and 10 04 EXT2 START FUNC By default th...

Page 78: ...lock DRIVE LOGIC see above Selects the source for the start enable signal If the start enable signal is switched off the drive will not start or stops if the drive is running 1 Start enable Note This...

Page 79: ...start must be simultaneous with a mechanical brake release This selection also guarantees the highest possible break away torque when the pre magnetising time is set long enough The pre magnetising ti...

Page 80: ...p function 1 COAST Stop by cutting of the motor power supply The motor coasts to a stop WARNING If the mechanical brake is used ensure it is safe to stop the drive by coasting For more information on...

Page 81: ...required externally ventilated motors should be used If the DC hold period is long the DC hold cannot prevent the motor shaft from rotating if a constant load is applied to the motor 0 DISABLED DC ho...

Page 82: ...s a digital frequency output connects an actual signal to the digital frequency output and scales the frequency output The block also shows the DIO status Block outputs located in other parameter grou...

Page 83: ...Selects a drive signal to be connected to digital output DIO1 when 12 01 DIO1 CONF is set to 0 OUTPUT Bit pointer Group index and bit 12 05 DIO2 OUT PTR FW block DIO2 see above Selects a drive signal...

Page 84: ...rameter 12 10 DIO3 F MAX SCALE 0 32768 Real value corresponding to value of parameter 12 09 Firmware block RO 5 Connects an actual signal to the relay output The block also shows the relay output stat...

Page 85: ...value for frequency input when 12 02 DIO2 CONF is set to 2 FREQ INPUT 3 32768 Hz Minimum DIO2 input frequency 12 16 DIO2 F MAX SCALE FW block DIO2 see above Defines the real value that corresponds to...

Page 86: ...nput AI1 signal and selects the AI1 supervision Also shows the value of the input Block outputs located in other parameter groups 2 04 AI1 page 57 2 05 AI1 SCALED page 57 13 01 AI1 FILT TIME FW block...

Page 87: ...E 32768 32768 Real value corresponding to value of parameter 13 03 Firmware block AI2 13 Filters and scales the analogue input AI2 signal and selects the AI2 supervision Also shows the value of the in...

Page 88: ...ponding to value of parameter 13 08 13 11 AITUNE FW block None Triggers the AI tuning function Connect the signal to the input and select the appropriate tuning function 0 NO ACTION AI tune is not act...

Page 89: ...rmined by the average speed over the previous 10 seconds WARNING Make sure that it is safe to continue operation in case of a communication break 13 13 AI SUPERVIS ACT FW block None Selects the analog...

Page 90: ...lso shows the value of the output Block outputs located in other parameter groups 2 08 AO1 page 57 15 01 AO1 PTR FW block AO1 see above Selects a drive signal to be connected to analogue output AO1 Va...

Page 91: ...rresponding to value of parameter 15 04 Firmware block AO2 15 Connects an actual signal to analogue output AO2 and filters and scales the output signal Also shows the value of the output Block outputs...

Page 92: ...above Defines the real value that corresponds to the maximum analogue output value defined by parameter 15 09 AO2 MAX 32768 32767 Real value corresponding to value of parameter 15 09 15 12 AO2 MIN SCA...

Page 93: ...es can be changed but the changes will not be stored at power switch off 16 03 PASS CODE FW block None After entering 358 at this parameter parameter 16 02 PARAMETER LOCK can be adjusted The value rev...

Page 94: ...8 SAVE SET 3 Save user parameter set 3 9 SAVE SET 4 Save user parameter set 4 10 IO MODE Load user parameter set using parameters 16 11 and 16 12 16 10 USER SET LOG FW block None Shows the status of...

Page 95: ...by the drive as the master real time clock Some selections specify multiple sources that are in order of priority 0 FB_D2D_MMI Fieldbus highest priority drive to drive link man machine interface cont...

Page 96: ...ntrol panel The default signal is 1 03 FREQUENCY Value pointer Group and index 17 02 SIGNAL2 PARAM FW block None Selects the second signal to be displayed on the control panel The default signal is 1...

Page 97: ...speed reference In the figure below 3 03 SPEEDREF RAMP IN is set to zero after the positive speed enable signal has cleared Actions in different control modes Speed control Speed reference is set to z...

Page 98: ...the motor nominal torque 0 1600 Maximum torque limit 20 07 MINIMUM TORQUE FW block LIMITS see above Defines the minimum torque limit for the drive in percent of the motor nominal torque 1600 0 Minimu...

Page 99: ...dback signal protection x y 22 04 MOTOR GEAR DIV 22 03 MOTOR GEAR MUL 22 02 SPEED ACT FTIME 22 01 SPEED FB SEL 1 14 SPEED ESTIMATED 22 05 ZERO SPEED LIMIT 1 08 ENCODER 1 SPEED 1 10 ENCODER 2 SPEED 1 0...

Page 100: ...tered with the actual speed filter Reducing the ripple with filter may cause speed controller tuning problems A long filter time constant and fast acceleration time contradict one another A very long...

Page 101: ...es the delay for the zero speed delay function The function is useful in applications where a smooth and quick restarting is essential During the delay the drive knows accurately the rotor position No...

Page 102: ...lt OVERSPEED Example If the maximum speed is 1420 rpm and speed trip margin is 300 rpm the drive trips at 1720 rpm 0 10000 rpm Speed trip margin 22 09 SPEED FB FAULT FW block SPEED FEEDBACK see above...

Page 103: ...l communication break local speed reference from panel fieldbus local reference jogging reference 1 2 constant speed reference 1 2 external speed reference Note Constant speed overrides external speed...

Page 104: ...SPEED REF2 IN 0 ZERO Zero reference 1 AI1 Analogue input AI1 2 AI2 Analogue input AI2 3 FBA REF1 Fieldbus reference 1 4 FBA REF2 Fieldbus reference 2 03 03 SPEEDREF RAMP IN 3 01 SPEED REF1 3 02 SPEED...

Page 105: ...PEED REF RAMP block Value pointer Group and index 24 04 SPEED REF2 IN FW block SPEED REF MOD see above Selects the source for speed reference 2 overrides the setting of parameter 24 02 SPEED REF2 SEL...

Page 106: ...ameter 24 08 CONST SPEED 1 Enable Bit pointer Group index and bit 24 10 SPEED REF JOG1 FW block SPEED REF MOD see above Defines the speed reference for jogging function 1 See section Jogging on page 4...

Page 107: ...or to a predefined value Note Emergency stop OFF1 uses the currently active ramp time 0 Ramp Shape 03 03 SPEEDREF RAMP IN 25 02 SPEED SCALING 25 03 ACC TIME 25 04 DEC TIME 25 05 SHAPE TIME ACC1 25 06...

Page 108: ...see Appendix A Fieldbus control section Fieldbus references on page 317 0 30000 rpm Speed value for acceleration deceleration 25 03 ACC TIME FW block SPEED REF RAMP see above Defines the acceleration...

Page 109: ...D REF RAMP see above Selects the shape of the acceleration ramp at the beginning of the acceleration 0 00 s Linear ramp Suitable for steady acceleration or deceleration and for slow ramps 0 01 1000 00...

Page 110: ...SPEED REF RAMP see above Defines the time inside which the drive is stopped if an emergency stop OFF3 is activated i e the time required for the speed to change from the speed value defined by paramet...

Page 111: ...of change derivative in the speed reference and inertia of the load 26 05 SPEED STEP 26 06 SPD ERR FTIME 20 01 MAXIMUM SPEED 20 02 MINIMUM SPEED TAccCom 26 08 ACC COMP DER TIME 26 09 ACC COMP FTIME d...

Page 112: ...parameter has been locked i e no user setting is possible Value pointer Group and index 26 02 SPEED REF NCTRL FW block SPEED ERROR see above Selects the source for the speed reference in the speed con...

Page 113: ...possible interferences in the speed measurement can be filtered with the speed error filter Reducing the ripple with filter may cause speed controller tuning problems A long filter time constant and f...

Page 114: ...on 0 1000 ms Filter time for acceleration compensation 0 ms filtering disabled 26 10 SPEED WIN FUNC FW block SPEED ERROR see above Enables or disables speed error window control Speed error window con...

Page 115: ...i e when actual speed is positive 26 11 SPEED WIN HI FW block SPEED ERROR see above High limit for speed window control See parameter 26 10 SPEED WIN FUNC 0 3000 rpm High limit for speed error window...

Page 116: ...nction i e I term is frozen during torque reference limitation In torque control mode the speed controller output is frozen For manual speed controller tuning see section Manual speed controller tunin...

Page 117: ...possible Value pointer Group and index 28 02 PROPORT GAIN FW block SPEED CONTROL see above Defines the proportional gain Kp of the speed controller Too great a gain may cause speed oscillation The fi...

Page 118: ...SPEED CONTROL see above Defines the derivation time of the speed controller Derivative action boosts the controller output if the error value changes The longer the derivation time the more the speed...

Page 119: ...ad Drooping rate can be used e g to adjust the load sharing in a Master Follower application run by several drives In a Master Follower application the motor shafts are coupled to each other The corre...

Page 120: ...2 PROPORT GAIN and 28 03 INTEGRATION TIME are multiplied by 28 14 P GAIN ADPT COEF and 28 15 I TIME ADPT COEF respectively When the actual speed is equal to or exceeds 28 12 PI ADAPT MAX SPD no adapta...

Page 121: ...Parameters and firmware blocks 121 28 15 I TIME ADPT COEF FW block SPEED CONTROL see above Integration time coefficient See parameter 28 12 PI ADAPT MAX SPD 0 000 10 000 Integration time coefficient...

Page 122: ...hows the torque reference and reference addition values Block outputs located in other parameter groups 3 09 TORQ REF1 page 63 3 12 TORQUE REF ADD page 63 32 01 TORQ REF1 SEL FW block TORQ REF SEL see...

Page 123: ...reference 1 6 D2D REF2 Drive to drive reference 2 Firmware block TORQ REF MOD 33 This block selects the source for the torque reference scales the input torque reference according to the defined load...

Page 124: ...d level external torque reference is multiplied by the selected value Note If local torque reference is used no load share scaling is applied 8 8 External torque reference multiplier 32 07 TORQ RAMP U...

Page 125: ...ow the value of parameter 33 04 SUPERV1 LIM LO bit 0 of 6 14 SUPERV STATUS is activated 4 ABS HIGH When the absolute value of the signal selected by parameter 33 02 SUPERV1 ACT exceeds the value of pa...

Page 126: ...ERV2 LIM LO bit 1 of 6 14 SUPERV STATUS is activated 4 ABS HIGH When the absolute value of the signal selected by parameter 33 06 SUPERV2 ACT exceeds the value of parameter 33 07 SUPERV2 LIM HI bit 1...

Page 127: ...lected by parameter 33 10 SUPERV3 ACT exceeds the value of parameter 33 11 SUPERV3 LIM HI bit 2 of 6 14 SUPERV STATUS is activated 33 10 SUPERV3 ACT FW block SUPERVISION see above Selects the signal t...

Page 128: ...pter Drive control and features For start stop control in different control locations see parameter group 10 START STOP page 73 IN1 3 WIRE FBA D2D IN1F IN2R IN1S IN2DIR 10 01 EXT1 START FUNC 34 02 EXT...

Page 129: ...ected by parameter 34 03 EXT1 CTRL MODE1 34 04 EXT1 CTRL MODE2 Bit pointer Group index and bit 34 03 EXT1 CTRL MODE1 FW block REFERENCE CTRL see above Selects control mode 1 for external control locat...

Page 130: ...34 07 LOCAL CTRL MODE FW block REFERENCE CTRL see above Selects the control mode for local control Note This parameter cannot be changed while the drive is running 1 SPEED Speed control Torque referen...

Page 131: ...lects the source for the torque reference added to the torque value after the torque selection Default value is P 3 12 i e 3 12 TORQUE REF ADD which is an output of the TORQ REF SEL firmware block Not...

Page 132: ...AKE CTRL see above Selects the source for the external brake on off supervision activation when par 35 01 BRAKE CONTROL 1 WITH ACK The use of the external on off supervision signal is optional 1 The b...

Page 133: ...tor speed from falling below zero Set the delay time to the same value as the mechanical make up time of the brake operating delay when closing specified by the brake manufacturer 0 60 s Brake close d...

Page 134: ...KE NOT CLOSED BRAKE NOT OPEN if the status of the optional external brake acknowledgement signal does not meet the status presumed by the brake control function The drive generates alarm BRAKE START T...

Page 135: ...otor control settings such as flux reference drive switching frequency motor slip compensation voltage reserve flux optimisation IR compensation for scalar control mode The block also shows the flux a...

Page 136: ...has decreased to the set value the drive enters the field weakening area If the intermediate circuit DC voltage Udc 550 V and the voltage reserve is 5 the RMS value of the maximum output voltage in s...

Page 137: ...pensation The function is useful in applications with high break away torque when no DTC motor can be applied This parameter is only effective when parameter 99 05 MOTOR CTRL MODE is set to 1 SCALAR 0...

Page 138: ...TURE when the temperature exceeds the alarm level defined by parameter 45 03 MOT TEMP ALM LIM 2 FAULT The drive generates alarm MOTOR TEMPERATURE or trips on fault MOTOR OVERTEMP when the temperature...

Page 139: ...module FEN xx installed in drive Slot 1 2 If two encoder interface modules are used encoder module connected to Slot 2 is used for the temperature supervision Note This selection does not apply for FE...

Page 140: ...h parameters 45 06 MOT LOAD CURVE and 45 08 BREAK POINT 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 co...

Page 141: ...STIMATED 0 300 C Motor temperature rise 45 10 MOT THERM TIME FW block MOT THERM PROT see above Defines the thermal time constant for the motor thermal protection model i e time inside which the temper...

Page 142: ...age 69 8 05 ALARM WORD 1 page 69 8 06 ALARM WORD 2 page 70 8 07 ALARM WORD 3 page 70 8 08 ALARM WORD 4 page 70 46 01 EXTERNAL FAULT FW block FAULT FUNCTIONS see above Selects an interface for an exter...

Page 143: ...cable 0 NO No action 1 WARNING Drive generates alarm EARTH FAULT 2 FAULT Drive trips on EARTH FAULT 46 06 SUPPL PHS LOSS FW block FAULT FUNCTIONS see above Selects how the drive reacts when a supply p...

Page 144: ...ONNECTION FW block FAULT FUNCTIONS see above Selects how the drive reacts to incorrect input power and motor cable connection i e input power cable is connected to drive motor connection 0 NO No react...

Page 145: ...isabled 0 DISABLE Overvoltage control disabled 1 ENABLE Overvoltage control enabled 47 02 UNDERVOLT CTRL FW block VOLTAGE CTRL see above Enables the undervoltage control of the intermediate DC link If...

Page 146: ...ks 146 47 04 SUPPLY VOLTAGE FW block VOLTAGE CTRL see above Defines the nominal supply voltage Used if auto identification of the supply voltage is not enabled by parameter 47 03 SUPPLVOLTAUTO ID 0 10...

Page 147: ...N TIME ENA FW block BRAKE CHOPPER see above Selects the source for quick run time brake chopper control 0 Brake chopper IGBT pulses are cut off 1 Normal brake chopper IGBT modulation The overvoltage c...

Page 148: ...rature the resistor reaches when loaded with the power defined by parameter 48 04 BR POWER MAX CNT When the limit is exceeded the drive trips on fault BR OVERHEAT 0 150 Resistor temperature fault limi...

Page 149: ...ABLE Communication between drive and fieldbus adapter enabled 50 02 COMM LOSS FUNC FW block FIELDBUS see above Selects how the drive reacts in a fieldbus communication break The time delay is defined...

Page 150: ...ABB Drives Profile integer value 10000 corresponds to 100 torque value Signal 1 06 TORQUE is sent to the fieldbus as an actual value See the User s Manual of the appropriate fieldbus adapter module 2...

Page 151: ...ce for freely programmable fieldbus status word bit 29 2 13 FBA MAIN SW bit 29 SW B13 Bit pointer Group index and bit 50 10 FBA SW B14 SRC FW block FIELDBUS see above Selects the source for freely pro...

Page 152: ...disabled by parameter 50 01 FBA ENABLE 1 FPBA xx PROFIBUS DP adapter module 32 FCAN xx CANopen adapter module 37 FDNA xx DeviceNet adapter module 51 02 FBA PAR2 FW block None 51 26 FBA PAR26 FW block...

Page 153: ...adapter and the drive 3 CONFIG ERROR Adapter configuration error the major or minor revision code of the common program revision in the fieldbus adapter module is not the revision required by the modu...

Page 154: ...hen the drive is powered up the next time before powering off the drive wait at least 1 minute or when parameter 51 27 FBA PAR REFRESH is activated The maximum number of data words is protocol depende...

Page 155: ...the drive is powered up the next time before powering off the drive wait at least 1 minute or when parameter 51 27 FBA PAR REFRESH is activated The maximum number of data words is protocol dependent 5...

Page 156: ...e drive is the master on the drive to drive link Only one drive can be the master at a time 57 02 COMM LOSS FUNC FW block D2D COMMUNICATION see above Selects how the drive acts when an erroneous drive...

Page 157: ...hile the most significant bit represents follower 62 When a bit is set to 1 the corresponding node address is polled For example followers 32 and 33 are polled when this parameter is set to the value...

Page 158: ...ng i e sending the drive to drive control word and reference 1 to a certain drive or group of drives The message can then be further relayed to another group of drives to form a multicast chain In the...

Page 159: ...d 1 62 Total number of links in multicast message chain 57 15 D2D COMM PORT FW block None Defines the hardware to which the drive to drive link is connected In special cases such as harsh operating co...

Page 160: ...L input TTL output for encoder emulation echo and two digital inputs for position latching HTL Encoder Interface Module FEN 31 HTL encoder input TTL output for encoder emulation and echo and two digit...

Page 161: ...se of encoder interface 2 is recommended as the values are transmitted earlier through interface 2 than through interface 1 0 NONE Inactive 1 FEN 01 TTL Communication active Module type FEN 01 TTL Enc...

Page 162: ...L POS REF Because the software causes a delay it is recommended that actual position is always taken from an encoder Drive software is recommended to be used only with position reference emulation Enc...

Page 163: ...HO SEL FW block ENCODER see above Enables and selects the interface for the TTL encoder signal echo Note If encoder emulation and echo are enabled for the same FEN xx TTL output the emulation override...

Page 164: ...the function The maximum pulse frequency can be calculated as follows 90 10 ENC PAR REFRESH FW block ENCODER see above Setting this parameter to 1 forces a reconfiguration of the FEN xx interfaces wh...

Page 165: ...0 ENC MODULE SEL on page 161 and FEN 11 Absolute Encoder Interface User s Manual 3AFE68784841 English 91 91 ABSOL ENC CONF Firmware block ABSOL ENC CONF 91 This block configures the absolute encoder c...

Page 166: ...S ENC INTERF is set to 2 ENDAT 3 HIPERFACE 4 SSI or 5 TAMAG 17 33B 0 32 Number of bits used within one revolution E g 32768 positions per revolution 15 bits 91 05 REFMARK ENA FW block ABSOL ENC CONF s...

Page 167: ...ABSOL ENC CONF see above Defines the location of the MSB main significant bit of the position data within a SSI message Used with SSI encoders i e when parameter 91 02 ABS ENC INTERF is set to 4 SSI 1...

Page 168: ...s 2 200 us 200 s 3 500 us 500 s 4 1 ms 1 ms 5 2 ms 2 ms 91 27 SSI ZERO PHASE FW block ABSOL ENC CONF see above Defines the phase angle within one sine cosine signal period that corresponds to the valu...

Page 169: ...aximum encoder calculation time for EnDat encoder Note This parameter needs to be set only when an EnDat encoder is used in continuous mode i e EnDat encoder without incremental sin cos signals suppor...

Page 170: ...cable connection This can be done by setting either 92 02 EXC SIGNAL AMPL or 92 03 EXC SIGNAL FREQ to its already existing value and then setting parameter 90 10 ENC PAR REFRESH to 1 If the resolver...

Page 171: ...R REFRESH 93 93 PULSE ENC CONF Firmware block PULSE ENC CONF 93 This block configures the TTL HTL input and TTL output 93 01 ENC1 PULSE NR FW block PULSE ENC CONF see above Defines the pulse number pe...

Page 172: ...F see above Selects whether measured and estimated position is used with encoder 1 0 FALSE Measured position Resolution 4 x pulses per revolution for quadrature encoders 2 x pulses per revolution for...

Page 173: ...ated or estimated speed is used with encoder 2 For selections see parameter 93 05 ENC1 SP EST ENA 93 16 ENC2 OSC LIM FW block PULSE ENC CONF see above Selects the maximum pulse frequency for the chang...

Page 174: ...the drive control unit is powered 0 INTERNAL 24V The drive control unit is powered from the drive power unit it is mounted on 1 EXTERNAL 24V The drive control unit is powered from an external power su...

Page 175: ...n the motor model 97 02 RS USER FW block None Defines the stator resistance RS of the motor model 0 0 5 p u per unit Stator resistance 97 03 RR USER FW block None Defines the rotor resistance RR of th...

Page 176: ...parameter is valid only for asynchronous motors 0 00000 100 00000 ohm Rotor resistance 97 11 LM USER SI FW block None Defines the main inductance LM of the motor model Note This parameter is valid onl...

Page 177: ...Nominal torque in N m which corresponds to 100 Note This parameter is copied from parameter 99 12 MOT NOM TORQUE if given Otherwise the value is calculated 0 2147483 Nm Nominal torque 98 02 POLEPAIRS...

Page 178: ...ar control parameters 99 06 99 09 must be set 99 99 START UP DATA 99 01 LANGUAGE FW block None Selects the language 0809h ENGLISH English 0407h DEUTSCH German 0410h ITALIANO Italian 040Ah ESPA OL Span...

Page 179: ...ote Correct motor run requires that the magnetising current of the motor does not exceed 90 percent of the nominal current of the inverter Note This parameter cannot be changed while the drive is runn...

Page 180: ...the value on the motor rating plate If several motors are connected to the inverter enter the total power of the motors Set also parameter 99 11 MOT NOM COSFII Note This parameter cannot be changed w...

Page 181: ...ected only if the ID run Normal Reduced Standstill has already been performed once 1 NORMAL Guarantees the best possible control accuracy The ID run takes about 90 seconds This mode should be selected...

Page 182: ...e start angle of the motor is determined Note that other motor model values are not updated See also parameter 11 07 AUTOPHASING MODE and section Autophasing on page 37 Notes Autophasing can only be s...

Page 183: ...ingle bit in the value of another parameter Val pointer Value pointer A value pointer points to the value of another parameter Parameter An operation instruction of the drive that is often user adjust...

Page 184: ...r format in fieldbus communication Value and bit pointer parameters are transferred between the fieldbus adapter and drive as 32 bit integer values 32 bit integer value pointers When value pointer par...

Page 185: ...be set via fieldbus i e read access only Bit 30 31 16 29 0 Name Source type Not in use Value Value 0 0 1 Description Bit pointer is connected to 0 1 0 False 1 True Bit 30 31 24 29 16 23 8 15 0 7 Name...

Page 186: ...00 C 1 1 16 WP x 56 1 19 USED SUPPLY VOLT REAL 0 1000 V 1 10 10 ms 16 WP 56 1 20 BRAKE RES LOAD REAL24 0 1000 1 1 50 ms 16 WP 56 1 21 CPU USAGE UINT32 0 100 1 1 16 WP 56 1 22 INVERTER POWER REAL 231 2...

Page 187: ...14 BRAKE TORQ MEM REAL 1000 1000 1 10 2 ms 16 WP x 64 3 15 BRAKE COMMAND enum 0 1 1 1 2 ms 16 WP 64 3 16 FLUX REF USED REAL24 0 200 1 1 2 ms 16 WP 64 3 17 TORQUE REF USED REAL 1600 1600 1 10 250 s 32...

Page 188: ...6 WP 71 9 10 INT LOGIC VER Pb 1 1 32 WP 71 9 20 OPTION SLOT 1 INT32 0 18 1 1 16 WP 71 9 21 OPTION SLOT 2 INT32 0 18 1 1 16 WP 71 9 22 OPTION SLOT 3 INT32 0 18 1 1 16 WP 72 Index Name Type Range Unit F...

Page 189: ...0 17 START ENABLE Bit pointer 2 ms 32 C True WPD 78 11 START STOP MODE 11 01 START MODE enum 0 2 1 1 16 1 WPD 79 11 02 DC MAGN TIME UINT32 0 10000 ms 1 1 16 500 WPD 80 11 03 STOP MODE enum 1 2 1 1 2 m...

Page 190: ...enum 0 4 1 1 10 ms 16 0 88 13 12 AI SUPERVISION enum 0 3 1 1 2 ms 16 0 89 13 13 AI SUPERVIS ACT UINT32 0000 1111 1 1 2 ms 32 0 89 15 ANALOGUE OUTPUTS 15 01 AO1 PTR Val pointer 32 P 01 05 90 15 02 AO1...

Page 191: ...AL 1600 0 1 10 2 ms 16 300 98 20 08 THERM CURR LIM enum 0 1 1 1 16 1 98 22 SPEED FEEDBACK 22 01 SPEED FB SEL enum 0 2 1 1 10 ms 16 0 100 22 02 SPEED ACT FTIME REAL 0 10000 ms 1 1000 10 ms 32 3 100 22...

Page 192: ...2 ms 32 C False 110 26 SPEED ERROR 26 01 SPEED ACT NCTRL Val pointer 2 ms 32 P 01 01 WP 112 26 02 SPEED REF NCTRL Val pointer 2 ms 32 P 03 04 WP 112 26 03 SPEED REF PCTRL Val pointer 2 ms 32 P 04 01...

Page 193: ...4 32 07 TORQ RAMP UP UINT32 0 60 s 1 1000 10 ms 32 0 124 32 08 TORQ RAMP DOWN UINT32 0 60 s 1 1000 10 ms 32 0 124 33 SUPERVISION 33 01 SUPERV1 FUNC UINT32 0 4 1 1 2 ms 16 0 125 33 02 SUPERV1 ACT Val p...

Page 194: ...35 08 BRAKE OPEN HOLD Bit pointer 2 ms 32 C False WPD 133 35 09 BRAKE FAULT FUNC enum 0 2 1 1 2 ms 16 0 133 40 MOTOR CONTROL 40 01 FLUX REF REAL 0 200 1 1 10 ms 16 100 135 40 02 SF REF enum 0 16 kHz 1...

Page 195: ...7 48 05 R BR REAL24 0 1 1000 ohm 1 10000 32 148 48 06 BR TEMP FAULTLIM REAL24 0 150 1 1 16 105 148 48 07 BR TEMP ALARMLIM REAL24 0 150 1 1 16 95 148 50 FIELDBUS 50 01 FBA ENABLE enum 0 1 1 1 16 0 149...

Page 196: ...1 1 10 ms 32 0 WPD 157 57 06 REF 1 SRC Val pointer 10 ms 32 P 03 04 157 57 07 REF 2 SRC Val pointer 10 ms 32 P 03 13 157 57 08 FOLLOWER CW SRC Val pointer 10 ms 32 P 02 18 157 57 09 KERNEL SYNC MODE...

Page 197: ...170 92 03 EXC SIGNAL FREQ UINT32 1 20 kHz 1 1 16 1 170 93 PULSE ENC CONF 93 01 ENC1 PULSE NR UINT32 0 65535 1 1 16 0 171 93 02 ENC1 TYPE enum 0 1 1 1 16 0 171 93 03 ENC1 SP CALCMODE enum 0 5 1 1 16 4...

Page 198: ...EAL24 0 100000 mH 1 100000 32 0 176 98 MOTOR CALC VALUES 98 01 TORQ NOM SCALE UINT32 0 2147483 Nm 1 1000 32 0 WP 177 98 02 POLEPAIRS UINT32 0 1000 1 1 16 0 WP 177 99 START UP DATA 99 01 LANGUAGE enum...

Page 199: ...code number in brackets after the message is for the fieldbus communication The alarm fault code is displayed on the 7 segment display of the drive The following table describes the indications given...

Page 200: ...n the 16 latest faults of the drive Three of the latest faults are stored at the beginning of a power switch off Signals 8 01 ACTIVE FAULT and 8 02 LAST FAULT store the fault codes of the most recent...

Page 201: ...ake Check if brake is closed or open 2003 SAFE TORQUE OFF 0xFF7A Programmable fault 46 07 STO DIAGNOSTIC Safe Torque Off function is active i e safety circuit signal s connected to connector X6 is los...

Page 202: ...accordingly Restart drive 2011 BR OVERHEAT 0x7112 Brake resistor temperature has exceeded alarm limit defined by parameter 48 07 BR TEMP ALARMLIM Stop drive Let resistor cool down Check resistor over...

Page 203: ...form 2019 AI SUPERVISION 0x8110 Programmable fault 13 12 AI SUPERVISION Analogue input AI1 or AI2 signal has reached limit defined by parameter 13 13 AI SUPERVIS ACT Check analogue input AI1 2 source...

Page 204: ...FEN 11 ABS and parameter 90 02 ENCODER 2 SEL to value 0 NONE Note The new setting will only take effect after parameter 90 10 ENC PAR REFRESH is used or after the JCU control unit is powered up the ne...

Page 205: ...Q 0x7386 TTL pulse frequency used in encoder emulation exceeds maximum allowed limit 500 kHz Decrease parameter 93 21 EMUL PULSE NR value Note The new setting will only take effect after parameter 90...

Page 206: ...0x7520 Programmable fault 57 02 COMM LOSS FUNC Transmission of drive to drive references failed because of message buffer overflow Contact your local ABB representative 2035 PS COMM 0x5480 Communicat...

Page 207: ...22 SPEED FEEDBACK Check encoder installation See the description of fault 0039 ENCODER1 for more information 2048 OPTION COMM LOSS 0x7000 Communication between drive and option module FEN xx and or F...

Page 208: ...Measured drive temperature has exceeded internal fault limit Check ambient conditions Check air flow and fan operation Check heatsink fins for dust pick up Check motor power against unit power 0004 S...

Page 209: ...re has exceeded fault limit defined by parameter 48 06 BR TEMP FAULTLIM Stop drive Let resistor cool down Check resistor overload protection function settings parameters 48 01 48 05 Check fault limit...

Page 210: ...nnot be completed because the maximum torque setting is too low Check setting of parameters 99 12 MOT NOM TORQUE and 20 06 MAXIMUM TORQUE Make sure that 20 06 MAXIMUM TORQUE 100 Fault code extension 4...

Page 211: ...des see parameter 11 07 AUTOPHASING MODE if possible 0027 PU LOST 0x5400 Connection between the JCU Control Unit and the power unit of the drive is lost Check the connections between the JCU Control U...

Page 212: ...blem is with acknowledgement signal or brake Check if brake is closed or open 0035 BRAKE NOT OPEN 0x7187 Programmable fault 35 09 BRAKE FAULT FUNC Mechanical brake control fault Fault is activated if...

Page 213: ...t when serial link is disabled If encoder fault is activated check serial link and sin cos signal wiring Note Because only zero position is requested through serial link and during run position is upd...

Page 214: ...er group 50 FIELDBUS on page 149 Check cable connections Check if communication master can communicate 0046 FB MAPPING FILE 0x6306 Drive internal fault Contact your local ABB representative 0047 MOTOR...

Page 215: ...ed to the link and have the correct node address Check the drive to drive link wiring On a follower drive The drive has not received new reference 1 and or 2 for five consecutive reference handling cy...

Page 216: ...presentative 0204 T5 OVERLOAD 0x6100 Firmware time level 5 overload Note This fault cannot be reset Contact your local ABB representative 0205 A1 OVERLOAD 0x6100 Application time level 1 fault Note Th...

Page 217: ...300 Corrupted application file Note This fault cannot be reset Reload application If fault is still active contact your local ABB representative 0309 APPL LOADING 0x6300 Corrupted application file Not...

Page 218: ...meters failed Contact your local ABB representative 0316 DAPS MISMATCH 0x5484 Mismatch between JCU Control Unit firmware and power unit logic versions Contact your local ABB representative 0317 SOLUTI...

Page 219: ...The given execution times can vary depending on the used drive application Terms Data type Description Range Boolean Boolean 0 or 1 DINT 32 bit integer value 31 bits sign 2147483648 2147483647 INT 16...

Page 220: ...nput When all inputs are used the execution time is 18 87 s Operation The output OUT is the sum of the inputs IN1 IN32 OUT IN1 IN2 IN32 The output value is limited to the maximum and minimum values de...

Page 221: ...OUT IN1IN2 If input IN1 is 0 the output is 0 The output value is limited to the maximum value defined by the selected data type range Note The execution of the EXPT function is slow Inputs The input...

Page 222: ...cution time 3 47 s when two inputs are used 2 28 s for every additional input When all inputs are used the execution time is 71 73 s Operation The output OUT is the product of the inputs IN O IN1 IN2...

Page 223: ...n time 2 09 s Operation Output OUT is the square root of the input IN OUT sqrt IN Output is 0 if the input value is negative Inputs The input data type is selected by the user Input IN REAL REAL24 Out...

Page 224: ...IN32 are 1 Otherwise the output is 0 Truth table The inputs can be inverted Inputs The number of inputs is selected by the user Input IN1 IN32 Boolean Outputs Output OUT Boolean NOT 10011 Illustratio...

Page 225: ...L 10013 Illustration Execution time 1 28 s Operation Input bits I are rotated to the left by the number N of bits defined by BITCNT The N most significant bits MSB of the input are stored as the N lea...

Page 226: ...T SHL 10015 Illustration Execution time 0 80 s Operation Input bits I are rotated to the left by the number N of bits defined by BITCNT The N most significant bits MSB of the input are lost and the N...

Page 227: ...nt bits MSB of the output are set to 0 Example If BITCNT 3 Inputs The input data type is selected by the user Input I INT DINT Number of bits BITCNT INT DINT Outputs Output O INT DINT XOR 10017 Illust...

Page 228: ...f the connected inputs IN1 IN32 is 1 Output is zero if all the inputs have the same value Example The inputs can be inverted Inputs The number of inputs 2 32 is selected by the user Input IN1 IN32 Boo...

Page 229: ...R DINT Input I DINT INT Outputs Output O Boolean BITAND 10035 Illustration Execution time 0 32 s Operation The output O bit value is 1 if the corresponding bit values of the inputs I1 and I2 are 1 Oth...

Page 230: ...umber 0 31 bit number 31 If BITNR is not in the range of 0 31 for DINT or 0 15 for INT or if EN is reset to zero the input value is stored to the output as it is i e no bit setting occurs Example EN 1...

Page 231: ...the input value is stored to the output every time the block is executed The set input overrides the load input If the reset input R is 1 all connected outputs are 0 Example Inputs The input data typ...

Page 232: ...uth table Inputs Set input S Boolean Data input D Boolean Clock input C Boolean Reset input R Boolean Outputs Output O Boolean SR D 69 TLA1 1 msec 1 S D C R O O 69 S R D C Oprevious O 0 0 0 0 0 0 Prev...

Page 233: ...interpreted as having the value 0 The error codes indicated by the Error output are as follows Inputs Drive to drive reference 1 handling interval Ref1 Cycle Sel INT Drive to drive reference 2 handlin...

Page 234: ...he range of 2 1000 milliseconds Setting this input to 0 disables the sending of tokens The error codes indicated by the Error output are as follows Inputs Token recipient Target Node INT Token interva...

Page 235: ...specified by Target Node Grp input and stores it into local dataset table dataset number specified by LocalDsNr input The node number of a drive is defined by parameter 57 03 Note Only supported in t...

Page 236: ...set number LocalDsNr INT Bit Description 0 D2D_MODE_ERR Drive to drive communication not activated or message type not supported in current drive to drive mode master follower 1 LOCAL_DS_ERR LocalDsNr...

Page 237: ...ta is input through the Data1 16B 16 bits and Data2 32B 32 bits inputs The dataset number is defined by the LocalDsNr input The error codes indicated by the Error output are as follows Inputs Local da...

Page 238: ...lustration Execution time 0 89 s when two inputs are used 0 43 s for every additional input When all inputs are used the execution time is 13 87 s Operation The output OUT is 1 if IN1 IN2 IN2 IN3 IN31...

Page 239: ...IN3 IN31 IN2 Otherwise the output is 0 Inputs The input data type and the number of inputs 2 32 are selected by the user Input IN1 IN32 INT DINT REAL REAL24 Outputs Output OUT Boolean LT 10044 Illust...

Page 240: ...ustration Execution time 0 44 s Operation The output O is 1 if I1 I2 Otherwise the output is 0 Inputs The input data type is selected by the user Input I1 I2 INT DINT REAL REAL24 Outputs Output O Bool...

Page 241: ...the boolean integer input IN1 IN31 and SIGN values IN1 bit 0 and IN31 bit 30 Example IN1 1 IN2 0 IN3 IN31 1 SIGN 1 BOOL_TO_DINT 81 TLA1 1 msec 1 SIGN IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8 IN9 IN10 IN11 IN12...

Page 242: ...OUT value is a 16 bit integer value formed from the boolean integer input IN1 IN1 and SIGN values IN1 bit 0 and IN15 bit 14 Example IN1 IN15 1 SIGN 0 Inputs Input IN1 IN15 Boolean Sign input SIGN Boo...

Page 243: ...OUT2 83 OUT3 OUT3 83 OUT4 OUT4 83 OUT5 OUT5 83 OUT6 OUT6 83 OUT7 OUT7 83 OUT8 OUT8 83 OUT9 OUT9 83 OUT10 OUT10 83 OUT11 OUT11 83 OUT12 OUT12 83 OUT13 OUT13 83 OUT14 OUT14 83 OUT15 OUT15 83 OUT16 OUT16...

Page 244: ...nput IN1 is the integer value and input IN2 is the fractional value If one or both of the input values is negative the output value is negative Example from DINT to REAL When IN1 2 and IN2 3276 OUT 2...

Page 245: ...s The output data type is selected by the user Output O REAL REAL24 Error output ERRC DINT DINT_TO_REALn_SIMP REAL 86 TLA1 1 msec 1 I SCALE O O 86 ERRC ERRC 86 Error code Description 0 No error 1001 T...

Page 246: ...Boolean Sign output SIGN Boolean INT_TO_DINT 10025 Illustration Execution time 0 33 s INT_TO_BOOL 87 TLA1 1 msec 1 IN OUT1 OUT1 87 OUT2 OUT2 87 OUT3 OUT3 87 OUT4 OUT4 87 OUT5 OUT5 87 OUT6 OUT6 87 OUT7...

Page 247: ...L24_TO_REAL 10027 Illustration Execution time 1 20 s Operation Output O is the REAL equivalent of the REAL24 input I The output value is limited to the maximum value of the data type range Example I O...

Page 248: ...ion Execution time 5 54 s Operation Output O is the 32 bit integer equivalent of the REAL REAL24 input I multiplied by the scale input SCALE Error codes are indicated by the error output ERRC as follo...

Page 249: ...Standard function blocks 249 Inputs The input data type is selected by the user Input I REAL REAL24 Scale input SCALE DINT Outputs Output O DINT Error output ERRC DINT...

Page 250: ...the counter output remains unchanged The status output Q is 1 if the counter output CV value 0 Example Inputs Counter input CD Boolean Load input LD Boolean Preset input PV INT Outputs Status output Q...

Page 251: ...unter output remains unchanged The status output Q is 1 if the counter output CV value 0 Example Inputs Counter input CD Boolean Load input LD Boolean Preset input PV DINT Outputs Status output Q Bool...

Page 252: ...The counter output CV value is increased by 1 if the counter input CU value changes from 0 1 and the reset input R value is 0 If the counter output has reached its maximum value 2147483647 the counter...

Page 253: ...s Counter input CU Boolean Reset input R Boolean Preset input PV DINT Outputs Status output Q Boolean Counter output CV DINT CTUD 10051 Illustration Execution time 1 40 s CTUD 97 TLA1 1 msec 1 CU CD R...

Page 254: ...nter status output QU is 1 if the counter output CV value preset input PV value The down counter status output QD is 1 if the counter output CV value 0 Example Inputs Down counter input CD Boolean Up...

Page 255: ...stored as the counter output CV value The counter output CV is reset to 0 if the reset input R is 1 The up counter status output QU is 1 if the counter output CV value preset input PV value The down c...

Page 256: ...uts Down counter input CD Boolean Up counter input CU Boolean Load input LD Boolean Reset input R Boolean Preset input PV DINT Outputs Down counter status output QD Boolean Up counter status output QU...

Page 257: ...Note The output Q is 0 after cold restart and after the first execution of the block Otherwise the output is 1 when the clock input CLK is 1 Inputs Clock input CLK Boolean Outputs Output Q Boolean RS...

Page 258: ...tion The output Q is set to 1 when the clock input CLK changes from 0 to 1 The output is set back to 0 with the next execution of the block Otherwise the output is 0 Note The output is 0 after cold re...

Page 259: ...state if the set input S1 and the reset input R are 0 The output is 0 if the set input is 0 and the reset input is 1 Truth table Inputs Set input S1 Boolean Reset input R Boolean Outputs Output Q1 Bo...

Page 260: ...tput the DOx input of the block defines its state The RO1 and RO2 inputs define the state of the relay outputs of the FIO 01 0 not energised 1 energised The DIx outputs show the state of the DIOs Inpu...

Page 261: ...the DOx input of the block defines its state The RO1 and RO2 inputs define the state of the relay outputs of the FIO 01 0 not energised 1 energised The DIx outputs show the state of the DIOs Inputs Di...

Page 262: ...cale AIx Min must be smaller than AIx Max AIx Max Scale can be greater or smaller than AIx Min Scale FIO_11_AI_slot1 51 TLA1 1 msec 1 AI1 filt gain AI1 Min AI1 Max AI1 Min scale AI1 Max scale AI2 filt...

Page 263: ...EAL 11 V or 22 mA Minimum value of scaled output signal AI1 Min scale AI3 Min scale REAL Maximum value of scaled output signal AI1 Max scale AI3 Max scale REAL Outputs Analogue input mode voltage or c...

Page 264: ...cale AIx Min must be smaller than AIx Max AIx Max Scale can be greater or smaller than AIx Min Scale FIO_11_AI_slot2 52 TLA1 1 msec 1 AI1 filt gain AI1 Min AI1 Max AI1 Min scale AI1 Max scale AI2 filt...

Page 265: ...EAL 11 V or 22 mA Minimum value of scaled output signal AI1 Min scale AI3 Min scale REAL Maximum value of scaled output signal AI1 Max scale AI3 Max scale REAL Outputs Analogue input mode voltage or c...

Page 266: ...AO scaled to a 0 20 mA signal AO that drives the analogue output the input range AO Min Scale AO Max Scale corresponds to the current signal range of AO Min AO Max AO Min Scale must be smaller than AO...

Page 267: ...AL Input signal AO scaled REAL Outputs Analogue output current value AO REAL Error output Error DINT 0 No error 1 Application program memory full FIO_11_AO_slot2 10091 Illustration Execution time 4 9...

Page 268: ...must be smaller than AO Max Scale AO Max can be greater or smaller than AO Min Inputs Minimum current signal AO Min REAL 0 20 mA Maximum current signal AO Max REAL 0 20 mA Minimum input signal AO Min...

Page 269: ...filtering time for each input as follows Inputs Digital input output mode selection DIO1 conf DIO2 conf Boolean Digital output state selection DO1 DO2 Boolean Digital input filter gain selection DI1...

Page 270: ...ut the DOx input of the block defines its state The DIx outputs show the state of the DIOs The DIx filt gain inputs determine a filtering time for each input as follows Inputs Digital input output mod...

Page 271: ...VE is set to 1 when the output reference REFOUTPUT is different from the input reference REFINPUT The output is limited by the defined minimum and maximum limits MIN and MAX Output OUTSTATE indicates...

Page 272: ...cution time 0 00 s Operation Output OUT is the array data used by the XTAB and YTAB tables in block FUNG 1V page 272 Note that the array is defined with the output pin Inputs Outputs The output data t...

Page 273: ...is outside the range defined by the XTAB table the output Y is set to the highest or lowest value in the YTAB table and the ERROR output is set to 1 If BALREF is outside the range defined by the YTAB...

Page 274: ...ation time constant is limited to value 2147483 ms If the time constant is negative zero time constant is used If the ratio between the cycle time and the integration time constant Ts TI 1 Ts TI is se...

Page 275: ...o the value defined by the reset value input RESETVAL or to the value defined by the minimum input MINVAL whichever is higher If the ENABLE input is 0 the output is zero During power recycle the previ...

Page 276: ...rd function blocks 276 PID 10075 Illustration Execution time 15 75 s PID 63 TLA1 1 msec 1 IN_act IN_ref P tI tD tC I_reset BAL BAL_ref OHL OLL Out Out 63 Dev Dev 63 O HL O HL 63 O LL O LL 63 ERROR ERR...

Page 277: ...ituations Limitation The output is limited by the defined minimum and maximum values OLL and OHL If the actual value of the output reaches the specified minimum limit output O LL is set to 1 If the ac...

Page 278: ...O if the input signal does not exceed the defined step change limits STEP and STEP If the input signal change exceeds these limits the output signal change is limited by the maximum step change STEP S...

Page 279: ...he output If S is reset and L changes state from 0 to 1 an assembly is performed to output O during this program cycle If S or R is set L has no effect Data can be changed at an optional place by spec...

Page 280: ...REAL REAL24 Outputs Error ERR INT Array data output O OC1 SOLUTION_FAULT 10097 Illustration Execution time Operation When the block is enabled by setting the Enable input to 1 a fault F 0317 SOLUTION...

Page 281: ...puts Output O REAL FILT2 10070 Illustration Execution time 6 30 s Operation The output Y is the filtered value of the input X The FILT2 block acts as a 2nd order low pass filter When the RESET input v...

Page 282: ...Standard function blocks 282...

Page 283: ...s a lead filter When ALPHA 1 the function block acts as a lag filter When ALPHA 1 no filtering occurs The transfer function for a lead lag filter is 1 ALPHATcs 1 Tcs When RESET input is 1 the input va...

Page 284: ...uts Bit status Out DINT GetValPtr 10098 Illustration Execution time Operation Reads the value of a parameter cyclically The Par ptr input specifies the parameter group and index to be read The output...

Page 285: ...TR 10101 Illustration Execution time Operation Reads the internal non scaled value of a parameter specified by the Group and Index inputs The value is provided by the Output pin Error codes are indica...

Page 286: ...Illustration Execution time 14 50 s Operation The input value IN is written to the defined parameter Group and Index The new parameter value is stored to the flash memory if the store input Store is...

Page 287: ...cution time 0 81 s when two inputs are used 0 53 s for every additional input When all inputs are used the execution time is 16 73 s Operation The output OUT is the highest input value IN Inputs The i...

Page 288: ...of the outputs the output is 0 Inputs The input data type and number of inputs 2 32 are selected by the user Address input K DINT Input IN1 IN32 INT DINT REAL REAL24 Outputs Output OUT INT DINT REAL...

Page 289: ...xceeds the number of the outputs all outputs are 0 Inputs The input data type is selected by the user Address input A DINT Input I INT DINT Boolean REAL REAL24 Outputs The number of the output channel...

Page 290: ...T Input I DINT INT REAL REAL24 Boolean Outputs The number of the output channels 2 32 is selected by the user Output OA1 OA32 DINT INT REAL REAL24 Boolean SWITCH 10063 Illustration Execution time 0 68...

Page 291: ...A input CH A1 32 if the activate input ACT is 0 The output is equal to the corresponding channel B input CH B1 32 if the activate input ACT is 1 Inputs The input data type and the number of inputs 2...

Page 292: ...nction The function can be restarted only after the time defined by TP has elapsed If RTG is 1 a new input pulse during the time defined by TP restarts the timer and sets the elapsed time TE to 0 Exam...

Page 293: ...e defined by the pulse time input PT Elapsed time count TE starts when the input is set to 0 and stops when the input is set to 1 Example Inputs Input IN Boolean Pulse time input PT DINT 1 1 s Outputs...

Page 294: ...s Outputs Output Q Boolean Elapsed time output ET DINT 1 1 s TP 10060 Illustration Execution time 1 46 s Operation The output Q is set to 1 when the input IN is set to 1 The output is set to 0 when it...

Page 295: ...Application program template 295 Application program template What this chapter contains This chapter presents the application program template as displayed by the DriveSPC tool...

Page 296: ...VOLTAGE 1 14 SPEED ESTIMATED 1 15 TEMP INVERTER 1 16 TEMP BC 1 20 BRAKE RES LOAD 1 22 INVERTER POWER 1 26 ON TIME COUNTER 1 27 RUN TIME COUNTER Page 1 Signals FWA compatibility level 1 46 Firmware Li...

Page 297: ...16 DIO2 F MAX SCALE Drive value 12 17 DIO2 F MIN SCALE Drive value 2 03 DIO STATUS 2 03 Bit 1 2 10 DIO2 FREQ IN DIO3 20 TLF7 2 msec 5 12 03 DIO3 CONF Drive value 12 06 DIO3 OUT PTR Drive value 12 07...

Page 298: ...TLF7 2 msec 8 15 01 AO1 PTR CURRENT PERC 1 1 05 15 02 AO1 FILT TIME Drive value 15 03 AO1 MAX Drive value 15 04 AO1 MIN Drive value 15 05 AO1 MAX SCALE Drive value 15 06 AO1 MIN SCALE Drive value 2 0...

Page 299: ...alue 35 05 BRAKE CLOSE SPD Drive value 35 06 BRAKE OPEN TORQ Drive value 35 07 BRAKE CLOSE REQ Drive value 35 08 BRAKE OPEN HOLD Drive value 35 09 BRAKE FAULT FUNC Drive value 3 14 BRAKE TORQ MEM 3 15...

Page 300: ...ive value 48 07 BR TEMP ALARMLIM Drive value VOLTAGE CTRL 34 TLF11 10 msec 1 47 01 OVERVOLTAGE CTRL Drive value 47 02 UNDERVOLT CTRL Drive value 47 03 SUPPLVOLTAUTO ID Drive value 47 04 SUPPLY VOLTAGE...

Page 301: ...ve value 3 03 SPEEDREF RAMP IN SPEED REF RAMP 28 TLF3 250 sec 1 25 01 SPEED RAMP IN SPEEDREF RAMP IN 6 3 03 25 02 SPEED SCALING Drive value 25 03 ACC TIME Drive value 25 04 DEC TIME Drive value 25 05...

Page 302: ...IME Drive value 28 06 ACC COMPENSATION ACC COMP TORQ 7 3 07 28 07 DROOPING RATE Drive value 28 08 BAL REFERENCE Drive value 28 09 SPEEDCTRL BAL EN Drive value 28 10 MIN TORQ SP CTRL Drive value 28 11...

Page 303: ...EF RUSHLIM REFERENCE CTRL 29 TLF8 250 sec 3 34 01 EXT1 EXT2 SEL Drive value 34 02 EXT1 MODE 1 2SEL Drive value 34 03 EXT1 CTRL MODE1 Drive value 34 04 EXT1 CTRL MODE2 Drive value 34 05 EXT2 CTRL MODE1...

Page 304: ...VOL MSB Drive value 91 23 SSI DATA FORMAT Drive value 91 24 SSI BAUD RATE Drive value 91 25 SSI MODE Drive value 91 26 SSI TRANSMIT CYC Drive value 91 27 SSI ZERO PHASE Drive value 91 30 ENDAT MODE Dr...

Page 305: ...SERVE Drive value 40 05 FLUX OPT Drive value 40 06 FORCE OPEN LOOP Drive value 40 07 IR COMPENSATION Drive value 3 16 FLUX REF USED 3 17 TORQUE REF USED Page 13 Motor Ctrl FWA compatibility level 1 46...

Page 306: ...Application program template 306...

Page 307: ...Control chain block diagrams 307 Control chain block diagrams What this chapter contains This chapter presents the drive control chain in different control modes...

Page 308: ...AX 06 05 SPEED CTRL STAT bit 4 BAL ACTIVE 3 06 SPEED ERROR FILT 26 05 SPEED STEP 26 06 SPD ERR FTIME 20 01 MAXIMUM SPEED 20 02 MINIMUM SPEED T AccCom 26 08 ACC COMP DER TIME 26 09 ACC COMP FTIME d dt...

Page 309: ...N 34 07 LOCAL CTRL MODE 34 01 EXT1 EXT2 SEL SPEED TORQUE MIN MAX ADD POSITION SYNCHRON HOMING PROF VEL 34 01 EXT1 CTRL MODE1 SPEED TORQUE MIN MAX ADD POSITION SYNCHRON HOMING PROF VEL 34 01 EXT1 CTRL...

Page 310: ...05 FOLLOWER MASK2 57 04 FOLLOWER MASK1 57 06 REF1 SRC 57 07 REF2 SRC MASTER 57 08 FOLLOWER CW SRC 57 09 KERNEL SYNC MODE 57 10 KERNEL SYNC OFFS KERNEL SYNC 57 11 REF1 MSG TYPE 57 12 REF1 MC GRP MULTIC...

Page 311: ...07 AUTOPHASING MODE 99 13 ID RUN MODE 01 22 INVERTER POWER 40 06 FORCE OPEN LOOP 40 03 SLIP GAIN 97 USER MOTOR PAR 99 START UP DATA 47 01 OVERVOLTAGE CTRL 47 02 UNDERVOLT CTRL 99 05 MOTOR CTRL MODE 9...

Page 312: ...Control chain block diagrams 312...

Page 313: ...the fieldbus interface or the control can be distributed between the fieldbus interface and other available sources for example digital and analogue inputs The drive can communicate with fieldbus cont...

Page 314: ...Defines the fieldbus reference scaling When 0 RAW DATA is selected see also parameters 50 06 50 11 ADAPTER MODULE CONFIGURATION 51 01 FBA TYPE Displays the type of the fieldbus adapter module 51 02 F...

Page 315: ...s long two parameters are reserved for the transmission Note In the User s Manual of the fieldbus adapter module the parameter group number is 3 or C for parameters 52 01 52 12 and 2 or B for paramete...

Page 316: ...of the Control Word Fieldbus module Fieldbus Fieldbus network specific interface DATA OUT 2 4 1 2 3 12 DATA IN 2 5 1 2 3 12 FBA MAIN SW FBA ACT1 FBA ACT2 Par 01 01 99 13 FBA MAIN CW FBA REF1 FBA REF2...

Page 317: ...01 AC DC drive for FDNA 01 DS 402 for FCAN 01 and ABB Drives profile for all fieldbus adapter modules fieldbus adapter module converts the fieldbus specific control word to the FBA communication prof...

Page 318: ...OFF OFF2 FBA CW Bit 2 1 FBA SW Bit 4 1 OFF2 ACTIVE RFG OUTPUT ENABLED RFG ACCELERATOR ENABLED B B C D FBA CW Bit 12 0 D FBA CW Bit 14 0 A C FBA CW Fieldbus Control Word FBA SW Fieldbus Status Word n S...

Page 319: ...15 microseconds which results in a theoretical link capacity of roughly 6 messages per 100 microseconds Multicasting the control data and reference 1 to a pre defined group of drives is possible as i...

Page 320: ...ands and references with the following parameters The communication status of the followers can be supervised by a periodic supervision message from the master to the individual followers see paramete...

Page 321: ...62 drives In broadcast messaging data can be sent to all drives actually all followers on the link Both master to follower s and follower to follower s communication is supported A follower can send...

Page 322: ...d at the master because the response is always sent to node address 0 the master Read remote messaging The master can read a dataset RemoteDsNr from a follower specified by TargetNode The follower ret...

Page 323: ...to a group of drives having the same standard multicast group address The target group is defined by the D2D_Conf standard function block see page 233 The sending drive can either be the master or a...

Page 324: ...ollowers Note The master does not receive any data broadcast by the followers Follower Dataset table RemoteDsNr Target Grp X 57 12 REF1 MC GROUP X Follower Dataset table RemoteDsNr Master Dataset tabl...

Page 325: ...lower have parameters 57 03 NODE ADDRESS and 57 12 REF1 MC GROUP set to the same value it becomes a submaster Immediately after a submaster receives the multicast message it sends its own message to t...

Page 326: ...RPS don t care Follower 2 17 D2D MAIN CW 2 19 D2D REF1 57 08 FOLLOWER CW SRC 57 06 REF 1 SRC 57 01 LINK MODE 1 FOLLOWER 57 03 NODE ADDRESS 4 57 11 REF 1 MSG TYPE 1 REF1 MC GRPS 57 12 REF1 MC GROUP 4 5...

Page 327: ...ge 233 Example of master point to point messaging Master Follower node 1 1 The master sends a constant 1 and the value of the message counter into follower dataset 20 Data is prepared to and sent from...

Page 328: ...aset 22 into its own dataset 18 Data is accessed using the DS_ReadLocal block 2 In the follower constant data is prepared into dataset 22 Master 1 This drive to drive link consists of three drives mas...

Page 329: ...lower multicasting Follower 1 Follower 2 1 Follower 1 writes local dataset 24 to follower 2 dataset 30 3 ms interval 2 Follower 2 writes local dataset 33 to follower 1 dataset 28 6 ms interval 3 In ad...

Page 330: ...Received data is read from dataset 23 of the receiving followers Note The example application shown for Master above also applies to the sending follower in standard follower to follower multicasting...

Page 331: ...331...

Page 332: ...332...

Page 333: ......

Page 334: ...http www abb com ABB Inc Automation Technologies Drives Motors 16250 West Glendale Drive New Berlin WI 53151 USA Telephone 262 785 3200 800 HELP 365 Fax 262 780 5135 ABB Beijing Drive Systems Co Ltd N...

Reviews:

No comments

Brands by name

Popular brands

Load more brands