ABB DCS550 Series, Manual

Page: 90 / 316

90
Communication
3ADW000379R0501 DCS550 Manual e e
output data word 1 (control word) 1
st
data word from
overriding control to drive
DsetXVal2 (90.02)
2301, default
SpeedRef (23.01);
output data word 2 (speed reference) 2
nd
data word from
overriding control to drive
DsetXVal3 (90.03) 2501, default TorqRefA (25.01);
output data word 3 (torque reference) 3
rd
data word from
overriding control to drive
DsetXplus2Val1 (90.04) 702, default AuxCtrlWord (7.02);
output data word 4 (auxiliary control word) 4
th
data word
from overriding control to drive
DsetXplus1Val1 (92.01) 801, default MainStatWord (8.01);
input data word 1 (status word) 1
st
data word from drive to
overriding control
DsetXplus1Val2 (92.02) 104, default MotSpeed (1.04);
input data word 2 (speed actual) 2
nd
data word from drive
to overriding control
DsetXplus1Val3 (92.03) 209, default TorqRef2 (2.09);
input data word 3 (torque reference) 3
rd
data word from
drive to overriding control
DsetXplus3Val1 (92.04)
802, default
AuxStatWord (8.02);
input data word 4 (auxiliary status word) 4
th
data word
from drive to overriding control
ModuleType (51.01)
CANopen*
Node ID (51.02) 1** set node address as required
Baudrate (51.03) 8** 8 = 1 Mbits/s
PDO21 Cfg (51.04) 1 0 = Configuration via CANopen objects
1 = Configuration via RCAN-01 adapter parameters
RX-PDO21-Enable (51.05)
769 This value has to be calculated
with 300 Hex = 768 + Node ID (51.02).
Here 768 + 1 = 769
RX-PDO21-TxType (51.06) 255 255 = Asynchronous (see page 83)
RX-PDO21-1stObj (51.07) 16384 4000 Hex = 16384 = Control Word (see page 63);
Data set 1 word 1
RX-PDO21-1stSubj (51.08) 1 1 Hex = 1 = Control Word (see page 63);
Data set 1 word 1
RX-PDO21-2ndObj (51.09) 16384 4000 Hex = 16384 = Reference 1 (see page 63);
Data set 1 word 2
RX-PDO21-2ndSubj (51.10) 2 2 Hex = 2 = Reference 1 (see page 63);
Data set 1 word 2
RX-PDO21-3rdObj (51.11) 16384 4000 Hex = 16384 = Reference 2 (see page 63);
Data set 1 word 3
RX-PDO21-3rdSubj (51.12) 3 3 Hex = 3 Reference 2 (see page 63);
Data set 1 word 3
RX-PDO21-4thObj (51.13) 16384 4000 Hex = 16384 = Reference 3 (see page 63);
Data set 3 word 1
RX-PDO21-4thSubj (51.14)
7
7 Hex = 7 Reference 3 (see page 63);
Data set 3 word 1
TX-PDO21-Enable (51.15) 641 This value has to be calculated
with 280 Hex = 640 + Node ID (51.02).
Here 640 + 1 = 641
TX-PDO21-TxType (51.16) 255 255 = Asynchronous (see page 83)
TX-PDO21-EvTime (51.17) 10 10 = 10 ms