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Appendix C – FENA configuration web pages 385

Support page

On the Support page, you can access documentation related to the

adapter module, and the EDS and GSDML files. The latest files

corresponding to the drive firmware are available through the

hyperlinks given below

WWW documentation and downloads

Summary of Contents for FENA-01

Page 1: ...Options for ABB drives converters and inverters User s manual FENA 01 11 21 Ethernet adapter module ...

Page 2: ...our local ABB representative Drive manuals and guides Code EN Multilingual ACS355 drives 0 37 22 kW 0 5 30 hp user s manual 3AUA0000066143 ACS580 01 manuals 9AKK105713A8085 ACSM1 manuals 00578051 ACS850 04 manuals 00592009 ACQ810 manuals 00598718 ACS880 01 manuals 9AKK105408A7004 ACS880 04 manuals 9AKK105713A4819 ACS880 07 manuals 9AKK105408A8149 Option manuals and guides FENA 01 11 21 Ethernet ad...

Page 3: ...1 11 21 Ethernet adapter module 3AUA0000093568 Rev B EN EFFECTIVE 2014 01 29 2014 ABB Oy All Rights Reserved 1 Safety instructions Table of contents 4 Mechanical installation 5 Electrical installation EtherNet IP protocol PROFINET IO protocol ...

Page 4: ......

Page 5: ...22 Tools 23 Target audience 23 Purpose of the manual 23 Contents 24 Terms and abbreviations 26 General terms and abbreviations 26 Modbus TCP terms and abbreviations 27 EtherNet IP terms and abbreviations 27 PROFINET IO terms and abbreviations 28 3 Overview of the Ethernet network and the FENA 01 11 21 module Contents of this chapter 33 Ethernet network 33 Example topology of the Ethernet link 34 F...

Page 6: ... Contents of this chapter 49 Warnings 49 Drive configuration 50 Modbus TCP connection configuration 50 FENA 01 11 21 configuration parameters group A group 1 51 FENA 01 11 21 configuration parameters group B group 2 60 FENA 01 11 21 configuration parameters group C group 3 61 Control locations 62 Starting up fieldbus communication for ACS355 drives 63 Parameter setting examples ACS355 64 Speed and...

Page 7: ...CS580 81 Frequency control using the ABB Drives Enhanced communication profile 81 Client configuration 84 Modbus register maps 84 7 Modbus TCP Communication profiles Contents of this chapter 85 Communication profiles 85 ABB Drives communication profile 87 Control word and Status word 87 Control word contents 87 Status word contents 89 State machine 91 References 92 Scaling 92 Actual values 93 Scal...

Page 8: ...guration parameters group A group 1 117 FENA 01 11 21 configuration parameters group B group 2 130 FENA 01 11 21 configuration parameters group C group 3 131 Control locations 132 Starting up fieldbus communication for ACS355 drives 133 Parameter setting examples ACS355 134 Speed control using the ODVA AC DC drive profile Extended speed control assembly 134 Starting up fieldbus communication for A...

Page 9: ... Communication profiles Contents of this chapter 159 Communication profiles 159 ODVA AC DC drive profile 161 ODVA output attributes 162 Run Forward Run Reverse Control supervisor object 162 Fault Reset Control supervisor object 162 Net Ctrl Control supervisor object 162 Net Ref AC DC drive object 162 Speed Reference AC DC drive object 163 Torque Reference AC DC drive object 165 ODVA input attribut...

Page 10: ...trol assembly 182 Basic speed control plus drive parameters assembly 183 Extended speed control assembly 185 Extended speed control plus drive parameters assembly 186 Basic speed and torque control assembly 189 Basic speed and torque control plus drive parameters assembly 190 Extended speed and torque control assembly 192 Extended speed and torque control plus drive parameters assembly 193 ABB Dri...

Page 11: ...tance 0 221 Instance attributes Instance 1 221 Control supervisor object class 29h 222 Class attributes Instance 0 222 Instance attributes Instance 1 223 AC DC drive object class 2Ah 224 Class attributes Instance 0 224 Instance attributes Instance 1 225 Drive parameter object class 90h 226 Fieldbus configuration object class 91h 227 Class attributes 227 Instance 1 FENA 01 11 21 configuration param...

Page 12: ... 21 configuration parameters group A group 1 249 FENA 01 11 21 configuration parameters group B group 2 258 FENA 01 11 21 configuration parameters group C group 3 260 Virtual address area allocation with ACSM1 261 Control locations 262 Starting up fieldbus communication for ACS355 drives 263 Parameter setting examples ACS355 264 Speed control using the PROFIdrive communication profile with PPO Typ...

Page 13: ...profile with PPO Type 4 284 Parameter setting examples ACS580 286 Frequency control using PROFIdrive communication profile with PPO Type 4 286 Configuring the master station 289 Downloading the GSD file 289 Configuring an ABB AC500 PLC 289 Configuring a Siemens SIMATIC S7 PLC 295 15 PROFINET IO Communication profiles Contents of this chapter 305 Communication profiles 305 PROFIdrive communication ...

Page 14: ...age types 326 PPO types 326 Standard telegram ST types DP V1 327 Parameter handling using acyclic parameter access mechanism DP V1 327 Header and frame structures 328 ErrorCode1 329 DP V1 read write request sequence 330 Read and write blocks 331 Data block 332 Function blocks for sending DP V1 messages Siemens S7 338 Parameter data transfer examples 339 Example 1a Reading a drive parameter array e...

Page 15: ...his chapter 357 Fault and warning messages 357 LEDs 358 18 Technical data Contents of this chapter 361 FENA 01 11 21 361 Ethernet link 362 19 Appendix A PROFIdrive parameters and I M re cords of PROFINET IO Contents of this chapter 363 PROFIdrive parameters 364 I M records 371 Call REQ PDU telegram for read write access to I M records 371 Response structure for I M0 Read only 372 Response structur...

Page 16: ...apter modules 377 21 Appendix C FENA configuration web pages Contents of this chapter 379 Browser requirements 379 Compatibility 379 Logging in 380 Menu overview 381 Status page 382 Configuration page 383 Support page 385 Password page 386 Further information Product and service inquiries 387 Product training 387 Providing feedback on ABB Drives manuals 387 Document library on the Internet 387 ...

Page 17: ... the warning symbols used in this manual and the safety instructions which you must obey when you install or connect an optional module to a drive converter or inverter If you ignore the safety instructions injury death or damage can occur Read this chapter before you start the installation ...

Page 18: ... also tell you how to prevent the danger The manual uses these warning symbols Electricity warning tells you about hazards from electricity which can cause injury or death or damage to the equipment General warning tells you about conditions other than those caused by electricity which can cause injury or death or damage to the equipment ...

Page 19: ...e work Disconnect the drive converter or inverter from all possible power sources After you have disconnected the drive converter or inverter always wait for 5 minutes to let the intermediate circuit capacitors discharge before you continue Disconnect all dangerous voltages connected to other control signal connectors in reach For example it is possible that 230 V AC is connected from outside to a...

Page 20: ...20 Safety instructions ...

Page 21: ...manual Applicability This manual applies to the FENA 01 11 21 Ethernet adapter module SW version 3 00 and later Compatibility Drives This table shows the compatibility of the FENA adapter module with the different ABB drives ACS355 ACSM1 ACS850 ACQ810 ACS880 ACS580 FENA 01 x FENA 11 x x x x x x FENA 21 x x x x x x ...

Page 22: ...us over UDP Protocol Compatible client master Modbus TCP1 All Modbus TCP clients that support Modbus Application Protocol Specification v1 1b Modbus Messaging on TCP IP Implementation Guide v1 0b EtherNet IP All EtherNet IP clients that support The CIP Networks Library Volume 1 Common Industrial Protocol CIP Edition 3 0 May 2006 The CIP Networks Library Volume 2 EtherNet IP Adaptation of CIP Editi...

Page 23: ...ernet tool network for ACS880 drives application guide 3AUA0000125635 English Drive composer user s manual 3AUA0000094606 English Target audience This manual is intended for people who plan the installation install start up use and service the adapter module Before you do work on the module read this manual and the applicable drive converter inverter manual that contains the hardware and safety in...

Page 24: ... and I M records of PROFINET IO contains the PROFIdrive profile parameters and telegram and response structures for the I M records of the PROFINET IO protocol Appendix B ABB IP configuration tool for FENA shows how to use the APP IP configuration tool for FENA Appendix C FENA configuration web pages presents the FENA configuration web pages Modbus TCP protocol Modbus TCP Start up presents the ste...

Page 25: ...or the adapter module EtherNet IP Diagnostics explains how to trace faults with the status LEDs on the adapter module PROFINET IO protocol PROFINET IO Start up presents the steps to take during the start up of the drive with the adapter module and gives examples of configuring the PROFINET master PROFINET IO Communication profiles describes the communication profiles used in the communication betw...

Page 26: ... 21 is a device through which an ABB drive is connected to an Ethernet network Fieldbus adapter module Device through which the drive is connected to an external communication network that is a fieldbus The communication with the module is activated with a drive parameter MAC ID Every node on an Ethernet network has to have a unique identifier This node number is called MAC ID Media Access Control...

Page 27: ...ted to the requested Modbus function occurs the data field contains an exception code that the server application can use to determine the next action to be taken Function code The second byte sent by the client The function tells the server what kind of action to perform Holding register Holds data that will be later executed by an application program Term Explanation EDS file The Electronic Data...

Page 28: ...Net Vendor Association ODVA is an independent organization that promotes interoperativity between different manufacturers EtherNet IP products ABB is an Associate Member at ODVA Output In the ODVA EtherNet IP specification the word output is used to describe data flow from the network into a device such as the adapter module Term Explanation Acyclic communication Communication in which messages ar...

Page 29: ...d active stations Name Symbolic name of a parameter Parameter Value that can be accessed as an object eg variable constant signal Parameter number Parameter address Parameter Process Special object that contains parameter and process Data object Special object that contains parameter and process data Process data Data that contains Control word and reference value or Status word and actual value M...

Page 30: ...ET IO extension to the EN 50170 standard including eg acyclic data exchange GSDML General Station Description Markup Language ISW See ACT MAP Module access point PAP Parameter access point PD Process data Prozessdaten PKE Parameter identification Parameter Kennung PKW Parameter identification value Parameter Kennung Wert PNU Parameter number Parameternummer PPO Parameter Process data object Parame...

Page 31: ...Introduction to the manual 31 SOW Reference Sollwert STW Control word Steuerwort ZSW Status word Zustandswort Abbreviation Explanation ...

Page 32: ...32 Introduction to the manual ...

Page 33: ... of physical media coaxial cable twisted pair fiber optics and topologies bus and star The FENA 01 11 21 adapter module supports twisted pair as the physical media in a star topology In addition FENA 21 supports a daisy chain topology The maximum length for an Ethernet segment on twisted pair media is 100 meters All twisted pair media between the Ethernet node and the switch or router must be shor...

Page 34: ...ure shows an example of an allowable topology for an Ethernet network with FENA 01 11 This figure shows an example of an allowable topology for an Ethernet network with FENA 21 Switch or router ABB drive Other slave device Other slave device ABB drive Network master device ABB drive ABB drive Other slave device ...

Page 35: ...ference to the PID controller of the drive read status information and actual values from the drive reset a drive fault The protocols used to access these functionalities over Ethernet are described in chapters Modbus TCP Communication protocol EtherNet IP Communication protocol PROFINET IO Communication protocol The adapter module supports 10 Mbit s and 100 Mbit s data transfer rates and automati...

Page 36: ...le This figure shows the layout of FENA 01 11 4 3 2 No Description See chapter 1 Lock Mechanical installation 2 Mounting screw Mechanical installation 3 Connector X1 to Ethernet Electrical installation 4 Diagnostic LEDs Modbus TCP Diagnostics EtherNet IP Diagnostics PROFINET IO Diagnostics 1 ...

Page 37: ...iption See chapter 1 Lock Mechanical installation 2 Mounting screw Mechanical installation 3 Connector X1 to Ethernet Electrical installation 4 Connector X2 for chaining another adapter module Electrical installation 5 Diagnostic LEDs Modbus TCP Diagnostics EtherNet IP Diagnostics PROFINET IO Diagnostics 5 3 2 4 1 ...

Page 38: ...38 Overview of the Ethernet network and the FENA 01 11 21 module ...

Page 39: ...and instructions to install the adapter module Necessary tools and instructions See the applicable drive hardware manual Unpacking and examining the delivery 1 Open the option package 2 Make sure that the package contains Ethernet adapter module type FENA 01 11 21 this manual 3 Make sure that there are no signs of damage ...

Page 40: ...has a specific position in the drive Plastic pins a lock and one screw hold the adapter module in place The screw also makes an electrical connection between the module and drive frame for cable shield termination When the adapter module is installed it makes the signal and power connection to the drive through a 20 pin connector When you install or remove the adapter module from the control unit ...

Page 41: ... drive 3 Push in the lock 4 Tighten the screw Note It is necessary to tighten the screw properly to fulfill the EMC requirements and to ensure the proper operation of the module See the applicable drive manual for further instructions on how to install the adapter module to the drive 3 4 ...

Page 42: ...42 Mechanical installation ...

Page 43: ... connecting the adapter module to the Ethernet network Warnings WARNING Obey the safety instructions See chapter Safety instructions on page 17 If you ignore the safety instructions injury or death can occur If you are not a qualified electrician do not do electrical work Necessary tools and instructions See the applicable drive hardware manual ...

Page 44: ...STP When CAT5 FTP or STP is used the cable shield is connected to the drive frame through an RC network In FENA 01 it is possible to change this connection by using jumper J1 located next to the X1 connector Position 1 2 connects the cable shield directly to the drive frame Position 2 3 connects the cable shield to the drive frame through an RC network This is the default setting of the jumper The...

Page 45: ...edure 1 Connect the network cable to the RJ 45 connector X1 on the adapter module 2 If you want to create a daisy chain with FENA 21 adapter modules connect the X2 connector of the first adapter module to X1 on the next adapter module and so on ...

Page 46: ...46 Electrical installation ...

Page 47: ...Modbus TCP protocol Modbus TCP Start up 49 Modbus TCP Communication profiles 85 Modbus TCP Communication protocol 95 Modbus TCP Diagnostics 107 ...

Page 48: ......

Page 49: ...onfiguring the drive for operation with the adapter module drive specific instructions on starting up the drive with the adapter module information on configuring the client for communication with the adapter module Warnings WARNING Obey the safety instructions given in this manual and the drive documentation ...

Page 50: ...ve specific start up sections starting on page 63 Once communication between the drive and the adapter module has been established several configuration parameters are copied to the drive These parameters are shown in the tables below and must be checked first and adjusted where necessary You can adjust the parameters via a drive control panel a PC tool or a web user interface For more information...

Page 51: ...ween the drive and the module has not been established 128 ETHER NET 02 PROTOCOL PROFILE Selects the application protocol and communication profile for the network connection The selections available for Modbus communication are listed below 0 MB TCP ABB C ACS355 FB PAR 2 ACSM1 FBA PAR2 ACS850 ACQ810 FBA par2 ACS880 ACS580 Protocol Profile 0 MB TCP ABB C Modbus TCP ABB Drives profile Classic 1 MB ...

Page 52: ...PAR4 ACS850 ACQ810 FBA par4 ACS880 ACS580 IP configuration 0 Static IP Configuration will be obtained from parameters 05 13 1 Dyn IP DHCP Configuration will be obtained via DHCP 05 IP ADDRESS 1 An IP address is assigned to each IP node on a network An IP address is a 32 bit number that is typically represented in dotted decimal notation consisting of four decimal integers on the range 0 255 separa...

Page 53: ...n the table below 0 ACS355 FB PAR 9 ACSM1 FBA PAR9 ACS850 ACQ810 FBA par9 ACS880 ACS580 Subnet CIDR 1 31 Subnet mask in CIDR notation No Name Value Description Default Dotted decimal CIDR Dotted decimal CIDR 255 255 255 254 31 255 254 0 0 15 255 255 255 252 30 255 252 0 0 14 255 255 255 248 29 255 248 0 0 13 255 255 255 240 28 255 240 0 0 12 255 255 255 224 27 255 224 0 0 11 255 255 255 192 26 255...

Page 54: ...rs 10 13 define the four octets of the gateway address 0 ACS355 FB PAR 10 ACSM1 FBA PAR10 ACS850 ACQ810 FBA par10 ACS880 ACS580 GW address 1 0 255 GW address 13 GW ADDRESS 4 See parameter 10 GW ADDRESS 1 0 ACS355 FB PAR 13 ACSM1 FBA PAR13 ACS850 ACQ810 FBA par13 ACS880 ACS580 GW address 4 0 255 GW address 14 18 Reserved These parameters are not used by the adapter module when the module is configu...

Page 55: ...880 ACS580 T16 scale 0 65535 Reference multiplier actual value divisor 20 MODBUS TCP TIMEOUT Defines the Modbus TCP timeout value The Modbus protocol does not specify a timeout mechanism for the application layer A timeout mechanism may be desired when controlling a drive so the adapter module provides a method for this purpose If the parameter value is zero this feature is disabled If the paramet...

Page 56: ...e Modbus TCP client 22 WORD ORDER Selects in which order the 16 bit registers of 32 bit parameters are transferred For each register 16 bit the first byte contains the high order byte and the second byte contains the low order byte 1 HILO ACS355 FB PAR 22 ACSM1 FBA PAR22 ACS850 ACQ810 FBA par22 ACS880 ACS580 Word order 0 LOHI The first register contains the low order word and the second register c...

Page 57: ...n the memory of the drive In format xyz where x major revision number y minor revision number z correction number OR in format axyz where a major revision number xy minor revision numbers z correction number or letter N A ACS355 FILE CPI FW REV ACSM1 PAR TABLE VER ACS850 ACQ810 Par table ver ACS880 ACS580 FBA A B par table ver Parameter table revision 29 DRIVE TYPE CODE Read only Displays the driv...

Page 58: ...R 4 Off line ACS355 FBA STATUS ACSM1 D2FBA COMM STA ACS850 ACQ810 D2FBA comm sta ACS880 ACS580 D2FBA A B comm status 0 Idle Adapter is not configured 1 Exec init Adapter is initializing 2 Time out A timeout has occurred in the communication between the adapter and the drive 3 Conf err Adapter configuration error The major or minor revision code of the common program revision in the fieldbus adapte...

Page 59: ...omm sw ver ACS880 ACS580 FBA A B comm SW ver Common program version of the adapter module 33 FBA APPL SW VER Read only Displays the application program revision of the adapter module in format axyz where a major revision number xy minor revision numbers z correction number or letter N A ACS355 FBA APPL FW REV ACSM1 FBA APPL SW VER ACS850 ACQ810 FBA appl sw ver ACS880 ACS580 FBA A B appl SW ver App...

Page 60: ...us register address maps are explained in chapter Modbus TCP Communication protocol The content is defined by a decimal number in the range of 0 to 9999 as follows 0 None ACS355 FBA DATA OUT 1 ACSM1 FBA DATA OUT1 ACS850 ACQ810 FBA data out1 ACS880 ACS580 FBA A B data out1 0 None Not used 101 9999 Parameter index with format xxyy where xx is the parameter group number 1 99 yy is the parameter numbe...

Page 61: ...bus register address maps are explained in chapter Modbus TCP Communication protocol The content is defined by a decimal number in the range of 0 to 9999 as follows 0 None ACS355 FBA DATA IN 1 ACSM1 FBA DATA IN1 ACS850 ACQ810 FBA data in1 ACS880 ACS580 FBA A B data in1 0 None Not used 101 9999 Parameter index with format xxyy where xx is the parameter group number 1 99 yy is the parameter number i...

Page 62: ...o separately determine the source for each type of control information Start Stop Direction Reference Fault reset etc To give the fieldbus client the most complete control over the drive you must select the adapter module as the source of this information The drive specific parameter setting examples below contain the drive control parameters relevant in the examples For a complete parameter list ...

Page 63: ...the drive reacts to a fieldbus communication break 5 With parameter 3019 COMM FAULT TIME define the time between communication break detection and the selected action 6 Define the process data transferred to and from the drive in parameter groups 54 and 55 Note The adapter module assigns the Control word Status word references 1 2 and actual values 1 2 automatically to Modbus registers Process dat...

Page 64: ... 2 REF2 is used a reference value of 10000 decimal corresponds to the reference set with parameter 1108 REF2 MAX in the forward and reverse directions The minimum and maximum 16 bit integer values that can be given through the fieldbus are 32768 and 32767 respectively The table below gives the recommended drive parameter settings Output data Modbus register Input data Modbus register Control word ...

Page 65: ... 5109 FBA PAR 9 SUBNET CIDR 242 Sets the network mask as 255 255 255 0 allowing access only to the last subnet 5120 FB PAR 20 MODBUS TCP TIMEOUT 102 Sets the communication timeout as 1 second 5121 FB PAR 21 TIMEOUT MODE 2 Control RW 2 The timeout feature monitors the updating of the Control word and Reference 1 3018 COMM FAULT FUNC 1 FAULT2 Enables fieldbus communication fault monitoring 3019 COMM...

Page 66: ...MMANDS 10 COMM Selects the fieldbus interface as the source of the start and stop commands for external control location 2 1102 EXT1 EXT2 SEL 8 COMM Enables external control location 1 2 selection through the fieldbus 1103 REF1 SELECT 8 COMM Selects the fieldbus reference 1 as the source for speed reference 1 1106 REF2 SELECT 8 COMM Selects the fieldbus reference 2 as the source for speed referenc...

Page 67: ... module and communication between the adapter module and the drive 4 With parameter 50 03 COMM LOSS T OUT define the time between communication break detection and the selected action 5 Select application specific values for parameters 50 04 50 11 Examples of appropriate values are shown in the tables below 6 Set the module configuration parameters in group 51 Select the communication protocol and...

Page 68: ...meter setting examples ACSM1 Speed and torque control using the ABB Drives Enhanced communication profile This example shows how to configure a speed and torque control application that uses the ABB Drives Enhanced profile In addition some application specific data is added to the communication The start stop commands and reference are according to the ABB Drives profile For more information see s...

Page 69: ...escription 50 01 FBA ENABLE Enable Enables communication between the drive and the fieldbus adapter module 50 02 COMM LOSS FUNC Fault2 Enables fieldbus communication fault monitoring 50 03 COMM LOSS T OUT 3 0 s2 Defines the fieldbus communication break supervision time 50 04 FBA REF1 MODESEL Speed Selects the fieldbus reference 1 scaling 50 05 FBA REF2 MODESEL Torque Selects the fieldbus reference...

Page 70: ...1 FBA DATA IN1 1222 Power 52 03 FBA DATA IN3 1072 DC bus voltage 53 01 FBA DATA OUT1 24082 Constant speed 53 03 FBA DATA OUT3 24102 Speed reference for jogging function 1 51 27 FBA PAR REFRESH REFRESH Validates the FENA 11 21 configuration parameter settings 10 01 EXT1 START FUNC FBA Selects the fieldbus interface as the source of the start and stop commands for external control location 1 10 04 E...

Page 71: ...the fieldbus reference 2 as the source for torque reference 1 34 01 EXT1 EXT2 SEL P FBA MAIN CW 15 Enables external control location 1 2 selection through the fieldbus only bit 15 in the fieldbus Control word 34 03 EXT1 CTRL MODE1 Speed Selects speed control as the control mode 1 for external control location 1 34 05 EXT2 CTRL MODE1 Torque Selects torque control as the control mode 1 for external ...

Page 72: ...select the control locations to be monitored with parameter 50 21 Comm loss enable By default the monitoring is enabled in both control locations EXT1 and EXT2 4 With parameter 50 03 Comm loss t out define the time between communication break detection and the selected action 5 Select application specific values for parameters 50 04 50 11 Examples of appropriate values are shown in the tables belo...

Page 73: ...ording to the application Examples of appropriate values are shown in the tables below Parameter setting examples ACS850 and ACQ810 Speed control using the ABB Drives Enhanced communication profile This example shows how to configure a speed control application that uses the ABB Drives Enhanced profile In addition some application specific data is added to the communication The start stop commands...

Page 74: ...Setting for ACS850 ACQ810 drives Description 50 01 Fba enable Enable Enables communication between the drive and the fieldbus adapter module 50 02 Comm loss func Fault2 Enables fieldbus communication fault monitoring 50 03 Comm loss t out 3 0 s2 Defines the fieldbus communication break supervision time 50 04 Fb ref1 modesel Speed Selects the fieldbus reference 1 scaling 51 01 FBA type Ethernet1 Di...

Page 75: ... word and Reference 1 52 01 FBA data in1 1222 Power 52 03 FBA data in3 1072 DC bus voltage 53 01 FBA data out1 26062 Constant speed 1 53 03 FBA data out3 26072 Constant speed 2 51 27 FBA par refresh Refresh Validates the FENA 11 21 configuration parameter settings 10 01 Ext1 start func FB Selects the fieldbus interface as the source of the start and stop commands for external control location 1 10...

Page 76: ...the correct slot number in parameter 50 01 FBA A enable The selection must correspond to the slot where the adapter module is installed For example if the adapter module is installed in slot 1 you must select slot 1 3 With parameter 50 02 FBA A comm loss func select how the drive reacts to a fieldbus communication break Note that this function monitors both communication between the fieldbus maste...

Page 77: ...ks 7 Define the process data transferred to and from the drive in parameter groups 52 and 53 Note The adapter module assigns the Control word Status word references 1 2 and actual values 1 2 automatically to Modbus registers Process data groups are not available in the ABB Drives Classic communication profile 8 Save the valid parameter values to permanent memory with parameter 96 07 Parameter save...

Page 78: ...rward and reverse directions The minimum and maximum 16 bit integer values that can be given through the fieldbus are 32768 and 32767 respectively The table below gives the recommended drive parameter settings Output data Modbus register Input data Modbus register Control word 4 00001 Status word 4 00051 Speed reference 4 00002 Speed actual value 4 00052 Reference 2 Not used 4 00003 Actual value 2...

Page 79: ...1 1922 First part of the IP address 51 06 IP address 2 1682 Second part of the IP address 51 07 IP address 3 02 Third part of the IP address 51 08 IP address 4 162 Last part of the IP address 51 09 Subnet CIDR 242 Sets the network mask as 255 255 255 0 allowing access only to the last subnet 51 20 Timeout time 102 Sets the communication timeout as 1 second 51 21 Timeout mode 2 Control RW2 The time...

Page 80: ...commands 12 Fieldbus A Selects the fieldbus A interface as the source of the start and stop commands for external control location 1 22 11 Speed ref1 source 4 FB A ref1 Selects the fieldbus A reference 1 as the source for speed reference 1 31 11 Fault reset selection 06 1 7 Selects the fieldbus interface as the source for the fault reset signal 1 Read only or automatically detected set 2 Example D...

Page 81: ...ing in the forward and reverse directions The minimum and maximum 16 bit integer values that can be given through the fieldbus are 32768 and 32767 respectively The table below gives the recommended drive parameter settings Output data Modbus register Input data Modbus register Control word 4 00001 Status word 4 00051 Frequency reference 4 00002 Frequency actual value 4 00052 Reference 2 Not used 4...

Page 82: ...s 1 1922 First part of the IP address 51 06 IP address 2 1682 Second part of the IP address 51 07 IP address 3 02 Third part of the IP address 51 08 IP address 4 162 Last part of the IP address 51 09 Subnet CIDR 242 Sets the network mask as 255 255 255 0 allowing access only to the last subnet 51 20 Timeout time 102 Sets the communication timeout as 1 second 51 21 Timeout mode 2 Control RW2 The ti...

Page 83: ...1 Ext1 commands 12 Fieldbus A Selects the fieldbus A interface as the source of the start and stop commands for external control location 1 22 11 Speed ref1 source 4 FB A ref1 Selects the fieldbus A reference 1 as the source for speed reference 1 31 11 Fault reset selection 06 1 7 Selects the fieldbus interface as the source for the fault reset signal 1 Read only or automatically detected set 2 Ex...

Page 84: ...e Refer to the documentation of your client for more information Modbus register maps The Modbus register map which the adapter module presents to the Modbus client is selected with parameter 02 PROTOCOL PROFILE see page 51 For Modbus register map definitions see chapter Modbus TCP Communication protocol For definitions of the Control word Status word references and actual values for a given commu...

Page 85: ...on profiles are ways of conveying control commands Control word Status word references and actual values between the Modbus client and the drive With the FENA adapter module the Modbus TCP network may employ either the ABB Drives profile or one of two Transparent modes for 16 bit and 32 bit words respectively For the ABB Drives profile data is converted by the adapter module into the native profil...

Page 86: ...cation profile Refer to the drive manuals for details on the native profiles FENA Drive Profile selection ABB Drives profile Native profile eg DCU FBA Data conversion ABB Drives Drive specific profile1 with 16 bit words Transparent32 Drive specific profile1 with 32 bit words Modbus TCP network 1 Can be used if the native profile is supported by the drive Transparent16 Optional reference actual val...

Page 87: ...below shows the contents of the Control word for the ABB Drives communication profile The upper case boldface text refers to the states shown in the state machine on page 91 Bit Name Value STATE Description 0 OFF1_ CONTROL 1 Proceed to READY TO OPERATE 0 Stop along currently active deceleration ramp Proceed to OFF1 ACTIVE proceed to READY TO SWITCH ON unless other interlocks OFF2 OFF3 are active 1...

Page 88: ...ent and DC voltage limits in force 5 RAMP_HOLD 1 Enable ramp function Proceed to RAMP FUNCTION GENERATOR ACCELERATOR ENABLED 0 Halt ramping Ramp Function Generator output held 6 RAMP_IN_ ZERO 1 Normal operation Proceed to OPERATION Note This bit is effective only if the fieldbus interface is set as the source for this signal by drive parameters 0 Force Ramp Function Generator input to zero 7 RESET...

Page 89: ...EXT2 Effective if control location parameterized to be selected from fieldbus 0 Select External Control Location EXT1 Effective if control location parameterized to be selected from fieldbus 12 15 Reserved or freely programmable control bits Not supported with ACS355 Bit Name Value STATE Description 0 RDY_ON 1 READY TO SWITCH ON 0 NOT READY TO SWITCH ON 1 RDY_RUN 1 READY TO OPERATE 0 OFF1 ACTIVE 2...

Page 90: ...n supervision limit 11 EXT_CTRL_ LOC 1 External Control Location EXT2 selected Note concerning ACS880 This bit is effective only if the fieldbus interface is set as the target for this signal by drive parameters User bit 0 selection 06 33 0 External Control Location EXT1 selected 12 EXT_RUN_ ENABLE 1 External Run Enable signal received Note concerning ACS880 This bit is effective only if the field...

Page 91: ...0 I 0 Emergency 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 ABB Drives communication profile SWITCH ON INHIBITED NOT READY TO SWITCH ON READY TO SWITCH ON READY TO OPERATE OPERATION INHIBITED OFF1 A...

Page 92: ...To have the drive controlled through the fieldbus you must select the module as the source for control information for example reference Scaling References are scaled as shown below Note The values of REF1 MAX and REF2 MAX are set with drive parameters See the drive manuals for further information In ACSM1 ACS850 ACQ810 ACS880 and ACS580 the speed reference REFx in decimal 0 20000 corresponds to 0...

Page 93: ...of the drive The functions to be monitored are selected with a drive parameter Scaling Actual values are scaled as shown below Note The values of REF1 MAX and REF2 MAX are set with drive parameters See the drive manuals for further information 0 REFx MAX REFx MAX 0 ACT2 10000 ACT1 20000 ACT2 10000 ACT1 20000 Drive Fieldbus ...

Page 94: ...94 Modbus TCP Communication profiles ...

Page 95: ...over TCP connection on an IP network The FENA adapter module acts as a Modbus TCP server with support for the ABB Drives and Transparent profiles The adapter module also supports Modbus over UDP The only difference between Modbus TCP and Modbus UDP is that in Modbus UDP the transport layer protocol is UDP instead of TCP The supported Modbus commands are listed in section Function codes on page 96 ...

Page 96: ...us Holding register addresses Modbus client devices that are limited to 5 digit decimal addressing may still access registers 400001 to 409999 by using 5 digit decimal addresses 40001 to 49999 Registers 410000 465536 are inaccessible to these clients Function codes The adapter module supports the Modbus function codes shown below Function code Name Description 03h Read Holding Registers Reads the ...

Page 97: ...tification and other information of the server Parameter Read Device ID code allows one to define three access types 01 Request to get the basic device identification stream access 02 Request to get the regular device identification stream access 04 Request to get one specific identification object individual access Object ID Name 00h Vendor Name 01h Product Code 02h Major Minor Revision 03h Vendo...

Page 98: ...on 01h ILLEGAL FUNCTION The function code received in the query is not an allowable action for the server 02h ILLEGAL DATA ADDRESSS The data address received in the query is to an allowable address for the server 03h ILLEGAL DATA VALUE A value contained in the query data field is not an allowable value for the server 04h SLAVE DEVICE FAILURE An unrecoverable error occurred while the server was att...

Page 99: ...rence 2 4 00004 ABB Drives Profile Status 4 00005 ABB Drive Profile Actual 1 4 00006 ABB Drive Profile Actual 2 4 00101 4 09999 Drive Parameter Access 16 bit Register Address 4 00000 100 Group Index Example for Drive Parameter 3 18 4 00000 100 3 18 400318 4 20000 4 29999 Drive Parameter Access 32 bit not supported with ACS355 Register Address 4 20000 200 Group 2 Index Example for Drive Parameter 1...

Page 100: ...dress 1 2 Register Data 16 bit 4 00001 ABB Drives Profile Control 4 00002 ABB Drives Profile Reference 1 4 00003 ABB Drives Profile Reference 2 4 00004 DATA OUT 1 4 00005 DATA OUT 2 4 00006 DATA OUT 3 4 00007 DATA OUT 4 4 00008 DATA OUT 5 4 00009 DATA OUT 6 4 00010 DATA OUT 7 4 00011 DATA OUT 8 4 00012 DATA OUT 9 4 00013 DATA OUT 10 4 00014 DATA OUT 11 4 00015 DATA OUT 12 4 00051 ABB Drives Profil...

Page 101: ...0000 4 29999 Drive Parameter Access 32 bit not supported with ACS355 Register Address 4 20000 200 Group 2 Index Example for Drive Parameter 1 27 4 20000 200 1 2 27 420254 1 6 digit register addressing 4 00001 is used instead of 5 digit register addressing 4 0001 to describe register map See section Register addressing on page 96 for additional information 2 Register addresses of the 32 bit paramet...

Page 102: ...e Profile Reference 2 4 00004 DATA OUT 1 4 00005 DATA OUT 2 4 00006 DATA OUT 3 4 00007 DATA OUT 4 4 00008 DATA OUT 5 4 00009 DATA OUT 6 4 00010 DATA OUT 7 4 00011 DATA OUT 8 4 00012 DATA OUT 9 4 00013 DATA OUT 10 4 00014 DATA OUT 11 4 00015 DATA OUT 12 4 00051 Native Drive Profile Status 4 00052 Native Drive Profile Actual 1 4 00053 Native Drive Profile Actual 2 4 00054 DATA IN 1 4 00055 DATA IN 2...

Page 103: ...gister Address 4 20000 200 Group 2 Index Example for Drive Parameter 1 27 4 20000 200 1 2 27 420254 1 6 digit register addressing 4 00001 is used instead of 5 digit register addressing 4 0001 to describe register map See section Register addressing on page 96 for additional information 2 Register addresses of the 32 bit parameters cannot be accessed by using 5 digit register numbers Register Addre...

Page 104: ...ATA OUT 7 4 00014 DATA OUT 8 4 00015 DATA OUT 9 4 00016 DATA OUT 10 4 00017 DATA OUT 11 4 00018 DATA OUT 12 4 00051 Native Drive Profile Status Least Significant 16 bits 4 00052 Native Drive Profile Status Most Significant 16 bits 4 00053 Native Drive Profile Actual 1 Least Significant 16 bits 4 00054 Native Drive Profile Actual 1 Most Significant 16 bits 4 00055 Native Drive Profile Actual 2 Leas...

Page 105: ...ter 3 18 4 00000 100 3 18 400318 4 20000 4 29999 Drive Parameter Access 32 bit not supported with ACS355 Register Address 4 20000 200 Group 2 Index Example for Drive Parameter 1 27 4 20000 200 1 2 27 420254 1 6 digit register addressing 4 00001 is used instead of 5 digit register addressing 4 0001 to describe register map See section Register addressing on page 96 for additional information 2 Regi...

Page 106: ...106 Modbus TCP Communication protocol ...

Page 107: ...s chapter This chapter explains how to trace faults with the status LEDs on the adapter module when the module is used for Modbus TCP communication Fault and warning messages For the fault and warning messages concerning the adapter module see the drive firmware manual ...

Page 108: ... Function HOST Blinking green Establishing communication to host Green Connection to host OK Blinking red Communication to host lost temporarily Flashing orange alternating with the MODULE flashing orange Internal file system error The error may be cleared by cycling drive power If the error persists contact your local ABB representative ...

Page 109: ... disabled Duplicate Address Detection may have detected a duplicate address Check the IP configuration and either initiate a Fieldbus Adapter parameter refresh or cycle power to the drive Flashing orange alternating with the HOST flashing orange Internal file system error The error may be cleared by cycling drive power If the error persists contact your local ABB representative NETWORK NET Off Eth...

Page 110: ...r registers 0 Do nothing 1 Reset 4 00091 Function code of the failed query 4 00092 Internal error code see the error number 4 00093 Failed register 4 00094 Last register that was written successfully 4 00095 Last register that was read successfully Error code Description Situation 0x00 No error Used when a Modbus query was successful 0x02 Low or high limit exceeded Change access with a value outsi...

Page 111: ...s not zero An attempt to write a 16 bit parameter with a 32 register address and the MSB bytes are not zero 0x73 LSB query start An attempt to access only the LSB register of the 32 bit parameter 0x74 MSB query end An attempt to access only the MSB register of the 32 bit parameter Error code Description Situation ...

Page 112: ...112 Modbus TCP Diagnostics ...

Page 113: ...EtherNet IP protocol EtherNet IP Start up 115 EtherNet IP Communication profiles 159 EtherNet IP Communication protocol 181 EtherNet IP Diagnostics 241 ...

Page 114: ......

Page 115: ...n configuring the drive for operation with the adapter module drive specific instructions on starting up the drive with the adapter module examples of configuring the client for communication with the adapter module Warnings WARNING Obey the safety instructions given in this manual and the drive documentation ...

Page 116: ...ive specific start up sections starting on page 133 Once communication between the drive and the adapter module has been established several configuration parameters are copied to the drive These parameters are shown in the tables below and must be checked first and adjusted where necessary You can adjust the parameters via a drive control panel a PC tool or a web user interface For more informati...

Page 117: ...he value cannot be adjusted by the user If the value is 0 None the communication between the drive and the module has not been established 128 ETHER NET 02 PROTOCOL PROFILE Selects the application protocol and communication profile for the network connection The selections available for EtherNet IP communication are listed below 1 0 Modbus TCP ABB Drives profile Classic 01 ACS355 FB PAR 2 ACSM1 FB...

Page 118: ... FBA PAR4 ACS850 ACQ810 FBA par4 ACS880 ACS580 IP configuration 0 Static IP Configuration will be obtained from parameters 05 13 1 Dyn IP DHCP Configuration will be obtained via DHCP 05 IP ADDRESS 1 An IP address is assigned to each IP node on a network An IP address is a 32 bit number that is typically represented in dotted decimal notation consisting of four decimal integers on the range 0 255 s...

Page 119: ...in the table below 0 ACS355 FB PAR 9 ACSM1 FBA PAR9 ACS850 ACQ810 FBA par9 ACS880 ACS580 Subnet CIDR 1 31 Subnet mask in CIDR notation No Name Value Description Default Dotted decimal CIDR Dotted decimal CIDR 255 255 255 254 31 255 254 0 0 15 255 255 255 252 30 255 252 0 0 14 255 255 255 248 29 255 248 0 0 13 255 255 255 240 28 255 240 0 0 12 255 255 255 224 27 255 224 0 0 11 255 255 255 192 26 25...

Page 120: ...ers 10 13 define the four octets of the gateway address 0 ACS355 FB PAR 10 ACSM1 FBA PAR10 ACS850 ACQ810 FBA par10 ACS880 ACS580 GW address 1 0 255 GW address 13 GW ADDRESS 4 See parameter 10 GW ADDRESS 1 0 ACS355 FB PAR 13 ACSM1 FBA PAR13 ACS850 ACQ810 FBA par13 ACS880 ACS580 GW address 4 0 255 GW address 14 18 Reserved These parameters are not used by the adapter module when the module is config...

Page 121: ... the value of this parameter plus one For example if the parameter has a value of 99 and a reference of 1000 given by the master the reference will be multiplied by 99 1 100 and forwarded to the drive as 100000 According to the DCU profile this value is interpreted as a reference of 100 rpm in the drive With ACSM1 ACS850 ACQ810 ACS880 and ACS580 setting this parameter to 65535 provides an approxim...

Page 122: ...fault Connection type Control timeout Timeout source I O messaging Class 1 0 65535 Requested Packet Interval X Connection Timeout Multiplier Note Timeout behavior may be modified by Watchdog Timeout Action attribute of Connection object Connected explicit messaging Class 3 0 Requested Packet Interval X Connection Timeout Multiplier Note Timeout behavior may be modified by Watchdog Timeout Action a...

Page 123: ...lost 0 65535 Control timeout value 21 IDLE ACTION I O connections may include a Run Idle notification This parameter determines the action the drive takes in response to an Idle notification 0 Off line ACS355 FB PAR 21 ACSM1 FBA PAR21 ACS850 ACQ810 FBA par21 ACS880 ACS580 Idle action 0 Off line In the event of an Idle notification the adapter module signals the drive that communication with the cl...

Page 124: ...eived via EtherNet IP This parameter only applies to the ODVA AC DC drive profile 0 Ramp ACS355 FB PAR 22 ACSM1 FBA PAR22 ACS850 ACQ810 FBA par22 ACS880 ACS580 Stop function 0 Ramp The motor decelerates along the active deceleration ramp 1 Coast The motor comes to a stop by coasting No Name Value Description Default ...

Page 125: ... of drive parameter No Name Value Description Default ODVA speed scale value1 Speed scale value of drive parameter2 Unit 5 123 32 RPM 4 124 16 RPM 3 125 8 RPM 2 126 4 RPM 1 127 2 RPM 0 default 128 1 RPM 1 129 0 5 RPM 2 130 0 25 RPM 3 131 0 125 RPM 4 132 0 0625 RPM 5 133 0 03125 RPM 1 Use the ODVA speed scale value when reading writing parameter ODVA SPEED SCALE via AC DC drive object class 2Ah Whe...

Page 126: ...s are not used by the adapter module when the module is configured for EtherNet IP N A No Name Value Description Default ODVA torque scale value1 Torque scale value of drive parameter2 Unit 5 123 32 N m 4 124 16 N m 3 125 8 N m 2 126 4 N m 1 127 2 N m 0 default 128 1 N m 1 129 0 5 N m 2 130 0 25 N m 3 131 0 125 N m 4 132 0 0625 N m 5 133 0 03125 N m 1 Use the ODVA torque scale value when reading w...

Page 127: ...in the memory of the drive In format xyz where x major revision number y minor revision number z correction number OR in format axyz where a major revision number xy minor revision numbers z correction number or letter N A ACS355 FILE CPI FW REV ACSM1 PAR TABLE VER ACS850 ACQ810 Par table ver ACS880 ACS580 FBA A B par table ver Parameter table revision 29 DRIVE TYPE CODE Read only Displays the dri...

Page 128: ...OR 4 Off line ACS355 FBA STATUS ACSM1 D2FBA COMM STA ACS850 ACQ810 D2FBA comm sta ACS880 ACS580 D2FBA A B comm status 0 Idle Adapter is not configured 1 Exec init Adapter is initializing 2 Time out A timeout has occurred in the communication between the adapter and the drive 3 Conf err Adapter configuration error The major or minor revision code of the common program revision in the fieldbus adapt...

Page 129: ...comm sw ver ACS880 ACS580 FBA A B comm SW ver Common program version of the adapter module 33 FBA APPL SW VER Read only Displays the application program revision of the adapter module in format axyz where a major revision number xy minor revision numbers z correction number or letter N A ACS355 FBA APPL FW REV ACSM1 FBA APPL SW VER ACS850 ACQ810 FBA appl sw ver ACS880 ACS580 FBA A B appl SW ver Ap...

Page 130: ...tion DATA OUT 1 value received by the drive from the EtherNet IP client The content is defined by a decimal number in the range of 0 to 9999 as follows 0 None ACS355 FBA DATA OUT 1 ACSM1 FBA DATA OUT1 ACS850 ACQ810 FBA data out1 ACS880 ACS580 FBA A B data out1 0 None Not used 101 9999 Parameter index with format xxyy where xx is the parameter group number 1 99 yy is the parameter number index with...

Page 131: ...n location DATA IN 1 value sent by the drive to the EtherNet IP client The content is defined by a decimal number in the range of 0 to 9999 as follows 0 None ACS355 FBA DATA IN 1 ACSM1 FBA DATA IN1 ACS850 ACQ810 FBA data in1 ACS880 ACS580 FBA A B data in1 0 None Not used 101 9999 Parameter index with format xxyy where xx is the parameter group number 1 99 yy is the parameter number index within th...

Page 132: ...to separately determine the source for each type of control information Start Stop Direction Reference Fault reset etc To give the fieldbus client the most complete control over the drive you must select the adapter module as the source of this information The drive specific parameter setting examples below contain the drive control parameters relevant in the examples For a complete parameter list...

Page 133: ...fieldbus communication break 5 With parameter 3019 COMM FAULT TIME define the time between communication break detection and the selected action 6 Define the process data transferred to and from the drive in parameter groups 54 and 55 Note The adapter module assigns the Control word Status word references 1 2 and actual values 1 2 automatically to cyclical communication according to the selected a...

Page 134: ...ds to an equal amount of rpm in the drive The reference value sent from the PLC is limited by parameter 1105 REF1 MAX in the forward and reverse directions The minimum and maximum 16 bit integer values that can be given through the fieldbus are 32768 and 32767 respectively The table below gives the recommended drive parameter settings Bytes Instance 121 Instance 171 0 1 Control word Status word 2 ...

Page 135: ...UNC 1 FAULT2 Enables fieldbus communication fault monitoring 3019 COMM FAULT TIME 3 0 s2 Defines the fieldbus communication break supervision time 5401 FBA DATA IN 1 1062 Power 5402 FBA DATA IN 2 1072 DC bus voltage 5501 FBA DATA OUT 1 12022 Constant speed 1 5502 FBA DATA OUT 2 12032 Constant speed 2 5127 FBA PAR REFRESH 1 REFRESH Validates the FENA 01 11 21 configuration parameter settings 9904 M...

Page 136: ...mal ENABLED Running forward OR Enter 2h 2 decimal ENABLED Running reverse 1601 RUN ENABLE 7 COMM Selects the fieldbus interface as the source for the inverted Run enable signal Run disable 1604 FAULT RESET SEL 8 COMM Selects the fieldbus interface as the source for the fault reset signal 1 Read only or automatically detected set 2 Example Drive parameter Setting for ACS355 drives Description ...

Page 137: ...n break detection and the selected action 5 Select application specific values for parameters 50 04 50 11 Examples of appropriate values are shown in the tables below 6 Set the module configuration parameters in group 51 At the minimum select the communication protocol and profile with parameter 51 02 and configure the network settings with parameters 51 03 51 13 7 Define the process data transfer...

Page 138: ...o the ODVA AC DC drive profile For more information see section ODVA AC DC drive profile on page 161 When Reference 1 REF1 is used for speed control and the value of parameter 51 23 is 128 an ODVA speed reference value of 30000 decimal corresponds to an equal amount of rpm in the drive The speed reference value sent by the PLC is limited by parameter 20 01 MAXIMUM SPEED in the forward direction an...

Page 139: ...EtherNet IP protocol and the ODVA AC DC drive profile 51 03 FBA PAR3 COMMRATE 0 Auto2 Ethernet communication rate is negotiated automatically by the device 51 04 FBA PAR4 IP CONFIGURATION 0 Static IP 2 Configuration will be obtained from parameters 05 13 51 05 FBA PAR5 IP ADDRESS 1 1922 First part of the IP address 51 06 FBA PAR6 IP ADDRESS 2 1682 Second part of the IP address 51 07 FBA PAR7 IP AD...

Page 140: ...e FENA 11 21 configuration parameter settings 10 01 EXT1 START FUNC FBA Selects the fieldbus interface as the source of the start and stop commands for external control location 1 24 01 SPEED REF1 SEL FBA REF1 Selects the fieldbus reference 1 as the source for speed reference 1 34 01 EXT1 EXT2 SEL C FALSE Selects that the external control location is always EXT1 34 03 EXT1 CTRL MODE1 Speed Selects...

Page 141: ...pter module and the drive In ACQ810 you can select the control locations to be monitored with parameter 50 21 Comm loss enable By default the monitoring is enabled in both control locations EXT1 and EXT2 4 With parameter 50 03 Comm loss t out define the time between communication break detection and the selected action 5 Select application specific values for parameters 50 04 50 11 Examples of app...

Page 142: ...Speed control using the ODVA AC DC drive profile Extended speed control assembly This example shows how to configure a speed control application that uses the ODVA AC DC drive profile Extended speed control assembly In addition some application specific data is added to the communication The start stop commands and reference scaling are according to the ODVA AC DC drive profile For more informatio...

Page 143: ...0 02 Comm loss func Fault2 Enables fieldbus communication fault monitoring 50 03 Comm loss t out 3 0 s2 Defines the fieldbus communication break supervision time 50 04 Fb ref1 modesel Speed Selects the fieldbus reference 1 scaling 51 01 FBA type Ethernet1 Displays the type of the fieldbus adapter module 51 02 FBA par2 PROTOCOL PROFILE 100 EIP AC DC Selects the EtherNet IP protocol and the ODVA AC ...

Page 144: ... par23 ODVA SPEED SCALE 1282 Sets the scaling for the ODVA speed reference 52 01 FBA data in1 1222 Power 52 03 FBA data in3 1072 DC bus voltage 53 01 FBA data out1 26062 Constant speed 1 53 03 FBA data out3 26072 Constant speed 2 51 27 FBA par refresh Refresh Validates the FENA 11 21 configuration parameter settings 10 01 Ext1 start func FB Selects the fieldbus interface as the source of the start...

Page 145: ...e and communication between the adapter module and the drive 4 With parameter 50 03 FBA A comm loss t out define the time between communication break detection and the selected action 5 Select application specific values for the rest of the parameters in group 50 starting from 50 04 Examples of appropriate values are shown in the tables below 6 Set the module configuration parameters in group 51 A...

Page 146: ...application specific data is added to the communication The start stop commands and reference scaling are according to the ODVA AC DC drive profile For more information see section ODVA AC DC drive profile on page 161 When Reference 1 REF1 is used for speed control and the value of parameter 51 23 is 128 an ODVA speed reference value of 30000 decimal corresponds to an equal amount of rpm in the dr...

Page 147: ... 100 EIP AC DC Selects the EtherNet IP protocol and the ODVA AC DC drive profile 51 03 Commrate 0 Auto2 Ethernet communication rate is negotiated automatically by the device 51 04 IP configuration 0 Static IP2 Configuration will be obtained from configuration parameters 05 13 51 05 IP address 1 1922 First part of the IP address 51 06 IP address 2 1682 Second part of the IP address 51 07 IP address...

Page 148: ...erse 51 27 FBA A par refresh 1 Refresh Validates the FENA 11 21 configuration parameter settings 20 01 Ext1 commands 12 Fieldbus A Selects the fieldbus A interface as the source of the start and stop commands for external control location 1 22 11 Speed ref1 source 4 FB A ref1 Selects the fieldbus A reference 1 as the source for speed reference 1 1 Read only or automatically detected set 2 Example ...

Page 149: ...emblies and objects are available See chapter EtherNet IP Communication profiles for more information Select output and input assembly instances EtherNet IP devices implement multiple objects each with many attributes While it is possible to write or read each attribute separately to control the drive this is inefficient Assembly object instances provide a means to group writes or reads of attribu...

Page 150: ...ves profile ABB Drives Profile w Set Speed and Set Torque plus Drive Parameters 102 152 26 ABB Drives profile Transparent16 w One 11 61 4 Transparent16 profile Transparent16 w Two 12 62 6 Transparent16 profile Transparent16 w One plus Drive Parameters 111 161 24 Transparent16 profile Transparent16 w Two plus Drive Parameters 112 162 26 Transparent16 profile Transparent32 w One 21 71 8 Transparent3...

Page 151: ...iguring an I O scanner to write and read assembly object instances Connected explicit messaging The adapter module supports Class 3 connected explicit messaging Class 3 connected explicit messages are typically established by using a message instruction to write or read an attribute Note When using Class 3 explicit messaging some EtherNet IP clients may close the connection after the MSG instructi...

Page 152: ...oduct code device type and major revision attributes To enable the use of different ABB drive types on the same EtherNet IP network a unique product code has been given to each drive type and application combination EDS files are available from the Document library www abb com drives Note Only one EDS file with the same EtherNet IP product code can be installed in the PLC at a time ...

Page 153: ...ation with the adapter module by using the RSLogix 5000 software as the configuration tool 1 Start the RSLogix software and open create an RSLogix project Note It is assumed that the PLC configuration has already been established in the RSLogix project 2 In the RSLogix I O right click the EtherNet IP communication module and select New Module ...

Page 154: ...154 EtherNet IP Start up 3 In the Select Module window select ETHERNET MODULE ...

Page 155: ...ow uses the ODVA AC DC assembly instances 121 and 171 For more information on the input output assembly instances see chapter EtherNet IP Communication protocol Input assembly instances Output assembly instances PLC word settings 70 20 2 71 21 2 72 22 3 73 23 3 170 120 12 171 121 12 172 122 13 173 123 13 51 1 2 52 2 3 151 101 12 152 102 13 61 11 2 62 12 3 161 111 12 162 112 13 ...

Page 156: ... will transmit and receive 12 words Type a name for the adapter module Type the Input and Output Assembly Instance numbers Select the sizes of the Input and Output words for the adapter module FENA uses 16 bit words Change Comm Format to Data INT 16 bits Type the IP address of the adapter module Set Configuration as 1 and Size as 0 ...

Page 157: ...EtherNet IP Start up 157 6 Click OK The adapter module is now added to the PLC I O 7 Click the FENA module to open the Module Properties window ...

Page 158: ...art up 8 On the Connection tab select the Requested Packet Interval RPI for the adapter module I O communication 9 Download the new configuration to the PLC The PLC is now ready for communication with the adapter module ...

Page 159: ...es are ways of conveying control commands Control word Status word references and actual values between the master station and the drive With the FENA adapter module the EtherNet IP network may employ either the ODVA AC DC drive profile or the ABB Drives profile Both are converted to the native profile eg DCU or FBA by the adapter module In addition two Transparent modes for 16 bit and 32 bit word...

Page 160: ...he drive manuals for details on the native profiles FENA Drive Profile selection ABB Drives profile Data conversion ABB Drives Drive specific profile1 with 16 bit words Transparent32 Drive specific profile1 with 32 bit words EtherNet IP network 1 Can be used if the native profile is supported by the drive Transparent16 ODVA AC DC ODVA AC DC profile Native profile eg DCU FBA Optional reference actu...

Page 161: ...y Service Class Instance Attribute Behavior For example to set the drive speed reference the Set_Attribute_Single service can be requested for the SpeedRef attribute of the AC DC drive object class The resulting behavior is that the reference speed of the drive is set to the requested value This is an example of explicit messaging where each attribute of a class is set individually While this is a...

Page 162: ...te Control supervisor object on page 167 Fault Reset Control supervisor object This attribute resets a drive fault on a transition from zero to one if the condition that caused the fault has been cleared Net Ctrl Control supervisor object This attribute requests that the drive Run Stop command be supplied locally Net Ctrl 0 or by the network Net Ctrl 1 Net Ref AC DC drive object This attribute req...

Page 163: ...uency reference The ODVA AC DC drive profile uses rpm units for the speed reference The drive frequency reference is calculated as follows where For example for a 4 pole 60 Hz motor Mss 1800 rpm with a unit of 1 rpm and an ODVA Speed Reference of 900 the drive frequency reference is Dfr Drive Frequency Reference in Hz Osr ODVA Speed Reference Us ODVA Speed Unit see 23 ODVA SPEED SCALE on page 125 ...

Page 164: ...C DC drive profile uses rpm units for the speed reference The drive speed reference is calculated as follows where For example for an ODVA Speed Reference of 900 rpm with a unit of 0 5 rpm the drive speed reference is Dsr Drive Speed Reference in rpm Osr ODVA Speed Reference Us ODVA Speed Unit see 23 ODVA SPEED SCALE on page 125 Us Osr Dsr 450rpm 0 5rpm 900 Us Osr Dsr ...

Page 165: ... motor nominal torque The ODVA AC DC drive profile uses Newton meter N m units for the torque reference The drive torque reference is calculated as follows where For example for a 1000 N m Motor Nominal Torque with a unit of 1 N m and an ODVA Torque Reference of 500 the drive torque reference is Dtr Drive Torque Reference in Percent of Motor Nominal Torque Otr ODVA Torque Reference Ut ODVA Torque ...

Page 166: ...e of the Control supervisor object Running Forward Control supervisor object This attribute indicates that the drive is running in the forward direction Running Reverse Control supervisor object This attribute indicates that the drive is running in the reverse direction Ready Control supervisor object This attribute indicates that the Control supervisor object state machine is in the Ready Running...

Page 167: ... the drive is operating at the specified speed or torque reference State Control supervisor object This attribute indicates the current state of the Control supervisor object State Description State Description 0 Vendor Specific 4 Enabled 1 Startup 5 Stopping 2 Not Ready 6 Fault Stop 3 Ready 7 Faulted ...

Page 168: ...wn below Non Existent Startup Not Ready Ready Enabled Faulted Fault stop Stopping Power off ALM 1 ALM 1 DEC 1 DEC 0 Power on AND not RDY ALM 1 FaultRst FWD OR REV ALM 1 DEC 0 Power on Power on Power on AND RDY FWD OR REV ALM Alarm DEC Deceleration FWD Forward REV Reverse RDY Ready ...

Page 169: ...pter module with a frequency actual The ODVA AC DC drive profile uses rpm units for the speed actual The ODVA Speed Actual is calculated as follows where For example for a 4 pole 60 Hz motor Mss 1800 rpm with a unit of 1 rpm and a Drive Frequency Actual of 30 Hz the ODVA Speed Actual is Osa ODVA Speed Actual Dfa Drive Frequency Actual in Hz Us ODVA Speed Unit see 23 ODVA SPEED SCALE on page 125 Mf...

Page 170: ...e ODVA AC DC drive profile uses rpm units for the speed actual The ODVA Speed Actual is calculated as follows where For example for a Drive Speed Actual of 900 rpm with a unit of 0 5 rpm the ODVA Speed Actual is Dsa Drive Speed Actual in rpm Osa ODVA Speed Actual Us ODVA Speed Unit see 23 ODVA SPEED SCALE on page 125 Us Dsa Osa 900 rpm 0 5 rpm 450 Us Dsa Osa ...

Page 171: ...l in percent of the Motor Nominal Torque The ODVA AC DC drive profile uses Newton meter N m units for the torque actual The ODVA Torque Actual is calculated as follows where For example for a 1000 N m Motor Nominal Torque with a unit of 1 N m and a drive torque actual of 50 the ODVA Torque Actual is Dta Drive Torque Actual in Percent of Motor Nominal Torque Ota ODVA Torque Actual Ut ODVA Torque Un...

Page 172: ... below shows the contents of the Control word for the ABB Drives communication profile The upper case boldface text refers to the states shown in the state machine on page 177 Bit Name Value STATE Description 0 OFF1_ CONTROL 1 Proceed to READY TO OPERATE 0 Stop along currently active deceleration ramp Proceed to OFF1 ACTIVE proceed to READY TO SWITCH ON unless other interlocks OFF2 OFF3 are active...

Page 173: ...rent and DC voltage limits in force 5 RAMP_HOLD 1 Enable ramp function Proceed to RAMP FUNCTION GENERATOR ACCELERATOR ENABLED 0 Halt ramping Ramp Function Generator output held 6 RAMP_IN_ ZERO 1 Normal operation Proceed to OPERATION Note This bit is effective only if the fieldbus interface is set as the source for this signal by drive parameters 0 Force Ramp Function Generator input to zero 7 RESE...

Page 174: ...e drive except for CW bits OFF1 OFF2 and OFF3 11 EXT_CTRL_ LOC 1 Select External Control Location EXT2 Effective if control location parameterized to be selected from fieldbus 0 Select External Control Location EXT1 Effective if control location parameterized to be selected from fieldbus 12 15 Reserved Bit Name Value STATE Description ...

Page 175: ... 0 OFF1 ACTIVE 2 RDY_REF 1 OPERATION ENABLED 0 OPERATION INHIBITED 3 TRIPPED 1 FAULT 0 No fault 4 OFF_2_STA 1 OFF2 inactive 0 OFF2 ACTIVE 5 OFF_3_STA 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 OPERATION Actual value equals reference is within tolerance limits ie in speed control speed error is 10 max of nominal ...

Page 176: ...dbus interface is set as the target for this signal by drive parameters User bit 0 selection 06 33 0 External Control Location EXT1 selected 12 EXT_RUN_ ENABLE 1 External Run Enable signal received Note concerning ACS880 This bit is effective only if the fieldbus interface is set as the target for this signal by drive parameters User bit 1 selection 06 34 0 No External Run Enable signal received 1...

Page 177: ... 0 I 0 Emergency 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 ABB Drives communication profile SWITCH ON INHIBITED NOT READY TO SWITCH ON READY TO SWITCH ON READY TO OPERATE OPERATION INHIBITED OFF1 ...

Page 178: ... the drive controlled through the fieldbus you must select the module as the source for control information for example reference Scaling References are scaled as shown below Note The values of REF1 MAX and REF2 MAX are set with drive parameters See the drive manuals for further information In ACSM1 ACS850 ACQ810 ACS880 and ACS580 the speed reference REFx in decimal 0 20000 corresponds to 0 100 of...

Page 179: ... of the drive The functions to be monitored are selected with a drive parameter Scaling Actual values are scaled as shown below Note The values of REF1 MAX and REF2 MAX are set with drive parameters See the drive manuals for further information 0 REFx MAX REFx MAX 0 ACT2 10000 ACT1 20000 ACT2 10000 ACT1 20000 Drive Fieldbus ...

Page 180: ...180 EtherNet IP Communication profiles ...

Page 181: ...ded for supervision and control of automation equipment Specifically it covers the use of CIP messaging over an IP network typically using Ethernet as the media The FENA adapter module acts as a server on an EtherNet IP network with support for the ODVA AC DC drive ABB Drives and Transparent profiles Two simultaneous EtherNet IP connections are supported that is two clients can be connected to the...

Page 182: ...actical and more efficient to group attributes from different objects into a single I O connection using the assembly object The assembly object acts as a tool for grouping these attributes The assembly selections described above are in fact instances of the assembly object class The adapter module uses static assemblies in other words fixed groupings of different object data only The following ta...

Page 183: ...C profile Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Running1 Fwd Faulted 1 2 Speed Actual Low Byte 3 Speed Actual High Byte Instance 120 ODVA AC DC profile Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Fault Reset Run Fwd 1 2 Speed Reference Low Byte 3 Speed Reference High Byte 4 DATA OUT 1 Value Low Byte 5 DATA OUT 1 Value High Byte 6 DATA OUT 2 Value Low Byte 7 DATA OUT 2 V...

Page 184: ...gh Byte 22 DATA OUT 10 Value Low Byte 23 DATA OUT 10 Value High Byte Instance 170 ODVA AC DC profile Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Running1 Fwd Faulted 1 2 Speed Actual Low Byte 3 Speed Actual High Byte 4 DATA IN 1 Value Low Byte 5 DATA IN 1 Value High Byte 6 DATA IN 2 Value Low Byte 7 DATA IN 2 Value High Byte 8 DATA IN 3 Value Low Byte 9 DATA IN 3 Value High Byte 10 DATA...

Page 185: ... 16 DATA IN 7 Value Low Byte 17 DATA IN 7 Value High Byte 18 DATA IN 8 Value Low Byte 19 DATA IN 8 Value High Byte 20 DATA IN 9 Value Low Byte 21 DATA IN 9 Value High Byte 22 DATA IN 10 Value Low Byte 23 DATA IN 10 Value High Byte Instance 21 ODVA AC DC profile Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 NetRef NetCtrl Fault Reset Run Rev Run Fwd 1 2 Speed Reference Low Byte 3 Speed Ref...

Page 186: ... 2 Bit 1 Bit 0 0 At Refer ence Ref From Net Ctrl From Net Ready Run ning2 Rev Run ning1 Fwd Warn ing Faulted 1 Drive State See section State Control supervisor object on page 167 2 Speed Actual Low Byte 3 Speed Actual High Byte Instance 121 ODVA AC DC profile Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Net Ref Net Ctrl Fault Reset Run Rev Run Fwd 1 2 Speed Reference Low Byte 3 Speed Ref...

Page 187: ... High Byte 22 DATA OUT 10 Value Low Byte 23 DATA OUT 10 Value High Byte Instance 171 ODVA AC DC profile Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 At Refer ence Ref From Net Ctrl From Net Ready Run ning2 Rev Run ning1 Fwd Warn ing Faulted 1 Drive State See section State Control supervisor object on page 167 2 Speed Actual Low Byte 3 Speed Actual High Byte 4 DATA IN 1 Value Low Byte 5 D...

Page 188: ... Byte 14 DATA IN 6 Value Low Byte 15 DATA IN 6 Value High Byte 16 DATA IN 7 Value Low Byte 17 DATA IN 7 Value High Byte 18 DATA IN 8 Value Low Byte 19 DATA IN 8 Value High Byte 20 DATA IN 9 Value Low Byte 21 DATA IN 9 Value High Byte 22 DATA IN 10 Value Low Byte 23 DATA IN 10 Value High Byte Instance 171 ODVA AC DC profile Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 ...

Page 189: ...ly is Instance 22 ODVA AC DC profile Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Fault Reset Run Fwd 1 2 Speed Reference Low Byte 3 Speed Reference High Byte 4 Torque Reference Low Byte 5 Torque Reference High Byte Instance 72 ODVA AC DC profile Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Running1 Fwd Faulted 1 2 Speed Actual Low Byte 3 Speed Actual High Byte 4 Torque Actual ...

Page 190: ...it 3 Bit 2 Bit 1 Bit 0 0 Fault Reset Run Fwd 1 2 Speed Reference Low Byte 3 Speed Reference High Byte 4 Torque Reference Low Byte 5 Torque Reference High Byte 6 DATA OUT 1 Value Low Byte 7 DATA OUT 1 Value High Byte 8 DATA OUT 2 Value Low Byte 9 DATA OUT 2 Value High Byte 10 DATA OUT 3 Value Low Byte 11 DATA OUT 3 Value High Byte 12 DATA OUT 4 Value Low Byte 13 DATA OUT 4 Value High Byte 14 DATA O...

Page 191: ...lted 1 2 Speed Actual Low Byte 3 Speed Actual High Byte 4 Torque Actual Low Byte 5 Torque Actual High Byte 6 DATA IN 1 Value Low Byte 7 DATA IN 1 Value High Byte 8 DATA IN 2 Value Low Byte 9 DATA IN 2 Value High Byte 10 DATA IN 3 Value Low Byte 11 DATA IN 3 Value High Byte 12 DATA IN 4 Value Low Byte 13 DATA IN 4 Value High Byte 14 DATA IN 5 Value Low Byte 15 DATA IN 5 Value High Byte 16 DATA IN 6...

Page 192: ...e Low Byte 21 DATA IN 8 Value High Byte 22 DATA IN 9 Value Low Byte 23 DATA IN 9 Value High Byte 24 DATA IN 10 Value Low Byte 25 DATA IN 10 Value High Byte Instance 23 ODVA AC DC profile Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Net Ref Net Ctrl Fault Reset Run Rev Run Fwd 1 2 Speed Reference Low Byte 3 Speed Reference High Byte 4 Torque Reference Low Byte 5 Torque Reference High Byte...

Page 193: ...Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 At Refer ence Ref From Net Ctrl From Net Ready Run ning2 Rev Run ning1 Fwd Warn ing Faulted 1 Drive State See section State Control supervisor object on page 167 2 Speed Actual Low Byte 3 Speed Actual High Byte 4 Torque Actual Low Byte 5 Torque Actual High Byte Instance 123 ODVA AC DC profile Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 NetRef NetCtl...

Page 194: ...h Byte 20 DATA OUT 8 Value Low Byte 21 DATA OUT 8 Value High Byte 22 DATA OUT 9 Value Low Byte 23 DATA OUT 9 Value High Byte 24 DATA OUT 10 Value Low Byte 25 DATA OUT 10 Value High Byte Instance 173 ODVA AC DC profile Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 At Refer ence Ref From Net Ctrl From Net Ready Run ning2 Rev Run ning1 Fwd Warn ing Faulted 1 Drive State See section State Con...

Page 195: ...e 13 DATA IN 4 Value High Byte 14 DATA IN 5 Value Low Byte 15 DATA IN 5 Value High Byte 16 DATA IN 6 Value Low Byte 17 DATA IN 6 Value High Byte 18 DATA IN 7 Value Low Byte 19 DATA IN 7 Value High Byte 20 DATA IN 8 Value Low Byte 21 DATA IN 8 Value High Byte 22 DATA IN 9 Value Low Byte 23 DATA IN 9 Value High Byte 24 DATA IN 10 Value Low Byte 25 DATA IN 10 Value High Byte Instance 173 ODVA AC DC p...

Page 196: ...it 3 Bit 2 Bit 1 Bit 0 0 Reset Ramp in Zero Ramp Hold Ramp Out Zero Inhibit Oper ation Off 3 Control Off 2 Control Off 1 Control 1 Ext Ctrl Loc Remote Cmd 2 Set Speed Low Byte 3 Set Speed High Byte Instance 51 ABB Drives profile Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Alarm Swc On Inhib Off 3 Sta Off 2 Sta Tripped Rdy Ref Rdy Run Rdy On 1 Field bus Error Ext Run Enable Ext Ctrl Loc ...

Page 197: ... 0 Reset Ramp in Zero Ramp Hold Ramp Out Zero Inhibit Oper ation Off 3 Control Off 2 Con trol Off 1 Con trol 1 Ext Ctrl Loc Remote Cmd 2 Set Speed Low Byte 3 Set Speed High Byte 4 DATA OUT 1 Value Low Byte 5 DATA OUT 1 Value High Byte 6 DATA OUT 2 Value Low Byte 7 DATA OUT 2 Value High Byte 8 DATA OUT 3 Value Low Byte 9 DATA OUT 3 Value High Byte 10 DATA OUT 4 Value Low Byte 11 DATA OUT 4 Value Hi...

Page 198: ...ef Rdy Run Rdy On 1 Field bus Error Ext Run Enable Ext Ctrl Loc Above Limit Remote At Set point 2 Actual Speed Low Byte 3 Actual Speed High Byte 4 DATA IN 1 Value Low Byte 5 DATA IN 1 Value High Byte 6 DATA IN 2 Value Low Byte 7 DATA IN 2 Value High Byte 8 DATA IN 3 Value Low Byte 9 DATA IN 3 Value High Byte 10 DATA IN 4 Value Low Byte 11 DATA IN 4 Value High Byte 12 DATA IN 5 Value Low Byte 13 DA...

Page 199: ...ue High Byte 20 DATA IN 9 Value Low Byte 21 DATA IN 9 Value High Byte 22 DATA IN 10 Value Low Byte 23 DATA IN 10 Value High Byte Instance 2 ABB Drives profile Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Reset Ramp in Zero Ramp Hold Ramp Out Zero Inhibit Oper ation Off 3 Control Off 2 Control Off 1 Control 1 Ext Ctrl Loc Remote Cmd 2 Set Speed Low Byte 3 Set Speed High Byte 4 Set Torque ...

Page 200: ...Drives profile Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Alarm Swc On Inhib Off 3 Sta Off 2 Sta Tripped Rdy Ref Rdy Run Rdy On 1 Field bus Error Ext Run Enable Ext Ctrl Loc Above Limit Remote At Set point 2 Actual Speed Low Byte 3 Actual Speed High Byte 4 Actual Torque Low Byte 5 Actual Torque High Byte Instance 102 ABB Drives profile Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit...

Page 201: ...Value High Byte 14 DATA OUT 5 Value Low Byte 15 DATA OUT 5 Value High Byte 16 DATA OUT 6 Value Low Byte 17 DATA OUT 6 Value High Byte 18 DATA OUT 7 Value Low Byte 19 DATA OUT 7 Value High Byte 20 DATA OUT 8 Value Low Byte 21 DATA OUT 8 Value High Byte 22 DATA OUT 9 Value Low Byte 23 DATA OUT 9 Value High Byte 24 DATA OUT 10 Value Low Byte 25 DATA OUT 10 Value High Byte Instance 102 ABB Drives prof...

Page 202: ... 4 Actual Torque Low Byte 5 Actual Torque High Byte 6 DATA IN 1 Value Low Byte 7 DATA IN 1 Value High Byte 8 DATA IN 2 Value Low Byte 9 DATA IN 2 Value High Byte 10 DATA IN 3 Value Low Byte 11 DATA IN 3 Value High Byte 12 DATA IN 4 Value Low Byte 13 DATA IN 4 Value High Byte 14 DATA IN 5 Value Low Byte 15 DATA IN 5 Value High Byte 16 DATA IN 6 Value Low Byte 17 DATA IN 6 Value High Byte 18 DATA IN...

Page 203: ... 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Drive Profile 16 bit Control Word Low Byte 1 Drive Profile 16 bit Control Word High Byte 2 Drive Profile 16 bit Reference 1 Word Low Byte 3 Drive Profile 16 bit Reference 1 Word High Byte Instance 61 Transparent 16 profile Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Drive Profile 16 bit Status Word Low Byte 1 Drive Profile 16 bit Status Word High Byte ...

Page 204: ...rol Word High Byte 2 Drive Profile 16 bit Reference 1 Word Low Byte 3 Drive Profile 16 bit Reference 1 Word High Byte 4 DATA OUT 1 Value Low Byte 5 DATA OUT 1 Value High Byte 6 DATA OUT 2 Value Low Byte 7 DATA OUT 2 Value High Byte 8 DATA OUT 3 Value Low Byte 9 DATA OUT 3 Value High Byte 10 DATA OUT 4 Value Low Byte 11 DATA OUT 4 Value High Byte 12 DATA OUT 5 Value Low Byte 13 DATA OUT 5 Value Hig...

Page 205: ...h Byte 4 DATA IN 1 Value Low Byte 5 DATA IN 1 Value High Byte 6 DATA IN 2 Value Low Byte 7 DATA IN 2 Value High Byte 8 DATA IN 3 Value Low Byte 9 DATA IN 3 Value High Byte 10 DATA IN 4 Value Low Byte 11 DATA IN 4 Value High Byte 12 DATA IN 5 Value Low Byte 13 DATA IN 5 Value High Byte 14 DATA IN 6 Value Low Byte 15 DATA IN 6 Value High Byte 16 DATA IN 7 Value Low Byte 17 DATA IN 7 Value High Byte ...

Page 206: ...bit Control Word High Byte 2 Drive Profile 16 bit Reference 1 Word Low Byte 3 Drive Profile 16 bit Reference 1 Word High Byte 4 Drive Profile16 bit Reference 2 Word Low Byte 5 Drive Profile 16 bit Reference 2 Word High Byte Instance 62 Transparent 16 profile Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Drive Profile 16 bit Status Word Low Byte 1 Drive Profile 16 bit Status Word High Byte...

Page 207: ...Drive Profile 16 bit Reference 1 Word Low Byte 3 Drive Profile 16 bit Reference 1 Word High Byte 4 Drive Profile 16 bit Reference 2 Word Low Byte 5 Drive Profile 16 bit Reference 2 Word High Byte 6 DATA OUT 1 Value Low Byte 7 DATA OUT 1 Value High Byte 8 DATA OUT 2 Value Low Byte 9 DATA OUT 2 Value High Byte 10 DATA OUT 3 Value Low Byte 11 DATA OUT 3 Value High Byte 12 DATA OUT 4 Value Low Byte 13...

Page 208: ... Drive Profile 16 bit Actual 1 Word High Byte 4 Drive Profile 16 bit Actual 2 Word Low Byte 5 Drive Profile 16 bit Actual 2 Word High Byte 6 DATA IN 1 Value Low Byte 7 DATA IN 1 Value High Byte 8 DATA IN 2 Value Low Byte 9 DATA IN 2 Value High Byte 10 DATA IN 3 Value Low Byte 11 DATA IN 3 Value High Byte 12 DATA IN 4 Value Low Byte 13 DATA IN 4 Value High Byte 14 DATA IN 5 Value Low Byte 15 DATA I...

Page 209: ...e Low Byte 25 DATA IN 10 Value High Byte Instance 21 Transparent 32 profile Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Drive Profile 32 bit Control Word Low Byte 1 Drive Profile 32 bit Control Word 2 Drive Profile 32 bit Control Word 3 Drive Profile 32 bit Control Word High Byte 4 Drive Profile 32 bit Reference 1 Word Low Byte 5 Drive Profile 32 bit Reference 1 Word 6 Drive Profile 32 ...

Page 210: ...atus Word 3 Drive Profile 32 bit Status Word High Byte 4 Drive Profile 32 bit Actual 1 Word Low Byte 5 Drive Profile 32 bit Actual 1 Word 6 Drive Profile 32 bit Actual 1 Word 7 Drive Profile 32 bit Actual 1 Word High Byte Instance 121 Transparent 32 profile Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Drive Profile 32 bit Control Word Low Byte 1 Drive Profile 32 bit Control Word 2 Drive ...

Page 211: ... High Byte 22 DATA OUT 8 Value Low Byte 23 DATA OUT 8 Value High Byte 24 DATA OUT 9 Value Low Byte 25 DATA OUT 9 Value High Byte 26 DATA OUT 10 Value Low Byte 27 DATA OUT 10 Value High Byte Instance 171 Transparent 32 profile Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Drive Profile 32 bit Status Word Low Byte 1 Drive Profile 32 bit Status Word 2 Drive Profile 32 bit Status Word 3 Drive...

Page 212: ...e 14 DATA IN 4 Value Low Byte 15 DATA IN 4 Value High Byte 16 DATA IN 5 Value Low Byte 17 DATA IN 5 Value High Byte 18 DATA IN 6 Value Low Byte 19 DATA IN 6 Value High Byte 20 DATA IN 7 Value Low Byte 21 DATA IN 7 Value High Byte 22 DATA IN 8 Value Low Byte 23 DATA IN 8 Value High Byte 24 DATA IN 9 Value Low Byte 25 DATA IN 9 Value High Byte 26 DATA IN 10 Value Low Byte 27 DATA IN 10 Value High By...

Page 213: ...nce 1 Word Low Byte 5 Drive Profile 32 bit Reference 1 Word 6 Drive Profile 32 bit Reference 1 Word 7 Drive Profile 32 bit Reference 1 Word High Byte 8 Drive Profile 32 bit Reference 2 Word Low Byte 9 Drive Profile 32 bit Reference 2 Word 10 Drive Profile 32 bit Reference 2 Word 11 Drive Profile 32 bit Reference 2 Word High Byte Instance 72 Transparent 32 profile Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3...

Page 214: ...5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Drive Profile 32 bit Control Word Low Byte 1 Drive Profile 32 bit Control Word 2 Drive Profile 32 bit Control Word 3 Drive Profile 32 bit Control Word High Byte 4 Drive Profile 32 bit Reference 1 Word Low Byte 5 Drive Profile 32 bit Reference 1 Word 6 Drive Profile 32 bit Reference 1 Word 7 Drive Profile 32 bit Reference 1 Word High Byte 8 Drive Profile 32 bit Ref...

Page 215: ...yte 28 DATA OUT 9 Value Low Byte 29 DATA OUT 9 Value High Byte 30 DATA OUT 10 Value Low Byte 31 DATA OUT 10 Value High Byte Instance 172 Transparent 32 profile Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Drive Profile 32 bit Status Word Low Byte 1 Drive Profile 32 bit Status Word 2 Drive Profile 32 bit Status Word 3 Drive Profile 32 bit Status Word High Byte 4 Drive Profile 32 bit Actua...

Page 216: ...3 Value Low Byte 17 DATA IN 3 Value High Byte 18 DATA IN 4 Value Low Byte 19 DATA IN 4 Value High Byte 20 DATA IN 5 Value Low Byte 21 DATA IN 5 Value High Byte 22 DATA IN 6 Value Low Byte 23 DATA IN 6 Value High Byte 24 DATA IN 7 Value Low Byte 25 DATA IN 7 Value High Byte 26 DATA IN 8 Value Low Byte 27 DATA IN 8 Value High Byte 28 DATA IN 9 Value Low Byte 29 DATA IN 9 Value High Byte 30 DATA IN 1...

Page 217: ...imum and maximum values for attributes may be found in the drive manuals Electronic Data Sheet Files EDS for the drive Note that the units of the attributes may differ from those of the parameters documented elsewhere and those differences must be considered when interfacing to the drive via the module The table below shows the service names of the class objects Legend Data type UINT8 Unsigned Int...

Page 218: ... Revision Get Revision of the identity object Array of UINT8 Attribute name Services Description Data type 1 Vendor ID Get Identification of the device vendor UINT16 2 Device Type Get Identification of the general product type UINT16 3 Product Code Get Assigned vendor code to describe the device UINT16 4 Revision Get Revision of the item the identity object represents Array UINT8 UINT8 5 Status Ge...

Page 219: ...es as the state of the device changes The Status attribute is a WORD with the following bit definitions Drive Type Profile Device Type Value AC ODVA AC DC Drive ODVA AC Drive 02h ABB Drives Profile ABB AC Drive 64h Transparent 16 ABB AC Drive 64h Transparent 32 ABB AC Drive 64h DC ODVA AC DC Drive ODVA DC Drive 13h ABB Drives Profile ABB DC Drive 65h Transparent 16 ABB DC Drive 65h Transparent 32 ...

Page 220: ... box default This does not include configuration of the communications 3 Reserved set to 0 4 5 6 7 Vendor specific 8 Minor Recoverable Fault TRUE indicates the device detected a recoverable problem The problem does not cause the device fault state 9 Minor Unrecoverable Fault TRUE indicates the device detected a unrecoverable problem The problem does not cause the device fault state 10 Major Recove...

Page 221: ...ypes in class AC motors 3 PM synchronous 6 Wound rotor induction 7 Squirrel cage induction motor DC motors 1 PM DC motor 2 FC DC motor Attribute name Services Description Data type 1 Revision Get Revision of the CIP Object Class Definition upon which the implementation is based Array of UINT8 Attribute name Services Description Motor type Data type 3 Motor Type Get See the table above AC UINT16 6 ...

Page 222: ... object page 162 See also section State Control supervisor object on page 167 Note If assembly instances are used they override this object for example upon drive power up Class attributes Instance 0 9 Rated Frequency Get Set Rated Electrical Frequency Units Hz AC UINT16 12 Pole Count Get Number of poles in the motor AC UINT16 15 Base Speed Get Set Nominal speed at rated frequency from nameplate U...

Page 223: ...State of Object See section State Control supervisor object on page 167 UINT8 7 Running 1 Get 0 Stopped 1 Running BOOL 8 Running 2 Get 0 Stopped 1 Running BOOL 9 Ready Get 1 Ready Enabled or Stopping 0 Other state BOOL 10 Faulted Get 0 Not faulted 1 Fault occurred BOOL 11 Warning Get 0 No Warnings present 1 Warning BOOL 12 FaultRst Get Set 0 1 Fault Reset BOOL 13 Fault Code Get The fault that caus...

Page 224: ... are present the lowest code value is displayed DRIVECOMM codes are reported See the drive manual for further information on DRIVECOMM codes UINT16 15 CtlFromNet Get 0 NetControl disabled 1 NetControl enabled BOOL 16 DNFaultMode Get Set 2 Vendor specified UINT8 17 ForceFault Get Set 0 1 forces the drive to fault BOOL Attribute name Services Description Data type 1 Revision Get Revision of the CIP ...

Page 225: ...de Get Set 0 Vendor specific UINT8 7 Speed Actual Get Units See parameter 23 ODVA SPEED SCALE SINT16 8 SpeedRef Get Set Units See parameter 23 ODVA SPEED SCALE SINT16 11 Torque Actual Get Units See parameter 24 ODVA TORQUE SCALE SINT16 12 TorqueRef Get Set Units See parameter 24 ODVA TORQUE SCALE SINT16 18 AccelTime Get Set Units milliseconds UINT16 19 DecelTime Get Set Units milliseconds UINT16 2...

Page 226: ...meter object to update the fieldbus configuration groups changes to the fieldbus configuration will only take effect when the module is powered up the next time or when a Fieldbus Adapter parameter refresh is given Class is always 144 90h Instance and attribute correspond to the drive parameter group and index in the following way For example Parameter 99 01 is accessed as follows Instance Paramet...

Page 227: ...nstance 1 FENA 01 11 21 configuration parameters group A group 1 The actual parameter group number depends on the drive type Group A group 1 corresponds to parameter group 51 in ACS355 ACSM1 ACS850 and ACQ810 parameter group 51 in ACS880 and ACS580 if the adapter is installed as fieldbus adapter A or group 54 if the adapter is installed as fieldbus adapter B Attribute name Services Description Dat...

Page 228: ...T16 9 Configuration Group A Group 1 Parameter 9 Get Set See 09 SUBNET CIDR on page 119 UINT16 10 Configuration Group A Group 1 Parameter 10 Get Set See 10 GW ADDRESS 1 13 GW ADDRESS 4 UINT16 11 Configuration Group A Group 1 Parameter 11 Get Set See 10 GW ADDRESS 1 13 GW ADDRESS 4 UINT16 12 Configuration Group A Group 1 Parameter 12 Get Set See 10 GW ADDRESS 1 13 GW ADDRESS 4 UINT16 13 Configuratio...

Page 229: ...onfiguration Group A Group 1 Parameter 21 Get Set See 21 IDLE ACTION on page 123 UINT16 22 Configuration Group A Group 1 Parameter 22 Get Set See 22 ODVA STOP FUNCTION on page 124 UINT16 23 Configuration Group A Group 1 Parameter 23 Get Set See 23 ODVA SPEED SCALE on page 125 UINT16 24 Configuration Group A Group 1 Parameter 24 Get Set See 24 ODVA TORQUE SCALE on page 126 UINT16 25 Configuration G...

Page 230: ...NT16 30 Configuration Group A Group 1 Parameter 30 Get See 30 MAPPING FILE VER on page 128 UINT16 31 Configuration Group A Group 1 Parameter 31 Get See 31 D2FBA COMM STA on page 128 UINT16 32 Configuration Group A Group 1 Parameter 32 Get See 32 FBA COMM SW VER on page 129 UINT16 33 Configuration Group A Group 1 Parameter 33 Get See 33 FBA APPL SW VER on page 129 UINT16 Attribute name Services Des...

Page 231: ... B Group 2 Parameter 2 Get Set See 01 DATA OUT 1 on page 130 UINT16 3 Configuration Group B Group 2 Parameter 3 Get Set See 01 DATA OUT 1 on page 130 UINT16 4 Configuration Group B Group 2 Parameter 4 Get Set See 01 DATA OUT 1 on page 130 UINT16 5 Configuration Group B Group 2 Parameter 5 Get Set See 01 DATA OUT 1 on page 130 UINT16 6 Configuration Group B Group 2 Parameter 6 Get Set See 01 DATA O...

Page 232: ...roup C Group 3 Parameter 2 Get Set See 01 DATA IN 1 on page 131 UINT16 3 Configuration Group C Group 3 Parameter 3 Get Set See 01 DATA IN 1 on page 131 UINT16 4 Configuration Group C Group 3 Parameter 4 Get Set See 01 DATA IN 1 on page 131 UINT16 5 Configuration Group C Group 3 Parameter 5 Get Set See 01 DATA IN 1 on page 131 UINT16 6 Configuration Group C Group 3 Parameter 6 Get Set See 01 DATA I...

Page 233: ...finition upon which the implementation is based Array of UINT8 Attribute name Services Description Data type 1 Interface Status Get See Interface Status attribute 1 bits on page 234 DWORD 2 Configuration Capability Get See Configuration Capability attribute 2 bits on page 235 DWORD 3 Configuration Control Get See Configuration Control attribute 3 bits on page 236 DWORD 4 Physical Link Object Get P...

Page 234: ...Get Host name STRING Bit Name Description 0 3 Interface configuration status Indicates the status of the Interface Configuration attribute Value Description 0 The Interface Configuration attribute has not been configured 1 The Interface Configuration attribute contains valid configuration obtained from BOOTP DHCP or non volatile storage 2 The IP address member of the Interface Configuration attrib...

Page 235: ...g its network configuration via DHCP 3 DCHP DNS update 1 True The device is capable of sending its host name in the DHCP request as documented in Internet draft draft ietf dhc dhcp dnc 12 txt 4 Configuration settable 1 True The Interface Configuration attribute is settable Some devices eg a PC or workstation may not allow interface configuration to be set via the TCP IP interface object 5 Hardware...

Page 236: ... Value Description 0 The device uses the interface configuration values previously stored eg in non volatile memory or via hardware switches 1 The device obtains its interface configuration values via BOOTP 2 The device obtains its interface configuration values via DHCP upon start up 3 15 Reserved 4 DNS enable 1 True The device resolves host names by querying a DNS server 5 31 Reserved set to 0 A...

Page 237: ...eferred to as connection instance or connection object The table below shows the connection object states Attribute name Services Description Data type 1 Interface Speed Get Set 10 or 100 Mbps UDINT 2 Interface Flags Get Set Interface status flags DWORD Bit Description 0 Link status 1 Half Full duplex 2 4 Negotiation status 5 Manual setting requires reset 6 Local hardware fault 7 31 Reserved 3 Phy...

Page 238: ...te table on page 237 UINT8 2 Instance Type Get Indicates either I O 1 or messaging connection 0 UINT8 3 Transport Class Trigger Get Defines the behavior of the connection UINT8 4 Produced Cnxn Id Get Placed in CAN Identifier Field when the connection transmits UINT16 5 Con sumed Cnxn Id Get CAN Identifier Field value that denotes the message to be received UINT16 6 Comm Character istics Get Define...

Page 239: ... Path Length Get Number of bytes in the produced_connection_path length attribute UINT16 14 Produced Connec tion Path Get Application object producing data on this connection Array of UINT8 15 Con sumed Connec tion Path Length Get Number of bytes in the consumed_connection_path length attribute UINT16 16 Con sumed Connec tion Path Get Specifies the application object s that are to receive the data...

Page 240: ...Instance 1 Attribute name Services Description Data type 1 Revision Get Revision of the CIP Object Class Definition upon which the implementation is based Array of UINT8 Attribute name Services Description Data type 1 Acknowl edge Timer Get Set Time in milliseconds to wait for acknowledge before resending UINT16 2 Retry Limit Get Set Number of Acknowledge Timeouts to wait before informing the prod...

Page 241: ...is chapter This chapter explains how to trace faults with the status LEDs on the adapter module when the module is used for EtherNet IP communication Fault and warning messages For the fault and warning messages concerning the adapter module see the drive firmware manual ...

Page 242: ... Function HOST Blinking green Establishing communication to host Green Connection to host OK Blinking red Communication to host lost temporarily Flashing orange alternating with the MODULE Flashing orange Internal file system error The error may be cleared by cycling drive power If the error persists contact your local ABB representative ...

Page 243: ...CP server or Duplicate Address Detection to complete Flashing red Ethernet interface is disabled Duplicate Address Detection may have detected a duplicate address Check the IP configuration and either initiate a Fieldbus Adapter parameter refresh or cycle power to the drive Flashing red green Device is in Self Test Flashing orange alternating with the HOST Flashing orange Internal file system erro...

Page 244: ... established state The device has passed Duplicate Address Detection is on line but has no established connections to other nodes Green Device is on line and has connections in the established state Flashing red One or more I O connections are in the Timed out state Red Failed communication device The device has detected an error that has rendered it incapable of communicating on the network Dupli...

Page 245: ...PROFINET IO protocol PROFINET IO Start up 247 PROFINET IO Communication profiles 305 PROFINET IO Communication protocol 323 PROFINET IO Diagnostics 357 ...

Page 246: ......

Page 247: ...nfiguring the drive for operation with the adapter module drive specific instructions on starting up the drive with the adapter module examples of configuring the master station for communication with the adapter module Warnings WARNING Obey the safety instructions given in this manual and the drive documentation ...

Page 248: ...specific start up instructions starting on page 263 Once communication between the drive and the adapter module has been established several configuration parameters are copied to the drive These parameters are shown in the tables below and must be checked first and adjusted where necessary You can adjust the parameters via a drive control panel a PC tool or a web user interface For more informati...

Page 249: ... the user If the value is 0 None the communication between the drive and the module has not been established 128 ETHER NET 02 PROTOCOL PROFILE Selects the application protocol and communication profile for the network connection The selections available for PROFINET IO communication are listed below 1 0 Modbus TCP ABB Drives profile Classic 01 ACS355 FB PAR 2 ACSM1 FBA PAR2 ACS850 ACQ810 FBA par2 ...

Page 250: ...Dyn IP DHCP ACS355 FB PAR 4 ACSM1 FBA PAR4 ACS850 ACQ810 FBA par4 ACS880 ACS580 IP configuration 0 Static IP Configuration will be obtained from parameters 05 13 or from the PLC via DCP The DCP protocol allows the master controller to find every PROFINET IO device on a subnet When the adapter module is configured for the PROFINET IO protocol the IP address is transferred to the PROFINET IO communi...

Page 251: ...0 255 separated by periods Each integer represents the value of one octet 8 bits in the IP address Parameters 05 08 define the four octets of the IP address 0 ACS355 FB PAR 5 ACSM1 FBA PAR5 ACS850 ACQ810 FBA par5 ACS880 ACS580 IP address 1 0 255 IP address 08 IP ADDRESS 4 See parameter 05 IP ADDRESS 1 0 ACS355 FB PAR 8 ACSM1 FBA PAR8 ACS850 ACQ810 FBA par8 ACS880 ACS580 IP address 4 0 255 IP addre...

Page 252: ...h an IP node on another subnet the IP node sends the data to the IP gateway for forwarding Parameters 10 13 define the four octets of the gateway address 0 ACS355 FB PAR 10 ACSM1 FBA PAR10 ACS850 ACQ810 FBA par10 ACS880 ACS580 GW address 1 0 255 GW address No Name Value Description Default Dotted decimal CIDR Dotted decimal CIDR 255 255 255 254 31 255 254 0 0 15 255 255 255 252 30 255 252 0 0 14 2...

Page 253: ...DCU or FBA and a 16 bit transparent Reference 1 Actual value 1 With an ACS355 drive the speed reference from the PLC is multiplied by the value of this parameter plus one For example if the parameter has a value of 99 and a reference of 1000 given by the master the reference will be multiplied by 99 1 100 and forwarded to the drive as 100000 According to the DCU profile this value is interpreted a...

Page 254: ...s not been established yet 1 PPO1 Not supported 2 PPO2 Not supported 3 PPO3 PPO3 selected 4 PPO4 PPO4 selected 5 PPO5 Not supported 6 PPO6 PPO6 selected 7 PPO7 PPO7 selected Not supported with ACS355 8 ST1 ST1 selected 9 ST2 ST2 selected Not supported with ACS355 21 ALARM DISABLE Disables PROFINET IO alarms For more information on the diagnostics and alarm mechanism for PROFINET IO see section Dia...

Page 255: ...reverts automatically to 0 Done Note This parameter cannot be changed while the drive is running 0 Done ACS355 ACSM1 FBA PAR REFRESH ACS850 ACQ810 FBA par refresh ACS880 ACS580 FBA A B par refresh 0 Done Refreshing done 1 Refresh Refreshing 28 PAR TABLE VER Read only Displays the parameter table revision of the fieldbus adapter module mapping file stored in the memory of the drive In format xyz wh...

Page 256: ...in the memory of the drive in decimal format N A ACS355 FILE CONFIG REV ACSM1 MAPPING FILE VER ACS850 ACQ810 Mapping file ver ACS880 ACS580 FBA A B mapping file ver Mapping file revision 31 D2FBA COMM STA Read only Displays the status of the fieldbus adapter module communication Note The value names may vary by drive 0 Idle OR 4 Off line ACS355 FBA STATUS ACSM1 D2FBA COMM STA ACS850 ACQ810 D2FBA c...

Page 257: ...le in format axyz where a major revision number xy minor revision numbers z correction number or letter N A ACS355 FBA CPI FW REV ACSM1 FBA COMM SW VER ACS850 ACQ810 FBA comm sw ver ACS880 ACS580 FBA A B comm SW ver Common program version of the adapter module 33 FBA APPL SW VER Read only Displays the application program revision of the adapter module in format axyz where a major revision number x...

Page 258: ...nge of 0 to 9999 as follows See also Virtual address area allocation with ACSM1 on page 261 1 or 112 ACS355 FBA DATA OUT 1 ACSM1 FBA DATA OUT1 ACS850 ACQ810 FBA data out1 ACS880 ACS580 FBA A B data out1 0 None Not used 1 CW 16bit Control word 16 bits 3 2 Ref1 16bit Reference REF1 16 bits 3 3 Ref2 16bit Reference REF2 16 bits 3 11 CW 32bit Control word 32 bits 12 Ref1 32bit Reference REF1 32 bits 1...

Page 259: ...is group may vary by drive type and drive firmware 2 11 CW 32bit is the default setting if the Transparent 32 profile is used 3 With an ACS355 drive Control word and REF1 are always fixed to virtual addresses 1 and 2 respectively If REF2 is used its virtual address is always 3 4 2 Ref1 16bit is a fixed setting with an ACS355 drive No 1 Name Value Description Default ...

Page 260: ...e of 0 to 9999 as follows See also Virtual address area allocation with ACSM1 on page 261 4 or 142 ACS355 FBA DATA IN 1 ACSM1 FBA DATA IN1 ACS850 ACQ810 FBA data in1 ACS880 ACS580 FBA A B data in1 0 None Not used 4 SW 16bit Status word 16 bits 5 Act1 16bit Actual value ACT1 16 bits 6 Act2 16bit Actual value ACT2 16 bits 14 SW 32bit Status word 32 bits 15 Act1 32bit Actual value ACT1 32 bits 16 Act...

Page 261: ...1 0 1 The number of parameters in this group may vary by drive type and drive firmware 2 14 SW 32bit is the default setting if the Transparent 32 profile is used 3 5 Act1 16bit is a fixed setting with an ACS355 drive Abbreviation Description Data length Recommended virtual address with ACSM1 FBA REFx modes Speed mode Position mode STW1 Control word 1 16 bit 1 1 NSOLL_A Speed set point A 16 bit 2 o...

Page 262: ...to separately determine the source for each type of control information Start Stop Direction Reference Fault reset etc To give the fieldbus master the most complete control over the drive you must select the adapter module as the source of this information The drive specific parameter setting examples below contain the drive control parameters relevant in the examples For a complete parameter list...

Page 263: ...acts to a fieldbus communication break 5 With parameter 3019 COMM FAULT TIME define the time between communication break detection and the selected action 6 Define the process data transferred to and from the drive in parameter groups 54 and 55 Note The adapter module sets the Status word and actual value automatically in parameters 5401 and 5402 and Control word and reference in parameters 5501 a...

Page 264: ...ngs Direction PZD1 PZD2 PZD3 PZD4 PZD5 PZD6 Out Control word Speed reference Constant speed 11 Constant speed 2 N A N A In Status word Speed actual value Power1 DC bus voltage N A N A 1 Example Drive parameter Setting for ACS355 drives Description 9802 COMM PROT SEL 4 EXT FBA Enables communication between the drive and the fieldbus adapter module 5101 FBA TYPE ETHERNET1 Displays the type of the fi...

Page 265: ...Actual value 1 speed 5403 FBA DATA IN 3 1062 Power 5404 FBA DATA IN 4 1072 DC bus voltage 5501 FBA DATA OUT 1 1 CW 16bit 1 Control word 5502 FBA DATA OUT 2 2 Ref1 16bit 1 Reference 1 speed 5503 FBA DATA OUT 3 12022 Constant speed 1 5504 FBA DATA OUT 4 12032 Constant speed 2 5127 FBA PAR REFRESH 1 REFRESH Validates the FENA 01 11 21 configuration parameter settings 1001 EXT1 COMMANDS 10 COMM Select...

Page 266: ...ion ABB Drives communication profile on page 316 When Reference 1 REF1 is used a reference value of 20000 decimal corresponds to the reference set by parameter 1105 REF1 MAX in the forward and reverse directions When Reference 2 REF2 is used a reference value of 10000 decimal corresponds to the reference set by parameter 1108 REF2 MAX in the forward and reverse directions The minimum and maximum 1...

Page 267: ...m the PLC via the DCP protocol 3018 COMM FAULT FUNC 3 LAST SPEED2 Enables fieldbus communication fault monitoring 3019 COMM FAULT TIME 3 0 s2 Defines the fieldbus communication break supervision time 5401 FBA DATA IN 1 4 SW 16bit 1 Status word 5402 FBA DATA IN 2 5 Act1 16bit 1 Actual value 1 speed 5403 FBA DATA IN 3 6 Act2 16bit 2 Actual value 2 torque 5501 FBA DATA OUT 1 1 CW 16bit 1 Control word...

Page 268: ...ocation 2 1102 EXT1 EXT2 SEL 8 COMM Enables external control location 1 2 selection through the fieldbus 1103 REF1 SELECT 8 COMM Selects the fieldbus reference 1 as the source for speed reference 1 1106 REF2 SELECT 8 COMM Selects the fieldbus reference 2 as the source for speed reference 1 1601 RUN ENABLE 7 COMM Selects the fieldbus interface as the source for the inverted Run enable signal Run di...

Page 269: ...tion break detection and the selected action 5 Select application specific values for parameters 50 04 50 11 Examples of appropriate values are shown in the tables below 6 Set the module configuration parameters in group 51 At the minimum select the communication protocol and profile with parameter 51 02 and configure the network settings with parameters 51 03 51 13 7 Define the process data trans...

Page 270: ...Idrive state machine on page 312 The reference value 16384 4000h corresponds to parameter 25 02 SPEED SCALING in the forward and reverse directions The table below gives the recommended drive parameter settings Direction PZD1 PZD2 PZD3 PZD4 PZD5 PZD6 Out Control word Speed reference Constant speed 11 Speed reference for jogging function 11 In Status word Speed actual value Power1 DC bus voltage1 1...

Page 271: ... 05 FBA DATA IN5 1072 DC bus voltage 53 01 FBA DATA OUT1 1 CW 16bit 1 Control word 53 02 FBA DATA OUT2 2 Ref1 16bit Reference 1 speed 53 03 FBA DATA OUT3 24082 Constant speed 53 05 FBA DATA OUT5 24102 Speed reference for jogging function 1 51 27 FBA PAR REFRESH REFRESH Validates the FENA 11 21 configuration parameter settings 10 01 EXT1 START FUNC FBA Selects the fieldbus interface as the source o...

Page 272: ...A MAIN CW in ACSM1 Motion Control Program Firmware Manual for details The position set point and velocity reference are defined as 32 bit integer values both are scaled as defined in the drive parameter settings The table below gives the recommended drive parameter settings Direction PZD1 PZD2 PZD3 PZD4 PZD5 PZD6 Out Control word STW1 Position set point Velocity reference N A In Status word ZSW1 P...

Page 273: ...DATA OUT1 1 CW 16bit 1 Control word 53 02 FBA DATA OUT2 12 Ref1 32bit Reference 1 53 04 FBA DATA OUT4 13 Ref2 32bit Reference 2 51 27 FBA PAR REFRESH REFRESH Validates the FENA 11 21 configuration parameter settings 10 01 EXT1 START FUNC FBA Selects the fieldbus interface as the source of the start and stop commands for external control location 1 10 05 JOG ENABLE C FALSE Disables the jogging func...

Page 274: ...ition start1source 65 04 POS REF 1 SEL FBA REF 1 Selects the FBA reference 1 as the position reference source 65 11 POS START 2 C False Selects the fieldbus as the position start2 source 65 22 PROF VEL REF SEL FBA REF2 Selects the FBA reference 2 as the velocity reference source 66 05 POS ENABLE C False Selects the fieldbus as the source for enabling the position reference generator 70 03 POS REF ...

Page 275: ...ollowing parameters Drive parameter Name Value Description 60 10 POS SPEED UNIT u s1 Unit s in this case m s 60 11 POS SPEED2INT 1001 Scales position speed values to integer values Selections 1 10 100 1000 10000 100000 1 Example Group Description 90 Encoder selection 91 92 93 Settings of the encoder 1000 100 10 00 m 60 05 POS UNIT Physical value 60 06 POS2INT SCALE Set point value 1000 100 10 00 m...

Page 276: ...ses the ABB Drives profile From the PLC programming point the ABB Drives profile is similar to the PROFIdrive profile shown in the first example The start stop commands and reference are according to the ABB Drives profile For more information see section ABB Drives communication profile on page 316 When Reference 1 REF1 is used a reference value of 20000 4E20h corresponds to the reference set by ...

Page 277: ...1 Displays the type of the fieldbus adapter module 51 02 FBA PAR2 PROTOCOL PROFILE 11 PNIO ABB Pro Selects the PROFINET IO protocol and the ABB Drives profile 51 03 FBA PAR3 COMMRATE 0 Auto 2 Ethernet communication rate is negotiated automatically by the device 51 04 FBA PAR4 IP CONFIGURATION 0 Static IP Configuration will be obtained from parameters 05 13 or from the PLC via the DCP protocol 52 0...

Page 278: ...top commands for external control location 2 24 01 SPEED REF1 SEL FBA REF 1 Selects the fieldbus reference 1 as the source for speed reference 1 32 02 TORQ REF ADD SEL FBA REF 2 Selects the fieldbus reference 2 as the source for torque reference 1 34 01 EXT1 EXT2 SEL P FBA MAIN CW 15 Enables external control location 1 2 selection through the fieldbus only bit 15 in the fieldbus Control word 34 03...

Page 279: ...pter module and the drive In ACQ810 you can select the control locations to be monitored with parameter 50 21 Comm loss enable By default the monitoring is enabled in both control locations EXT1 and EXT2 4 With parameter 50 03 Comm loss t out define the time between communication break detection and the selected action 5 Select application specific values for parameters 50 04 50 11 Examples of app...

Page 280: ...Parameter setting examples ACS850 and ACQ810 Speed control using the PROFIdrive communication profile with PPO Type 4 This example shows how to configure a basic speed control application that uses the PROFIdrive profile In addition some application specific data is added to the communication The start stop commands and reference are according to the PROFIdrive profile speed control mode For more ...

Page 281: ...and the PROFIdrive profile 51 03 FBA par3 COMMRATE 0 Auto2 Ethernet communication rate is negotiated automatically by the device 51 04 FBA par4 IP CONFIGURATION 0 Static IP Configuration will be obtained from parameters 05 13 or from the PLC via the DCP protocol 52 01 FBA data in1 4 SW 16bit 1 Status word 52 02 FBA data in2 5 Act1 16bit Actual value 1 speed 52 03 FBA data in3 1222 Power 52 05 FBA ...

Page 282: ...ctive Enter 47Eh 1150 decimal READY TO SWITCH ON Enter 47Fh 1151 decimal OPERATING Speed mode 21 01 Speed ref1 sel ACS850 21 01 Speed ref sel ACQ810 FBA ref1 FBA ref1 Selects the fieldbus reference 1 as the source for speed reference 1 1 Read only or automatically detected set 2 Example Drive parameter Setting for ACS850 ACQ810 drives Description ...

Page 283: ...eldbus communication break Note that this function monitors both communication between the fieldbus master and the adapter module and communication between the adapter module and the drive 4 With parameter 50 03 FBA A comm loss t out define the time between communication break detection and the selected action 5 Select application specific values for the rest of the parameters in group 50 starting...

Page 284: ...amples of appropriate values are shown in the tables below Parameter setting examples ACS880 Speed control using PROFIdrive communication profile with PPO Type 4 This example shows how to configure a basic speed control application that uses the PROFIdrive profile In addition some application specific data is added to the communication The start stop commands and reference are according to the PRO...

Page 285: ...FINET IO protocol and the PROFIdrive profile 51 03 Commrate 0 Auto2 Ethernet communication rate is negotiated automatically by the device 51 04 IP configuration 0 Static IP Configuration will be obtained from parameters 05 13 or from the PLC via the DCP protocol 52 01 FBA data in1 4 SW 16bit1 Status word 52 02 FBA data in2 5 Act1 16bit Actual value 1 52 03 FBA data in3 01 14 Output power 52 05 FBA...

Page 286: ...g to the PROFIdrive profile speed control mode For more information see the PROFIdrive state machine on page 312 The reference value 16384 4000h corresponds to parameter 46 02 Frequency scaling in the forward and reverse directions 20 01 Ext1 commands 12 Fieldbus A Selects the fieldbus A interface as the source of the start and stop commands for external control location 1 22 11 Speed ref1 source ...

Page 287: ...OFINET IO protocol and the PROFIdrive profile 51 03 Commrate 0 Auto2 Ethernet communication rate is negotiated automatically by the device 51 04 IP configuration 0 Static IP Configuration will be obtained from parameters 05 13 or from the PLC via the DCP protocol 52 01 FBA data in1 4 SW 16bit1 Status word 52 02 FBA data in2 5 Act1 16bit Actual value 1 52 03 FBA data in3 01 14 Output power 52 05 FB...

Page 288: ...h 1151 decimal OPERATING Scalar motor control mode 20 01 Ext1 commands 12 Fieldbus A Selects the fieldbus A interface as the source of the start and stop commands for external control location 1 22 11 Speed ref1 source 4 FB A ref1 Selects the fieldbus A reference 1 as the source for speed reference 1 1 Read only or automatically detected set 2 Example Drive parameter Setting for ACS580 drives Desc...

Page 289: ...Download the FENA GSD file from the Document library www abb com drives The file name format is GSDML Vx x ABB FENA yyyymmdd xml The GSD file describes the vendor specific and PROFIdrive specific features of the adapter module Vendor specific features can be used for example in the ABB Drives communication profile The PROFIdrive profile supports a set of services described in the PROFIdrive specif...

Page 290: ...te the PLC project that is used to control the drive 5 Add the CM579 PNIO PROFINET master device to the PLC project if necessary 6 Add the adapter module to the PROFINET IO network 7 Add the I O module for example PPO Type 4 to the adapter module to define cyclical communication between the module and the PLC ...

Page 291: ...ster properties such as the IP address and address settings for slaves 9 Define the adapter module properties On the PNIO identification tab select the IP address and Subnet mask and type the Station name Note Use only small letters for the Station name ...

Page 292: ...n name tab do the following tasks Click Connect to PLC Login and select the communication link used between Control Builder and the PLC Then click Scan slaves to find all PROFINET slaves connected to the network In the Configure station name box select the station name defined for the module in step 9 and then click Assign station name In the IP address and Network mask boxes select type the IP ad...

Page 293: ...he PNIO parameters tab configure the Stop mode and Control zero mode functionalities and define fail safe values for the PLC output process data PZDs On the PNIO Module I O Mapping tab type names for the variables that refer to the drive s signals in the PLC program ...

Page 294: ...program and create a program that controls the drive 15 Compile the project and download it to the PLC Note Make sure that the variable names defined for the drive s signals are used in the PLC program Otherwise the communication will not work ...

Page 295: ...munication between a Siemens SIMATIC S7 PLC and the adapter module using SIMATIC Manager Step 7 Before you start make sure that you have downloaded the FENA GSD file from the Document library 1 Start the SIMATIC manager and open create a SIMATIC program 2 Open the hardware configuration of the project ...

Page 296: ...296 PROFINET IO Start up 3 Install the FENA GSD file On the Options menu select Install GSD Files Browse for the GSD file downloaded from the Document library and click Install ...

Page 297: ...PROFINET IO Start up 297 4 Click and drag the FENA object from the device catalog to the Ethernet 1 PROFINET IO System ...

Page 298: ...298 PROFINET IO Start up 5 Click and drag the PP0 Type 7 object to Slot 1 Then double click FENA to open the Properties window ...

Page 299: ...tab type a name for the adapter module in the Device name box This is the IP address that will be assigned to the adapter module You can modify the IP address by clicking the Ethernet button The IP address will be assigned by the IO controller ...

Page 300: ...hardware configuration double click PPO Type 7 in Slot 1 to open the Properties window 8 On the Parameters tab configure the stop mode and control zero mode functionality and define fail safe values for the PLC output process data PZDs ...

Page 301: ...PROFINET IO Start up 301 9 Assign the device name defined in step 6 to the adapter module In the hardware configuration click FENA On the PLC menu select Ethernet and then select Assign Device Name ...

Page 302: ...302 PROFINET IO Start up Click the available device with the correct MAC address to which the device name is to be assigned This will assign the name to the FENA adapter module Then click Assign name ...

Page 303: ...PROFINET IO Start up 303 10 Download the hardware configuration to the PLC The PLC is now ready for communication with the adapter module ...

Page 304: ...304 PROFINET IO Start up ...

Page 305: ...rofiles are ways of conveying control commands Control word Status word references and actual values between the master station and the drive With the FENA adapter module the PROFINET network may employ either the PROFIdrive profile or the ABB Drives profile Both are converted to the native profile eg DCU or FBA by the adapter module In addition two Transparent modes for 16 bit and 32 bit words re...

Page 306: ...iles FENA Drive Profile selection Data conversion Data conversion PROFIdrive ABB Drives Transparent32 1 Native profile eg DCU or FBA Optional reference actual value scaling Transparent16 Select Group A Par 02 Data conversion PROFIdrive positioning PROFINET CW REF1 REF2 SW ACT1 ACT2 16 32 bit Select Group A Par 02 PROFINET PZDx PZD10 1 1 1 Note The diagram is applicable only when PPO messaging is u...

Page 307: ...or information on the drive specific bits The drive states are presented on page 312 The drive states for the positioning mode are presented on page 313 Control word contents The table below shows the contents of the Control word for the PROFIdrive communication profile PROFIdrive parameter 967 The upper case boldface text refers to the states shown in the state machine on page 312 Bit Name Value ...

Page 308: ...ERATION 0 Inhibit operation Proceed to OPERATION INHIBIT 4 ENABLE_ RAMP_ GENERATOR or TRAVERSING _TASK 1 Normal operation Proceed to RAMP FUNCTION GENERATOR ENABLE OUTPUT Normal operation Do not reject traversing task 0 Stop according to selected stop type Reject traversing task 5 1 Normal operation Proceed to RAMP FUNCTION GENERATOR ENABLE ACCELERATION Normal operation No intermediate stop 0 Halt...

Page 309: ... source for this signal by drive parameters 0 Continue normal operation 8 JOGGING_1 Jogging 1 Not supported by all drive types 9 JOGGING_2 Jogging 2 Not supported by all drive types 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 11 1 Vendor specific bit as defined by PROFIdrive...

Page 310: ...eter 937 Bit Name Value STATE Description Speed control mode Positioning mode 0 RDY_ON 1 READY TO SWITCH ON 0 NOT READY TO SWITCH ON 1 RDY_RUN 1 READY TO OPERATE 0 OFF1 ACTIVE 2 RDY_REF 1 ENABLE OPERATION 0 OPERATION INHIBIT 3 TRIPPED 1 FAULT 0 No fault 4 OFF_2_STA 1 OFF2 inactive 0 OFF2 ACTIVE 5 OFF_3_STA 1 OFF3 inactive 0 OFF3 ACTIVE 6 SWC_ON_ INHIB 1 SWITCH ON INHIBIT ACTIVE 0 SWITCH ON INHIBIT...

Page 311: ...is within supervision limit Not at target position 11 1 Vendor specific bit as defined by PROFIdrive parameter 939 Homing procedure was executed and is valid 0 No valid home position available 12 1 Vendor specific bit as defined by PROFIdrive parameter 940 Traversing task acknowledgement 0 1 0 13 1 Vendor specific bit as defined by PROFIdrive parameter 941 Drive stopped 0 Drive moving Traversing t...

Page 312: ...Bit0 1 CW Bit3 1 C D CW Bit5 0 OPERATION ENABLE SW Bit2 1 SW Bit5 0 from any state from any state Emergency stop OFF3 CW Bit2 0 n f 0 I 0 OFF3 ACTIVE Emergency stop OFF2 CW Bit1 0 SW Bit4 0 OFF2 ACTIVE RFG ENABLE OUTPUT RFG ENABLE ACCELERATION OPERATING B B C D CW Bit4 0 CW Bit4 1 CW Bit5 1 D CW Bit6 0 A C CW Bit6 1 SW Bit8 1 D from any state Fault SW Bit3 1 FAULT CW Bit7 1 ON CW xxxx x1xx xxxx x1...

Page 313: ...tatus word PROFIdrive State machine for PROFIdrive positioning mode CW Bit11 1 SW Bit10 11 13 0 BASIC STATE Operating1 HOMING RUNNING SW Bit10 11 13 1 HOMING READY CW Bit11 0 SW Bit10 13 0 Traversing task active CW Bit5 0 CW Bit5 0 SW Bit10 13 0 Braking with ramp Intermediate stop CW Bit6 edge 0 1 F F F SW Bit10 13 0 CW Bit4 0 Braking with ramp E 1 In the Operating state of the general state machi...

Page 314: ...peed reference REF or NSOLL_A in hexadecimal 0 4000h corresponds to 0 100 of Maximum Reference as defined with a drive parameter A 32 bit speed reference NSOLL_B in hexadecimal 0 4000 0000h corresponds to 0 100 of Maximum Reference as defined with a drive parameter References in positioning mode ACSM1 only In the positioning mode references are 16 bit or 32 bit words A 32 bit reference contains a ...

Page 315: ...defined with a drive parameter for example speed scaling in ACSM1 ACS850 ACQ810 ACS880 and ACS580 and external reference in ACS355 The scaling of 32 bit actual speed values NIST_B in hexadecimal 0 4000 0000h corresponds to 0 100 of the maximum reference as defined with a drive parameter for example speed scaling in ACSM1 ACS850 ACQ810 ACS880 and ACS580 and external reference in ACS355 Actual value...

Page 316: ... The table below shows the contents of the Control word for the ABB Drives communication profile The upper case boldface text refers to the states shown on page 320 Bit Name Value STATE Description 0 OFF1_ CONTROL 1 Proceed to READY TO OPERATE 0 Stop along currently active deceleration ramp Proceed to OFF1 ACTIVE proceed to READY TO SWITCH ON unless other interlocks OFF2 OFF3 are active 1 OFF2_ CO...

Page 317: ...rent and DC voltage limits in force 5 RAMP_HOLD 1 Enable ramp function Proceed to RAMP FUNCTION GENERATOR ACCELERATOR ENABLED 0 Halt ramping Ramp Function Generator output held 6 RAMP_IN_ ZERO 1 Normal operation Proceed to OPERATION Note This bit is effective only if the fieldbus interface is set as the source for this signal by drive parameters 0 Force Ramp Function Generator input to zero 7 RESE...

Page 318: ...2 Effective if control location parameterized to be selected from fieldbus 0 Select External Control Location EXT1 Effective if control location parameterized to be selected from fieldbus 12 15 Drive specific For information see the drive documentation Bit Name Value STATE Description 0 RDY_ON 1 READY TO SWITCH ON 0 NOT READY TO SWITCH ON 1 RDY_RUN 1 READY TO OPERATE 0 OFF1 ACTIVE 2 RDY_REF 1 OPER...

Page 319: ... within supervision limit 11 EXT_CTRL_ LOC 1 External Control Location EXT2 selected Note concerning ACS880 This bit is effective only if the fieldbus interface is set as the target for this signal by drive parameters User bit 0 selection 06 33 0 External Control Location EXT1 selected 12 EXT_RUN_ ENABLE 1 External Run Enable signal received Note concerning ACS880 This bit is effective only if the...

Page 320: ...rgency 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 state condition rising edge the bit of ABB Drives communication profile CW Control word SW Status word n Speed I Input current RFG Ramp function ge...

Page 321: ... the drive controlled through the fieldbus you must select the module as the source for control information for example reference Scaling References are scaled as shown below Note The values of REF1 MAX and REF2 MAX are set with drive parameters See the drive manuals for further information In ACSM1 ACS850 ACQ810 ACS880 and ACS580 the speed reference REFx in decimal 0 20000 corresponds to 0 100 of...

Page 322: ... of the drive The functions to be monitored are selected with a drive parameter Scaling Actual values are scaled as shown below Note The values of REF1 MAX and REF2 MAX are set with drive parameters See the drive manuals for further information 0 REFx MAX REFx MAX 0 ACT2 10000 ACT1 20000 ACT2 10000 ACT1 20000 Drive Fieldbus ...

Page 323: ...IO communication refer to PROFINET specification Application Layer protocol for decentralized periphery and distributed automation v2 0 PROFINET IO PROFINET IO is a fieldbus protocol that enables communication between programmable controllers and distributed field devices in an Ethernet network The protocol classifies devices into I O controllers I O supervisors and I O devices which have a specif...

Page 324: ... slots and sub slots and they can be virtual or real Device specific data is represented in slot 0 module specific and sub module specific data in subsequent slots and sub slots One of the benefits of PROFINET IO is the diagnostics and alarm mechanism Every module and sub module provide alarm data to the I O controller using the cyclic channel Diagnostic data can be read non cyclically from the de...

Page 325: ... described in the GSD file can be assigned to slot 1 and its sub slots In the ABB Drives and Transparent profiles Slot 0 Device access point DAP Slot 1 sub slot 1 Vendor object PPO types Slot 1 sub slot 1 Acyclic parameter access MAP PAP In the PROFIdrive profile Slot 0 Device access point Slot 1 Drive object Slot 1 sub slot 1 Acyclic parameter access MAP PAP Slot 1 sub slot 2 Standard telegram 1 ...

Page 326: ... Parameter ID value Process data CW Control word SW Status word REF Reference ACT Actual value PZD Process data application specific DW Data word 1 Not supported by ACS355 drives Type 3 Type 4 Type 6 Parameter Process data CW REF PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 IND identification PZD3 SW ACT PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 Fixed area Freely mappable area OUT area IN area ID VALUE Para...

Page 327: ... acyclic parameter access mechanism When the drive parameters or FENA parameters are accessed the corresponding slot sub slot and index are set and a PROFIdrive DP V1 message is placed on the data block of the record read or write frame ST1 PZD1 PZD2 OUT area STW1 Control word 1 NSOLL_A Speed set point A IN area ZSW1 Status word 1 NIST_A Speed actual value A ST2 PZD1 PZD2 3 PZD4 OUT area STW1 Cont...

Page 328: ... contain the IP address of the source and the destination as well as the communication ports and length of the message RPC contains for example the read or write service ID interface description and selected objects NDR request block describes the length of the following data block The response block also contains bytes ErrorCode ErrorDecode ErrorCode1 and ErrorCode2 for presenting the status of t...

Page 329: ...conflict 9 Feature not supported 10 15 User specific 11 0x0B Access 0 Invalid index 1 Write length error 2 Invalid slot 3 Type conflict 4 Invalid area 5 State conflict 6 Access denied 7 Invalid range 8 Invalid parameter 9 Invalid type 10 15 User specific 12 0x0C Resource 0 Read constraint conflict 1 Write constraint conflict 2 Resource busy 3 Resource unavailable 4 7 Reserved 8 15 User specific 13...

Page 330: ...then send a read request If the adapter module is still busy performing the internal parameter request it will return a negative response with the DP V1 error code B5h State conflict In this case the master will repeat the read request until the adapter module has the PROFIdrive response data ready If the write request is invalid a negative response is returned with a DP V1 error code see section ...

Page 331: ...il Field s Description Range Type Service Request or Response service Request 0x00 Response 0x80 UI8 Operation Read or Write operation Write 0x08 Read 0x09 UI8 Block length Length of the block 0 0xFFFF UI16 ARUUID Identifier time low time mid time high and version clock node UI32 UI16 UI16 Octet 2 Octet 6 API Application process identifier Device access point 0x0000 PROFIdrive 0x3A00 UI32 Slot Slo...

Page 332: ...d s Description Range Byte Word Request Reference Unique identification set by the master Changed for each new request 1 255 Byte Request ID Request type for the issued block Request Parameter 01h Change Parameter 02h Byte Drive Object ID To be set to 0 or 1 0 255 Byte No of Parameters Number of the parameters that are present in the request 1 37 Byte Attribute Type of the object being accessed No...

Page 333: ...that is being accessed 0 65535 Word Format1 See the table on page 335 See the table on page 335 Byte Number of Values1 Number of the values following 0 234 Byte Values1 The values of the request In case of an odd number of bytes a zero byte is appended to ensure the word structure of the telegram See the Format field 1 Only if Request ID is 02h Change Parameter The Format Number of Values and Valu...

Page 334: ...AK 81h Change Param OK 02h Change Param NAK 82h Drive Object ID To be set to 1 0 255 No of Parameters Number of the parameters that are present in the response 1 37 Format1 See the table on page 335 See the table on page 335 Number of Values1 Number of the values following 0 234 Values1 The values of the request In case of an odd number of bytes a zero byte is appended to ensure the word structure...

Page 335: ...Type 0x00 Reserved 0x01 0x36 Standard data types 1 Boolean not supported 2 Integer8 not supported 3 Integer16 4 Integer32 5 Unsigned8 not supported 6 Unsigned16 7 Unsigned32 8 Floating point not supported 9 Visible string not supported 0x37 0x3F Reserved 0x40 Zero 0x41 Byte 0x42 Word 0x43 Double word 0x44 Error 0x45 0xFF Reserved ...

Page 336: ...access with a value unequal to 0 when this is not permitted 07h Description element cannot be changed Change access to a description element that cannot be changed 09h No description data available Access to an unavailable description parameter value is available 0Bh No operation priority Change access rights without rights to change parameters 0Fh No text array available Access to a text array th...

Page 337: ...66h Request not supported Request not supported 67h Communication error Request cannot be completed because of a communication error 6Eh Non volatile error Failure during write to non volatile memory 6Fh Time out error Request aborted because of a timeout 78h PZD map failure Parameter cannot be mapped to PZD size mismatch or non existent 79h PZD memory failure Parameter cannot be mapped to PZD out...

Page 338: ...Read record Set the maximum length of the DP V1 read response Connect the DP V1 message to RECORD For more information on the above function blocks see document Communication Function Blocks for PROFIBUS DP and PROFINET IO v2 0 available at www profibus com 96h Internal buffer Buffer overflow A0h Internal communication Communication error between the module and the drive RDREC BOOL REQ VALID BOOL ...

Page 339: ... so that the drive parameter group corresponds to the Parameter index PNU and the drive parameter number within the group corresponds to the Subindex IND In the following example a value is read from drive parameter 12 04 0C 04h DP V1 Write request Read parameter value DP header 01 01 B0 2F 0A 05 01 01 01 10 01 00 0C 00 04 DP trailer DP V1 Command PROFIdrive V3 Parameter Channel Slot number Subslo...

Page 340: ...01 B0 2F 08 05 01 01 01 42 01 05 64 DP trailer DP V1 Response PROFIdrive V3 Parameter Channel Slot number Subslot number Index Data length Response reference mirrored Response ID Drive object ID Number of parameters Format 42h Word Number of values Parameter value Slot number Subslot number Index Data length Response reference mirrored Response ID Drive object ID mirrored Number of parameters Form...

Page 341: ...arameter value DP header 01 01 B0 2F 16 06 01 01 03 10 01 00 0C 00 04 DP V1 Command PROFIdrive V3 Parameter Channel 10 01 00 14 00 08 Par Channel continued 10 01 00 1E 00 13 DP trailer Par Channel continued Slot number Subslot number Index Data length Request reference Request ID 01h Request Parameter Drive object ID Number of parameters Attribute 10h Value Number of elements Parameter number Subi...

Page 342: ...DP header 01 01 B0 2F 10 06 01 01 03 42 01 01 90 DP V1 Response PROFIdrive V3 Parameter Channel 42 01 01 F4 Par Channel cont d 42 01 00 30 DP trailer Par Channel cont d Slot number Subslot number Index Data length Response reference mirrored Response ID Drive object ID Number of parameters Format 42h Word Number of values Parameter value ...

Page 343: ... corresponds to the Subindex IND In the following example a value is written to drive parameter 12 02 0C 02h DP header 01 01 B0 2F 0E 07 02 01 01 10 01 00 0C 00 02 42 01 02 58 DP trailer DP V1 Command PROFIdrive V3 Parameter Channel Slot number Subslot number Index Data length Request reference Request ID Drive object ID Number of parameters Attribute 10h Value Number of elements Parameter number ...

Page 344: ... protocol DP header 01 01 B0 2F 04 07 02 01 01 DP trailer DP V1 Response PROFIdrive V3 Parameter Channel Slot number Slot number Index Data length Request reference mirrored Response ID Drive object ID mirrored Number of parameters ...

Page 345: ...eader 01 01 B0 2F 14 08 02 01 02 10 01 00 0C 00 02 DP V1 Command PROFIdrive V3 Parameter Channel 10 01 00 14 00 08 Par Channel cont d 42 01 01 2C Par Channel cont d 42 01 01 F4 DP trailer Par Channel cont d Slot number Subslot number Index Data length Request reference Request ID 02h Change Parameter Drive object ID Number of parameters Attribute 10h Value Number of elements Parameter number Subin...

Page 346: ...rotocol DP header 01 01 B0 2F 04 08 02 01 02 DP trailer DP V1 Response PROFIdrive V3 Parameter Channel Slot number Subslot number Index Data length Request reference mirrored Response ID Drive object ID mirrored Number of parameters ...

Page 347: ...2F 0A 09 01 01 01 10 00 03 97 00 00 DP trailer DP V1 Command PROFIdrive V3 Parameter Channel DP header 01 01 B0 2F 0A 09 01 01 01 07 01 00 00 02 0B DP trailer DP V1 Response PROFIdrive V3 Parameter Channel Slot number Subslot number Index Data length Request reference Request ID 01h Request Parameter Drive object ID Number of parameters Attribute 10h Value Number of elements Parameter index Subind...

Page 348: ...the contents of PZD3 in each Request frame until a different selection is made Subindex IND defines which process data word the required data is taken from Value selects the drive parameter to which that word is mapped DP V1 Write request DP header 01 01 B0 2F 0E 0A 02 01 01 10 01 03 93 00 03 42 01 0C 06 DP trailer DP V1 Command PROFIdrive V3 Parameter Channel Value Number of values Format 42h Wor...

Page 349: ...ameter 12 06 until a different selection is made DP header 01 01 B0 2F 08 0A 01 01 01 42 01 00 68 DP trailer DP V1 Response PROFIdrive V3 Parameter Channel Slot number Subslot number Index Data length Request reference mirrored Response ID Drive object ID mirrored Number of parameters Format 42h Word Number of values Value of error values ...

Page 350: ...er is used to determine which drive parameter the contents of PZD3 are taken from Subindex IND defines which process data word the required data is transmitted in DP V1 Write request DP header 01 01 B0 2F 0A 0B 01 01 01 10 01 03 94 00 03 DP trailer DP V1 Response PROFIdrive V3 Parameter Channel Slot number Subslot number Index Data length Request reference Request ID 01h Read Number of parameters ...

Page 351: ...e host or drive has faults in communication or operation The alarm and fault buffer mechanisms are enabled by default and can be disabled with a configuration parameter 21 ALARM DISABLE on page 254 DP header 01 01 B0 2F 08 0B 01 01 01 42 01 0C 05 DP trailer DP V1 Response PROFIdrive V3 Parameter Channel Subslot number Index Data length Request reference mirrored Response ID Drive object ID mirrore...

Page 352: ... event in the distributed periphery BLock OB122 is called if the CPU calls a device that is not accessible Fault code mapping An alarm notification contains a fault code which is called ChannelErrorType For PROFIdrive API the drive internal DRIVECOM fault numbers are mapped to PROFIdrive ChannelErrorTypes according to the table below The fault numbers that are not listed are mapped to ChannelError...

Page 353: ... ground fault 2330 0x9007 Motor overload 7121 0x9008 Fieldbus system 0x9009 Safety channel 8182 8183 5090 5091 FA81 FA82 FF7A FFA0 FFA1 FFA2 0x900A Feedback 7301 7310 7380 7381 7389 7391 8480 8584 738A 738B 738C 73A0 73A1 0x900B Internal communication 5480 5681 5690 7000 7080 7081 7510 7520 7540 7584 0x900C Infeed 0x900D Brake resistor 7111 7112 7113 7181 7183 7184 7185 7186 7187 7191 71A2 71A3 71...

Page 354: ...cremented each time the fault buffer changes PNU945 PROFIdrive fault codes presented in section Fault code mapping on page 352 PNU946 Fault code list that converts fault numbers to fault codes Read using the fault number as a subindex to get the corresponding fault code PNU947 Fault numbers according to the DRIVECOM profile 0x900F External 9000 9001 9081 FF81 FF82 FF8E FF90 0x9010 Technology 6382 ...

Page 355: ... Fault messages are entered into the buffer in the sequence they are detected Each line in the fault buffer represents a fault message which is a part of a fault situation A fault situation lasts from a detection of a fault to its acknowledgement PNU947 PNU945 Fault number Fault code Subindex Actual fault situation n 0x4210 0x9005 0 0 0 1 0 0 2 0 0 3 0 0 4 0 0 5 0 0 6 0 0 7 Fault situation n 1 0x7...

Page 356: ...356 PROFINET IO Communication protocol Fault situation n 7 0 0 56 0 0 57 0 0 58 0 0 59 0 0 60 0 0 61 0 0 62 0 0 63 PNU947 PNU945 Fault number Fault code Subindex ...

Page 357: ...is chapter This chapter explains how to trace faults with the status LEDs on the adapter module when the module is used for PROFINET IO communication Fault and warning messages For the fault and warning messages concerning the adapter module see the drive firmware manual ...

Page 358: ... Function HOST Blinking green Establishing communication to host Green Connection to host OK Blinking red Communication to host lost temporarily Flashing orange alternating with the MODULE flashing orange Internal file system error The error may be cleared by cycling drive power If the error persists contact your local ABB representative ...

Page 359: ...d Recoverable fault Red Ethernet interface is disabled Duplicate Address Detection may have detected a duplicate address Check the IP configuration and either initiate a Fieldbus Adapter parameter refresh or cycle power to the drive Flashing red green Device is in Self Test Flashing orange Device is blinking Used for identification The blinking is started by the PROFINET master Flashing orange alt...

Page 360: ...NET Off Device is not on line The device has not completed the Duplicate Address Detection yet The device may not be powered look at the MODULE status LED Flashing green Device is receiving transmitting on the Ethernet Name Color Function ...

Page 361: ...nical data Contents of this chapter This chapter contains the technical specifications of the adapter module and the Ethernet link FENA 01 11 21 The figure below shows the enclosure of the adapter module from the front and side ...

Page 362: ...r chaining another adapter module X2 Power supply 3 3 V 5 max 400 mA supplied by the drive General Complies with EMC standard EN 61800 3 2004 Printed circuit board conformal coated Compatible devices Ethernet Standard IEEE 802 3 and IEEE 802 3u devices Medium 10BASE TX or 100Base TX with Auto negotiation and Auto MDIX Auto crossover Wiring CAT5 6 UTP CAT5 6 FTP CAT5 6 STP Connector RJ 45 Terminati...

Page 363: ...FIdrive parameters and I M records of PROFINET IO Contents of this chapter This chapter contains PROFIdrive parameters of the PROFINET IO communication protocol telegram and response structures for the I M Identification Maintenance records of the PROFINET IO communication protocol ...

Page 364: ...ay n Unsigned16 List of all parameters for signals Mandatory if process data normalization is used and or parameters 915 and 916 are implemented Signal no and name Type 1 Control word 1 STW1 Unsigned16 2 Status word 1 ZSW1 Unsigned16 3 Control word 2 STW2 Unsigned16 4 Status word 2 ZSW2 Unsigned16 5 Speed set point A NSOLL_A Signed16 6 Speed actual value A NIST_A Signed16 7 Speed set point B NSOLL...

Page 365: ...d32 35 Velocity VELOCITY_A Unsigned32 101 9999 Drive specific 927 R W Unsigned16 Operator control rights parameter identification PKW Value Mode 0 Parameters cannot be written only read 927 can be written 1 Parameters can be written and read default 928 R W Unsigned16 Control rights process data PZD Value Mode 0 PZD part is disabled ie Receipt of new PZD data is ignored 1 PZD part is enabled defau...

Page 366: ...r communication profile Value Mode 1 PROFIdrive 8001h ABB Drives 8002h Transparent 16 8003h Transparent 32 8004h PROFIdrive positioning mode 933 R W Unsigned16 Selection switch for Control word bit 11 Value Module Control word bit 0 None 1 to 5 Vendor specific 1 to 52 934 R W Unsigned16 Selection switch for Control word bit 12 See parameter 933 for coding 935 R W Unsigned16 Selection switch for Co...

Page 367: ...ee parameter 939 for coding 941 R W Unsigned16 Selection switch for Status word bit 13 See parameter 939 for coding 942 R W Unsigned16 Selection switch for Status word bit 14 See parameter 939 for coding 943 R W Unsigned16 Selection switch for Status word bit 15 See parameter 939 for coding 944 R Unsigned16 Fault message counter 945 R Array 64 Unsigned16 Fault code Channel Error Type Subindex Cont...

Page 368: ...he DRIVECOM profile Subindex Contents See parameter 945 953 R Unsigned16 Last alarm3 954 R Unsigned16 Second last alarm3 955 R Unsigned16 Third last alarm3 956 R Unsigned16 Fourth last alarm3 957 R Unsigned16 Fifth last alarm3 964 R Array 7 Unsigned16 Subindex Contents 0 Manufacturer 1 Device type 2 Version 3 Firmware date year 4 Firmware date day month 5 Number of Axes 965 R Octet String2 Profile...

Page 369: ...st do a zero to one transition and the motor must be stopped 972 R W Unsigned16 Software reset Value Description 0 No action 1 Re boot PROFIBUS module The parameter must do a zero to one transition and the motor must be stopped 975 R Array n Unsigned16 DO identification For subindexes 0 4 see parameter 964 Subindex Meaning 5 Value 2 Axis 980 981 R Array n Unsigned16 Number list of defined paramete...

Page 370: ...W Unsigned16 Disable alarms Value Description 0 PNIO alarms enabled 1 PNIO alarms disabled 61000 R VisibleString24 Name of station 61001 R Unsigned32 IP of station 61002 R Array 6 Unsigned8 MAC of station 61003 R Unsigned32 Default gateway of station 61004 R Unsigned32 Subnet mask of station 1 Read and or Write 2 The meaning of vendor specific bits is defined by the drive control program 3 Support...

Page 371: ...ecords can be read for example with the DTM tool The FENA adapter module supports the mandatory I M0 record as well as the optional I M1 I M2 I M3 and I M4 records Call REQ PDU telegram for read write access to I M records Function Record Data Index I M0 0xAFF0 I M1 0xAFF1 I M2 0xAFF2 I M3 0xAFF3 I M4 0xAFF4 ...

Page 372: ...le HARDWARE_REVISION 2 Octets Hardware version of FENA module SOFTWARE_REVISION 4 Octets Format V255 255 255 Eg V1 0 0 software version 100 REVISION_COUNTER 2 Octets Marks a change of hardware or its parameters PROFILE_ID 2 Octets 3A00 3AFF PROFIdrive PROFILE_SPECIFIC_ TYPE 2 Octets 0 no specific type IM_VERSION 2 Octets 0x0101 version 1 1 IM_SUPPORTED 2 Octets 30 I M0 I M1 I M2 I M3 and I M4 supp...

Page 373: ...d Write Note I M4 is filled with zeros 0x0 by default Contents Size Coding Header 10 Octets I M block INSTALLATION_DATE 16 Octets Installation date Eg 2011 01 01 16 23 RESERVED 38 Octets Reserved Contents Size Coding Header 10 Octets I M block DESCRIPTOR 54 Octets Description of the device set by the user Contents Size Coding Header 10 Octets I M block SIGNATURE 54 Octets Security code for identif...

Page 374: ...374 AppendixA PROFIdriveparametersandI MrecordsofPROFINETIO ...

Page 375: ...s chapter This chapter shows how to use the ABB IP configuration tool to find configured and unconfigured FENA adapter modules in the network rewrite the IP configuration of the adapter modules Installation The ABB IP configuration tool is part of the Control Builder Plus software No separate installation is needed ...

Page 376: ...x B ABB IP configuration tool for FENA Finding adapter modules in the network 1 Open the ABB IP configuration tool 2 Click the Scan button The FENA adapter modules present in the network appear on the results list ...

Page 377: ...section Finding adapter modules in the network on page 376 2 On the results list click to select the adapter module whose IP configuration you want to modify 3 Below New configuration define the IP configuration settings according to your network configuration 4 If you want the adapter module to use a static IP address instead of DHCP clear the DHCP check box ...

Page 378: ...378 Appendix B ABB IP configuration tool for FENA 5 To apply the new settings click the Send Configuration button The new current IP address and configured IP address appear on the results list ...

Page 379: ...b pages Contents of this chapter This chapter presents the FENA configuration web pages Browser requirements Any web browser can be used Compatibility The web pages work with all drives compatible with the FENA adapter module For a compatibility table see section Drives on page 21 ...

Page 380: ...er name and a password Default user name Admin Password The last six digits of the MAC ID of the adapter module without hyphens The MAC ID is visible on the cover of the adapter module and in the ABB IP configuration tool see Appendix B ABB IP configuration tool for FENA Example If the MAC ID of the adapter module is 00 1C 01 00 2F 73 the password is 002F73 The user interface is loaded ...

Page 381: ...Appendix C FENA configuration web pages 381 Menu overview To navigate on the web pages use the menu items available Status Configuration Support Password only visible when Support is clicked ...

Page 382: ...382 Appendix C FENA configuration web pages Status page The Status page shows various version information as well as the serial number and MAC address MAC ID of the adapter module ...

Page 383: ...Appendix C FENA configuration web pages 383 Configuration page On the Configuration page you can modify parameter settings in the configuration parameter groups A 1 B 2 and C 3 ...

Page 384: ...384 Appendix C FENA configuration web pages After you have changed any setting in any of the groups you have to click Save and reboot at the bottom of Group A to validate the settings ...

Page 385: ...ort page On the Support page you can access documentation related to the adapter module and the EDS and GSDML files The latest files corresponding to the drive firmware are available through the hyperlinks given below WWW documentation and downloads ...

Page 386: ...386 Appendix C FENA configuration web pages Password page The Password menu item becomes visible only after you have clicked the Support menu item ...

Page 387: ...ormation on ABB product training navigate to www abb com drives and select Training courses Providing feedback on ABB Drives manuals Your comments on our manuals are welcome Go to www abb com drives and select Document Library Manuals feedback form LV AC drives Document library on the Internet You can find manuals and other product documents in PDF format on the Internet Go to www abb com drives a...

Page 388: ...Contact us www abb com drives www abb com solar www abb com windpower www abb com drivespartners 3AUA0000093568 Rev B EN 2014 01 29 ...

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