ABB FEPL-02 Ethernet POWERLINK User Manual Download Page 7

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Table of contents 7

Configuring a B&R PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Adding the .xdd file. . . . . . . . . . . . . . . . . . . . . . . . . . . . .  60
Associating the adapter module with the PLC . . . . . . . .  61
Mapping objects required for controlling the drive . . . . .  66
Building a project and transfering it to the PLC . . . . . . .  68
Forcing values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  71

7. Communication profiles

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  73
Communication profiles  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  73
CANopen device profile CiA 402  . . . . . . . . . . . . . . . . . . . . . . . .  75

Supported modes of operation . . . . . . . . . . . . . . . . . . . . . . 75

Velocity mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  75
Profile torque mode . . . . . . . . . . . . . . . . . . . . . . . . . . . .  76
Profile velocity mode  . . . . . . . . . . . . . . . . . . . . . . . . . . .  76
Profile position mode . . . . . . . . . . . . . . . . . . . . . . . . . . .  76
Homing mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  76

Process data scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Torque data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  77
Velocity data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  77
Position data  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  77

Process feedback values . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Control word and Status word . . . . . . . . . . . . . . . . . . . . . . . 78

Control word contents  . . . . . . . . . . . . . . . . . . . . . . . . . .  78
Status word contents . . . . . . . . . . . . . . . . . . . . . . . . . . .  80
State machine  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  82

ABB Drives communication profile . . . . . . . . . . . . . . . . . . . . . . . 83

Control word and Status word . . . . . . . . . . . . . . . . . . . . . . . 83

Control word contents  . . . . . . . . . . . . . . . . . . . . . . . . . .  83
Status word contents . . . . . . . . . . . . . . . . . . . . . . . . . . .  85
State machine  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  87

References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Summary of Contents for FEPL-02 Ethernet POWERLINK

Page 1: ... OPTION FOR ABB DRIVES CONVERTERS AND INVERTERS FEPL 02 Ethernet POWERLINK adapter module User s manual ...

Page 2: ... PDF format on the Internet See section Document library on the Internet on the inside of the back cover For manuals not available in the Document library contact your local ABB representative The code below opens an online listing of the manuals applicable to the product Fieldbus connectivity webpage FEPL 02 manual ...

Page 3: ... manual FEPL 02 Ethernet POWERLINK adapter module 3AUA0000123527 Rev B EN EFFECTIVE 2018 03 16 2018 ABB Oy All Rights Reserved 1 Safety instructions Table of contents 4 Mechanical installation 5 Electrical installation ...

Page 4: ......

Page 5: ...s manual 17 General terms and abbreviations 17 Ethernet POWERLINK terms and abbreviations 17 Cybersecurity disclaimer 19 3 Overview of the Ethernet POWERLINK network and the FEPL 02 module What this chapter contains 21 Ethernet POWERLINK network 21 Example topology of the Ethernet POWERLINK link 22 FEPL 02 Ethernet POWERLINK adapter module 23 Layout of the FEPL 02 adapter module 24 4 Mechanical in...

Page 6: ...55 drives 40 Parameter setting examples ACS355 41 Speed control using the CiA 402 velocity mode vl 41 Speed and torque control using ABB Drives communication profile 43 Starting up ACSM1 drives 46 Parameter setting examples ACSM1 47 Position control with the CiA 402 profile position mode pp 47 Starting up ACS850 drives 50 Parameter setting examples ACS850 51 Speed control using the CiA 402 velocit...

Page 7: ...ofile CiA 402 75 Supported modes of operation 75 Velocity mode 75 Profile torque mode 76 Profile velocity mode 76 Profile position mode 76 Homing mode 76 Process data scaling 77 Torque data 77 Velocity data 77 Position data 77 Process feedback values 77 Control word and Status word 78 Control word contents 78 Status word contents 80 State machine 82 ABB Drives communication profile 83 Control word...

Page 8: ...Objects 96 Service Data Objects 97 SDO Protocol 97 Network Management Services 98 NMT State Command Services 98 NMT Response Services 98 Error entry specification 99 9 Diagnostics What this chapter contains 101 Fault and warning messages 101 LED indications 102 10 Technical data What this chapter contains 105 FEPL 02 106 Ethernet POWERLINK link 107 11 Appendix A CANopen Object Dictionary What this...

Page 9: ...ndix B CANopen error codes What this chapter contains 127 Error codes 127 13 Appendix C IdentResponse Frame What this chapter contains 135 NMT Service Slot structure of IdentResponse 136 NMT Service Slot data fields of IdentResponse 137 Further information ...

Page 10: ...10 Table of contents ...

Page 11: ...or inverter If you ignore the safety instructions injury death or damage can occur Read this chapter before you start the installation Use of warnings Warnings tell you about conditions which can cause injury or death and or damage to the equipment They also tell you how to prevent the danger The manual uses these warning symbols Electricity warning tells you about hazards from electricity which c...

Page 12: ...ou are not a qualified electrician do not do installation or maintenance 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 ...

Page 13: ...le software version 1 0 or later 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 manual that contains the hardware and safety instructions for the product in question You are expected to know the fundamentals of electricity wiring electrical co...

Page 14: ... Note The adapter module is compatible with more drives that may not be listed here For details of compatibility check the drive s firmware manual Before you start It is assumed that the drive is installed and ready to operate before you start the installation of the adapter module In addition to conventional installation tools have the drive manuals available during the installation as they conta...

Page 15: ...0A5241 ACS580 01 manuals 9AKK105713A8085 ACS580 04 manuals 9AKK106930A9060 ACS580 07 75 to 250 kW manuals 9AKK106930A5239 ACS580 07 250 to 500 kW manuals 9AKK106713A0278 ACS880 01 manuals 9AKK105408A7004 ACS880 04 manuals 9AKK105713A4819 ACS880 07 manuals 9AKK105408A8149 ACS880 07 560 to 2800 kW 9AKK105713A6663 ACS880 17 132 to 355 kW 9AKK106930A3466 ACS880 17 160 to 3200 kW 9AKK106354A1499 ACS880...

Page 16: ...tart up presents the steps to take during the start up of the drive with the adapter module and gives examples of configuring the master Communication profiles describes the communication profiles used in the communication between the master the adapter module and the drive Communication protocol describes the Ethernet POWERLINK protocol for the adapter module Diagnostics explains how to trace fau...

Page 17: ... of the optional fieldbus adapter modules available for ABB drives FEPL 02 is a device through which an ABB drive is connected to an Ethernet POWERLINK network Parameter Operating instruction for the drive Parameters can be read and programmed with the drive control panel drive PC tools or through the adapter module Profile Adaptation of the protocol for certain application field for example drive...

Page 18: ...ase of the cyclic communication The CN responses with a PollResponse frame when it receives a PollRequest from the MN R Read only access RW Read write access SCNM Slot Communication Network Management In a POWERLINK network the MN allocates data transfer time for data from each node in a cyclic manner within a guaranteed cycle time Within each cycle there are slots for Isochronous Data and for Asy...

Page 19: ...ls application of authentication measures encryption of data installation of anti virus programs etc to protect the product the network its system and the interface against any kind of security breaches unauthorized access interference intrusion leakage and or theft of data or information ABB and its affiliates are not liable for damages and or losses related to such security breaches any unauthor...

Page 20: ...20 About the manual ...

Page 21: ...he mechanism is called Slot Communication Network Management SCNM SCNM is managed by a networked device designated as the Managing Node MN All other nodes are Controlled Nodes CN Unlike standard Ethernet SCNM ensures that only one node is accessing the network at a time The schedule is divided into an isochronous phase and an asynchronous phase During the isochronous phase time critical data is tr...

Page 22: ...work can also be a combination of these topologies The use of repeating hubs instead of switches is recommended to minimize delay and jitter Use class 2 hubs FEPL 02 has an internal hub and thus no external hub is required Further information is available from the Ethernet POWERLINK Standardization Group www ethernet powerlink org Example topology of the Ethernet POWERLINK link The figure shows an...

Page 23: ...Start Stop Run enable feed a motor speed or torque reference to the drive give a process actual value or a process reference to the PID controller of the drive read status information and actual values from the drive change drive parameter values reset a drive fault The Ethernet POWERLINK commands and services supported by the adapter module are described in chapter Communication protocol Refer to...

Page 24: ...pter module No Description See chapter 1 Lock Mechanical installation 2 Mounting screw Mechanical installation 3 Connector X1 to Ethernet POWERLINK Electrical installation 4 Connector X2 to Ethernet POWERLINK Electrical installation 5 Diagnostic LEDs Diagnostics 6 MAC address 1 2 3 4 5 6 ...

Page 25: ... Necessary tools and instructions You will need a Torx TX10 screwdriver to secure the FEPL adapter module to the drive See also the applicable drive hardware manual Unpacking and examining the delivery 1 Open the option package 2 Make sure that the package contains Ethernet POWERLINK adapter module type FEPL 02 this manual 3 Make sure that there are no signs of damage ...

Page 26: ...as a specific position in the drive Plastic pins a lock and one screw to 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 uni...

Page 27: ...w to torque 0 8 N m using a Torx TX10 screwdriver Note A too high torque may break the screws 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 28: ...28 Mechanical installation ...

Page 29: ... connecting the adapter module to the Ethernet POWERLINK network WARNING Obey the safety instructions See chapter Safety instructions on page 11 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 30: ...45 connectors X1 and X2 on the adapter module Connect the cable from the master to the left port X1 2 In the line topology if there are more slave devices in the same line connect the next slave device to the right port X2 3 If there is a redundant ring connect the right port X2 of the last slave device to the second port of the master The figure below illustrates the cable connections Adapter mod...

Page 31: ... drive for operation with the adapter module drive specific instructions and examples on starting up the drive with the adapter module example of configuring the master station for communication with the adapter module WARNING Obey the safety instructions given in this manual and the drive documentation ...

Page 32: ...must adjust a parameter to activate the communication See the drive specific start up procedures starting on page 40 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 Note that not all drives display descriptiv...

Page 33: ...01 FBA type Read only Shows the fieldbus adapter type as detected by the drive The 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 136 ETH Pwrlink 02 Profile Selects the communication profile for the network connection 0 CiA 402 0 CiA 402 CANopen device profile CiA 402 1 ABB Drives profile ABB Drives profile 2 ...

Page 34: ...000 According to the DCU profile this value is interpreted as a reference of 100 rpm in the drive With ACSM1 ACS850 ACQ810 and ACS880 setting this parameter to 65535 provides the approximation of 1 1 rpm 99 0 65535 Reference multiplier actual value divisor 05 X1 MDI MDIX Defines the cable type connected to the port The auto MDI MDIX detection feature is enabled by default For each port you can dis...

Page 35: ... def conf Reverts the module to the factory settings by restoring the default values of the CANopen objects and the configuration parameters The object values that have been stored to the non volatile memory are also erased When this parameter is set to 1 Yes the default values are restored at the next power up or when configuration parameters are validated with parameter 27 FBA A B par refresh 0 ...

Page 36: ... Displays the fieldbus adapter module mapping file revision stored in the memory of the drive in decimal format N A Mapping file revision 31 D2FBA A B comm status 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 0 Idle Adapter is not configured 1 Exec init Adapter is initializing 2 Time out A timeout has occurred...

Page 37: ...mber z correction number or letter N A Common program revision of the adapter module 33 FBA A B 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 number z correction number or letter N A Application program revision of the adapter module No Name Value Description Default ...

Page 38: ... this group are handled by the adapter module automatically Do not modify the settings of these parameters FEPL 02 configuration parameters group C group 3 Note The actual parameter group number depends on the drive type Group C group 3 corresponds to parameter group 54 in ACS355 parameter group 52 in ACSM1 ACS380 ACS580 and ACS850 parameter group 52 in ACS880 if the adapter is installed as fieldb...

Page 39: ... to separately determine the source for each type of control information Start Stop Direction Reference Fault reset etc To give the fieldbus master station the most complete control over the drive the communication module must be selected as the source for this information The drive specific parameter setting examples below contain the drive control parameters needed in the examples For a complete...

Page 40: ...tings with parameters 5103 and 5104 4 With parameter 3018 COMM FAULT FUNC select how 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 Validate the settings made in parameter group 51 with parameter 5127 FBA PAR REFRESH 7 Set the relevant drive control parameters to control the dr...

Page 41: ...ut data 0x6040 Control word 0x6041 Status word 0x6042 Target velocity 0x6044 Vl control effort 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 136 ETH Pwrlink1 Displays the type of the fieldbus adapter module 5102 FB PAR 2 PROFILE 0 CiA 402 Selects the CANopen device profile CiA...

Page 42: ...rnal control location 1 1102 EXT1 EXT2 SEL 0 EXT1 Enables external control location 1 2 selection through the fieldbus 1103 REF1 SELECT 8 COMM Selects the fieldbus reference 1 as the source of the speed reference 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...

Page 43: ... and reverse directions The minimum and maximum 16 bit integer values that can be given through the fieldbus are 32768 and 32767 respectively When configuring the master you need to map the following objects to the transmit and receive PDOs For an example see section Mapping objects required for controlling the drive on page 66 The table below gives the recommended drive parameter settings CANopen...

Page 44: ...n 1 1002 EXT2 COMMANDS 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 of the speed reference 1106 REF2 SELECT 8 COMM Selects the fieldbus reference 2 as the source o...

Page 45: ... the parameter example above is given below Control word Reset the fieldbus communication fault if active Enter 47Eh 1150 decimal READY TO SWITCH ON Enter 47Fh 1151 decimal OPERATING Speed mode or C7Fh 3199 decimal OPERATING Torque mode ...

Page 46: ...0 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 FEPL configuration parameters in group 51 Select the communication profile with parameter 51 02 Configure the network settings with parameters 51 03 and 51 04 7 Valid...

Page 47: ...DOs For an example see section Mapping objects required for controlling the drive on page 66 The target position and actual value are defined as 32 bit integer values both are scaled as defined by drive parameter settings The target position reference and the position actual value are scaled as follows CANopen object Output data CANopen object Input data 0x6040 Control word 0x6041 Status word 0x60...

Page 48: ... Selects the CANopen device profile CiA 402 51 03 FBA PAR3 NODE ID 32 Defines the address of the device 51 27 FBA PAR REFRESH REFRESH Validates the FEPL 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 34 03 EXT1 CTRL MODE1 Position Selects the position control mode for external co...

Page 49: ...e for the parameter example above is given below Control word Reset the fieldbus communication fault if active Enter 0Eh 14 decimal SWITCH ON DISABLED Enter 0Fh 15 decimal OPERATION ENABLED Enter 1Fh 31 decimal MOVE TO NEW SETPOINT ...

Page 50: ...0 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 FEPL configuration parameters in group 51 Select the communication profile with parameter 51 02 Configure the network settings with parameters 51 03 and 51 04 7 Valid...

Page 51: ...1 Status word 0x6042 Target velocity 0x6044 Vl control effort Drive parameter Setting for ACS850 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 FBA ref1 modesel Sp...

Page 52: ... start func FB Selects the fieldbus interface as the source of the start and stop commands for external control location 1 12 03 Ext1 ctrl mode Speed Selects the speed control mode for external control location EXT1 21 01 Speed ref1 sel FBA ref1 Parameter 02 26 Selects fieldbus reference 1 as the source for speed reference 1 1 Read only or automatically detected set 2 Example Drive parameter Setti...

Page 53: ... following objects to the transmit and receive PDOs For an example see section Mapping objects required for controlling the drive on page 66 The table below gives the recommended drive parameter settings CANopen object Output data CANopen object Input data 0x2101 Control word 0x2104 Status word 0x2102 Speed reference 0x2105 Speed actual value Drive parameter Setting for ACS850 drives Description 5...

Page 54: ...ddress of the device 51 27 FBA par refresh Refresh Validates the FEPL 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 12 03 Ext1 ctrl mode Speed Selects the speed control mode for external control location EXT1 21 01 Speed ref1 sel FBA ref1 Parameter 02 26 Selects fieldbus referenc...

Page 55: ...apter 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 parameters 50 04 50 11 Examples of appropriate values are shown in the tables below 6 Set the FEPL configuration parameters in group 51 Select the communication profile with parameter 51 02 Configure the netwo...

Page 56: ...and 32767 respectively When configuring the master you need to map the following objects to the transmit and receive PDOs For an example see section Mapping objects required for controlling the drive on page 66 The table below gives the recommended drive parameter settings CANopen object Output data CANopen object Input data 0x2101 Control word 0x2104 Status word 0x2102 Speed reference 0x2105 Spee...

Page 57: ...2 Defines the address of the device 51 27 FBA par refresh 1 Configure Validates the FEPL 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 20 02 Ext1 start trigger 1 Level2 Defines the start signal for external control location 1 as level triggered 22 11 Speed ref1 selecti...

Page 58: ... Device Description Files XDD are XML files that specify the properties of the follower device for the Ethernet POWERLINK master The description files contain information on the supported communication objects Download the XDD file from the Document library www abb com drives Configuring a B R PLC This example shows how to configure the PLC with B R Automation Studio PC software version 3 0 90 18 ...

Page 59: ...nnection to the PLC Then on the Serial tab right click the connection and click Connect 4 On the File menu click New Project to create a new project for your PLC or click Open Project to open an existing project For more information on creating a project see the B R documentation ...

Page 60: ...60 Start up Adding the xdd file 1 On the Tools menu click Import Fieldbus Device 2 Select the correct xdd file for your drive and click Open ...

Page 61: ...iating the adapter module with the PLC When the xdd file has been imported add the adapter module to the list of the POWERLINK devices associated with the PLC 1 In the Physical View window right click the node that represents the CPU and then click Open POWERLINK ...

Page 62: ...the Physical View window is not visible you can open it by selecting View Project Explorer Physical view The POWERLINK window opens displaying a list of the devices connected to the Powerlink interface IF3 of the PLC ...

Page 63: ...Start up 63 2 To add the adapter module right click the IF3 list entry and then click Insert ...

Page 64: ...64 Start up 3 In the Select controller module dialog box select the entry for the adapter module and your drive and then click Next ...

Page 65: ...he Module Parameter dialog box type the node number of the adapter module and then click Next The adapter module is now displayed in the POWERLINK window as well as in the Physical View You can close the POWERLINK window ...

Page 66: ...66 Start up Mapping objects required for controlling the drive 1 In the Physical View window right click the entry for the adapter module and then click Open I O Configuration ...

Page 67: ...dow choose the objects that you want to map into the PDOs by selecting cyclic transmission types for these objects The selections displayed in the example below allow you to control the drive and monitor its status using the ABB Drives profile ...

Page 68: ...68 Start up Building a project and transfering it to the PLC 1 On the Project menu click Build Configuration 2 In the Project Build dialog box click Transfer ...

Page 69: ...Start up 69 3 In the Project transfer dialog box click OK 4 Wait for the transfer to finish ...

Page 70: ...70 Start up When the transfer is finished the PLC starts up in the RUN mode ...

Page 71: ...to the control word and speed reference variables This way the fieldbus control of the drive can be tested without writing a complete PLC program 1 To access the PDO data manually right click the adapter module entry in the Physical View window and then click Open I O Mapping A list of the mapped objects is displayed ...

Page 72: ...on Studio is now in the Monitor mode 3 To force values select the respective check box in the Force column type the value into the Force Value column and then press Enter to validate the value For example to start the drive using the ABB Drives control word type values 16 4FF 16 47E and 16 47F in this order ...

Page 73: ...rol commands Control word Status word references and actual values between the master station and the drive You can configure the adapter module to provide either the CANopen CiA 402 Device Profile Drives and Motion Control 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 profiles for 16 bit and 32 bit words ...

Page 74: ...ofiles Data conversion CiA 402 FEPL 02 ABB Drives Transparent 16 Transparent 32 Drive Optional reference Actual value scaling 1 1 CANopen objects 2001h 2106h CANopen objects 603F 60FFh Control word Reference Status word and Actual values according to CANopen profile CiA 402 Data conversion Select 2 Control word Reference Status word and Actual values according to ABB Drives profile or drive specif...

Page 75: ...ject Dictionary The current operation mode is displayed in object 0x6061 and it can be changed using object 0x6060 Velocity mode The velocity mode is the basic mode to control the velocity of the drive with limits and ramp functions The velocity command value is object 0x6042 vl target velocity rpm Note In the velocity operation mode the operation is governed by a different set of objects than in ...

Page 76: ...ocity inc s Profile position mode The profile position mode enables the positioning of the drive to be controlled The setting of position set points is controlled by the new set point and the change sets immediately bits in the Control word as well as the set point acknowledge bit in the Status word The position command value is object 0x607A Target position inc Homing mode The homing mode describ...

Page 77: ...utions per minute rpm Additionally a rational factor by which the velocity data will be scaled can be set by object 0x604C vl dimension factor Position data Position data is expressed in position increments inc Process feedback values Feedback values for control purposes are available in the following objects 0x6077 Torque actual value 0x6044 vl velocity actual value 0x606C Velocity actual value 0...

Page 78: ... 82 Control word contents The functionality of the CiA 402 Control word is described in the following tables The Control word described in the table below can be found in object 0x6040 hex and the Status word in object 0x6041 hex see Appendix A CANopen Object Dictionary The operation mode specific bits of the Control word of the CiA 402 profile are listed in the table below Bit Description 0 Switc...

Page 79: ...able voltage bit 1 Switch on bit 0 State transitions1 Shut down 0 X 1 1 0 2 6 8 Switch on 0 0 1 1 1 3 Switch on 0 1 1 1 1 3 4 2 Disable voltage 0 X X 0 X 7 9 10 12 Quick stop 0 X 0 1 X 7 10 11 Disable operation 0 0 1 1 1 5 Enable operation 0 1 1 1 1 4 Fault reset X X X X 15 X Bits marked with X are irrelevant 1 See the state machine of the CiA 402 profile on page 82 2 When Control word bit 3 Enabl...

Page 80: ...ault 0 No fault 1 Fault 4 Voltage enabled 0 No high voltage applied to the drive 1 High voltage applied to the drive 5 Quick stop 0 Quick stop is active 1 Normal operation 6 Switch on disabled 0 Switch on enabled 1 Switch on disabled 7 Warning 0 No warning alarms 1 Warning Alarm is active 8 Drive specific 0 1 9 Remote 0 Controlword is not processed 1 Controlword is processed 10 Target reached 0 Se...

Page 81: ... of the CiA 402 profile 14 15 Drive specific 0 1 Bit Velocity mode Profile position mode Profile velocity mode Profile torque mode Homing mode 12 Reserved Set point acknowledge ment Speed Reserved Homing attained 13 Reserved Following error Max slippage error Reserved Homing error Bit Name Value Description ...

Page 82: ...xxxxxxxxx01x CW xxxxxxxxxxxxx110 CW xxxxxxxxxxxxx110 CW xxxxxxxxxxxxx111 CW xxxxxxxxxxxxx01x or CW xxxxxxxxxxxxxx0x CW xxxxxxxxxxxx0111 CW xxxxxxxxxxxx1111 CW xxxxxxxxxxxxx110 Quick stop completed CW xxxxxxxxxxxxx01x CW xxxxxxxxxxxxxx0x CW Control word SW Status word SWITCH ON SW xxxxxxxxx1xx0000 DISABLED SWITCHED ON SW xxxxxxxxx01x0011 READY TO SW xxxxxxxxx01x0001 SWITCH ON OPERATION SW xxxxxxxxx...

Page 83: ...elow 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 87 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 84: ...d 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 0 1 F...

Page 85: ... 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 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 ...

Page 86: ...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 87: ...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 ACTIVE ...

Page 88: ...rolled through the fieldbus the module must be defined 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 and ACS880 the speed reference REFx in decimal 0 20000 corresponds to 0 100 of the speed scaling val...

Page 89: ... 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 90: ...90 Communication profiles ...

Page 91: ...on controller or industrial PC is designated to function as the Managing Node MN the master in the network All other devices operate as Controlled Nodes CN slaves in the network The MN defines the clock pulse for the synchronization of all devices and manages the data communication cycle In the course of one clock cycle within which all nodes are addressed the MN sends Poll Requests PReq to all CN...

Page 92: ...data Ethernet POWERLINK state machine In Ethernet POWERLINK a Controlled Node starts up by a common initialization process All the states are valid when the device is powered and they are substates of the NMT_GS_POWERED superstate NMT_GS_INITIALISATION After system start the device automatically assumes this state and network functionality begins NMT_GS_INITIALISATION and all its substates are onl...

Page 93: ...NOT_ACTIVE This is a non permanent state that allows a starting node to recognize the current network state Timeout for SoC PReq PRes and SoA frames trigger the device to enter state NTM_CS_BASIC_ETHERNET NMT_GS_RESET_APPLICATION NMT_GS_RESET_COMMUNICATION NMT_GS_RESET_CONFIGURATION NMT_GS_INITIALISING NMT_CS NMT CN STATE MACHINE NMT_MS NMT MN STATE MACHINE NMT_GS_COMMUNICATING NMT_GS_INITIALISATI...

Page 94: ...C frame triggers the transition from NMT_CS_PREOPERATIONAL_1 to NMT_CS_PREOPERATIONAL_2 In this state PReq and PRes data may be invalid because PDO mappings may differ In NMT_CS_EPL_MODE error recognition for example loss of SoC or PReq always triggers the transition to NMT_CS_PREOPERATIONAL_1 NMT_CS_READY_TO_OPERATE In this state the CN signals that it is ready to operate to the MN It responds to...

Page 95: ...te the CN does not participate in cyclic frame exchange but it still observes SoA frames NMT_GS_INITIALISATION NMT_CS_NOT_ACTIVE NMT_CS_PREOPERATIONAL_1 NMT_CS_PREOPERATIONAL_2 NMT_CS_READY_TO_OPERATE NMT_CS_OPERATIONAL NMT_CS_STOPPED NMT_CS_BASIC_ ETHERNET NMT_CS NMT CN State Machine NMT_CS_EPL_MODE Error Condition NMT StartNode NMT StopNode SoA SoC ...

Page 96: ...ary is described in Appendix A CANopen Object Dictionary Process Data Objects Process Data Objects PDO are used for exchanging time critical process data between the master and the slave Tx PDOs are used to transfer data from the slave to the master and Rx PDOs to transfer data from the master to the slave PDO mapping defines which application objects are transmitted inside a PDO These typically i...

Page 97: ... The adapter module supports SDO transfer via Ethernet POWERLINK ASnd frames in asynchronous phase For further information see Ethernet POWERLINK Communication Profile Specification Version 1 1 0 SDO Protocol The Download Protocol for write commands and Upload Protocol for read commands are described in the Ethernet POWERLINK Communication Profile Specification Version 1 1 0 The adapter module sup...

Page 98: ...he MN controls the state of the CN via NMT State Command Services For more information see section Ethernet POWERLINK state machine on page 92 NMT Response Services NMT Response Services are used by the MN to query NMT information from the CN such as current state error and setup data Ethernet POWERLINK specifies the following NMT Response Services NMT State Response IdentResponse StatusResponse V...

Page 99: ...red and the MN polls the CN for a StatusResponse that includes error information A list of active and historical error events can be read using SDO from object 0x1003 Error entry specification Byte 0 1 2 3 4 5 6 7 8 9 Entry type1 Error code2 Time Stamp Not used3 Byte 10 11 12 13 14 15 16 17 18 19 Time Stamp Additional information Not used3 1 See Ethernet POWERLINK Communication Profile Specificati...

Page 100: ...100 Communication protocol ...

Page 101: ...hat this chapter contains This chapter explains how to trace faults with the status LEDs on the adapter module Fault and warning messages For the fault and warning messages concerning the adapter module see the drive firmware manual ...

Page 102: ...nction state 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 103: ...2 Green triple flash NMT_CS_READY_TO_OPERATE Green NMT_CS_OPERATIONAL Blinking green NMT_CS_STOPPED Red Error 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 NET Blinking green TX RX activity Green Link s are active Red Link s are inactive Name Color Func...

Page 104: ...104 Diagnostics ...

Page 105: ...Technical data 105 10 Technical data What this chapter contains This chapter contains the technical specifications of the adapter module and the Ethernet POWERLINK link ...

Page 106: ...bient conditions specified for the drive in its manuals are in effect Package Cardboard Plastic wrapping Antistatic air bubble sheet PE Indicators Three bicolor LEDs HOST MODULE NET Connectors A 20 pin connector to the drive X3 Two RJ 45 connectors X1 and X2 Power supply 3 3 V 5 max 450 mA supplied by the drive General All materials UL CSA approved Complies with EMC standard EN 61800 3 2004 Printe...

Page 107: ...INK compliant devices Medium 100Base TX Wiring CAT 5 UTP CAT 5 FTP or CAT 5 STP Recommended Connector RJ 45 Termination Internal Maximum segment length 100 m Topology Star tree or daisy chain Transfer rate 100 Mbit s Serial communication type Half duplex Protocol Ethernet POWERLINK ...

Page 108: ...108 Technical data ...

Page 109: ...t Dictionary can be accessed with SDO services and many of the dictionary objects can be mapped for cyclic communication in PDOs Each object is addressed using a 16 bit index The following table presents the overall layout of the standard Object Dictionary Index hex Object Dictionary area 0000 0FFF Data type area 1000 1FFF Communication profile area 2000 5FFF Manufacturer specific profile area 600...

Page 110: ...2 bit unsigned integer 0 232 1 I32 32 bit signed integer 231 231 1 U16 16 bit unsigned integer 0 65535 I16 16 bit signed integer 32768 32767 U8 8 bit unsigned integer 0 255 I8 8 bit signed integer 128 127 OSTR Octet string VSTR Visible string BOOL Boolean Acc Access SDO read write access R object can only be read by the SDO service RW object can be both read and written by the SDO service Def Defa...

Page 111: ...ofile for FEPL 02 is 0 10192 hex which corresponds to communication profile CiA 402 and additional information value is 0 01 hex which represents a frequency converter 1001 0 Error register U8 R 0 Error register for the adapter module Bit encoded according to DS 301 401 When a bit is set the error is active Bits 7 Manufacturer specific 6 Reserved always 0 5 Device profile specific 4 Communication ...

Page 112: ... 1FFF communication profile area 3 Save appl parameters U32 RW Save objects 6000 9FFF device profile area 4 Save drive parameters U32 RW Save drive parameters 1011 0 Restore default parameters U8 R Number of entries Write value 0x64616F6C into a relevant subindex to restore the default values to objects Range 1 127 1 Restore all defaults U32 RW Restore the default values to the communication and d...

Page 113: ...015 4 Serial number U32 R Serial number of the adapter module 1020 0 Verify configuration U8 R 4 Number of entries Range 2 4 1 Configuration date U32 RW 0 Used by the MN to verify if the module is properly configured 2 Configuration time U32 RW 0 Used by the MN to verify if the module is properly configured 3 Configuration ID U32 RW 0 Used by the MN to verify if the module is properly configured 4...

Page 114: ...he interface specified in octets 5 Interface Phys Address OSTR R MAC address assigned during manufacturing 6 Interface Name VSTR R Always eth0 7 Interface Operation Status U8 R The current operational state of the interface 0 Down 1 Up 8 Interface Admin State U8 RW 1 The current administration state of the interface 0 Down 1 Up 9 Valid Boolean BOOL RW FALSE Specifies whether or not the data of thi...

Page 115: ...d object 16 U64 RW 0 1800 0 Transmit PDO Com munication U8 R 2 Number of entries 1 Node ID U8 RW 0 Node ID of the PDO target CN not used 0 MN NodeID of the PReq target CN Valid Node IDs are released by NMT_NodeAssignment_AU32 Node ID Bits 0 and 8 Node ID entry 0 indicates the multicast PRes transmitted by the MN Range 0 254 2 Mapping version U8 RW 0 1A00 0 Transmit PDO Mapping U8 RW 0 Number of ma...

Page 116: ... by 8 every time a loss of PReq is detected decreased by 1 on every healthy PReq 3 Threshold U32 RW 15 When Threshold count reaches this value an error will occur Setting it to 0 will disable the error reaction 1C0F 0 CRC errors U8 R 3 Number of entries Range 1 3 1 Cumulative count U32 RW 0 Increased by 1 every time a CRC error is detected 2 Threshold count U32 R 0 Increased by 8 every time a CRC ...

Page 117: ...onous messages to be transmitted by the device Range 36 1490 2 Isochr Rx Max Payload U16 R Device specific upper limit for the payload data size in octets of isochronous messages to be received by the device Range 36 1490 3 Pres Max Latency U32 R Maximum time in nanoseconds required by the CN to respond to PReq 4 PReq Act Payload Limit U16 RW 36 Configured PReq payload data slot size in octets exp...

Page 118: ...cycle in multiples of the POWERLINK cycle 8 Async MTU U16 RW 300 Maximum asynchoronous frame size in octets Set to 1500 on reset Range 300 1500 9 Prescaler U8 RW 2 Toggle rate of the SoC PS flag The value is the number of cycles that have to be completed for the MN to toggle the flag Range 0 1000 1F99 0 Basic Ethernet Timeout U32 RW 5000000 Time in microseconds to be applied before changing from N...

Page 119: ...us word 2005 0 T32 Act1 I32 R 32 bit transparent profile actual 1 2006 0 T32 Act2 I32 R 32 bit transparent profile actual 2 2051 0 T16 CW U16 RW 16 bit transparent profile control word 2052 0 T16 Ref1 I16 RW 16 bit transparent profile reference 1 2053 0 T16 Ref2 I16 RW 16 bit transparent profile reference 2 2054 0 T16 SW U16 R 16 bit transparent profile status word 2055 0 T16 Act1 I16 R 16 bit tra...

Page 120: ...120 Appendix A CANopen Object Dictionary 2201 0 Vendor specific fault code U16 R 2203 0 Vendor specific fault code U16 R Index SI Name Type Access Information ...

Page 121: ...xample the index for drive parameter 30 19 equals 1E hex 4000 hex 401E hex and the subindex 19 dec 13 hex The principle is demonstrated in the following table Note Drive parameter values written through the network are not automatically saved to the permanent memory of the drive The values should be saved on the drive to retain the changes after a power cycle Index hex Sub index Name Type Access I...

Page 122: ... through into this object Two error codes are generated by the adapter module 0xFFE1 Failed to read fault code from the drive 0xFFFF Unhandled drive fault code corresponding CiA 402 error code does not exist See object 2201 and the drive manual 6040 0 Control word U16 RW CiA 402 control word 6041 0 Status word U16 R CiA 402 status word 6042 0 vl target velocity I16 RW Effective in the velocity ope...

Page 123: ...leration I8 R 2 Deceleration ramp settings for the velocity operation mode vl 1 Delta speed U32 RW Ramp delta speed vl scaling units Note Read only in ACS355 and ACS880 2 Delta time U16 RW Ramp delta time s 604A 0 vl velocity quick stop I8 R 2 Quick stop ramp settings for the velocity operation mode vl 1 Delta speed U32 RW Ramp delta speed vl scaling units Note Read only in ACS355 and ACS880 2 Del...

Page 124: ...rted modes depend on the drive 6061 0 Modes of operation display I8 R Current operation mode 6064 0 Position actual value I32 R Operational when position feedback is available from the drive 6069 0 Velocity sensor actual value I32 R Describes the value read from a velocity encoder 606A 0 Sensor selection code I16 RW 606B 0 Velocity demand value I32 R Operational if the ramp function generator outp...

Page 125: ... move Cyclic low priority communication 6087 0 Torque slope U32 RW Effective in the profile torque tq operation mode Unit 0 1 s 6088 0 Torque profile type I16 RW 0 Only 0 Linear ramp trapezoidal profile is supported 6098 0 Homing method I8 RW 0 CiA 402 homing methods See the drive manual for more information on the supported homing modes 128 1 Manufacturer specific 0 No homing operation required 1...

Page 126: ...60FE 0 Digital outputs U8 R Number of entries 1 Physical outputs U32 RW Drive specific 2 Bitmask U32 RW Drive specific 60FF 0 Target velocity I32 RW Rx Effective in the profile velocity pv operation mode Index SI Name Type Acc Def Information ...

Page 127: ...e CN with the StatusResponse service See section Network Management Services on page 98 Error codes between xx80 xxFF hex and between FF00 FFFF hex are manufacturer specific Descriptions for these error codes can be found in the appropriate drive firmware manual and or the drive fault code parameter Error code hex Meaning 0000 Error reset or no error 1000 Generic error 2000 Current 2100 Current on...

Page 128: ...nction 2214 Overcurrent in the sequence 2220 Continuous overcurrent 2221 Continuous overcurrent No 1 2222 Continuous overcurrent No 2 2230 Short circuit earth leakage 2240 Earth leakage 2250 Short circuit 2300 Current on device output side 2310 Continuous overcurrent 2311 Continuous overcurrent No 1 2312 Continuous overcurrent No 2 2320 Short circuit earth leakage 2330 Earth leakage 2331 Earth lea...

Page 129: ...ltage phase L1 3122 Mains undervoltage phase L2 3123 Mains undervoltage phase L3 3130 Phase failure 3131 Phase failure L1 3132 Phase failure L2 3133 Phase failure L3 3134 Phase sequence 3140 Mains frequency 3141 Mains frequency too great 3142 Mains frequency too small 3200 DC link voltage 3210 DC link overvoltage 3211 Overvoltage No 1 3212 Overvoltage No 2 3220 DC link undervoltage 3221 Undervolta...

Page 130: ...xcess ambient temperature 4120 Too low ambient temperature 4130 Temperature supply air 4140 Temperature air outlet 4200 Temperature device 4210 Excess temperature device 4220 Too low temperature device 4300 Temperature drive 4310 Excess temperature drive 4320 Too low temperature drive 4400 Temperature supply 4410 Excess temperature supply 4420 Too low temperature supply 5000 Device hardware 5100 S...

Page 131: ...te circuit 5200 Control 5210 Measurement circuit 5220 Computing circuit 5300 Operating unit 5400 Power section 5410 Output stages 5420 Chopper 5430 Input stages 5440 Contactors 5441 Contactor 1 manufacturer specific 5442 Contactor 2 manufacturer specific 5443 Contactor 3 manufacturer specific 5444 Contactor 4 manufacturer specific 5445 Contactor 5 manufacturer specific 5450 Fuses 5451 S1 L1 5452 S...

Page 132: ...on volatile data memory 6000 Device software 6010 Software reset Watchdog 6100 Internal software 6200 User software 6300 Data record 6301 Data record No 1 from 2 14 corresponding 630F Data record No 15 6310 Loss of parameters 6320 Parameter error 6330 Ethernet POWERLINK module configuration error 7000 Additional modules 7100 Power 7110 Brake chopper 7111 Failure brake chopper 7112 Overcurrent brak...

Page 133: ...remental sensor 1 fault 7306 Incremental sensor 2 fault 7307 Incremental sensor 3 fault 7310 Speed 7320 Position 7400 Computation circuit 7500 Communication 7510 Serial interface no 1 7520 Serial interface no 2 7600 Data storage 8000 Monitoring 8100 Communication 8300 Torque control 8311 Excess torque 8312 Difficult start up 8313 Standstill torque 8321 Insufficient torque 8331 Torque fault 8400 Ro...

Page 134: ... 8611 Following error 8612 Reference limit 8700 Sync controller 8800 Winding controller 9000 External error F000 Additional functions F001 Deceleration F002 Sub synchronous run F003 Stroke operation F004 Control FF00 Manufacturer specific FFFF Manufacturer specific Error code hex Meaning ...

Page 135: ...Appendix C IdentResponse Frame 135 13 Appendix C IdentResponse Frame What this chapter contains This chapter contains the contents of the IdentResponse Frame ...

Page 136: ...reFlags 10 11 MTU 12 13 PollInSize 14 15 PollOutSize 16 19 ResponseTime 20 21 Reserved 22 25 DeviceType 26 29 VendorID 30 33 ProductCode 34 37 RevisionNumber 38 41 SerialNumber 42 49 VendorSpecificExtension1 50 53 VerifyConfigurationDate 54 57 VerifyConfigurationTime 58 61 ApplicationSwDate 62 65 ApplicationSwTime 66 69 IPAddress 70 73 SubnetMask 74 77 DefaultGateway 78 109 HostName 110 157 Vendor...

Page 137: ...PLVersion eplv Indicates the POWERLINK version to which the CN conforms FeatureFlags feat Reports the feature flags of the device NMT_FeatureFlags_U32 MTU mtu Reports the size of the largest IP frame that can be transmitted over the network including the size of the transport header Values C_DLL_MIN_ASYNC_MTU C_DLL_MAX_ASYNC_MTU PollInSize pis Reports the actual CN setting for PReq datablock size ...

Page 138: ...1 May be used for vendor specific purpose to be filled with zeros if not in use VerifyConfigurationDate vcd Reports the CN s Configuration date CFM_VerifyConfiguration_REC Conf Date_U32 VerifyConfigurationTime vct Reports the CN s Configuration time CFM_VerifyConfiguration_REC Conf Time_U32 ApplicationSWDate ad Reports the CN s Application SW date PDL_LocVerApplSw_REC ApplSwD ate on programmable d...

Page 139: ...mask value of the CN NWL_IpAddrTable_Xh_REC NetMas k_IPAD DefaultGateway gtw Reports the current IP default gateway value of the CN NWL_IpAddrTable_Xh_REC DefGat eway_IPAD HostName hn Reports the current DNS host name of the CN NMT_HostName_VSTR VendorSpecificExtension2 vex2 May be used for vendor specific purpose to be filled with zeros if not in use Field Abbr Description ...

Page 140: ...140 Appendix C IdentResponse Frame ...

Page 141: ...rvice contacts can be found by navigating to abb com searchchannels Product training For information on ABB product training navigate to new abb com service training Providing feedback on ABB manuals Your comments on our manuals are welcome Navigate to new abb com drives manuals feedback form Document library on the Internet You can find manuals and other product documents in PDF format on the Int...

Page 142: ...000123527 Rev B EN 2018 03 16 abb com drives abb com solar abb com windconverters abb com drivespartners Copyright 2018 ABB All rights reserved Specifications subject to change without notice 3AUA0000123527B ...

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