ABB FPBA-01 PROFIBUS DP, User Manual

Page: 62 / 196

62 Start-up
The start sequence for the parameter example above is given
below.
Position control using the PROFIdrive communication profile
with PPO Type 4
This example shows how to configure a basic positioning
application. The start/stop commands and reference are according
to the PROFIdrive profile, positioning mode. For more information,
see the PROFIdrive state machine on page 108 .
Note: By default, fieldbus is not the only control source. For details
of actual signal 02.12 FBA MAIN CW , see in ACSM1 motion
control program firmware manual .
The position set point and velocity reference are defined as 32-bit
integer values; both are scaled as defined by drive parameter
settings.
24.01 SPEED REF1
SEL FBA REF1 Selects the fieldbus
reference 1 as the source
for speed reference 1.
34.03 EXT1 CTRL
MODE1 Speed Selects speed control as
the control mode 1 for
external control location 1.
1)
Read-only or automatically detected/set
2)
Example
Control word Start sequence
47Eh (1150 decimal) READY TO SWITCH ON
47Fh (1151 decimal) OPERATING (Speed mode)
Direction PZD1 PZD2 PZD3 PZD4 PZD5 PZD6
Out Control word
(STW1) Position set
point Velocity reference N/A
In Status word
(ZSW1) Position actual
value Velocity actual
value N/A
Drive parameter Setting for
ACSM1 drives Description