ABB FPBA-01 PROFIBUS DP, User Manual

Page: 67 / 196

Start-up 67
The start sequence for the above parameter example is given
below:
Speed and torque control using the ABB Drives
communication profile with PPO Type 4
This example shows how to configure a speed and torque control
application that uses 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 111 .
When Reference 1 (REF1) is used, a reference value of ±20000
(4E20h) corresponds to the reference set by parameter 25.02
SPEED SCALING in the forward and reverse directions.
When Reference 2 (REF2) is used, a reference value of ±10000
(2710h) corresponds to the reference set by parameter 32.04
TORQUE REF 1 MAX in the forward and reverse directions.
Control word Start sequence
406h (1030 decimal) READY TO SWITCH ON
40Fh (1039 decimal) OPERATING
43Fh (1087 decimal) OPERATING (Reject traversing task with no
intermediate stop)
47Fh (1151 decimal) OPERATING (Activate traversing task)
C0Fh (3087 decimal) OPERATING (Start Homing procedure)
Direction PZD1 PZD2 PZD3 PZD4 PZD5 PZD6
Out Control
word Speed
reference Torque
reference N/A N/A N/A
In Status
word Speed
actual value Torque actual N/A N/A N/A