ABB FCAN-01, Руководство пользователя

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Start-up 61
The start sequence for the parameter example above is given
below.
Control word:
•
Reset the fieldbus communication fault (if active).
•
7Fh → Operation enabled = Drive starts modulating
•
77h → Disable operation = Ramp stop (possible to restart
during ramping)
•
7Eh → Switch on disabled = Coast stop
•
7Bh → Quick stop = Emergency stop (not possible to restart
during ramping)
Speed and torque control using ABB Drives
communication profile with parameter-configured PDO
mapping
This example shows how to configure a speed and torque control
application that uses the ABB Drives profile. In addition, some
application specific data is added to the communication.
The start/stop commands and references are according to the ABB
Drives profile. (For more information, see section ABB Drives
communication profile on page 100 .)
When reference 1 (REF1) is used, reference value ±20000
(decimal) corresponds to the reference set with 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 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.
PDO Word 1 Word 2 Word 3 Word 4 Length
Rx PDO1 6040h
Control
word
1)
6042h
Target
velocity
1)
2000h03
Reference
2
1)
4001h23
Par. 0135
COMM
VALUE 1
2)
64 bits
Tx PDO1 6041h
Status
word
1)
6044h
vl control
effort
1)
2000h06
Actual value
2
1)
4001h06
Par. 0106
POWER
2)
64 bits