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8  Table of contents        

Drive synchronization  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Free run  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
DC sync – Synchronous with a DC Sync0 event  . . . . . . . . . 92

CANopen over EtherCAT  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Process Data Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Emergency Objects   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Communication between adapter module and drive   . . . . . . . . . 96

Cyclic high priority communication . . . . . . . . . . . . . . . . . . . . 96
Cyclic low priority communication   . . . . . . . . . . . . . . . . . . . . 97

9. Diagnostics

What this chapter contains  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
LED indications   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

10. Technical data

What this chapter contains  . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
FECA-01   . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
EtherCAT link  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

11. Appendix A – CoE Object Dictionary

What this chapter contains  . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Object Dictionary structure  . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Communication profile objects
(0x1000...0x1FFF)  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Manufacturer-specific profile objects
(0x2000...0x5FFF)  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

Drive parameter access via CoE objects  . . . . . . . . . . . . . . 123

Standardized device profile area
(0x6000…0x9FFF)  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
CoE objects affecting drive parameters  . . . . . . . . . . . . . . . . . . 134

CoE objects affecting ACSM1 parameters   . . . . . . . . . . . . 135
CoE objects affecting ACS850 parameters  . . . . . . . . . . . . 136
CoE objects affecting ACS355 parameters  . . . . . . . . . . . . 137
CoE objects affecting ACS880 and ACS580 parameters   . 138

Vendor-specific AL Status code  . . . . . . . . . . . . . . . . . . . . . . . . 138

Содержание FECA-01 EtherCAT

Страница 1: ...Options for ABB drives converters and inverters User s manual FECA 01 EtherCAT adapter module ...

Страница 2: ...List of related manuals See section Related manuals on page 16 EtherCAT is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany ...

Страница 3: ...ABB Oy All Rights Reserved User s manual FECA 01 EtherCAT adapter module 3AUA0000068940 Rev D EN EFFECTIVE 2015 06 15 2015 ABB Oy All Rights Reserved 1 Safety instructions Table of contents 4 Mechanical installation 5 Electrical installation ...

Страница 4: ......

Страница 5: ...rt 17 Contents 18 Terms and abbreviations used in this manual 19 General terms 19 General abbreviations 19 EtherCAT abbreviations 20 3 Overview of the EtherCAT network and the FECA 01 module What this chapter contains 21 EtherCAT network 21 Example topology of the EtherCAT link 22 FECA 01 EtherCAT adapter module 23 Layout of the adapter module 24 4 Mechanical installation Contents of this chapter ...

Страница 6: ... 40 Starting up fieldbus communication for ACS355 drives 41 Parameter setting examples ACS355 42 Starting up fieldbus communication for ACSM1 drives 44 Parameter setting examples ACSM1 45 Starting up fieldbus communication for ACS850 drives 48 Parameter setting examples ACS850 49 Starting up fieldbus communication for ACS880 and ACS580 drives 51 Parameter setting examples ACS880 and ACS580 53 Conf...

Страница 7: ...A 402 profile 72 Control word and Status word of the CiA 402 profile 73 ABB Drives communication profile 78 Control word and Status word 78 Control word contents 78 Status word contents 81 State machine 83 References 84 Scaling 84 Actual values 85 Scaling 85 8 Communication protocol What this chapter contains 87 EtherCAT frame structure 87 EtherCAT services 88 Addressing modes and FMMUs 89 Sync ma...

Страница 8: ...tains 101 FECA 01 101 EtherCAT link 102 11 Appendix A CoE Object Dictionary What this chapter contains 103 Object Dictionary structure 103 Communication profile objects 0x1000 0x1FFF 105 Manufacturer specific profile objects 0x2000 0x5FFF 120 Drive parameter access via CoE objects 123 Standardized device profile area 0x6000 0x9FFF 124 CoE objects affecting drive parameters 134 CoE objects affectin...

Страница 9: ...endix B CoE error codes What this chapter contains 139 Error codes 139 Further information Product and service inquiries 147 Product training 147 Providing feedback on ABB Drives manuals 147 Document library on the Internet 147 ...

Страница 10: ...10 Table of contents ...

Страница 11: ... 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 ...

Страница 12: ... 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 ...

Страница 13: ... 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 connectors or parts in reach For example it is possible that 230 V AC is connected from outside...

Страница 14: ...14 Safety instructions ...

Страница 15: ...his manual applies to the FECA 01 EtherCAT adapter module K469 SW version 112 Compatibility The FECA 01 EtherCAT adapter module is compatible with the following drives ACS355 ACSM1 motion and speed variants ACS580 ACS850 ACS880 The adapter module is compatible with all master stations that support the EtherCAT protocol ...

Страница 16: ... user s manual 3AUA0000066143 Drive hardware manuals and guides ACSM1 204 regen supply modules 5 3 to 61 kW hardware manual 3AUA0000053713 ACSM1 04 drive modules 0 75 to 45 kW hardware manual 3AFE68797543 ACSM1 04 drive modules 55 to 110 kW hardware manual 3AFE68912130 ACSM1 04Lx liquid cooled drive modules 55 to 160 kW hardware manual 3AUA0000022083 ACS580 01 hardware manual 3AXD50000018826 ACS85...

Страница 17: ...ools have the drive manuals available during the installation as they contain important information not included in this manual The drive manuals are referred to at various points of this manual Drive firmware manuals and guides ACSM1 motion control program firmware manual 3AFE68848270 ACSM1 speed and torque control program firmware manual 3AFE68848261 ACSM1 regen supply control program firmware m...

Страница 18: ... the module to the EtherCAT network Start up presents the steps to take during the start up of the drive with the adapter module and gives examples of configuring the master system Communication profiles describes the communication profiles used in the communication between the EtherCAT network the adapter module and the drive Communication protocol describes the communication on an EtherCAT netwo...

Страница 19: ...A 01 EtherCAT adapter module One of the optional fieldbus adapter modules available for ABB drives FECA 01 is a device through which an ABB drive is connected to an EtherCAT 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 f...

Страница 20: ...cant bit STP Shielded twisted pair UDP User Datagram Protocol UTP Unshielded twisted pair XML Extensible Markup Language Abbreviation Explanation CoE CANopen over EtherCAT EMCY Emergency Object EoE Ethernet over EtherCAT ESC EtherCAT Slave Controller ESI EtherCAT Slave Information FMMU Fieldbus Memory Management Unit SDO Service Data Object PDI Process Data Interface PDO Process Data Object Abbrev...

Страница 21: ... hardware An EtherCAT bus consists of a master system and up to 65535 slave devices connected together with standard Ethernet cabling The slave devices process the incoming Ethernet frames directly extract or insert relevant data and transfer the frame to the next EtherCAT slave device The last slave device in the bus segment sends the fully processed frame back to the master There are several app...

Страница 22: ...formation is available from the EtherCAT technology group www ethercat org Example topology of the EtherCAT link An example of an allowable topology is shown below adapter module adapter module adapter module EtherCAT master OUT IN IN X1 OUT X2 IN X1 OUT X2 IN X1 OUT X2 ...

Страница 23: ...ues from the drive change drive parameter values reset a drive fault The EtherCAT commands and services supported by the adapter module are discussed in chapter Communication protocol Refer to the user documentation of the drive as to which commands are supported by the drive The adapter module is mounted into an option slot on the motor control board of the drive See the drive manuals for module ...

Страница 24: ...erview of the EtherCAT network and the FECA 01 module Layout of the adapter module Diagnostic LEDs see chapter Diagnostics Mounting screw Front view Side view EtherCAT connector X1 EtherCAT connector X2 Lock ...

Страница 25: ...st and instructions on mounting 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 EtherCAT adapter module type FECA 01 this manual 3 Make sure that there are no signs of damage ...

Страница 26: ...ve 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 unit 1 Pull out the lock 2 Put the a...

Страница 27: ...rew to torque 0 8 N m 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 ...

Страница 28: ...28 Mechanical installation ...

Страница 29: ... connecting the adapter module to the EtherCAT network Warnings 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 ...

Страница 30: ...AT network The adapter module has two 100BASE TX Ethernet ports with 8P8C RJ 45 modular connectors Standard Category 5e STP or FTP Ethernet cables can be used It is not recommended to use UTP cables because drives are typically installed in noisy environments When Cat 5e STP or FTP is used the cable shield is internally connected to the drive frame through the adapter module Connection procedure 1...

Страница 31: ...Electrical installation 31 The figure below illustrates the cable connections adapter module adapter module adapter module EtherCAT master OUT IN IN X1 OUT X2 IN X1 OUT X2 IN X1 OUT X2 ...

Страница 32: ...32 Electrical installation ...

Страница 33: ...g 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 WARNING Follow the safety instructions given in this manual and the drive documentation ...

Страница 34: ...w the EtherCAT master to access the parameters starting via CoE objects This scanning procedure may take up to one minute depending on the drive type The adapter module does not respond to the EtherCAT bus during the scanning procedure As long as the adapter module is connected to a drive of the same type and version there is no need to scan through all the drive parameters again at start up Once ...

Страница 35: ...ly Shows the fieldbus adapter type The value cannot be adjusted by the user If the value is not 135 the adapter module sets the fieldbus configuration parameters to their default values 135 EtherCAT 02 PROFILE Selects the communication profile used by the adapter module It is not recommended to switch communication profiles during operation For more information on the communication profiles see ch...

Страница 36: ...er value back to 0 automatically 0 No ACS355 FB PAR 21 ACSM1 FBA PAR21 ACS850 FBA par21 ACS880 ACS580 Erase FBA config 1 Erase Erases FBA configuration 0 No No operation 22 DRIVE POS CTL MODE Selects which ACSM1 drive control mode is used in the CiA 402 cyclic synchronous position csp operation mode For more information on the ACSM1 position and synchron control modes see ACSM1 motion control prog...

Страница 37: ...R TABLE VER Read only Displays the parameter table revision of the fieldbus adapter module mapping file stored in the memory of the drive N A ACS355 FILE CPI FW REV ACSM1 PAR TABLE VER ACS850 ACS880 ACS580 Par table ver Parameter table revision 29 DRIVE TYPE CODE Read only Displays the drive type code of the fieldbus adapter module mapping file stored in the memory of the drive N A ACS355 FILE CON...

Страница 38: ... line ACS355 FBA STATUS ACSM1 D2FBA COMM STA ACS850 ACS880 ACS580 D2FBA comm sta 0 Idle Adapter is not configured 1 Exec init Adapter is initializing 2 Time out Time out 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 adapter module is not the revision required...

Страница 39: ...ACS580 FBA comm SW ver Common program revision of the adapter module 33 FBA APPL SW VER Read only Displays the application program revision of the adapter module For example 0x0111 version 111 N A ACS355 FBA APPL FW REV ACSM1 FBA APPL SW VER ACS850 FBA appl sw ver ACS880 ACS580 FBA appl SW ver Application program revision of the adapter module No Name Value Description Default ...

Страница 40: ... in ACS355 parameter group 52 in ACSM1 ACS580 and ACS850 parameter group is typically 52 55 group 152 155 in some variants in ACS880 if the adapter is installed as fieldbus adapter A B For more information refer the appropriate drive manuals All parameters in this group are handled by the adapter module automatically Do not modify the settings of these parameters Control locations ABB drives can r...

Страница 41: ...H to REFRESH 5 Set the relevant drive control parameters to control the drive according to the application If the CiA 402 profile is used set and check all parameters as instructed in the table below 6 CiA 402 profile only If you intend to use the CiA 402 profile do the following Select the desired operation mode for the adapter module and the drive in CoE object 0x6060 by modifying the object val...

Страница 42: ...idates the FECA 01 configuration parameter settings 1001 EXT1 COMMANDS COMM Selects the fieldbus interface as the source of the start and stop commands for external control location 1 1002 EXT2 COMMANDS COMM Selects the fieldbus interface as the source of the start and stop commands for external control location 2 1102 EXT1 EXT2 SEL COMM Enables external control location 1 2 selection through the ...

Страница 43: ...e ramp pair 1 2 selection 2209 RAMP INPUT 0 COMM Selects the fieldbus interface as the source for forcing the ramp input to zero 9904 MOTOR CTRL MODE VECTOR SPEED VECTOR TORQ SCALAR FREQ Selects the motor control mode Note The CiA 402 operation modes available depend on this setting When VECTOR TORQ has been selected operation modes vl tq and cst are available When VECTOR SPEED or SCALAR FREQ has ...

Страница 44: ...RESH to REFRESH 6 Set the relevant drive control parameters to control the drive according to the application If the CiA 402 profile is used set and check all parameters as instructed in the table below 7 CiA 402 profile only If you intend to use the CiA 402 profile do the following Select the desired operation mode for the adapter module and the drive in CoE object 0x6060 by modifying the object ...

Страница 45: ...MODESEL Torque Speed Position Raw data Selects the source for fieldbus actual value 2 feedback value 1 50 06 FBA ACT1 TR SRC P 1 06 TORQUE P 1 01 SPEED ACT P 1 12 POS ACT Effective only if the FBA REF1 MODESEL parameter has been set to Raw data In that case Selects the source for fieldbus actual value 1 2 50 07 FBA ACT2 TR SRC P 1 06 TORQUE P 1 01 SPEED ACT P 1 12 POS ACT Effective only if the FBA...

Страница 46: ...position control mode see ACSM1 motion control program firmware manual 3AFE68848270 English 57 09 KERNEL SYNC MODE FBSync See section Drive synchronization on page 92 60 02 POS AXIS MODE Linear Rollover Selects whether to have continuous position data range or position data range with one revolution wrap around 4 60 09 POS RESOLUTION 10 24 Selects the internal resolution of the position data betwe...

Страница 47: ...L parameters Torque speed or position feedbacks may be selected Only two out of the three can be selected simultaneously 2 Note After changing parameter 50 06 or 50 07 the settings must be read into the adapter module by using the parameter 51 27 FBA PAR REFRESH 3 Note The drive control mode is changed by the adapter module according to the operation mode requested by the master However it is reco...

Страница 48: ... refresh to Refresh 6 Set the relevant drive control parameters to control the drive according to the application If the CiA 402 profile is used set and check all parameters as instructed in the table below 7 CiA 402 profile only If you intend to use the CiA 402 profile do the following Select the desired operation mode for the adapter module and the drive in CoE object 0x6060 by modifying the obj...

Страница 49: ... tr src P 1 01 Motor speed rpm P 1 06 Motor torque P 1 12 Pos act P 1 09 Encoder1 pos P 1 11 Encoder2 pos Effective only if the Fb ref1 modesel parameter has been set to Raw data In that case Selects the source for fieldbus actual value 1 2 50 07 Fb act2 tr src P 1 01 Motor speed rpm P 1 06 Motor torque P 1 12 Pos act P 1 09 Encoder1 pos P 1 11 Encoder2 pos Effective only if the Fb ref2 modesel pa...

Страница 50: ...sel parameters Two pieces of feedback can be selected To get the position feedback select Raw data and select the appropriate drive parameter in the corresponding Fb act1 2 tr src parameter 2 Note After changing parameter 50 06 or 50 07 the settings must be read into the adapter module by using the parameter 51 27 FBA par refresh 3 Note The drive control mode is changed by the adapter module accor...

Страница 51: ...tion 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 parameters 50 04 and 50 05 The allowed values are listed in the table below 6 Set the FECA 01 configuration parameters in drive parameter group 51 At the minimum set the value of parameter 5...

Страница 52: ...page 68 and Appendix A CoE Object Dictionary Take into use suitable PDOs for the operation mode in use You can do this either via the default RxPDOs and TxPDOs as described in section Process Data Objects on page 93 or you can create your own custom PDOs as well With ACS880 in Scalar motor control mode you must configure the drive to use the reference unit as rpm Set parameter 19 20 Scalar control...

Страница 53: ...BA A comm loss t out 3 0 s1 Defines the fieldbus A communication break supervision time 50 04 FBA A ref1 type 3 Torque 4 Speed Selects the source for fieldbus actual value 1 feedback value 50 05 FBA A ref2 type 3 Torque 4 Speed Selects the source for fieldbus actual value 2 feedback value 51 02 Profile 0 CiA 402 Selects the CiA 402 profile 51 27 FBA par refresh 1 Refresh Validates the settings mad...

Страница 54: ...ference 1 99 04 Motor control mode 0 DTC or 1 Scalar ACS880 drives To use CiA 402 profile in Scalar mode also set parameter 19 20 Scalar control reference unit Rpm ACS580 drives To use CiA 402 profile use DTC mode 19 20 Scalar control reference unit 0 Hz 1 Rpm For ACS880 drives only If using CiA 402 profile in Scalar motor control mode select the reference unit as Rpm 1 Example Drive parameter Set...

Страница 55: ...L files that specify the properties of the slave device for the EtherCAT master and contain information on the supported communication objects EtherCAT Slave Information files for ABB drives are available from the Document library www abb com drives Configuring an ABB AC500 PLC This example shows how to configure communication between an ABB AC500 PLC and the adapter module using the ABB Control B...

Страница 56: ...ndow that opens click Install and browse for the ESI file downloaded from the Document library 4 Open or create the PLC project that is used to control the drive 5 Add the CM579 ECAT EtherCAT master device to the PLC project ...

Страница 57: ...Start up 57 6 Add the FECA 01 module or the drive to the EtherCAT network 7 Define the CM579 ECAT master properties 8 Define the FECA 01 properties ...

Страница 58: ...8 Start up On the Process Data tab select the PDOs transferred between the PLC and drive On the EtherCAT I O Mapping tab type names for the variables that refer to the drive s signals in the PLC program ...

Страница 59: ...9 9 Open the PLC program 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 ...

Страница 60: ...ion and drive type and drive license type with ACSM1 1 Copy the ESI file into the Io EtherCAT directory under the TwinCAT installation directory eg C TwinCAT Io EtherCAT 2 Start the TwinCAT System Manager 3 Create a blank project if necessary go to File New 4 Set Reset TwinCAT to Config Mode 5 Add the EtherCAT device into the I O Configuration Right click I O Devices and select Append Device Expan...

Страница 61: ...Start up 61 6 Add the drive s to the network configuration by scanning the network Right click Device 1 EtherCAT and select Scan Boxes ...

Страница 62: ... PDOs are transmitted from the master to the module Tx PDOs are transmitted from the module to the master Rx PDOs are assigned to Sync manager 2 Outputs and Tx PDOs are assigned to Sync manager 3 Inputs By pressing the Load PDO info from device button the current PDO configuration on the module is loaded into the TwinCAT System Manager with which the PDO configuration can be viewed ...

Страница 63: ...Start up 63 ...

Страница 64: ... managers Check that the PDO Assignment and PDO Configuration check boxes are selected to make TwinCAT transfer the configuration to the module when the network is started In the Config Mode the network can be restarted by reloading the I O devices by pressing F4 9 Create a task in TwinCAT Right click Additional Tasks and select Append task Link the adapter module s inputs and outputs to the appen...

Страница 65: ... state after the TwinCAT configuration has been activated select Additional Tasks Task 1 Then on the Task tab select the Auto start check box 11 Change the TwinCAT configuration state using the buttons shown below For example take FECA 01 and the drive into the OPERATIONAL mode ...

Страница 66: ...66 Start up ...

Страница 67: ...e 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 a Transparent profile is available With the Transparent mode no data conversion takes place in the module The profile is selected from the drive with parameter 02 PROFILE in the fieldbus configuration group 1 For example if parameter 02 PROFILE is s...

Страница 68: ... is the principal means for controlling the drive from a fieldbus system It is sent by the fieldbus master to the drive through the adapter module The drive switches between its states according to the bit coded instructions in the Control word and returns status information to the master in the Status word Supported modes of operation The CiA 402 profile offers several modes of operation These mo...

Страница 69: ...x zero pulse from an incremental encoder For more information on the homing mode and descriptions of the various homing methods see the drive manual 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 poi...

Страница 70: ...e ramp slope is set with object 0x6087 Torque slope 0 1 s 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 other operation modes namely 0x6046 vl velocity min max a...

Страница 71: ...s cyclically and synchronously to the drive that performs velocity and torque control The velocity command value is object 0x60FF Target velocity Cyclic synchronous torque mode With the cyclic synchronous torque mode the master provides target torque values cyclically and synchronously to the drive that performs torque control The torque command value is object 0x6071 Target torque ...

Страница 72: ...ata will be scaled can be set by object 0x604C vl dimension factor Position data Position data is expressed in position increments inc The position scale is specified with object 0x608F Position encoder resolution number of position increments per specified number of axis revolutions inc rev Additionally a rational factor by which all position data will be scaled can be set by object 0x6093 Positi...

Страница 73: ...of the CiA 402 profile are listed in the table below Bit Description 0 Switch on 1 Enable voltage 2 Quick stop 3 Enable operation 4 6 Operation mode specific 7 Fault reset 8 Halt 9 Operation mode specific 10 Reserved 11 15 Drive specific Bit Velocity mode Profile position mode Profile velocity mode Profile torque mode Homing mode 4 Ramp func tion genera tor enable New set point Reserved Reserved H...

Страница 74: ...own 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 figure on the state machine of the CiA 402 communication profile placed further in this section 2 When Control word bit 3 Enable operation ...

Страница 75: ... 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 9 Remote 0 Controlword is not processed 1 Controlword is processed 10 Operation mode specific See the table describing operation mode specific bits on page 76 1...

Страница 76: ...osition mode Profile velocity mode Profile torque mode Homing mode cst csv csp 10 Target reached Target reached Target reached Target reached 12 Reserved Set point acknowledge ment Speed Reserved Homing attained Drive follows the com mand value 13 Reserved Following error Max slip page error Reserved Homing error Value of object 0x60DA bits 1 0 Status word bit 13 Status word bit 10 Description 00 ...

Страница 77: ...xxxxxxxx01x 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 xxxxxxxxx0...

Страница 78: ...tates are presented on page 83 The ABB Drives Control word can be found in CoE object 0x2101 and the ABB Drives Status word in CoE object 0x2104 Control word contents 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 in the state machine on page 83 Bit Name Value Description 0 OFF1_CONTROL 1 Proce...

Страница 79: ...the drive manuals If the drive is set to receive the Run enable signal from the fieldbus this bit activates the signal 0 Inhibit operation Proceed to OPERATION INHIBITED 4 RAMP_OUT_ZERO 1 Normal operation Proceed to RAMP FUNCTION GENERATOR OUTPUT ENABLED 0 Force the Ramp Function Generator output to go to zero The drive ramps the speed down to zero and stops keeping the current and DC voltage limi...

Страница 80: ...interface is set as the source for this signal by drive parameters 0 Continue normal operation 8 9 Drive specific 10 REMOTE_CMD 1 Fieldbus control is enabled 0 Control word and reference not getting through to the drive except for CW bits OFF1 OFF2 and OFF3 11 EXT_CTRL_LOC 1 Select External Control Location EXT2 This is effective if the control location is parametrized to be selected from the fiel...

Страница 81: ... 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 The actual value equals reference is within tolerance limits ie the speed control speed error is 10 max of the nominal motor spe...

Страница 82: ...e 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 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 recei...

Страница 83: ...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 Generator...

Страница 84: ...ve control panel and the communication module for example FECA 01 To have the drive controlled through the fieldbus the adapter 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 and ACS880 ...

Страница 85: ... drive parameter The ABB Drives profile actual values can be found in CoE objects 0x2105 ABB Drives ACT1 and 0x2106 ABB Drives ACT2 Scaling Actual values are scaled as shown below Note The values of REF1 MAX and REF2 MAX are set by 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 ...

Страница 86: ...86 Communication profiles ...

Страница 87: ...In EtherCAT the data between the master and the slaves is transmitted in Ethernet frames An EtherCAT Ethernet frame consists of one or several EtherCAT telegrams each addressing individual devices and or memory areas The telegrams can be transported either directly in the data area of the Ethernet frame or within the data section of a UDP datagram transported via IP ...

Страница 88: ...ule supports the following EtherCAT services Auto increment physical read APRD Auto increment physical write APWR Auto increment physical read write APRW Configured address read FPRD Configured address write FPWR Configured address read write FPRW Broadcast read BRD Broadcast write BWR Logical read LRD Logical write LWR CRC CRC Destination Ethernet header IP header Length Embedded directly in Ethe...

Страница 89: ... via a configured node address assigned by the master during the start up phase Logical addressing The slaves are not addressed individually but instead a section of the segment wide 4 GB logical address space is addressed This section may be used by any number of slaves Fieldbus Memory Management Units FMMUs handle the local assignment of physical slave memory addresses to logical segment wide ad...

Страница 90: ...hannel 3 Sync manager 3 is used for process input data It contains the Tx PDOs specified by the PDO assignment object 0x1C13 Sync manager watchdog The sync manager watchdog process data watchdog monitors the output sync managers If the output I O data is not updated by the master within the configured time the watchdog will activate time out and reduce the state of the adapter module from Operatio...

Страница 91: ... Pre operational PREOP state In the PREOP state the EtherCAT mailbox communication is allowed and CoE objects can be accessed by SDOs After the master has configured the slave it can switch the adapter module to the Safe operational SAFEOP state In this state input I O data PDOs is sent from the adapter module to the EtherCAT master but there is no output I O data from the master to the adapter mo...

Страница 92: ...1C32 Output sync manager parameter and 0x1C33 Input sync manager parameter The settings for the different synchronization types are listed below These settings should be made in the PREOP state Free run DC sync Synchronous with a DC Sync0 event When the DC sync is used the Distributed Clocks must also be configured to enable DC and SYNC 0 The default configuration is one Sync0 pulse per bus cycle ...

Страница 93: ...e The Object Dictionary is described in Appendix A CoE Object Dictionary Process Data Objects Process Data Objects PDOs 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 The PDO mapping defines which application objects are transmitted inside a ...

Страница 94: ...que 6 1605 6040 6042 Controlword vl target velocity 211 1614 2001 2002 2003 Transparent CW Transparent REF1 Transparent REF2 1 Default mapping with ACS880 and ACS580 2101 ABB Drives control word 2102 ABB Drives REF1 2103 ABB Drives REF2 Tx PDO Mapping object Object index Object name 1 1A00 6041 Statusword 2 1A01 6041 6064 Statusword Position actual value 3 1A02 6041 6064 Statusword Position actual...

Страница 95: ...ntries within the mapping record This number is also the number of the objects which shall be transmitted received with the corresponding PDO The subindexes from 1h to the number of objects contain information about the mapped application variables The mapping values in the CANopen object are hexadecimal coded The following table presents an example of the PDO mapping entry structure The values in...

Страница 96: ...clic high priority communication service suitable for control slower cyclic low priority communication service suitable mainly for secondary purposes for example monitoring Cyclic high priority communication The minimum update cycle time for the following drives is ACSM1 ACS850 and ACS880 500 us 2000 Hz ACS355 approximately 4 ms 250 Hz ACS580 2 ms 500 Hz Use the high priority service for axis comm...

Страница 97: ... mentioned objects mapped into a PDO are transferred between the drive and the adapter module via the cyclic low priority communication service 4001 4063 Drive parameters 6043 vl velocity demand 606B Velocity demand value 6081 Profile velocity 2001 Transparent CW 2004 Transparent SW 2002 Transparent REF1 2005 Transparent ACT1 2003 Transparent REF2 2006 Transparent ACT2 2101 ABB Drives control word...

Страница 98: ...d 10 x 16 bit words with ACS355 drives in each direction If a 32 bit drive parameter is mapped to a PDO it reserves two word spaces in the cyclic low priority exchange In ACS355 drives all parameters are 16 bits long Example With an ACSM1 or ACS850 drive it is possible to map four 16 bit drive parameters and four 32 bit drive parameters in Rx Tx PDOs ...

Страница 99: ... this chapter contains This chapter explains how to trace faults with the status LEDs on the adapter module LED indications The adapter module is equipped with two green LEDs and one bicolor diagnostic LED The LEDs are described below ...

Страница 100: ...ring Activity on port 1 STATUS Off INIT state Green blinking PREOP state Green single flash SAFEOP state Green OP state Red blinking State change requested by the master is impossible because of a local error Red single flash State changed autonomously by a slave because of a local error Red double flash Process data watchdog time out Green flickering Module is booting up At the first start up thi...

Страница 101: ...s chapter contains This chapter contains the technical data of the adapter module and the EtherCAT link FECA 01 The following figure describes the enclosure of the adapter module from the front and side 63 65 16 21 3 20 Supply condition lock open ...

Страница 102: ...o the drive X3 Two 8P8C modular jacks X1 and X2 Power supply 3 3 V 5 max 450 mA supplied by the drive General Complies with EMC standard EN 61800 3 2004 Printed circuit board conformal coated Compatible devices All EtherCAT compliant devices Medium 100BASE TX Termination Internal Wiring Cat 5e FTP1 or STP1 UTP Connector 8P8C modular jack RJ 45 Maximum segment length 100 m Topology Daisy chain Tran...

Страница 103: ...ccessed 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 and a 8 bit subindex 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...

Страница 104: ...5535 I16 16 bit signed integer 32768 32767 U8 8 bit unsigned integer 0 255 I8 8 bit signed integer 128 127 Str string 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 PM PDO mapping Rx object can be mapped into an Rx PDO Tx object can be mapped into a Tx PDO NVS Possibility of non volatile storage FBA object value i...

Страница 105: ...cess Information NVS 1000 Device type U32 R Value 0x00020192 servo drive generic PDO mapping profile 402 1001 Error register Note Can be mapped into a Tx PDO U8 R CiA 301 Error register object When a bit is set the error is active Bits 7 Manufacturer specific see object 2202 4 Communication 3 Temperature 2 Voltage 1 Current 0 Generic error any drive fault 1008 Device name Str R Constant string is ...

Страница 106: ...32 RW Save objects 6000 9FFF std de vice profile area 1011 0 Restore default parameters U8 R Write value 0x64616F6C into a rel evant subindex to re store the default values to NVS objects 1 Restore all de faults U32 RW Restore the default val ues to the communica tion and device profile areas 2 Restore comm defaults U32 RW Restore objects 1000 1FFF commu nication profile area 3 Restore appl defaul...

Страница 107: ...259 ACS880 3 Revision U32 R FBA firmware version number hex eg val ue 0x112 FFECS112 4 Serial number U32 R Serial number of the adapter module 1600 0 RxPDO 1 map U8 RW Number of mapped ob jects 0 8 Write access in the PREOP state only FBA 1 U32 RW Rx PDO mapping entry 1 Value 0x60400010 object 6040 Control word length 16 bits FBA U32 RW Value 0 none FBA 8 U32 RW Rx PDO 1mapping en try 8 Value 0 no...

Страница 108: ...on length 32 bits FBA U32 RW Value 0 none FBA 8 U32 RW Rx PDO 2 mapping en try 8 Value 0 none FBA 1602 0 RxPDO 3 map U8 RW Number of mapped ob jects 0 8 Write access in the PREOP state only FBA 1 U32 RW Rx PDO 3 mapping en try 1 Value 0x60400010 object 6040 Control word length 16 bits FBA 2 U32 RW Rx PDO 3 mapping en try 2 Value 0x60FF0020 object 60FF Target ve locity length 32 bits FBA U32 RW Val...

Страница 109: ... length 16 bits FBA U32 RW Value 0 none FBA 8 U32 RW Rx PDO 4 mapping en try 8 Value 0 none FBA 1605 0 RxPDO6 map U8 RW Number of mapped ob jects 0 8 Write access in the PREOP state only FBA 1 U32 RW Rx PDO 6 mapping en try 1 Value 0x60400010 object 6040 Control word length 16 bits FBA 2 U32 RW Rx PDO 6 mapping en try 2 Value 0x60420010 object 6042 vl target velocity length 16 bits FBA U32 RW Valu...

Страница 110: ...bject 2101 ABB Drives cw length 16 bits FBA 2 U32 RW Rx PDO 21 mapping entry 2 Value 0x20020020 object 2002 Transpar ent REF1 length 32 bits ACS880 and ACS580 Value 0x21020010 object 2102 ABB Drives REF1 length 16 bits FBA 3 U32 RW Rx PDO 21 mapping entry 3 Value 0x20020020 object 2003 Transpar ent REF2 length 32 bits ACS880 and ACS580 Value 0x21030010 object 2103 ABB Drives REF2 length 16 bits FB...

Страница 111: ...32 RW Value 0 none FBA 8 U32 RW Tx PDO mapping en try 8 Value 0 none FBA 1A01 0 TxPDO 2 map U8 RW Number of mapped ob jects 0 8 Write access in the PREOP state only FBA 1 U32 RW Tx PDO 2 mapping en try 1 Value 0x60410010 object 6041 Sta tusword length 16 bits FBA 2 U32 RW Tx PDO 2 mapping en try 2 Value 0x60640020 object 6064 Position actual value length 32 bits FBA U32 RW Value 0 none FBA 8 U32 R...

Страница 112: ...nly FBA 1 U32 RW Tx PDO 3 mapping en try 1 Value 0x60410010 object 6041 Sta tusword length 16 bits FBA 2 U32 RW Tx PDO 3 mapping en try 2 Value 0x60640020 object 6064 Position actual value length 32 bits FBA U32 RW Value 0 none FBA 8 U32 RW Tx PDO 3 mapping en try 8 Value 0 none FBA Index SI Name Type Ac cess Information NVS ...

Страница 113: ...0410010 object 6041 Sta tusword length 16 bits FBA 2 U32 RW Tx PDO 4 mapping en try 2 Value 0x60640020 object 6064 Position actual value length 32 bits FBA 3 U32 RW Tx PDO 4 mapping en try 3 Value 0x60770010 object 6077 Torque ac tual value length 16 bits FBA U32 RW Value 0 none FBA 8 U32 RW Tx PDO 4 mapping en try 8 Value 0 none FBA Index SI Name Type Ac cess Information NVS ...

Страница 114: ...ly FBA 1 U32 RW Tx PDO 6 mapping en try 1 Value 0x60410010 object 6041 Sta tusword length 16 bits FBA 2 U32 RW Tx PDO 6 mapping en try 2 Value 0x60440010 object 6044 vl velocity actual value length 16 bits FBA U32 RW Value 0 none FBA 8 U32 RW Tx PDO 6 mapping en try 8 Value 0 none FBA Index SI Name Type Ac cess Information NVS ...

Страница 115: ...bject 2104 ABB Drives sw length 16 bits FBA 2 U32 RW TxPDO 21 mapping entry 2 Value 0x20050020 object 2005 Transpar ent ACT1 length 32 bits ACS880 and ACS580 Value 0x21050010 object 2105 ABB Drives ACT1 length 16 bits FBA 3 U32 RW TxPDO 21 mapping entry 3 Value 0x20060020 object 2006 Transpar ent ACT2 length 32 bits ACS880 and ACS580 Value 0x21060010 object 2106 ABB Drives ACT2 length 16 bits FBA ...

Страница 116: ...U8 R Value 4 process data input 1C12 0 Sync manager 2 Rx PDO as sign U8 RW Number of assigned PDOs 0 6 Write access in the PREOP state only FBA 1 U16 RW Sync manager 2 PDO assignment 1 Eg val ue 0x1605 Rx PDO 6 FBA 2 U16 RW Sync manager 2 PDO assignment 2 Eg val ue 0 none FBA 3 U16 RW Sync manager 2 PDO assignment 3 FBA 4 U16 RW Sync manager 2 PDO assignment 4 FBA 5 U16 RW Sync manager 2 PDO assig...

Страница 117: ...16 RW Sync manager 3 PDO assignment 1 Eg val ue 0x1A05 Tx PDO 6 FBA 2 U16 RW Sync manager 3 PDO assignment 2 Eg val ue 0 none FBA 3 U16 RW Sync manager 3 PDO assignment 3 FBA 4 U16 RW Sync manager 3 PDO assignment 4 FBA 5 U16 RW Sync manager 3 PDO assignment 5 FBA 6 U16 RW Sync manager 3 PDO assignment 6 FBA Index SI Name Type Ac cess Information NVS ...

Страница 118: ...ync0 1 SM sync support ed 0 Free run support ed 5 Minimum cycle time U32 R Minimum supported cy cle time ns 500 000 6 Calc and copy time U32 R Minimum required time between SM2 event and DC sync event ns 102 000 9 Delay time U32 R Delay between the DC sync event and the time when the data is available in the pro cess ns 0 C Cycle time too small U16 R Error counter which is incremented if input pro...

Страница 119: ...ynchroniza tion types sup ported U16 R Drive dependent Bits 4 2 000 No DC 001 DC Sync0 1 SM sync support ed 0 Free run support ed 5 Minimum cycle time U32 R See subindex 5 of in dex 1C32 500 000 6 Calc and copy time U32 R Delay between the time of input process data sampling and the time when the data is available for the master ns 88 000 C Cycle time too small U16 R See subindex C of in dex 1C32 ...

Страница 120: ...nce value 2 of the drive 2004 Transpar ent SW U32 R Tx Raw status word of the drive 2005 Transpar ent ACT1 U32 R Tx Raw actual value 1 of the drive 2006 Transpar ent ACT2 U32 R Tx Raw actual value 2 of the drive 2101 ABB Drives control word U16 R Tx ABB Drives profile control word 2102 ABB Drives REF1 I16 R Tx ABB Drives profile reference value 1 2103 ABB Drives REF2 I16 R Tx ABB Drives profile re...

Страница 121: ...Appendix A CoE Object Dictionary 121 2201 Last drive fault code U16 R Tx Last fieldbus fault code read from the drive Index SI Name Type Ac cess PM Information NVS ...

Страница 122: ...object This does not resolve the cause of the error Values 1 Default group 51 parameter val ues written to the drive This is nor mal for the first power up when the module has been installed into the drive 3 Cyclic low pri ority communica tion failed 5 FBA configura tion files corrupted 8 Error in drive parameters or oth er information re ceived from the drive or acyclic communication failed 64 Cy...

Страница 123: ... the drive parameter group and the sub index is the drive parameter index Examples Object 0x400A 02 drive par 10 02 Object 0x4033 0F drive par 51 15 4001 0 Group 1 U8 R Drive parameter group 1 1 Parameter 1 01 Drive parameter 1 01 Drv 2 Parameter 1 02 Drive parameter 1 02 Drv 4063 Group 99 U8 R Drive parameter group 99 1 Parameter 99 01 Drive parameter 99 01 Drv Index Subindex Bit 15 8 7 0 8 0 Val...

Страница 124: ... are transmitted via the cyclic low priority communication service Standardized device profile area 0x6000 0x9FFF Index SI Name Type Ac cess PM Information NVS 6007 Abort con nection op tion code I16 RW Action to take when the slave leaves the OP state Values 0 No action 1 Fault signal off line default 2 Disable voltage command 3 Quick stop com mand FBA ...

Страница 125: ...e 0xFFE1 Failed to read fault code from the drive 0xFFFF Unhan dled drive fault code correspond ing CiA 402 error code does not ex ist See object 2201 and the drive manual 6040 Controlword U16 RW Rx CiA 402 control word 6041 Statusword U16 R Tx CiA 402 status word 6042 vl target ve locity I16 RW Rx Effective in the vl operation mode 6043 vl velocity demand I16 R Tx Operational if the ramp function...

Страница 126: ... RW Velocity absolute val ue minimum Drv 2 max abs ve locity U32 RW Velocity absolute val ue maximum Drv 6048 0 vl velocity acceleration U8 R Acceleration ramp set tings for the vl opera tion mode 1 Delta speed U32 RW Ramp delta speed vl scaling units Note Read only in ACS355 ACS580 and ACS880 Drv 2 Delta time U16 RW Ramp delta time s Drv 6049 0 vl velocity decelera tion U8 R Deceleration ramp set...

Страница 127: ...r the vl opera tion mode Basic unit in the vl operation mode is rpm 1 numerator I32 RW Default 1 FBA 2 denomina tor I32 RW Default 1 FBA 605B Shutdown option code I16 RW 0 coast stop de fault 1 ramp stop FBA 605C Disable op eration op tion code I16 RW 0 coast stop 1 ramp stop de fault FBA 605D Halt option code I16 RW vl mode 1 force ramp gener ator input to zero de fault 2 4 force ramp generator o...

Страница 128: ...lic sync posi tion mode csp 9 Cyclic sync veloci ty mode csv 10 Cyclic sync torque mode cst FBA 6061 Modes of operation display I8 R Tx Current operation mode 6064 Position ac tual value I32 RO Tx Operational when po sition feedback is available from the drive 6065 Following error win dow U32 RW Maximum allowed po sition error for the sta tus word following an error bit Default 0xFFFFFFFF disabled...

Страница 129: ...nera tor output is available from the drive Cyclic low priority communi cation Note Not available with ACS355 606C Velocity ac tual value I32 R Tx Operational when ve locity feedback is available from the drive 6071 Target torque I16 RW Rx Effective in the cst tq operation modes 6077 Torque ac tual value I16 R Tx Operational when torque feedback is available from the drive 607A Target posi tion I3...

Страница 130: ... limit I32 RW Maximum input posi tion data value Default 0 FBA 607C Home offset I32 RW Offset from zero point to home position Default 0 Note New values are activated in homing mode only FBA 607D 0 Software position lim it U8 R Saturation limit val ues for the position command value 1 Min posi tion limit I32 RW Default 231 FBA 2 Max posi tion limit I32 RW Default 231 1 FBA 6081 Profile ve locity U...

Страница 131: ...ective in the tq op eration mode Unit 0 1 s Default value 1000 FBA 608F 0 Position en coder reso lution U8 R Position scale defini tion Position increments per a specified num ber of axis revolutions 1 Increments U32 RW Default 65536 FBA 2 Revolutions U32 RW Default 1 FBA 6093 0 Position factor U8 R Position data scaling factor 1 Numerator U32 RW Default 1 FBA 2 Divisor U32 RW Default 1 FBA 6094 0...

Страница 132: ...ch for switch U32 ACSM1 homing speed 1 Drv Speed during search for zero U32 ACSM1 homing speed 2 Drv 60D9 Supported synchroni zation func tions U32 R Supported functions in device Bit field each bit specifies the avail ability of the corre sponding function 1 Supported 0 Not supported Bits 0 Status toggle 1 1 Input cycle counter 1 2 Output cycle counter 0 3 15 Reserved 0 16 31 Manufactur er specif...

Страница 133: ...t cycle counter 3 31 Reserved Status toggle Input cycle counter in sta tus word are in csp csv and cst mode 60F4 Following error actual value I32 R Tx Position error Opera tional when position feedback is available from the drive 60FF Target ve locity I32 RW Rx Effective in the csv pv operation modes 6502 0 Supported drive modes U32 R Drive dependent Bits 9 cst 8 csv 7 csp 6 5 hm 4 3 tq 2 pv 1 vl ...

Страница 134: ...ables below excluding the drive parameter objects 0x4001 0x4063 Note Some objects affect the same drive parameter as another object in other words when one object is written it may cause the value of another object to change 6504 0 Drive manu facturer Srt R ABB Drives 6505 0 http drive catalog ad dress Str R www abb com Index SI Name Type Ac cess PM Information NVS ...

Страница 135: ... velocity deceleration 1 Delta speed 25 02 SPEED SCALING 2 Delta time 25 04 DEC TIME 604A vl velocity quick stop 1 Delta speed 25 02 SPEED SCALING 2 Delta time 25 11 EM STOP TIME 6081 Profile velocity 65 05 POS SPEED 1 6083 Profile acceleration 65 06 PROF ACC 1 6084 Profile deceleration 65 07 PROF DEC 1 6085 Quick stop decelera tion 25 02 SPEED SCALING read only 25 11 EM STOP TIME 6098 Homing meth...

Страница 136: ...ty 20 01 Maximum speed 20 02 Minimum speed 6048 vl velocity acceleration 1 Delta speed 19 01 Speed scaling 2 Delta time 22 02 Acc time1 6049 vl velocity deceleration 1 Delta speed 19 01 Speed scaling 2 Delta time 22 03 Dec time1 604A vl velocity quick stop 1 Delta speed 19 01 Speed scaling 2 Delta time 22 12 Em stop time 6085 Quick stop deceleration 19 01 Speed scaling read only 22 12 Em stop time...

Страница 137: ...XIMUM SPEED 6048 vl velocity acceleration 1 Delta speed 2002 MAXIMUM SPEED read only 2 Delta time 2202 ACCELER TIME 1 6049 vl velocity deceleration 1 Delta speed 2002 MAXIMUM SPEED read only 2 Delta time 2203 DECELER TIME 1 604A vl velocity quick stop 1 Delta speed 2002 MAXIMUM SPEED read only 2 Delta time 2208 EMERG DEC TIME 6085 Quick stop decelera tion 2002 MAXIMUM SPEED read only 2208 EMERG DE...

Страница 138: ...velocity 30 11 Minimum speed 2 max abs velocity 30 12 Maximum speed 6048 vl velocity acceleration 1 Delta speed 46 01 Speed scaling read only 2 Delta time 23 12 Acceleration time 1 6049 vl velocity deceleration 1 Delta speed 46 01 Speed scaling read only 2 Delta time 23 13 Deceleration time 1 604A vl velocity quick stop 1 Delta speed 46 01 Speed scaling read only 2 Delta time 23 23 Emergency stop ...

Страница 139: ... specific Descriptions for these error codes can be found in the appropriate drive firmware manual and or the drive fault code parameter Furthermore the following two error codes are generated by the adapter module 0xFFE1 Failed to read the fault code from the drive 0xFFFF Unhandled drive fault code corresponding CiA 402 error code does not exist See object 0x2201 for the original drive fault code...

Страница 140: ...nal current no 2 2213 Overcurrent in the ramp function 2214 Overcurrent in the sequence 2220 Continuous overcurrent 2221 Continuous overcurrent no 1 2222 Continuous overcurrent no 2 2230 Short circuit ground leakage 2240 Ground leakage 2250 Short circuit 2300 Current on the device output side 2310 Continuous overcurrent 2311 Continuous overcurrent no 1 2312 Continuous overcurrent no 2 2320 Short c...

Страница 141: ...120 Mains undervoltage 3121 Mains undervoltage 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 L2 3134 Phase sequence 3140 Mains frequency 3141 Mains frequency too great 3142 Mains frequency too small 3200 DC link voltage 3210 DL link overvoltage 3211 Overvoltage no 1 3212 Overvoltage no 2 ...

Страница 142: ...ure 4100 Ambient temperature 4110 Excess 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...

Страница 143: ...200 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 S2 L2 5453 S3...

Страница 144: ...hdog 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 EtherCAT module configuration error 7000 Additional modules 7100 Power 7110 Brake chopper 7111 Failure brake chopper 7112 Overcurrent brake chopper 7113 Protective circuit brake chopper 7120 Motor 7121 Motor blocked 7...

Страница 145: ...ult 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 Rotational speed controller 8500 Position controller 8600 Positioning controller 8611 ...

Страница 146: ...ync 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 ...

Страница 147: ...igating to www abb com searchchannels Product training For information 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 docu...

Страница 148: ...250 West Glendale Drive New Berlin WI 53151 USA Telephone 262 785 3200 800 HELP 365 Fax 262 780 5135 ABB Beijing Drive Systems Co Ltd No 1 Block D A 10 Jiuxianqiao Beilu Chaoyang District Beijing P R China 100015 Telephone 86 10 5821 7788 Fax 86 10 5821 7618 Internet http www abb com Contact us www abb com drives www abb com solar www abb com windpower www abb com drivespartners 3AUA0000068940 Rev...

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