ABB FECA-01 EtherCAT, Руководство пользователя

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Communication protocol 97
Note: Since there is room only for two feedback values, the CiA
402 feedback data objects will not be operational unless the
corresponding feedback data has been selected to be transmitted
from the drive. See sections Parameter setting examples –
ACSM1 and Parameter setting examples – ACS850 on how to
select source data for feedback values on the ACSM1 and
ACS850 drives.

Cyclic low priority communication
With ACSM1 and ACS850 drives, the update cycle time is 50 ms
(20 Hz). With ACS355 drives the update cycle time is
approximately 20 ms (50 Hz).
The below-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 2104 ABB Drives status word
2102 ABB Drives REF1 2105 ABB Drives ACT1
2103 ABB Drives REF2 2106 ABB Drives ACT2
6040 Controlword 6041 Statusword
6042 vl target velocity 6044 vl velocity actual value
6071 Target torque 6064 Position actual value
607A Target position 606C Velocity actual value
60FF Target velocity 6077 Torque actual value
60F4 Following error actual value