ABB FEPL-02 Ethernet POWERLINK, Руководство пользователя

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Start-up 43
Speed and torque control using ABB Drives
communication profile
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 the state machine on
page 87 .
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.
When configuring the master, you need to map the following
objects to the transmit and receive PDOs. For an example, see
section Mapping objects required for controlling the drive on
page 66 .
The table below gives the recommended drive parameter settings.
CANopen
object
Output data CANopen
object
Input data
0x2101 Control word 0x2104 Status word
0x2102 Speed reference 0x2105 Speed actual value
0x2103 Torque reference 0x2106 Torque actual value
Drive parameter Setting for ACS355
drives Description
9802 COMM PROT SEL 4 = EXT FBA Enables communication between
the drive and the fieldbus adapter
module.
5101 FBA TYPE 136 = ETH Pwrlink
1)
Displays the type of the fieldbus
adapter module.
5102 FB PAR 2
(PROFILE) 1 (= ABB Drives
profile)
Selects the ABB Drives profile.