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Safety instructions 11

Safety instructions

What this chapter contains

The chapter contains 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.

Use of warnings

Warnings tell you about conditions which can cause injury or

death, or damage to the equipment. They 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.

Содержание FPBA-01 PROFIBUS DP

Страница 1: ...Options for ABB drives converters and inverters User s manual FPBA 01 PROFIBUS DP adapter module ...

Страница 2: ...hardware manual 3AUA0000045496 ACS850 04 55 160 kW 75 200 hp hardware manual 3AUA0000045487 ACS850 04 200 500 kW 250 600 hp hardware manual 3AUA0000026234 ACQ810 04 drive modules 0 37 45 kW 0 5 60 hp hardware manual 3AUA0000055160 ACQ810 04 drive modules 55 to 160 kW 75 to 200 hp hardware manual 3AUA0000055161 ACQ810 04 drive modules 200 400 kW 250 600 hp hardware manual 3AUA0000055155 ACS880 01 0...

Страница 3: ...ser s manual FPBA 01 PROFIBUS DP adapter module 3AFE68573271 Rev F EN EFFECTIVE 2017 01 25 2017 ABB Oy All Rights Reserved 1 Safety instructions Table of contents 4 Mechanical installation 5 Electrical installation ...

Страница 4: ......

Страница 5: ...Disclaimer 14 Before you start 14 Contents 15 Terms and abbreviations used in this manual 16 General terms and abbreviations 16 PROFIBUS terms 17 PROFIBUS abbreviations 18 3 Overview of the PROFIBUS network and the FPBA 01 module What this chapter contains 21 PROFIBUS network 21 Example topology of the PROFIBUS link 23 FPBA 01 PROFIBUS DP adapter module 24 Layout of the adapter module 25 4 Mechani...

Страница 6: ...roup C group 3 48 Virtual address allocation with ACSM1 50 Control locations 51 Starting up ACS355 drives 52 Parameter setting examples ACS355 53 Speed control using the PROFIdrive communication profile with PPO Type 2 53 Speed and torque control using the ABB Drives communi cation profile with PPO Type 4 55 Starting up ACSM1 drives 59 Parameter setting examples ACSM1 60 Speed control using the PR...

Страница 7: ...ortal V13 94 Cyclic data handling 97 7 Communication profiles What this chapter contains 99 Communication profiles 99 PROFIdrive communication profile 101 Control word and Status word 101 Control word contents 101 Status word contents 105 State machine for all operating modes 107 State machine for positioning mode 108 References 109 References in speed control mode 109 References in positioning mo...

Страница 8: ...dling in cyclic communication DP 137 Parameter data transfer examples DP V0 142 Example 1 Reading a drive parameter or data set 142 Example 2 Writing a drive parameter or data set 144 Example 3 Reading a PROFIdrive parameter word 146 Example 4 Writing a PROFIdrive parameter word 147 Example 5 Reading a PROFIdrive parameter array 148 Example 6 Configuring the process data written to the drive 149 E...

Страница 9: ... indications 176 10 Technical data What this chapter contains 179 FPBA 01 179 PROFIBUS link 181 11 Appendix A PROFIdrive parameters What this chapter contains 183 PROFIdrive parameters 183 12 Appendix B I M records What this chapter contains 191 I M records 191 Call REQ PDU telegram for read write access to I M records 192 Response structure for I M0 Read only 193 Response structure for I M1 Read ...

Страница 10: ...10 Table of contents Document library on the Internet 195 ...

Страница 11: ...age can occur Read this chapter before you start the installation Use of warnings Warnings tell you about conditions which can cause injury or death or damage to the equipment They 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...

Страница 12: ...ance 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 to a re...

Страница 13: ...55 ACS380 ACS580 ACH580 ACS850 ACQ810 ACS880 ACS880 M04 etc The FPBA 01 PROFIBUS DP adapter module is compatible with all master stations that support the PROFIBUS DP V0 and DP V1 protocols Note The adapter module is compatible with more drives that may not be listed here For details of compatibility check the drive s firmware manual Target audience The reader is expected to have a basic knowledge...

Страница 14: ...s application of authentication measures encryption of data installation of anti virus programs etc to protect the product the network its system and the interface against any kind of security breaches unauthorized access interference intrusion leakage and or theft of data or information ABB and its affiliates are not liable for damages and or losses related to such security breaches any unauthori...

Страница 15: ...t 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 PROFIBUS network the adapter module and the drive Communication protocol describes the PROFIBUS messaging used in the communication with the drive and in PROFIBU...

Страница 16: ...ntrol signals sometimes called the Command word FPBA 01 PROFIBUS DP adapter module One of the optional fieldbus adapter modules available for ABB drives FPBA 01 is a device through which an ABB drive is connected to a PROFIBUS 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 PLC Pro...

Страница 17: ...g of the device GSD file ASCII format device description file in a specified form Each different slave type on the PROFIBUS network needs to have its own GSD file Index Access reference for objects in PROFIBUS Master Control system with bus initiative In the PROFIBUS terminology master stations are also called active stations Multicast Non acknowledged message from master to one group of bus parti...

Страница 18: ...ter Slave Passive bus participant In the PROFIBUS terminology slave stations or slaves are also called passive stations Also referred to as node Warning Signal caused by an existing alarm which does not lead to tripping of the device Abbreviation Explanation ACT Actual value Istwert AK Request label Response label Auftragskennung Antwortkennung DP Decentralised Periphery Dezentrale Peripherie DP V...

Страница 19: ...Parameter Kennung Wert PNU Parameter number Parameternummer PPO Parameter Process data object Parameter Prozessdaten Objekt PWE Parameter value Parameter Wert PZD See PD PZDO Process data object Prozessdatenobjekt SAP Service access point SOW Reference Sollwert SPM Request signal Spontanmeldung STW Control word Steuerwort ZSW Status word Zustandswort Abbreviation Explanation ...

Страница 20: ...20 About the manual ...

Страница 21: ... There are three main variations of PROFIBUS PROFIBUS FMS Fieldbus Message Specification PROFIBUS DP Decentralised Periphery PROFIBUS PA Process Automation The physical transmission medium of the bus is a twisted pair cable according to the RS 485 standard The maximum length of the bus cable is 100 to 1200 meters depending on the selected transmission rate see chapter Technical data Up to 32 nodes...

Страница 22: ...y the master It is also possible to send a command to several nodes at the same broadcast in this case the nodes do not send a response message to the master The PROFIBUS protocol family is specified in the IEC 61158 standard The communication with a drive is defined in PROFIdrive PROFILE The PROFIBUS Profile for Adjustable Speed Drives For further information on PROFIBUS refer to the above mentio...

Страница 23: ...e of an allowable topology is shown below PROFIBUS master Segment 1 Segment 2 Segment 3 R Other slave device Other slave device Other slave device R Repeater T Termination T T T ABB drive T ABB drive ABB drive T R T HOST MODULE NETWORK NETWORK X1 HOST MODULE NETWORK NETWORK X1 HOST MODULE NETWORK NETWORK X1 ...

Страница 24: ... feed a motor speed or torque reference to the drive give a process actual value or a process reference to the PID controller of the drive read status information and actual values from the drive change drive parameter values reset a drive fault The PROFIBUS commands and services supported by the adapter module are described in chapter Communication protocol Refer to the user documentation of the ...

Страница 25: ...the PROFIBUS network and the FPBA 01 module 25 Layout of the adapter module Diagnostic LEDs see chapter Diagnostics Bus connector X1 see chapter Electrical installation HOST MODULE NETWORK NETWORK X1 Mounting screw ...

Страница 26: ...26 Overview of the PROFIBUS network and the FPBA 01 module ...

Страница 27: ...apter contains a delivery checklist and instructions on mounting the adapter module WARNING Follow the safety instructions given in this manual and the drive documentation Delivery check The option package for the adapter module contains PROFIBUS DP adapter module type FPBA 01 this manual ...

Страница 28: ...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 29: ...crew 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 ...

Страница 30: ...30 Mechanical installation ...

Страница 31: ...n the bus termination WARNING Before installation switch off the drive power supply Wait five minutes to ensure that the capacitor bank of the drive is discharged Switch off all dangerous voltages connected from external control circuits to the inputs and outputs of the drive General cabling instructions Arrange the bus cables as far away from the motor cables as possible Avoid parallel runs Use b...

Страница 32: ...a positive Conductor 1 in twisted pair 4 RTS1 Request to send 5 GND_B Isolated ground 6 5V_B2 Isolated 5 V DC voltage supply 30 mA max 7 Not used 8 A Data negative Conductor 2 in twisted pair 9 Not used Housing SHLD PROFIBUS cable shield Internally connected to GND_B via an RC filter and directly to CH_GND chassis 1 RTS is used in some equipment to determine the direction of transmission In typica...

Страница 33: ...S approved D SUB 9 connector These connectors have a built in termination network and inductors for station capacitance compensation Connect the cable to the D SUB connector as follows 1A 1B 2A 2B Red Red Green Green OUT IN Grounding earthing clamp Strain relief ...

Страница 34: ...and last modules of the bus must have built on termination switched on as shown in the diagram below The adapter module is able to supply power for an active type termination circuitry 30 mA max Note Further information on PROFIBUS wiring is available from the publication PROFIBUS RS 485 IS User and Installation Guideline www profibus com order no 2 262 PROFIBUS device ON PROFIBUS device OFF PROFI...

Страница 35: ...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 36: ...he drive and the adapter module has been established several configuration parameters are copied to the drive These parameters are shown in the tables below and must be checked first and adjusted where necessary Note Not all drives display descriptive names of the configuration parameters The new settings take effect only when the adapter module is powered up the next time or when the fieldbus ada...

Страница 37: ... can be used normally according to the configured profile PROFIdrive parameter handling in cyclic data PKW DP V0 is emulated The parameter addresses can be modified to convert the request to drive parameter index similarly as in the emulated modules Note Emulation mode only emulates parameter addresses The emulated parameters need to be made on the drive side with application programming tools VIK...

Страница 38: ...eldbus adapter type as detected by the drive The value cannot be adjusted by the user If the value is 0 None the communication between the drive and the module has not been established 1 Profibus_ DP 02 Node address Each device on the PROFIBUS network must have a unique node number This parameter defines a node number for the drive the module is connected to Recommended node numbers are 3 to 125 i...

Страница 39: ...essage types see section PPO types on page 135 If standard telegrams ST are used parameter 05 Profile is automatically set 1 PPO1 1 PPO1 PPO1 selected 2 PPO2 PPO2 selected 3 PPO3 PPO3 selected 4 PPO4 PPO4 selected 5 PPO5 PPO5 selected 6 PPO6 PPO6 selected 7 ST1 ST1 selected 8 ST2 ST2 selected Only supported with ACSM1 9 PPO7 PPO7 selected 10 PPO8 PPO8 selected 20 ST20 Standard telegram 20 Visible ...

Страница 40: ...ile selected See also Virtual address allocation with ACSM1 on page 50 1 ABB DRIVES ABB Drives profile selected 2 Trans16 Transparent 16 profile selected 3 Trans32 Transparent 32 profile selected Not supported with ACS355 4 PROFIdrive P PROFIdrive positioning mode selected Only supported with ACSM1 See also Virtual address allocation with ACSM1 on page 50 No Name Value Description Default ...

Страница 41: ...reference from the PLC is multiplied by the value of this parameter plus one For example if the parameter has a value of 99 and a reference of 1000 is given by the master the reference will be multiplied by 99 1 100 and forwarded to the drive as 100000 According to the DCU profile this value is interpreted as a reference of 100 rpm in the drive With ACSM1 ACS850 ACQ810 and ACS880 setting this para...

Страница 42: ...d 0 Disabled Emulation mode is disabled 1 RPBA 01 RPBA 01 emulation mode is enabled 2 NPBA 02 NPBA 02 emulation mode is enabled 3 NPBA 12 NPBA 12 emulation mode is enabled 4 VIK NAMUR VIK NAMUR emulation mode is enabled 08 Map selection Selects the resolution of parameter used for PZD mapping through PROFIdrive parameters 915 and 916 0 32 bit 0 32 bit 32 bit scaling 1 16 bit 16 bit scaling 09 Modu...

Страница 43: ...ation parameter settings After refreshing the value reverts automatically to 0 Done Note This parameter cannot be changed while the drive is running 0 Done 0 Done Refreshing done 1 Refresh Refreshing 28 FBA par table ver Read only Displays the parameter table revision of the fieldbus adapter module mapping file stored in the memory of the drive In format xyz where x major revision number y minor r...

Страница 44: ...ldbus adapter module communication Note The value names may vary by drive 0 Idle OR 4 Off line 0 Idle Not configured Adapter is not configured 1 Exec init Initializing Adapter is initializing 2 Time out A timeout has occurred in the communication between the adapter and the drive 3 Conf err Configuration error Adapter configuration error The major or minor revision code of the common program revis...

Страница 45: ...FFF Firmware patch and build number of the adapter module 33 FBA appl SW ver Read only Displays the firmware version of the adapter module in format xxyy where xx major revision number xy minor revision number Example 0310h 3 10 Version number is in the form major minor patch build Example 3 10 200 3 or 3 10 0 0 0 hex 0 0xFFFF Firmware version of the adapter module No Name Value Description Defaul...

Страница 46: ...rive Selects the resolution of control word 16 bit or 32 bit received by the drive 1 or 112 1 CW 16bit Control word 16 bits 11 CW 32bit Control word 32 bits 02 FBA data out 2 Selects data word 1 received by the drive over the PROFIBUS network The content is defined by a decimal number in the range of 0 to 9999 as follows See also Virtual address allocation with ACSM1 on page 50 0 or 244 0 None Not...

Страница 47: ...3 12 FBA data out 3 FBA data out12 See parameter 01 FBA data out 1 0 1 The number of parameters in this group may vary by drive type and drive firmware 2 11 CW 32bit is the default setting if the Transparent 32 profile is used 3 With an ACS355 drive Control word and REF 1 are always fixed to virtual addresses 1 and 2 respectively If REF2 is used its virtual address is always 3 4 2 Ref1 16bit is a ...

Страница 48: ...tion of status word 16 bit or 32 bit sent by the drive 4 or 142 4 SW 16bit Status word 16 bits 14 SW 32bit Status word 32 bits 02 FBA data in 2 drive to master Selects data word 1 sent by the drive over the PROFIBUS network The content is defined by a decimal number in the range of 0 to 9999 as follows See also Virtual address allocation with ACSM1 on page 50 0 or 53 0 None Not used 4 SW 16bit Sta...

Страница 49: ...n that group 01 99 Other Path to parameter area selection 03 12 FBA data in 3 FBA data in12 See parameter 01 FBA data in 1 0 1 The number of parameters in this group may vary by drive type and drive firmware 2 14 SW 32bit is the default setting if the Transparent 32 profile is used 3 5 Act1 16bit is a fixed setting with an ACS355 drive No 1 Name Value Description Default ...

Страница 50: ...ses for standard telegrams ST1 and ST2 are updated automatically Abbreviation Description Data length Recommended virtual address with ACSM1 FBA REFx modes Speed mode Position mode STW1 Control word 1 16 bit 1 1 NSOLL_A Speed set point A 16 bit 2 or 3 NSOLL_B Speed set point B 32 bit 12 or 13 STW2 Control word 2 16 bit 21 21 XSOLL_A Position set point A 32 bit 12 or 13 VELOCITY_A Velocity 32 bit 1...

Страница 51: ...he user to separately determine the source for each type of control information Start Stop Direction Reference Fault reset etc To give complete control of the fieldbus master station over the drive select communication module as the source for this information The drive specific parameter setting examples below contain the drive control parameters needed in the examples For a complete parameter li...

Страница 52: ...er 3019 COMM FAULT TIME define the time between communication break detection and the selected action 6 Define the process data transferred to and from the drive in the FPBA 01 configuration parameter groups 54 and 55 Note The adapter module sets the Status word and actual value automatically in parameters 5401 and 5402 and Control word and reference in parameters 5501 and 5502 7 Validate the sett...

Страница 53: ...n the forward and reverse directions The table below gives the recommended drive parameter settings Direction PZD1 PZD2 PZD3 PZD4 PZD5 PZD6 Out Control word Speed reference Constant speed 11 Constant speed 21 N A N A In Status word Speed actual value Power1 DC bus voltage1 N A N A 1 Example Drive parameter Setting for ACS355 drives Description 9802 COMM PROT SEL 4 EXT FBA Enables communication bet...

Страница 54: ...2 5 Act1 16bit 1 Actual value 1 speed 5403 FBA DATA IN 3 1062 Power 5404 FBA DATA IN 4 1072 DC bus voltage 5501 FBA DATA OUT 1 1 CW 16bit 1 Control word 5502 FBA DATA OUT 2 2 Ref1 16bit 1 Reference 1 speed 5503 FBA DATA OUT 3 12022 Constant speed 1 5504 FBA DATA OUT 4 12032 Constant speed 2 5127 FBA PAR REFRESH 1 REFRESH Validates the FPBA 01 configuration parameter settings 1001 EXT1 COMMANDS 10 ...

Страница 55: ...en Reference 1 REF1 is used a reference value of 20000 decimal corresponds to the reference set by 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 by parameter 1108 REF2 MAX in the forward and reverse directions 1601 RUN ENABLE 7 COMM Selects the fieldbus interface as the source for the ...

Страница 56: ...us adapter module 5101 FBA TYPE PROFIBUS DP1 Displays the type of the fieldbus adapter module 5102 FB PAR 2 NODE ADDRESS 42 Defines the PROFIBUS node address of the fieldbus adapter module 5103 FB PAR 3 BAUD RATE 15001 Displays the current baud rate on the PROFIBUS network in kbit s 5104 FB PAR 4 TELEGRAM TYPE 4 PPO4 1 Displays the telegram type selected by the PLC configuration tool 5105 FB PAR 5...

Страница 57: ...cts the fieldbus interface as the source of the start and stop commands for external control location 1 1002 EXT2 COMMANDS 10 COMM Selects the fieldbus interface as the source of the start and stop commands for external control location 2 1102 EXT1 EXT2 SEL 8 COMM Enables external control location 1 2 selection through the fieldbus 1103 REF1 SELECT 8 COMM Selects the fieldbus reference 1 as the so...

Страница 58: ... the fieldbus interface as the source for the fault reset signal 1 Read only or automatically detected set 2 Example Control word Start sequence 47Eh 1150 decimal READY TO SWITCH ON 47Fh 1151 decimal OPERATING Speed mode C7Fh 3199 decimal OPERATING Torque mode Drive parameter Setting for ACS355 drives Description ...

Страница 59: ...pplication specific values for parameters 50 04 50 11 Examples of appropriate values are shown in the tables below 6 Set the FPBA 01 configuration parameters in group 51 At the minimum set the required node address in parameter 51 02 and the communication profile in 51 05 7 Define the process data transferred to and from the drive in the FPBA 01 configuration parameter groups 52 and 53 Note The ad...

Страница 60: ...ard and reverse directions The table below gives the recommended drive parameter settings Direction PZD1 PZD2 PZD3 PZD4 PZD5 PZD6 Out Control word Speed reference Constant speed1 Speed reference for Jogging function 11 In Status word Speed actual value Power1 DC bus voltage1 1 Example Drive parameter Setting for ACSM1 drives Description 50 01 FBA ENABLE Enable Enables communication between the dri...

Страница 61: ...TA IN2 5 Act1 16bit Actual value 1 speed 52 03 FBA DATA IN3 1222 Power 52 05 FBA DATA IN5 1072 DC bus voltage 53 01 FBA DATA OUT1 1 CW 16bit 1 Control word 53 02 FBA DATA OUT2 2 Ref1 16bit Reference 1 speed 53 03 FBA DATA OUT3 25082 Constant speed 53 05 FBA DATA OUT5 24102 Speed reference for Jogging function 1 51 27 FBA PAR REFRESH REFRESH Validates the FPBA 01 configuration parameter settings 10...

Страница 62: ...e manual The position set point and velocity reference are defined as 32 bit integer values both are scaled as defined by drive parameter settings 24 01 SPEED REF1 SEL FBA REF1 Selects the fieldbus reference 1 as the source for speed reference 1 34 03 EXT1 CTRL MODE1 Speed Selects speed control as the control mode 1 for external control location 1 1 Read only or automatically detected set 2 Exampl...

Страница 63: ...the fieldbus reference 2 scaling 51 01 FBA TYPE PROFIBUS DP1 Displays the type of the fieldbus adapter module 51 02 FBA PAR2 NODE ADDRESS 32 Defines the PROFIBUS node address of the fieldbus adapter module 51 03 FBA PAR3 BAUD RATE 120001 Displays the current baud rate on the PROFIBUS network in kbit s 51 04 FBA PAR4 TELEGRAM TYPE 4 PPO4 1 Displays the telegram type selected by the PLC configuratio...

Страница 64: ...e source for external 1 control mode 1 2 selection Selection is done by START_HOMING bit bit 26 in the fieldbus Control word Mode 1 Position Mode 2 Homing 34 03 EXT1 CTRL MODE1 Position Selects position control as the control mode 1 for external control location 1 34 04 EXT1 CTRL MODE2 Homing Selects homing control as the control mode 2 for external control location 1 62 01 HOMING METHOD CAN Metho...

Страница 65: ...ce 65 22 PROF VEL REF SEL FBA REF2 Selects the FBA reference 2 as the velocity reference source 66 05 POS ENABLE C False Selects the fieldbus as the source for enabling the position reference generator 70 03 POS REF ENA C False Selects the fieldbus as the source for the position reference enable command 1 Read only or automatically detected set 2 Example Drive parameter Setting 60 05 POS UNIT Posi...

Страница 66: ...ameter groups Drive parameter Value Description 60 10 POS SPEED UNIT u s1 Unit s in this case m s 60 11 POS SPEED2INT 1001 Scales position speed values to integer values Selections 1 10 100 1000 10000 100000 1 Example Parameter group Description 90 Encoder selection 91 92 93 Settings of the encoder 1000 100 10 00 m 60 05 POS UNIT Physical value 60 08 POS2INT SCALE Set point value 1000 100 10 00 m ...

Страница 67: ...e 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 d...

Страница 68: ...he fieldbus reference 2 scaling 51 01 FBA TYPE PROFIBUS DP1 Displays the type of the fieldbus adapter module 51 02 FBA PAR2 NODE ADDRESS 32 Defines the PROFIBUS node address of the fieldbus adapter module 51 03 FBA PAR3 BAUD RATE 120001 Displays the current baud rate on the PROFIBUS network in kbit s 51 04 FBA PAR4 TELEGRAM TYPE 4 PPO4 1 Displays the telegram type selected by the PLC configuration...

Страница 69: ... 01 SPEED REF1 SEL FBA REF1 Selects the fieldbus reference 1 as the source for speed reference 1 32 02 TORQ REF ADD SEL FBA REF2 Selects the fieldbus reference 2 as the source for torque reference 1 34 01 EXT1 EXT2 SEL P FBA MAIN CW 15 Enables external control location 1 2 selection through the fieldbus only bit 15 in the fieldbus Control word 34 03 EXT1 CTRL MODE1 Speed Selects speed control as t...

Страница 70: ...p The start sequence for the parameter example above is given below Control word Start sequence 47Eh 1150 decimal READY TO SWITCH ON 47Fh 1151 decimal OPERATING Speed mode C7Fh 3199 decimal OPERATING Torque mode ...

Страница 71: ...ected 22 11 Ext1 speed ref1 FB A ref1 22 22 Constant speed sel1 Not selected 22 23 Constant speed sel2 Not selected 23 11 Ramp sel selection Acc Dec time 1 28 11 Ext1 frequency ref1 FB A ref1 28 22 Constant frequency sel1 Not selected 28 23 Constant frequency sel2 Not selected 28 71 Freq ramp set sel Acc Dec time 1 31 11 Fault reset selection DI1 50 01 FB A enable Enable 50 02 FB A comm loss func ...

Страница 72: ...ldbus master and the adapter module and the communication between the adapter module and the drive 5 With parameter 50 03 FBA A comm loss t out define the time between communication break detection and the selected action 6 Select application specific values for rest of the parameters in group 50 Fieldbus adapter FBA starting from parameter 50 04 Examples of appropriate values are shown in the tab...

Страница 73: ...ve manually to Save 10 Validate the settings made in parameter groups 51 52 and 53 by setting parameter 51 27 FBA A par refresh to Configure 11 Configure control locations EXT1 and EXT2 to allow control and reference signals to come from the fieldbus parameter changes or after changing the fieldbus module ...

Страница 74: ... control locations communication loss detection is active 6 Select application specific values for parameters 50 04 50 11 Examples of appropriate values are shown in the tables below 7 Set the FPBA 01 configuration parameters in group 51 At the minimum set the required node address in parameter 51 02 and the communication profile in 51 05 8 Define the process data transferred to and from the drive...

Страница 75: ...responds to parameter 19 01 Speed scaling in the forward and reverse directions The table below gives the recommended drive parameter settings Direction PZD1 PZD2 PZD3 PZD4 PZD5 PZD6 Out Control word Speed reference Constant speed 11 Constant speed 21 In Status word Speed actual value Power1 DC bus voltage1 1 Example Drive parameter Setting for ACS850 ACQ810 drives Description 50 01 Fba enable Ena...

Страница 76: ... configuration tool 51 05 FBA par5 PROFILE 0 PROFIdrive Selects the Control word according to the PROFIdrive profile speed control mode 52 01 FBA data in1 4 SW 16bit 1 Status word 52 02 FBA data in2 5 Act1 16bit Actual value 1 speed 52 03 FBA data in3 1222 Power 32 bit 52 05 FBA data in5 1072 DC bus voltage 32 bit 53 01 FBA data out1 1 CW 16bit 1 Control word 53 02 FBA data out2 2 Ref1 16bit Refer...

Страница 77: ...L P FBA MAIN CW 8 Selects fieldbus interface as the source for fault reset 21 01 Speed ref1 sel ACS850 21 01 Speed ref sel ACQ810 FBA ref1 FBA ref1 Selects the fieldbus reference 1 as the source for speed reference 1 1 Read only or automatically detected set 2 Example Control word Start sequence 47Eh 1150 decimal READY TO SWITCH ON 47Fh 1151 decimal OPERATING Speed mode Drive parameter Setting for...

Страница 78: ... application specific values for the rest of the parameters in group 50 starting from parameter 50 04 FBA A ref1 type Examples of appropriate values are shown in the tables below 6 Set the FPBA 01 configuration parameters in group 51 At the minimum set the required node address in parameter 51 02 Node address and the communication profile in 51 05 Profile 7 Define the process data transferred to a...

Страница 79: ...he reference value 16384 4000h corresponds to parameter 46 01 Speed scaling in the forward and reverse directions The table below gives the recommended drive parameter settings Direction PZD1 PZD2 PZD3 PZD4 PZD5 PZD6 Out Control word Speed reference Constant speed 1 Constant speed 2 In Status word Speed actual value Motor current DC voltage Drive parameter Setting for ACS880 drives Description 50 ...

Страница 80: ...e 0 Disabled Disables the emulation mode 52 01 FBA A data in1 4 SW 16bit1 Status word 52 02 FBA A data in2 5 Act1 16bit Actual value 1 52 03 FBA A data in3 1 7 32 2 Motor current 52 05 FBA A data in5 1 11 32 2 DC voltage 53 01 FBA A data out1 1 CW 16bit1 Control word 53 02 FBA A data out2 2 Ref1 16bit Reference 1 speed 53 03 FBA A data out3 22 26 32 2 Constant speed 1 53 05 FBA A data out5 22 27 3...

Страница 81: ...ol location 1 20 02 Ext1 start trigger type 1 Level Selects the start trigger type to be level 22 11 Speed ref1 source FB A ref1 Selects the fieldbus A reference 1 as the source for speed reference 1 1 Read only or automatically detected set 2 Example Control word Start sequence 47Eh 1150 decimal READY TO SWITCH ON 47Fh 1151 decimal OPERATING Speed mode Drive parameter Setting for ACS880 drives De...

Страница 82: ...ule Downloading the GSD file Configuration of the master station requires a type definition GSD file Download the FPBA 01 GSD file from the Document library http new abb com drives connectivity fieldbus connectivity profibus profibus dp fpba The GSD file describes the vendor specific and PROFIdrive specific features of the adapter module Vendor specific features can be used for example in the ABB ...

Страница 83: ... you start make sure that you have downloaded the FPBA 01 GSD file from the Document library 1 Start the Automation Builder software 2 On the Tools menu select Device Repository 3 Click Install and browse for the GSD file 4 Open or create the PLC project that is used to control the drive 5 Add the CM572 DP PROFIBUS master device to the PLC project if necessary 6 Add the FPBA 01 module to the PROFI...

Страница 84: ... example PPO Type 4 to the FPBA 01 module to define cyclical communication between the adapter module and the PLC 8 Define the CM572 DP master properties such as the Baud rate Node address Station address and the Highest station address ...

Страница 85: ...Start up 85 9 Define the FPBA 01 properties On the DP Parameters tab select the Node address Station address and the DP Mode configure the Fail safe functionality ...

Страница 86: ... Define the DP module properties On the DP module I O Mapping tab type names for the variables that refer to the drive s signals in the PLC program 11 Open the PLC program and create a program that controls the drive ...

Страница 87: ...Start up 87 12 Compile the project and download it to the PLC Note Make sure that the variable names defined for the drive signals are used in the PLC program Otherwise the communication will not work ...

Страница 88: ...PBA 01 GSD files from the Document library 1 Start the SIMATIC Manager and open or create a SIMATIC program 2 Open the hardware configuration of the project 3 Add PROFIBUS master system Right click X2 and choose Add Master System Click New Check that the network settings are valid and click OK 4 Install the FENA GSD file On the Options menu select Install GSD files Browse for the GSD file download...

Страница 89: ...e GSD file based on the software version of the module see underside of the module and what DP extension version will be used 5 Click and drag the FPBA 01 object from the device catalog to the PROFIBUS 1 DP master system 1 ...

Страница 90: ...90 Start up 6 Click and drag the PP0 Type 7 object to slot 1 Then double click FPBA The Properties window appears 7 On the General tab click PROFIBUS and set Node number ...

Страница 91: ...Start up 91 8 Click Properties Network Settings and set baud rate ...

Страница 92: ...n the Parameter Assignment tab Under the Device specific parameters folder configure the Fail Safe mode and Control zero mode Enter a Failsafe Timeout value Configure Failsafe values for the PLC output process data PZDs ...

Страница 93: ...1 Download the compiled hardware configuration to the PLC The PLC is now ready for communication with the adapter module 12 If needed give proper symbol names to the cyclic data Right click I O object PP0 Type 7 and select Edit Symbols Add names for the symbols ...

Страница 94: ...ng TIA Portal V13 Before you start make sure that you have downloaded the FPBA 01 GSD files from the Document library 1 Start the TIA portal 2 Go to Options Install general station description file GSD 3 Browse the folder containing FPBA 01 GSD files and select the files both DP V0 and DP V1 4 Click Install Wait for two minutes till the TIA portal updates the Device catalog ...

Страница 95: ...and drop FPBA 01 from the Device catalog to the Network view 6 Click on Not assigned text and select the master to create link between the master and FPBA 01 7 Go to Device view and select Slave_1 FPBA 01 Drag and drop the telegram from Catalog to Device ...

Страница 96: ...he General tab set FPBA 01 node address 9 In the Device specific parameters set fail safe mode time out and fail safe values 10 Compile and download the project After the PLC starts node 3 FPBA 01 goes online with PPO 08 ...

Страница 97: ... meaning that the whole cyclic data frame is transmitted during a single program cycle Some PLCs handle this internally but others must be programmed to transmit data consistent telegrams For more information see chapter Communication protocol For example Siemens SIMATIC S7 requires the use of special functions SFC15 and SFC14 ...

Страница 98: ...98 Start up ...

Страница 99: ... ways of conveying control commands Control word Status word references and actual values between the master station and the drive With the FPBA 01 module the PROFIBUS network may employ either the PROFIdrive profile or the ABB Drives profile Both are converted to the native profile e g DCU or FBA by the adapter module In addition two Transparent modes for 16 bit and 32 bit words respectively are ...

Страница 100: ...1 Drive Profile selection Data conversion PROFIdrive ABB Drives Transparent32 1 Native profile eg DCU or FBA Optional reference actual value scaling Transparent16 Data conversion PROFIdrive positioning PROFIBUS 16 bit 32 bit Group A Par 05 PROFIBUS 1 1 1 Note The diagram is applicable only when PPO messaging is used If standard telegrams ST are used the communication profile is selected automatica...

Страница 101: ...on drive specific bits The drive states for all operating modes are presented on page 107 The drive states for the positioning mode are presented on page 108 Control word contents The table below shows the contents of the Control word for the PROFIdrive communication profile PROFIdrive parameter 967 The upper case boldface text refers to the states shown in the state machine on page 107 Bit Name V...

Страница 102: ...N 0 Inhibit operation Proceed to OPERATION INHIBIT 4 ENABLE_ RAMP_ GENERATOR or 1 Normal operation Proceed to RAMP FUNCTION GENERATOR ENABLE OUTPUT Normal operation Do not reject traversing task TRAVERSING _TASK 0 Stop according to selected stop type Reject traversing task 5 1 Normal operation Proceed to RAMP FUNCTION GENERATOR ENABLE ACCELERATOR Normal operation No intermediate stop 0 Halt rampin...

Страница 103: ...s interface is set as the source for this signal by drive parameters 0 Continue normal operation 8 JOGGING_1 Jogging 1 Not supported by all drive types 9 JOGGING_2 Jogging 2 Not supported by all drive types 10 REMOTE_ CMD 1 Fieldbus control enabled 0 Control word 0 or reference 0 Retain last Control word and reference Control word 0 and reference 0 Fieldbus control enabled 11 1 Vendor specific bit...

Страница 104: ...nication profiles 14 Vendor specific bit as defined by PROFIdrive parameter 936 15 Vendor specific bit as defined by PROFIdrive parameter 937 Bit Name Value STATE Description Speed control mode Positioning mode ...

Страница 105: ... TO SWITCH ON 1 RDY_RUN 1 READY TO OPERATE 0 OFF1 ACTIVE 2 RDY_REF 1 ENABLE OPERATION 0 DISABLE OPERATION 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_INH IB 1 SWITCH ON INHIBIT ACTIVE 0 SWITCH ON INHIBIT NOT ACTIVE 7 ALARM 1 Warning Alarm 0 No Warning Alarm 8 AT_SETPOINT 1 OPERATING Actual value equals reference value is...

Страница 106: ...procedure was executed and is valid 0 No valid home position available 12 1 Vendor specific bit as defined by PROFIdrive parameter 940 Traversing task acknowledgement 0 1 0 13 1 Vendor specific bit as defined by PROFIdrive parameter 941 Drive stopped 0 Drive moving Traversing task is executed n 0 14 Vendor specific bit as defined by PROFIdrive parameter 942 15 Vendor specific bit as defined by PRO...

Страница 107: ...1 ACTIVE SW Bit1 0 SW Bit0 1 CW Bit3 1 C D CW Bit5 0 OPERATION ENABLE SW Bit2 1 SW Bit5 0 from any state from any state Emergency stop OFF3 CW Bit2 0 n f 0 I 0 OFF3 ACTIVE Emergency stop OFF2 CW Bit1 0 SW Bit4 0 OFF2 ACTIVE RFG ENABLE OUTPUT RFG ENABLE ACCELERATION OPERATING B B C D CW Bit4 0 CW Bit4 1 CW Bit5 1 D CW Bit6 0 A C CW Bit6 1 SW Bit8 1 D from any state Fault SW Bit3 1 FAULT CW Bit7 1 O...

Страница 108: ...rd PROFIdrive State machine for PROFIdrive positioning mode CW Bit11 1 SW Bit10 11 13 0 BASIC STATE Operating1 HOMING RUNNING SW Bit10 11 13 1 HOMING READY CW Bit11 0 SW Bit10 13 0 Traversing task active CW Bit5 0 CW Bit5 0 SW Bit10 13 0 Braking with ramp Intermediate stop CW Bit6 edge 0 1 F F F SW Bit10 13 0 CW Bit4 0 Braking with ramp E 1 In the Operating state of the general state machine SW bi...

Страница 109: ...t speed reference REF or NSOLL_A in hexadecimal 0 4000h corresponds to 0 100 of speed scaling value as defined with a drive parameter A 32 bit speed reference NSOLL_B in hexadecimal 0 4000 0000h corresponds to 0 100 of speed scaling value as defined with a drive parameter References in positioning mode ACSM1 only In the positioning mode references are 16 bit or 32 bit words A 32 bit reference cont...

Страница 110: ...ed values ACT or NIST_A in hexadecimal 0 4000h corresponds to 0 100 of speed scaling value as defined with a drive parameter The scaling of 32 bit actual speed values NIST_B in hexadecimal 0 4000 0000h corresponds to 0 100 of speed scaling value as defined with a drive parameter Actual values in positioning mode ACSM1 only For a 32 bit actual position value XIST_A the unit and scaling are defined ...

Страница 111: ...able below shows the contents of the Control word for the ABB Drives communication profile The upper case boldface text refers to the states shown on page 115 Bit Name Value STATE Description 0 OFF1_ CONTROL 1 Proceed to READY TO OPERATE 0 Stop along currently active deceleration ramp Proceed to OFF1 ACTIVE proceed to READY TO SWITCH ON unless other interlocks OFF2 OFF3 are active 1 OFF2_ CONTROL ...

Страница 112: ...orce 5 RAMP_HOLD 1 Enable ramp function Proceed to RAMP FUNCTION GENERATOR ACCELERATOR ENABLED 0 Halt ramping Ramp Function Generator output held 6 RAMP_IN_ ZERO 1 Normal operation Proceed to OPERATING Note This bit is effective only if the fieldbus interface is set as the source for this signal by drive parameters 0 Force Ramp Function Generator input to zero 7 RESET 0 1 Fault reset if an active ...

Страница 113: ...ctive if control location parameterized to be selected from fieldbus 0 Select External Control Location EXT1 Effective if control location parameterized to be selected from fieldbus 12 15 Drive specific For information see the drive documentation Bit Name Value STATE Description 0 RDY_ON 1 READY TO SWITCH ON 0 NOT READY TO SWITCH ON 1 RDY_RUN 1 READY TO OPERATE 0 OFF1 ACTIVE 2 RDY_REF 1 OPERATION ...

Страница 114: ... EXT1 or EXT2 0 Drive control location LOCAL 10 ABOVE_LIMIT 1 Actual frequency or speed equals or exceeds supervision limit set by drive parameter Valid in both directions of rotation 0 Actual frequency or speed within supervision limit 11 EXT_CTRL_ LOC 1 External Control Location EXT2 selected 0 External Control Location EXT1 selected 12 EXT_RUN_ ENABLE 1 External Run Enable signal received 0 No ...

Страница 115: ...W Bit2 0 n f 0 I 0 Emergency 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 RFG OUTPUT ENA...

Страница 116: ...nces 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 ACQ810 the speed reference REFx in decimal 0 20000 corresponds to 0 100 of the speed scaling value as defined with a drive parameter In ACS880 and ACS580 the speed reference REFx in decimal 0 corresponds to the speed ref min paramet...

Страница 117: ...e drive The functions to be monitored are selected with a drive parameter Scaling Actual values 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 0 REFx MAX REFx MAX 0 ACT2 10000 ACT1 20000 ACT2 10000 ACT1 20000 Drive Fieldbus ...

Страница 118: ...118 Communication profiles ...

Страница 119: ...d EN 50170 standards PROFIBUS DP V0 DP V1 is a distributed I O system which enables the master to use a large number of peripheral modules and field devices The data transfer is mainly cyclic the master reads the input information from the slaves and sends the output information back to the slaves The FPBA 01 module uses so called PPOs parameter process data objects in cyclic communication and als...

Страница 120: ...IBUS master PROFIDRIVE The PROFIBUS Profile for Adjustable Speed Drives V2 0 and V3 1 or the EN 50170 and IEC 61784 standards Communication start up The following service access points SAPs are used to initiate DP communication SAP no Short name Name Default SAP 0 Data_Exch Cyclical Data Exchange Write_Read_Data 58 Global_Control Global Control Service 59 Get_Cfg Read Configuration Data 60 Slave_D...

Страница 121: ..._Exchange telegram but include the DSAP and SSAP bytes In these telegrams the MSB of the DA and SA bytes is set to 1 to indicate that a DSAP SSAP byte follows in the telegram header Output Data Input Data Data Outp_Data Inp_Data DU length 4 to 32 bytes depending on the selected PPO message or standard telegram type DP header DP trailer SD LE LEr SD DA SA FC DSAP SSAP DU FCS ED 68h x x 68h xx xx x ...

Страница 122: ...ial group of slaves or all slaves at once broadcast Global_Control Type Octet String Length 2 DU Byte Description 0 GC_Command 1 Group_Select 0 255 The value must match the Group Identification number of SAP 61 DU Byte 6 0 0 x x x x x 0 00 No function 10 Activated x1 Deactivated MSB LSB 00 No function 10 Activated x1 Deactivated Reserved Clear Data 0 Do not clear output 1 Clear output Reserved Un_...

Страница 123: ...t by Master reset by Slave Slave not found Diag Stagion_Not_Ready Set by Slave Slave not ready for data exchange Diag Cfg_Fault Set by Slave Received configuration data does not match original config data Diag Ext_Diag Set by Slave Diagnostic entry present in slave specific diagnostic area Diag Not_Supported Set by Slave Service not supported by slave Diag Invalid_Slave_Response Set by Master rese...

Страница 124: ...Prm_Req Set by Slave Slave requires re configuration and re parameterization Diag Stat_Diag Set by Slave Static diagnosis Slave temporarily unable to provide valid data Always set to 1 by slave Diag WD_On Set by Slave Watchdog on Diag Freeze_Mode Set by Slave Freeze command received by slave Diag Sync_Mode Set by Slave Sync command received by slave Reserved Diag Deactivated Set by Master reset by...

Страница 125: ...x x x x x x MSB LSB Block length in bytes including header Diagnostic type 00 Device related diagnostic according to PROFIdrive 3 1 0 0 0 0 0 0 x x MSB LSB Reserved Communication temporarily lost Communication permanently lost 1 x x x x x x x Set to 1 Diagnostic type 0 Reserved 1 Status_Message normalalarm message 2 Module_Status 3 DXB_Link_Status 4 to 29 Reserved 30 PrmCmdAck 31 Red_State 32 to 1...

Страница 126: ...ed in the DP V1 mode The diagnostic information is according to PROFIdrive 3 1 2 The FPBA 01 module is operated in the DP V0 DP mode The diagnostic information is according to PROFIdrive 2 0 0 0 0 0 0 0 x x MSB LSB Reserved Specifier 0 0 0 0 0 0 x x MSB LSB Reserved Communication temporarily lost Communication permanently lost ...

Страница 127: ...3 0Bh Default MinTSDR Minimum Station Delay Respond Time Time after which a slave station is allowed to send response frames to the master Calculated by multiplying the hex value with tBit time required for transmitting one bit 4 5 0959h Vendor Identification for FPBA 01 0959h 6 00h Group Identification x x 1 1 1 0 0 0 00 Min TSDR and slave related parameters may be overwritten 10 Slave locked for...

Страница 128: ...led MSB LSB WD_Base Watchdog time base 0 10 ms 1 1 ms Dis_Stop_Control Disable Stop Bit Control 0 Stop bit monitoring in receiver enabled 1 Stop bit monitoring in receiver disabled Reserved Publisher_Enabled Not supported 0 Slave not operated in DXB Publisher mode 1 Slave operated in DXB Publisher mode Fail_Safe Not supported DPV1_Enable 0 Slave operated in DP mode 1 Slave operated in DP V1 mode ...

Страница 129: ...terized with 0 Enable_Status_Alarm 0 Enable_Status_Alarm disabled 1 Enable_Status_Alarm enabled Enable_Diagnostic_Alarm 0 Enable_Diagnostic_Alarm disabled 1 Enable_Diagnostic_Alarm enabled Enable_Process_Alarm 0 Enable_Process_Alarm disabled 1 Enable_Process_Alarm enabled Enable_Pul_Plug_Alarm 0 Enable_Pull_Plug_ Alarm disabled 1 Enable_Pull_Plug_ Alarm enabled Enable_Manufacturer_ Specific_Alarm ...

Страница 130: ...x x Alarm_Mode Not supported Limits the number of active alarms 0 1 alarm of each type 1 2 alarms in total 2 4 alarms in total 3 8 alarms in total 4 12 alarms in total 5 16 alarms in total 6 24 alarms in total 7 32 alarms in total MSB LSB Prm_Structure 0 Prm telegram according to EN 50170 1 Prm telegram in structure form DPV2 extension Reserved To be parameterized with 0 IsoM_Req Isochron Mode Req...

Страница 131: ...aken when the PLC is switched from RUN to STOP mode 00 STOP default 01 LAST REFERENCE 02 USE FAIL SAFE The values of the PZDs are defined by bytes 11 30 in the Prm_Data telegram Reserved MSB LSB Control zero mode Defines the action taken if a PROFIBUS telegram containing only zeros is received 00 USE FRAME default Note With this setting the drive may not be stopped if it is running since bit 10 Re...

Страница 132: ...e in order to select the PPO type or standard telegram ST 21 22 0 65536 Fail safe PZD3 23 24 0 65536 Fail safe PZD4 25 26 0 65536 Fail safe PZD5 27 28 0 65536 Fail safe PZD6 29 30 0 65536 Fail safe PZD7 31 32 0 65536 Fail safe PZD8 33 34 0 65536 Fail safe PZD9 35 36 0 65536 Fail safe PZD10 Telegram name Cyclical telegram length in words Default code for message type see figure below Supported para...

Страница 133: ... out 0xFB DP V11 ST 1 2 PZD in 2 PZD out C3 C1 C1 FD 00 01 DP V1 ST 2 4 PZD in 4 PZD out C3 C3 C3 FD 00 02 DP V1 1 DP V1 mode selected by the user PKW Parameter Kennung Wert Parameter ID value PZD Prozeßdaten Process data cyclically transferred Telegram name Cyclical telegram length in words Default code for message type see figure below Supported parameter channel access mode ...

Страница 134: ...ation Master class Master SAP Slave SAP Short name Meaning C1 51 51 Server SAP Read Write Alarm C1 51 50 Alarm SAP Alarm C2 50 49 Resource Mgmt SAP Req PDU C2 50 48 0 Communication SAP Abort Read Write Data_Transfer C2 62 55 Set_Slave_Add Change Station Address C2 Master x x x x x x x x Length of data 0000 1 byte per word 1111 16 bytes per word MSB LSB Input Output 00 Special format 01 Input 10 Ou...

Страница 135: ...value Process data CW Control word SW Status word REF Reference ACT Actual value PZD Process data application specific DW Data word Type 1 Type 2 Type 3 Type 4 Type 5 Parameter Process data CW REF PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 VALUE IND identification PZD3 SW ACT PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 Fixed area Freely mappable area OUT area IN area ID IND VALUE Type 6 Parameter channel DP...

Страница 136: ...al values see chapter Communication profiles ST1 PZD1 PZD2 OUT area STW1 Control word 1 NSOLL_A Speed set point A IN area ZSW1 Status word 1 NIST_A Speed actual value A ST2 PZD1 PZD2 3 PZD4 OUT area STW1 Control word 1 NSOLL_B Speed set point B STW2 Control word 2 IN area ZSW1 Status word 1 NIST_B Speed actual value B ZSW2 Status word 2 ...

Страница 137: ...e slave as a positive or negative acknowledgement The tables below show the Request Response functions Request labels from master to slave Request Function Response labels Ackn Ackn 0 No task 0 1 Request parameter value 1 2 7 2 Change parameter value word 1 7 8 3 Change parameter value double word 2 7 8 4 Request description element 3 7 5 Change description element 3 7 8 6 Request parameter value ...

Страница 138: ...abel Acknowledgement from slave to master Ackn Function 0 No response 1 Transfer parameter value word 2 Transfer parameter value double word 3 Transfer description element 4 Transfer parameter value array word 5 Transfer parameter value array double word 6 Transfer number of array elements Request labels from master to slave Request Function Response labels Ackn Ackn ...

Страница 139: ... No parameter change rights 15 Text array not available 17 Task cannot be executed due to operating status eg parameter is currently read only 18 Other error 101 Vendor specific error 102 Request not supported 103 Request cannot be completed due to communication error 110 Failure during write to non volatile memory 111 Request aborted due to time out 120 Parameter cannot be mapped to PZD size mism...

Страница 140: ...entification The Sub index column corresponds to the IND part of parameter identification The Example No column refers to the examples on the following pages Virtual drive control area Index Sub index Par No Decimal Request label Example No 0h 1h 1 R W 6 7 81 1 2 0h 2h 2 0h 63h 99 1 Supported with an ACSM1 drive only Drive parameters Index Sub index Par No Decimal Request label Example No 1 1 101 ...

Страница 141: ...n the flash memory of the adapter module The estimated lifetime of the flash memory is 100 000 program erase cycles and continuous writing will cause the memory to fail prematurely PROFIdrive parameters Index Sub index Par No Decimal Request label Example No 393h 2h 915 2 R W 6 7 6 3h 3 9h 9 394h 2h 916 2 R W 6 7 7 3h 3 9h 9 396h 0h 918 R W 1 2 3 4 3B3h 0h 947 1 R 6 5 9h 9 11h 17 19h 25 21h 33 29h...

Страница 142: ...o hexadecimal The index number is the Subindex IND and the group number is the Parameter Number PNU For example to read parameter 84 11 from the drive 84 11 54h 0Bh Parameter Number 54h Subindex 0Bh Req DP header 6 0 5 4 0 B 0 0 0 0 0 0 0 0 0 0 0 4 7 F 3 4 1 5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 DP trailer Resp 4 0 5 4 0 B 0 0 0 0 0 0 0 0 6 4 0 3 3 7 3 4 1 5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 CW REF PZD3...

Страница 143: ...sp DP header 7 0 5 4 0 B 0 0 0 0 0 0 0 0 0 3 0 3 3 7 3 4 1 5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 DP trailer SW ACT PZD3 PZD4 PZD5 PZD6 Error Number 3 Erroneous subindex Subindex1 Parameter Number Response Negative acknowledgement 1 2nd byte reserved ...

Страница 144: ...he drive 12 02 0Ch 02h Parameter number 0Ch Subindex 02h The following is an example of writing a 16 bit parameter Req DP header 7 0 0 C 0 2 0 0 0 0 0 0 0 0 6 4 0 4 7 F 3 4 1 5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 DP trailer Resp 4 0 0 C 0 2 0 0 0 0 0 0 0 0 6 4 0 3 3 7 3 4 1 5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 CW REF PZD3 PZD4 PZD5 PZD6 Request Change parameter value array Parameter Number Subindex1 Para...

Страница 145: ...DP trailer Resp 5 0 0 C 0 2 0 0 0 0 0 0 0 0 6 4 0 3 3 7 3 4 1 5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 CW REF PZD3 PZD4 PZD5 PZD6 Request Change parameter value array double word Parameter Number Subindex1 Parameter Value 100 decimal SW ACT PZD3 PZD4 PZD5 PZD6 Parameter Value 100 decimal Subindex1 Parameter Number Response Transfer parameter value array double word 1 2nd byte reserved ...

Страница 146: ...r of the slave The slave returns its station number 2 Read Req DP header 1 3 9 6 0 0 0 0 0 0 0 0 0 0 0 0 0 4 7 F 3 4 1 5 DP trailer Resp 1 3 9 6 0 0 0 0 0 0 0 0 0 0 0 2 0 3 3 7 3 4 1 5 CW REF Request Parameter value read Parameter Number 918 decimal IND Param Value SW ACT Param Value IND Parameter Number 918 decimal Request Parameter value updated ...

Страница 147: ...CBh to 1 Note that the drive always observes the Control word CW and reference REF bytes The values shown below are examples Write Req DP header 2 3 C B 0 0 0 0 0 0 0 0 0 0 0 1 0 4 7 F 3 4 1 5 DP trailer Resp 1 3 C B 0 0 0 0 0 0 0 0 0 0 0 1 0 3 3 7 3 4 1 5 CW REF Request Parameter value write Parameter Number 971 decimal IND Param Value SW ACT Param Value IND Parameter Number 971 decimal Response ...

Страница 148: ...he five latest occurred different faults in the fault buffer The fault codes can be accessed by PROFIdrive parameters 945 and 947 see page 187 The value zero indicates no fault The subindexes of these parameters are related to each other that is parameter 945 with subindex 1 relates to the subindex of parameter 947 Read Req DP header 6 3 B 1 0 1 0 0 0 0 0 0 0 0 0 0 0 4 7 F 3 4 1 5 DP trailer Resp ...

Страница 149: ...ed data is taken from Parameter Value selects the drive parameter to which that word is mapped Subsequently the contents of PZD3 in each Request frame are written to drive parameter 12 02 CONSTANT SPEED 1 until a different selection is made Req DP header 7 3 9 3 0 3 0 0 0 0 0 0 0 C 0 2 0 4 7 F 3 4 1 5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 DP trailer Resp 4 3 9 3 0 3 0 0 0 0 0 0 0 C 0 2 0 3 3 7 3 4 1 5 0...

Страница 150: ...nes which process data word the required data is transmitted in and Parameter Value defines which drive parameter is mapped to that word Req DP header 7 3 9 4 0 3 0 0 0 0 0 0 0 1 0 4 0 4 7 F 3 4 1 5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 DP trailer Resp 4 3 9 4 0 3 0 0 0 0 0 0 0 1 0 4 0 3 3 7 3 4 1 5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 SW ACT Parameter Number 916 decimal Response Transfer parameter value arr...

Страница 151: ... request If the write request is valid the adapter module acknowledges it with DP V1 write response code 5Fh with no data The master will then send a read request If the adapter module is still busy Resp DP header x x x x x x x x x x x x x x x x x x x x x x x x 0 0 O B x x x x x x x x x x x x DP trailer PZD3 Value of drive parameter 1 04 Master DP V1 Slave Parameter processing Parameter request Pa...

Страница 152: ...negative response with the DP V1 error code B5h State conflict In this case the read request will be repeated by the master until the adapter module has the PROFIdrive response data ready If the write request is invalid a negative response is returned with a DP V1 error code see page 155 ...

Страница 153: ...ource address FC Function code DSAP Destination service access point SSAP Source service access point DU Data unit for DP services FCS Frame checking sequence ED End delimiter Data unit DP V1 Command Response PROFIdrive V3 Parameter Channel DU0 DU1 DU2 DU3 Request Response header See the tables on pages 156 and 158 Data Byte Meaning Value DU0 Function number See page 154 DU1 Slot number 0 Module i...

Страница 154: ...0x58 Abort REQ 0x5C Alarm REQ RES 0x5E Read REQ RES 0x5F Write REQ RES 0xD1 Data transport negative response 0xD7 Initiate negative response 0xDC Alarm negative response 0xDE Read negative response 0xDF Write negative response Byte Meaning and value DU0 Function number 0xDF Error Write 0xDE Error Read DU1 Error_Decode PROFIdrive Always 0x80 DP V1 codes DU2 Error_Code_1 Error class error code see p...

Страница 155: ...t 9 Feature not supported 10 15 User specific 11 0x0B Access 0 Invalid index 1 Write length error 2 Invalid slot 3 Type conflict 4 Invalid area 5 State conflict 6 Access denied 7 Invalid range 8 Invalid parameter 9 Invalid type 10 15 User specific 12 0x0C Resource 0 Read constraint conflict 1 Write constraint conflict 2 Resource busy 3 Resource unavailable 4 7 Reserved 8 15 User specific 13 15 Use...

Страница 156: ... Parameter 02h Byte Drive Object ID To be set to 0 or 1 0 255 Byte No of Parameters Number of parameters that are present in the request 1 37 Byte Attribute Type of object being accessed Note Description and Text are not supported Value 10h Description 20h Text 30h Byte No of Elements Number of array elements accessed or length of string accessed Set to 0 if non array parameters are used 0 1 234 B...

Страница 157: ...able on page 159 See the table on page 159 Byte Number of Values1 Number of values following 0 234 Byte Values1 The values of the request In case of an odd number of bytes a zero byte is appended to ensure the word structure of the telegram See the Format field 1 Only if Request ID is 02h Change Parameter The Format Number of Values and Values fields are repeated for other parameters Field s Descr...

Страница 158: ...NAK 81h Change Param OK 02h Change Param NAK 82h Drive Object ID To be set to 1 0 255 No of Parameters Number of parameters that are present in the response 1 37 Format1 See the table on page 159 See the table on page 159 Number of Values1 Number of values following 0 234 Values1 The values of the request In case of an odd number of bytes a zero byte is appended to ensure the word structure of the...

Страница 159: ...x01 0x36 Standard data types 1 Boolean not supported 2 Integer8 not supported 3 Integer16 4 Integer32 5 Unsigned8 not supported 6 Unsigned16 7 Unsigned32 8 Floating point not supported 9 Visible string not supported 0x37 0x3F Reserved 0x40 Zero 0x41 Byte 0x42 Word 0x43 Double word 0x44 Error 0x45 0xFF Reserved ...

Страница 160: ...ing not permitted can only be reset Change access with a value unequal to 0 when this is not permitted 07h Description element cannot be changed Change access to a description element that cannot be changed 09h No description data available Access to an unavailable description Parameter value is available 0Bh No operation priority Change access rights without rights to change parameters 0Fh No tex...

Страница 161: ...urer specific error area 65h Vendor specific error Vendor specific error 66h Request not supported Request not supported 67h Communication error Request cannot be completed because of a communication error 6Eh Non volatile error Failure during write to non volatile memory 6Fh Time out error Request aborted because of timeout 78h PZD map failure Parameter cannot be mapped to PZD size mismatch or no...

Страница 162: ... within the group corresponds to the Subindex IND In the following example a value is read from drive parameter number 12 04 0C 04h DP V1 Write request Read parameter value 90h Illegal Request ID The request ID of the response is illegal 96h Internal buffer Buffer overflow A0h Internal communication Communication error between the module and the drive DP header 5F 01 2F 0A 05 01 01 01 10 01 00 0 C...

Страница 163: ...8 05 01 01 01 44 01 00 01 DP trailer DP V1 Response PROFIdrive V3 Parameter Channel Function number Slot number Index Data length Response reference mirrored Response ID Drive object ID Number of parameters Format 42h Word Number of values Parameter value Function number Slot number Index Data length Response reference mirrored Response ID Drive object ID mirrored Number of parameters Format 44h E...

Страница 164: ...header 5 F 0 1 2 F 1 6 0 6 0 1 0 1 0 3 1 0 0 1 0 0 0 C 0 0 0 4 DP V1 Command PROFIdrive V3 Parameter Channel 1 0 0 1 0 0 14 0 0 0 8 Par Channel continued 1 0 0 1 0 0 1 E 0 0 1 3 DP trailer Par Channel continued Function number Slot number Index Data length Request reference Request ID 01h Request Parameter Drive object ID Number of parameters Attribute 10h Value Number of elements Parameter number...

Страница 165: ...0 1 2 F 1 0 0 6 0 1 0 1 0 3 4 2 01 0 1 9 0 DP V1 Response PROFIdrive V3 Parameter Channel 4 2 01 0 1 F 4 Par Channel cont d 4 2 01 0 0 3 0 DP trailer Par Channel cont d Function number Slot number Index Data length Response reference mirrored Response ID Drive object ID Number of parameters Format 42h Word Number of values Parameter value ...

Страница 166: ...ponds to the Subindex IND In the following example a value is written to drive parameter 12 02 0C 02h DP header 5 F 01 2 F 0 E 07 02 01 01 10 01 00 0 C 00 02 42 01 02 58 DP trailer DP V1 Command PROFIdrive V3 Parameter Channel Function number Slot number Index Data length Request reference Request ID Drive object ID Number of parameters Attribute 10h Value Number of elements Parameter number Subin...

Страница 167: ... 167 DP header 5E 01 2F 04 07 02 01 01 DP trailer DP V1 Response PROFIdrive V3 Parameter Channel Slot number Slot number Index Data length Request reference mirrored Response ID Drive object ID mirrored Number of parameters ...

Страница 168: ...F 1 4 0 8 0 2 0 1 0 2 1 0 0 1 0 0 0 C 0 0 02 DP V1 Command PROFIdrive V3 Parameter Channel 1 0 0 1 0 0 14 0 0 08 Par Channel cont d 4 2 01 0 1 2 C Par Channel cont d 4 2 01 0 1 F4 DP trailer Par Channel cont d Function number Slot number Index Data length Request reference Request ID 02h Change Parameter Drive object ID Number of parameters Attribute 10h Value Number of elements Parameter number S...

Страница 169: ... 169 DP header 5E 01 2F 04 08 02 01 02 DP trailer DP V1 Response PROFIdrive V3 Parameter Channel Slot number Slot number Index Data length Request reference mirrored Response ID Drive object ID mirrored Number of parameters ...

Страница 170: ... 10 00 03 96 00 00 DP trailer DP V1 Command PROFIdrive V3 Parameter Channel DP header 5E 01 2F 08 09 01 01 01 42 01 00 03 DP trailer DP V1 Response PROFIdrive V3 Parameter Channel Function number Slot number Index Data length Request reference Request ID 01h Request Parameter Drive object ID Number of parameters Attribute 10h Value Number of elements Parameter index Subindex Function number Slot n...

Страница 171: ...ents of PZD3 in each Request frame until a different selection is made Subindex IND defines which process data word the required data is taken from Value selects the drive parameter to which that word is mapped DP V1 Write request DP header 5 F 01 2 F 0 E 0 A 02 01 01 10 01 03 93 00 03 42 01 0 C 06 DP trailer DP V1 Command PROFIdrive V3 Parameter Channel Value Number of values Format 42h Word Subi...

Страница 172: ...parameter 12 06 until a different selection is made DP header 5E 01 2F 08 0A 01 01 01 42 01 00 68 DP trailer DP V1 Response PROFIdrive V3 Parameter Channel Function number Slot number Index Data length Request reference mirrored Response ID Drive object ID mirrored Number of parameters Format 42h Word Number of values Value ...

Страница 173: ...sed to determine which drive parameter the contents of PZD3 are taken from Subindex IND defines which process data word the required data is transmitted in DP V1 Write request DP header 5F 01 2F 0A 0B 01 01 01 10 01 03 94 00 03 DP trailer DP V1 Response PROFIdrive V3 Parameter Channel Function number Slot number Index Data length Request reference Request ID 01h Read Number of parameters Drive obj...

Страница 174: ...rameter 12 05 0C 05h DP header 5E 01 2F 08 0B 01 01 01 42 01 0C 05 DP trailer DP V1 Response PROFIdrive V3 Parameter Channel Function number Slot number Index Data length Request reference mirrored Response ID Drive object ID mirrored Number of parameters Format 42h Word Number of values Value ...

Страница 175: ...Diagnostics 175 9 Diagnostics What this chapter contains This chapter explains how to trace faults with the status LEDs on the adapter module ...

Страница 176: ... Function HOST Green Connection to host OK Blinking red Establishing communication to host or communication to host lost Flashing orange alternating with the MODULE flashing orange Internal file system error The error may be cleared by cycling drive power If the error persists contact your local ABB representative HOST MODULE NETWORK RK ...

Страница 177: ...with this node Blinking green 3 times per second with NETWORK steady green Only Class 2 master connection no cyclic communication established Red Module fault Flashing orange alternating with the HOST flashing orange Internal file system error The error may be cleared by cycling drive power If the error persists contact your local ABB representative NETWORK Blinking green Establishing network conn...

Страница 178: ...178 Diagnostics ...

Страница 179: ...Technical data 179 10 Technical data What this chapter contains This chapter contains the technical data of the adapter module and the PROFIBUS link FPBA 01 Enclosure HOST MODULE NETWORK X1 NETWORK ...

Страница 180: ... effect Indicators Three bicolor LEDs HOST MODULE NETWORK Connectors 20 pin connector to drive X2 9 pin D SUB connector to bus X1 Power supply 3 3 V 5 max 450 mA supplied by the drive Isolated 5 V supply available for bus termination circuitry X1 pins 5 and 6 30 mA max General Complies with EMC standard EN 61800 3 2004 Bus interface functionally isolated from drive Coated circuit board ...

Страница 181: ...lines allowed Max 126 nodes with repeaters 31 nodes repeater per section Transfer rate 12 Mb s max automatically detected by the adapter module Serial communication type Asynchronous half duplex RS 485 Protocol PROFIBUS DP Parameter Line A PROFIBUS DP Line B DIN 19245 Part 1 Unit Impedance 35 165 3 20 MHz 100 130 f 100 kHz ohm Capacitance 30 60 pF m Resistance 110 ohm km Wire gauge 0 64 0 53 mm Co...

Страница 182: ...182 Technical data ...

Страница 183: ...1 Data type Description 915 R W Array 10 Unsigned16 Assignment PZD1 to PZD10 in PPO write 916 R W Array 10 Unsigned16 Assignment PZD1 to PZD10 in PPO read 918 R W Unsigned16 Node address Writing this parameter will change the node address Module re start required 919 R Octet String4 ABB drive product code 922 R Unsigned16 Telegram selection Value Description 0 Not standard telegram PPO 1 ST1 2 ST2...

Страница 184: ...word 2 STW2 Unsigned16 4 Status word 2 ZSW2 Unsigned16 5 Speed set point A NSOLL_A Signed16 6 Speed actual value A NIST_A Signed16 7 Speed set point B NSOLL_B Signed32 8 Speed actual value B NIST_B Signed32 27 Position set point A XSOLL_A Signed32 28 Position actual value A XIST_A Signed32 32 Traversing block selection SATZANW not supported Unsigned16 33 Actual traversing block AKTSATZ not support...

Страница 185: ...lue Mode 0 Parameters cannot be written only read 927 can be written 1 Parameters can be written and read default Value Mode 0 PZD part is disabled ie Receipt of new PZD data is ignored 1 PZD part is enabled default Value PPO type Configuration 1 PPO1 F3h F1h 2 PPO2 F3h F5h 3 PPO3 F1h 4 PPO4 F5h 5 PPO5 F3h F9h 6 PPO6 F9h 7 PPO7 0xF3 0xFB 8 PPO8 0xFB Note This parameter is not available if standard...

Страница 186: ...or coding 939 R W Unsigned16 Selection switch for Status word bit 11 940 R W Unsigned16 Selection switch for Status word bit 12 See parameter 939 for coding 941 R W Unsigned16 Selection switch for Status word bit 13 See parameter 939 for coding 942 R W Unsigned16 Selection switch for Status word bit 14 See parameter 939 for coding 943 R W Unsigned16 Selection switch for Status word bit 15 See para...

Страница 187: ...alarm 954 R Unsigned16 3 Second last alarm 955 R Unsigned16 3 Third last alarm 956 R Unsigned16 3 Fourth last alarm 957 R Unsigned16 3 Fifth last alarm 958 R Unsigned16 Sixth last alarm not supported 959 R Unsigned16 Seventh last alarm not supported 960 R Unsigned16 Eighth last alarm not supported 963 R Unsigned16 Detected baud rate 0 9 6 kbit s 1 19 2 kbit s 2 93 75 kbit s 3 187 5 kbit s 4 500 kb...

Страница 188: ...on and the motor must be stopped 971 R W Unsigned16 Save parameter record The parameter must do a zero to one transition and the motor must be stopped Par no R W1 Data type Description Subindex Contents 0 Manufacturer code ABB 1A 1 Device type 1 2 FW version of FPBA 01 3 Firmware date year 4 Firmware date day month 5 Number of Axes 6 Identification 0959h Value Description 0 No action 1 Restore fac...

Страница 189: ...ameters If the subindex is 0 the end of the list has been reached If the subindex is the number of the next list parameter the list is continued there 1 Read and or Write 2 The meaning of vendor specific bits is defined by the drive application program 3 Support depends on the drive type Par no R W1 Data type Description Value Description 0 No action 1 Re boot PROFIBUS module Subindex Meaning 5 Va...

Страница 190: ...190 Appendix A PROFIdrive parameters ...

Страница 191: ...ntains This chapter contains the telegram and response structures for I M Identification Maintenance records I M records I M records can be read for example with the DTM tool The FPBA 01 module supports the mandatory I M0 record as well as the optional I M1 and I M2 records ...

Страница 192: ...ctet 5Fh fixed Slot_Number 1 Octet 0 255 variable Index 1 Octet 255 fixed Length 1 Octet 4 68 Call Header only Write Call Header Extended_Function_ Num 1 Octet 08h Indicates Call fixed reserved 1 Octet 00h fixed FI_Index 2 Octets 65000 Subindex of I M0 Record 65000 I M0 65001 I M1 65002 I M2 IM_Function 64 Octets Data Write only I M1 or I M2 ...

Страница 193: ..._NUMBER 16 Octets Serial number of FPBA module HARDWARE_REVISION 2 Octets Hardware version of FPBA module SOFTWARE_REVISION 4 Octets Format V255 255 255 E g V1 0 0 software version 1 00 REVISION_COUNTER 2 Octets Marks a change of hardware or its parameters PROFILE_ID 2 Octets 3A00 3AFF PROFIdrive PROFILE_SPECIFIC_ TYPE 2 Octets 0 no specific type IM_VERSION 2 Octets 0x0101 version 1 1 IM_SUPPORTED...

Страница 194: ...x20 by default Contents Size Coding Header Manufacturer specific 10 Octets I M0 block TAG_FUNCTION 32 Octets Device function or task TAG_LOCATION 22 Octets Device location Contents Size Coding Header Manufacturer specific 10 Octets I M0 block INSTALLATION_DATE 16 Octets Installation date E g 2011 01 01 16 23 RESERVED 38 Octets Reserved ...

Страница 195: ...ntacts can be found by navigating to www abb com searchchannels Product training For information on ABB product training navigate to new abb com service training Providing feedback on ABB Drives manuals Your comments on our manuals are welcome Navigate to new abb com drives manuals feedback form Document library on the Internet You can find manuals and other product documents in PDF format on the ...

Страница 196: ...Contact us www abb com drives www abb com solar www abb com windpower www abb com drivespartners 3AFE68573271F 3AFE68573271 Rev F EN 2017 01 25 ...

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